diff --git a/apriltag/src/dev/native/cpp/main.cpp b/apriltag/src/dev/native/cpp/main.cpp
index 346b591d44..10aad9b24a 100644
--- a/apriltag/src/dev/native/cpp/main.cpp
+++ b/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});
 }
diff --git a/apriltag/src/main/native/cpp/AprilTag.cpp b/apriltag/src/main/native/cpp/AprilTag.cpp
index 8c8309bcb8..adcbe68fb5 100644
--- a/apriltag/src/main/native/cpp/AprilTag.cpp
+++ b/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>();
 }
diff --git a/apriltag/src/main/native/cpp/AprilTagDetection.cpp b/apriltag/src/main/native/cpp/AprilTagDetection.cpp
index 9e88513b3c..61001b5cb8 100644
--- a/apriltag/src/main/native/cpp/AprilTagDetection.cpp
+++ b/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");
diff --git a/apriltag/src/main/native/cpp/AprilTagDetector.cpp b/apriltag/src/main/native/cpp/AprilTagDetector.cpp
index fd3a41eebc..d3c85f1001 100644
--- a/apriltag/src/main/native/cpp/AprilTagDetector.cpp
+++ b/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**>(
diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
index 82b964d6a0..6ab3362d27 100644
--- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
+++ b/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);
 }
diff --git a/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp b/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
index a139b7fa91..343642e6ed 100644
--- a/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
+++ b/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);
diff --git a/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp b/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
index 4c07d5cc5c..56d6915052 100644
--- a/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
+++ b/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);
diff --git a/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp b/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
index 77904a9d7a..af8b7f2cf4 100644
--- a/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
+++ b/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"
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
index 85545335b1..5189c05be4 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
index 4500b7b072..8b88868639 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
index 7449536ba1..16410c77ab 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
index 887d1d0979..696f27eba6 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
index ed81399653..4626ec86e5 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
index 039250760a..4d73d41de0 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
index 8e8fb587b8..0d4037071e 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
+++ b/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
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
index 830658cd66..61317e56d6 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
+++ b/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
diff --git a/apriltag/src/main/python/semiwrap/AprilTag.yml b/apriltag/src/main/python/semiwrap/AprilTag.yml
index 42ae4168c8..5e8b2ebd8b 100644
--- a/apriltag/src/main/python/semiwrap/AprilTag.yml
+++ b/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:
diff --git a/apriltag/src/main/python/semiwrap/AprilTagDetection.yml b/apriltag/src/main/python/semiwrap/AprilTagDetection.yml
index 23a35df5d2..78332dad94 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagDetection.yml
+++ b/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:
diff --git a/apriltag/src/main/python/semiwrap/AprilTagDetector.yml b/apriltag/src/main/python/semiwrap/AprilTagDetector.yml
index 3385e5172e..df9e1d970d 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagDetector.yml
+++ b/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>
diff --git a/apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml b/apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml
index eba162f44c..ac032718d9 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml
+++ b/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:
diff --git a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml b/apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml
index 37faf79df4..2e31bb8f46 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml
+++ b/apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::AprilTagPoseEstimate:
+  wpi::apriltag::AprilTagPoseEstimate:
     attributes:
       pose1:
       pose2:
diff --git a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml b/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
index a6ce2f9e69..d2cc7e8ea3 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
+++ b/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"))
diff --git a/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp b/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
index 5a7dc5f4ba..365e72dc57 100644
--- a/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
+++ b/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;
diff --git a/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp b/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
index 4c6d399de4..d980d09864 100644
--- a/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
+++ b/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);
 }
diff --git a/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp b/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
index 0f293724d4..4adb7fc911 100644
--- a/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
+++ b/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));
 }
diff --git a/apriltag/src/test/native/cpp/LoadConfigTest.cpp b/apriltag/src/test/native/cpp/LoadConfigTest.cpp
index 3e414ae4ed..a2b54ea818 100644
--- a/apriltag/src/test/native/cpp/LoadConfigTest.cpp
+++ b/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
diff --git a/benchmark/src/main/native/cpp/Main.cpp b/benchmark/src/main/native/cpp/Main.cpp
index 6e29c56bac..406245c12e 100644
--- a/benchmark/src/main/native/cpp/Main.cpp
+++ b/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) {
diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
index e1f43b8ede..0682108ce7 100644
--- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
+++ b/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);
   }
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index 48272ffe3d..161d2d07b5 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/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();
 
   {
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
index 36722f1ee1..19d1b0fc76 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
+++ b/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);
 }
diff --git a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
index 4c20b8a1ef..990cb3a14a 100644
--- a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
+++ b/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(
diff --git a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp b/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
index 3082cf56f0..1f2cf59ed1 100644
--- a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
+++ b/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
diff --git a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServerShared.hpp b/cameraserver/src/main/native/include/wpi/cameraserver/CameraServerShared.hpp
index 0c8889f5fd..9a8a8ce779 100644
--- a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServerShared.hpp
+++ b/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"
diff --git a/cameraserver/src/main/native/include/wpi/vision/VisionPipeline.hpp b/cameraserver/src/main/native/include/wpi/vision/VisionPipeline.hpp
index 954906bae2..0e63b61379 100644
--- a/cameraserver/src/main/native/include/wpi/vision/VisionPipeline.hpp
+++ b/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
diff --git a/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp b/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
index ba9726b05b..d565ef3c56 100644
--- a/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
+++ b/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
diff --git a/commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja b/commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja
index e6108c4076..dd60be7b34 100644
--- a/commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja
+++ b/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;
   });
diff --git a/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja b/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
index 694c61bad4..3429248ba2 100644
--- a/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
+++ b/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
@@ -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
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
index 62a68e6110..0e57562f03 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
@@ -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 {
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
index 28bfb454bd..e3c375cbb9 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
@@ -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 {
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
index 4ba12c3779..a6141abd0d 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
@@ -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 {
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
index 27def8a8ba..6adf138dbd 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
@@ -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;
   });
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
index 8b97909ed0..27decaf701 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
@@ -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
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
index ca60915621..916a7a362e 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
@@ -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
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
index 207bd90e33..43d85855b4 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
@@ -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
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
index 0029eaf99c..9fe07277b0 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
@@ -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
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Command.cpp b/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
index 9edd90a22c..11fcd2166f 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
+++ b/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
diff --git a/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp b/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
index 774c173ff5..fdf9c40849 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/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));
diff --git a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index 656d501dfe..36115042dc 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/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",
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp b/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
index 6e82229278..f6262bbad3 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
+++ b/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();
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
index 2679ff9ab7..587fcf4dd8 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/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);
diff --git a/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
index 93667ef6cf..c2f21e9bdf 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
+++ b/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);
diff --git a/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
index 07bc61fb56..ef05311479 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
+++ b/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,
diff --git a/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp
index 737fa7700a..88b861e03f 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp
+++ b/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)
diff --git a/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp
index a74b666dd7..d45986f3e6 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp
+++ b/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() {
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
index 9ad69a31da..2580c8d571 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
+++ b/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");
     }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 9b65aff4fb..39909d95ff 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/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(
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index d0b273205e..0c2f28108b 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/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");
     }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
index 3347f4622c..222f38aefc 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
+++ b/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 {
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index 68d2c47386..e51a1633e5 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/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",
diff --git a/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp
index 36f2da3e34..f396b5b499 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/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);
diff --git a/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp
index 9c1b89c7f3..43f9892c08 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp
+++ b/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) {},
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
index fa6591d82b..33a9951208 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
+++ b/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);
   }
 }
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index 751e1e5471..fdbc9c20db 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/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);
diff --git a/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp
index 628054900c..10cfca1098 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp
+++ b/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,
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp b/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp
index ce73da2124..e01a5e3113 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/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});
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index 81dcb3758c..f56a249b0f 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/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);
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp
index 71d1a7196a..849f917652 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/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);
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
index f4a46fddb5..3fe635535b 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/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();
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp
index 723d738054..286ca8084b 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp
+++ b/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();
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
index d5a5e317b9..c1de22fd99 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
+++ b/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;
   });
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index 65040ea11d..aecb68dfc9 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/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);
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
index 324485e5ef..ea706b3fa2 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
+++ b/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
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
index d8497c6dcc..dbcb9943c9 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
+++ b/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) {}
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
index 2c82002bcf..486b4705d8 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
+++ b/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};
 }
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 07755afdbb..ba8909fd4b 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/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());
   });
diff --git a/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp b/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
index 6850d78c85..7b646843cd 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
+++ b/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);
 }
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Command.hpp b/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
index 5ff7701470..4de6c62052 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp
index 41db01d6f2..9522a2ef2a 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
index 3b49bef22e..4b0dfb6fc4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
index 38b00dd02a..527772cef0 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp b/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
index 2186922baa..48237985fe 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp
index da091fba35..8f7048a88c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp
index ba9a4bb45e..a57a9cecf4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp
index 66e5252a4d..1148b71c07 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp
index 1e9fe5a4b3..67c6fc1c51 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp
index f978ba5ef7..dc5544a54c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp
index 9c7316e207..35ca5c36f9 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp
index 38fa077039..132e6bb25c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp
index 39465a09b6..2564f557bc 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp
index 4ed65bf788..70079e5eac 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
index 7c0c8d44f4..e11fb06e56 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp
index 0a77a33636..2e2e58e5b2 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp b/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp
index e4e0c3cfef..61fa1e5e3c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp
index d738b6e533..f4c4fe6848 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp
index 04ae047250..06d319810d 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp
index 7f1d5b9100..ac6ad6332d 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp
index 35bf554302..25f296e0b4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp
+++ b/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)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp
index 8a95180b7a..4738e52094 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp b/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp
index 3983c6965c..8249b71210 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp b/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp
index 179faaa9b1..b9ca6af066 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp
+++ b/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
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
index ce9435dcd7..ad09a509c0 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
@@ -9,7 +9,7 @@
 #include "wpi/system/Timer.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that does nothing but takes a specified amount of time to finish.
  *
@@ -23,7 +23,7 @@ class WaitCommand : public CommandHelper<Command, WaitCommand> {
    *
    * @param duration the time to wait
    */
-  explicit WaitCommand(units::second_t duration);
+  explicit WaitCommand(wpi::units::second_t duration);
 
   WaitCommand(WaitCommand&& other) = default;
 
@@ -37,13 +37,13 @@ class WaitCommand : public CommandHelper<Command, WaitCommand> {
 
   bool RunsWhenDisabled() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  protected:
   /// The timer used for waiting.
-  frc::Timer m_timer;
+  wpi::Timer m_timer;
 
  private:
-  units::second_t m_duration;
+  wpi::units::second_t m_duration;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
index 59cfc93f59..334751b2fe 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
@@ -10,7 +10,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that does nothing but ends after a specified match time or
  * condition.  Useful for CommandGroups.
@@ -37,7 +37,7 @@ class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
    *
    * @param time the match time after which to end, in seconds
    */
-  explicit WaitUntilCommand(units::second_t time);
+  explicit WaitUntilCommand(wpi::units::second_t time);
 
   WaitUntilCommand(WaitUntilCommand&& other) = default;
 
@@ -50,4 +50,4 @@ class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
  private:
   std::function<bool()> m_condition;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
index 7c18710579..4b87f7f23c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
@@ -16,7 +16,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandHelper.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A class used internally to wrap commands while overriding a specific method;
  * all other methods will call through to the wrapped command.
@@ -66,13 +66,13 @@ class WrapperCommand : public CommandHelper<Command, WrapperCommand> {
 
   InterruptionBehavior GetInterruptionBehavior() const override;
 
-  wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
+  wpi::util::SmallSet<Subsystem*, 4> GetRequirements() const override;
 
  protected:
   /// Command being wrapped.
   std::unique_ptr<Command> m_command;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
index 5e21a3fc0f..8b2326e3fa 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
@@ -8,12 +8,12 @@
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/driverstation/Gamepad.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::Gamepad} with {@link Trigger} factories for
+ * A version of {@link wpi::Gamepad} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::Gamepad
+ * @see wpi::Gamepad
  */
 class CommandGamepad : public CommandGenericHID {
  public:
@@ -30,7 +30,7 @@ class CommandGamepad : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::Gamepad& GetHID();
+  wpi::Gamepad& GetHID();
 
   /**
    * Constructs a Trigger instance around the South Face button's
@@ -41,7 +41,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the South Face button's
    * digital signal attached to the given loop.
    */
-  Trigger SouthFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger SouthFace(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
   /**
@@ -53,7 +53,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the East Face button's
    * digital signal attached to the given loop.
    */
-  Trigger EastFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger EastFace(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
 
   /**
@@ -65,7 +65,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the West Face button's
    * digital signal attached to the given loop.
    */
-  Trigger WestFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger WestFace(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
 
   /**
@@ -77,7 +77,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the North Face button's
    * digital signal attached to the given loop.
    */
-  Trigger NorthFace(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger NorthFace(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
   /**
@@ -89,7 +89,7 @@ class CommandGamepad : 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;
 
   /**
@@ -101,7 +101,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Guide button's
    * digital signal attached to the given loop.
    */
-  Trigger Guide(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Guide(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -113,7 +113,7 @@ class CommandGamepad : 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;
 
   /**
@@ -125,7 +125,7 @@ class CommandGamepad : 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;
 
   /**
@@ -137,7 +137,7 @@ class CommandGamepad : 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;
 
   /**
@@ -150,7 +150,7 @@ class CommandGamepad : public CommandGenericHID {
    * digital signal attached to the given loop.
    */
   Trigger LeftShoulder(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -163,7 +163,7 @@ class CommandGamepad : public CommandGenericHID {
    * digital signal attached to the given loop.
    */
   Trigger RightShoulder(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -175,7 +175,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the D-pad up button's
    * digital signal attached to the given loop.
    */
-  Trigger DpadUp(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger DpadUp(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                             .GetDefaultButtonLoop()) const;
 
   /**
@@ -187,7 +187,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the D-pad down button's
    * digital signal attached to the given loop.
    */
-  Trigger DpadDown(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger DpadDown(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
 
   /**
@@ -199,7 +199,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the D-pad left button's
    * digital signal attached to the given loop.
    */
-  Trigger DpadLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger DpadLeft(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
 
   /**
@@ -211,7 +211,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the D-pad right button's
    * digital signal attached to the given loop.
    */
-  Trigger DpadRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger DpadRight(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
   /**
@@ -223,7 +223,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -236,7 +236,7 @@ class CommandGamepad : public CommandGenericHID {
    * digital signal attached to the given loop.
    */
   Trigger RightPaddle1(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -248,7 +248,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Left Paddle 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftPaddle1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftPaddle1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 
   /**
@@ -261,7 +261,7 @@ class CommandGamepad : public CommandGenericHID {
    * digital signal attached to the given loop.
    */
   Trigger RightPaddle2(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -273,7 +273,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Left Paddle 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftPaddle2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftPaddle2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 
   /**
@@ -285,7 +285,7 @@ class CommandGamepad : 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;
 
   /**
@@ -297,7 +297,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -309,7 +309,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 3 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc3(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -321,7 +321,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 4 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc4(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc4(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -333,7 +333,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 5 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc5(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc5(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -345,7 +345,7 @@ class CommandGamepad : public CommandGenericHID {
    * @return a Trigger instance representing the Miscellaneous 6 button's
    * digital signal attached to the given loop.
    */
-  Trigger Misc6(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Misc6(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -362,7 +362,7 @@ class CommandGamepad : 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;
 
   /**
@@ -380,7 +380,7 @@ class CommandGamepad : public CommandGenericHID {
    */
   Trigger RightTrigger(
       double threshold = 0.5,
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -428,6 +428,6 @@ class CommandGamepad : public CommandGenericHID {
   double GetRightTriggerAxis() const;
 
  private:
-  frc::Gamepad m_hid;
+  wpi::Gamepad m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
index 0cc1846fa0..90b192b6d4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
@@ -9,10 +9,10 @@
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 /**
- * A version of {@link frc::GenericHID} with {@link Trigger} factories for
+ * A version of {@link wpi::GenericHID} with {@link Trigger} factories for
  * command-based.
  *
  * @see GenericHID
@@ -32,7 +32,7 @@ class CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::GenericHID& GetHID();
+  wpi::GenericHID& GetHID();
 
   /**
    * Constructs an event instance around this button's digital signal.
@@ -44,7 +44,7 @@ class CommandGenericHID {
    * to the given loop.
    */
   Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                             .GetDefaultButtonLoop()) const;
 
   /**
@@ -56,8 +56,8 @@ class CommandGenericHID {
    * @param angle POV angle.
    * @return a Trigger instance based around this angle of a POV on the HID.
    */
-  Trigger POV(frc::DriverStation::POVDirection angle,
-              frc::EventLoop* loop =
+  Trigger POV(wpi::DriverStation::POVDirection angle,
+              wpi::EventLoop* loop =
                   CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -70,8 +70,8 @@ class CommandGenericHID {
    * @param angle POV angle.
    * @return a Trigger instance based around this angle of a POV on the HID.
    */
-  Trigger POV(int pov, frc::DriverStation::POVDirection angle,
-              frc::EventLoop* loop =
+  Trigger POV(int pov, wpi::DriverStation::POVDirection angle,
+              wpi::EventLoop* loop =
                   CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -84,7 +84,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the up direction of a POV on the
    * HID.
    */
-  Trigger POVUp(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVUp(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                            .GetDefaultButtonLoop()) const;
 
   /**
@@ -97,7 +97,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the up right direction of a POV on
    * the HID.
    */
-  Trigger POVUpRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVUpRight(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -110,7 +110,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the right direction of a POV on the
    * HID.
    */
-  Trigger POVRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVRight(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
 
   /**
@@ -121,7 +121,7 @@ class CommandGenericHID {
    * on the HID.
    */
   Trigger POVDownRight(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -134,7 +134,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the down direction of a POV on
    * the HID.
    */
-  Trigger POVDown(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVDown(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                              .GetDefaultButtonLoop()) const;
 
   /**
@@ -147,7 +147,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the down left direction of a POV on
    * the HID.
    */
-  Trigger POVDownLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVDownLeft(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 
   /**
@@ -160,7 +160,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the left direction of a POV on
    * the HID.
    */
-  Trigger POVLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVLeft(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                              .GetDefaultButtonLoop()) const;
 
   /**
@@ -173,7 +173,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the up left direction of a POV on
    * the HID.
    */
-  Trigger POVUpLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVUpLeft(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
   /**
@@ -186,7 +186,7 @@ class CommandGenericHID {
    * @return a Trigger instance based around the center position of a POV on the
    * HID.
    */
-  Trigger POVCenter(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger POVCenter(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
 
   /**
@@ -204,7 +204,7 @@ class CommandGenericHID {
    */
   Trigger AxisLessThan(
       int axis, double threshold,
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -222,7 +222,7 @@ class CommandGenericHID {
    */
   Trigger AxisGreaterThan(
       int axis, double threshold,
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -237,7 +237,7 @@ class CommandGenericHID {
    */
   Trigger AxisMagnitudeGreaterThan(
       int axis, double threshold,
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -248,7 +248,7 @@ class CommandGenericHID {
    * @param type  Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
    */
-  void SetRumble(frc::GenericHID::RumbleType type, double value);
+  void SetRumble(wpi::GenericHID::RumbleType type, double value);
 
   /**
    * Get if the HID is connected.
@@ -258,6 +258,6 @@ class CommandGenericHID {
   bool IsConnected() const;
 
  private:
-  frc::GenericHID m_hid;
+  wpi::GenericHID m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
index e7e979e639..3c6d53f206 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
@@ -8,12 +8,12 @@
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/driverstation/Joystick.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::Joystick} with {@link Trigger} factories for
+ * A version of {@link wpi::Joystick} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::Joystick
+ * @see wpi::Joystick
  */
 class CommandJoystick : public CommandGenericHID {
  public:
@@ -30,7 +30,7 @@ class CommandJoystick : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::Joystick& GetHID();
+  wpi::Joystick& GetHID();
 
   /**
    * Constructs an event instance around the trigger button's digital signal.
@@ -41,7 +41,7 @@ class CommandJoystick : public CommandGenericHID {
    * attached to the given loop.
    */
   class Trigger Trigger(
-      frc::EventLoop* loop =
+      wpi::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
   /**
@@ -52,7 +52,7 @@ class CommandJoystick : public CommandGenericHID {
    * @return an event instance representing the top button's digital signal
    * attached to the given loop.
    */
-  class Trigger Top(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  class Trigger Top(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
   /**
    * Get the magnitude of the vector formed by the joystick's
@@ -69,9 +69,9 @@ class CommandJoystick : public CommandGenericHID {
    *
    * @return The direction of the vector.
    */
-  units::radian_t GetDirection() const;
+  wpi::units::radian_t GetDirection() const;
 
  private:
-  frc::Joystick m_hid;
+  wpi::Joystick m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
index dba99aef6c..5fe86fe0d2 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A class used to bind command scheduling to joystick button presses.  Can be
  * composed with other buttons with the operators in Trigger.
@@ -23,9 +23,9 @@ class JoystickButton : public Trigger {
    * @param joystick The joystick on which the button is located.
    * @param buttonNumber The number of the button on the joystick.
    */
-  explicit JoystickButton(frc::GenericHID* joystick, int buttonNumber)
+  explicit JoystickButton(wpi::GenericHID* joystick, int buttonNumber)
       : Trigger([joystick, buttonNumber] {
           return joystick->GetRawButton(buttonNumber);
         }) {}
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
index 6021747f04..135a9728e1 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/NetworkTable.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A Button that uses a NetworkTable boolean field.
  *
@@ -25,14 +25,14 @@ class NetworkButton : public Trigger {
    *
    * @param topic The boolean topic that contains the value.
    */
-  explicit NetworkButton(nt::BooleanTopic topic);
+  explicit NetworkButton(wpi::nt::BooleanTopic topic);
 
   /**
    * Creates a NetworkButton that commands can be bound to.
    *
    * @param sub The boolean subscriber that provides the value.
    */
-  explicit NetworkButton(nt::BooleanSubscriber sub);
+  explicit NetworkButton(wpi::nt::BooleanSubscriber sub);
 
   /**
    * Creates a NetworkButton that commands can be bound to.
@@ -40,7 +40,7 @@ class NetworkButton : public Trigger {
    * @param table The table where the networktable value is located.
    * @param field The field that is the value.
    */
-  NetworkButton(std::shared_ptr<nt::NetworkTable> table,
+  NetworkButton(std::shared_ptr<wpi::nt::NetworkTable> table,
                 std::string_view field);
 
   /**
@@ -58,7 +58,7 @@ class NetworkButton : public Trigger {
    * @param table The table where the networktable value is located.
    * @param field The field that is the value.
    */
-  NetworkButton(nt::NetworkTableInstance inst, std::string_view table,
+  NetworkButton(wpi::nt::NetworkTableInstance inst, std::string_view table,
                 std::string_view field);
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
index 3ae8f5d6a0..ad9992044c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
@@ -8,7 +8,7 @@
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A class used to bind command scheduling to joystick POV presses.  Can be
  * composed with other buttons with the operators in Trigger.
@@ -26,10 +26,10 @@ class POVButton : public Trigger {
    * @param angle The angle of the POV corresponding to a button press.
    * @param povNumber The number of the POV on the joystick.
    */
-  POVButton(frc::GenericHID* joystick, frc::DriverStation::POVDirection angle,
+  POVButton(wpi::GenericHID* joystick, wpi::DriverStation::POVDirection angle,
             int povNumber = 0)
       : Trigger([joystick, angle, povNumber] {
           return joystick->GetPOV(povNumber) == angle;
         }) {}
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
index 19163d7aa9..6171640a4d 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/commands2/button/Trigger.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 /**
  * A class containing static Trigger factories for running callbacks when robot
@@ -47,4 +47,4 @@ class RobotModeTriggers {
   static Trigger Test();
 };
 
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
index 3292003802..ac3ffe3bbf 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
@@ -15,7 +15,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 class Command;
 /**
  * This class provides an easy way to link commands to conditions.
@@ -47,7 +47,7 @@ class Trigger {
    * @param loop The loop instance that polls this trigger.
    * @param condition the condition represented by this trigger
    */
-  Trigger(frc::EventLoop* loop, std::function<bool()> condition)
+  Trigger(wpi::EventLoop* loop, std::function<bool()> condition)
       : m_loop{loop}, m_condition{std::move(condition)} {}
 
   /**
@@ -279,9 +279,9 @@ class Trigger {
    * @param type The debounce type.
    * @return The debounced trigger.
    */
-  Trigger Debounce(units::second_t debounceTime,
-                   frc::Debouncer::DebounceType type =
-                       frc::Debouncer::DebounceType::kRising);
+  Trigger Debounce(wpi::units::second_t debounceTime,
+                   wpi::math::Debouncer::DebounceType type =
+                       wpi::math::Debouncer::DebounceType::kRising);
 
   /**
    * Returns the current state of this trigger.
@@ -296,9 +296,9 @@ class Trigger {
    *
    * @param body The body of the binding to add.
    */
-  void AddBinding(wpi::unique_function<void(bool, bool)>&& body);
+  void AddBinding(wpi::util::unique_function<void(bool, bool)>&& body);
 
-  frc::EventLoop* m_loop;
+  wpi::EventLoop* m_loop;
   std::function<bool()> m_condition;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp b/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
index 049d13ff12..c555199338 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
@@ -14,10 +14,10 @@
 #include "wpi/sysid/SysIdRoutineLog.hpp"
 #include "wpi/system/Timer.hpp"
 
-namespace frc2::sysid {
+namespace wpi::cmd::sysid {
 
-using ramp_rate_t = units::unit_t<
-    units::compound_unit<units::volt, units::inverse<units::second>>>;
+using ramp_rate_t = wpi::units::unit_t<
+    wpi::units::compound_unit<wpi::units::volt, wpi::units::inverse<wpi::units::second>>>;
 
 /** Hardware-independent configuration for a SysId test routine. */
 class Config {
@@ -26,14 +26,14 @@ class Config {
   ramp_rate_t m_rampRate{1_V / 1_s};
 
   /// The step voltage output used for dynamic test routines.
-  units::volt_t m_stepVoltage{7_V};
+  wpi::units::volt_t m_stepVoltage{7_V};
 
   /// Safety timeout for the test routine commands.
-  units::second_t m_timeout{10_s};
+  wpi::units::second_t m_timeout{10_s};
 
   /// Optional handle for recording test state in a third-party logging
   /// solution.
-  std::function<void(frc::sysid::State)> m_recordState;
+  std::function<void(wpi::sysid::State)> m_recordState;
 
   /**
    * Create a new configuration for a SysId test routine.
@@ -49,9 +49,9 @@ class Config {
    *   passed to this callback instead of logged in WPILog.
    */
   Config(std::optional<ramp_rate_t> rampRate,
-         std::optional<units::volt_t> stepVoltage,
-         std::optional<units::second_t> timeout,
-         std::function<void(frc::sysid::State)> recordState)
+         std::optional<wpi::units::volt_t> stepVoltage,
+         std::optional<wpi::units::second_t> timeout,
+         std::function<void(wpi::sysid::State)> recordState)
       : m_recordState{std::move(recordState)} {
     if (rampRate) {
       m_rampRate = rampRate.value();
@@ -69,15 +69,15 @@ class Mechanism {
  public:
   /// Sends the SysId-specified drive signal to the mechanism motors during test
   /// routines.
-  std::function<void(units::volt_t)> m_drive;
+  std::function<void(wpi::units::volt_t)> m_drive;
 
   /// Returns measured data (voltages, positions, velocities) of the mechanism
   /// motors during test routines.
-  std::function<void(frc::sysid::SysIdRoutineLog*)> m_log;
+  std::function<void(wpi::sysid::SysIdRoutineLog*)> m_log;
 
   /// The subsystem containing the motor(s) that is (or are) being
   /// characterized.
-  frc2::Subsystem* m_subsystem;
+  wpi::cmd::Subsystem* m_subsystem;
 
   /// The name of the mechanism being tested. Will be appended to the log entry
   /// title for the routine's test state, e.g. "sysid-test-state-mechanism".
@@ -102,11 +102,11 @@ class Mechanism {
    *   "sysid-test-state-mechanism". Defaults to the name of the subsystem if
    *   left null.
    */
-  Mechanism(std::function<void(units::volt_t)> drive,
-            std::function<void(frc::sysid::SysIdRoutineLog*)> log,
-            frc2::Subsystem* subsystem, std::string_view name)
+  Mechanism(std::function<void(wpi::units::volt_t)> drive,
+            std::function<void(wpi::sysid::SysIdRoutineLog*)> log,
+            wpi::cmd::Subsystem* subsystem, std::string_view name)
       : m_drive{std::move(drive)},
-        m_log{log ? std::move(log) : [](frc::sysid::SysIdRoutineLog* log) {}},
+        m_log{log ? std::move(log) : [](wpi::sysid::SysIdRoutineLog* log) {}},
         m_subsystem{subsystem},
         m_name{name} {}
 
@@ -127,11 +127,11 @@ class Mechanism {
    *   test commands. The subsystem's `name` will be appended to the log entry
    *   title for the routine's test state, e.g. "sysid-test-state-subsystem".
    */
-  Mechanism(std::function<void(units::volt_t)> drive,
-            std::function<void(frc::sysid::SysIdRoutineLog*)> log,
-            frc2::Subsystem* subsystem)
+  Mechanism(std::function<void(wpi::units::volt_t)> drive,
+            std::function<void(wpi::sysid::SysIdRoutineLog*)> log,
+            wpi::cmd::Subsystem* subsystem)
       : m_drive{std::move(drive)},
-        m_log{log ? std::move(log) : [](frc::sysid::SysIdRoutineLog* log) {}},
+        m_log{log ? std::move(log) : [](wpi::sysid::SysIdRoutineLog* log) {}},
         m_subsystem{subsystem},
         m_name{m_subsystem->GetName()} {}
 };
@@ -167,7 +167,7 @@ enum Direction {
  * times in a single logfile, the user will need to select which of the tests to
  * use for the fit in the analysis tool.
  */
-class SysIdRoutine : public frc::sysid::SysIdRoutineLog {
+class SysIdRoutine : public wpi::sysid::SysIdRoutineLog {
  public:
   /**
    * Create a new SysId characterization routine.
@@ -180,18 +180,18 @@ class SysIdRoutine : public frc::sysid::SysIdRoutineLog {
         m_config(config),
         m_mechanism(mechanism),
         m_recordState(config.m_recordState ? config.m_recordState
-                                           : [this](frc::sysid::State state) {
+                                           : [this](wpi::sysid::State state) {
                                                this->RecordState(state);
                                              }) {}
 
-  frc2::CommandPtr Quasistatic(Direction direction);
-  frc2::CommandPtr Dynamic(Direction direction);
+  wpi::cmd::CommandPtr Quasistatic(Direction direction);
+  wpi::cmd::CommandPtr Dynamic(Direction direction);
 
  private:
   Config m_config;
   Mechanism m_mechanism;
-  units::volt_t m_outputVolts{0};
-  std::function<void(frc::sysid::State)> m_recordState;
-  frc::Timer timer;
+  wpi::units::volt_t m_outputVolts{0};
+  std::function<void(wpi::sysid::State)> m_recordState;
+  wpi::Timer timer;
 };
-}  // namespace frc2::sysid
+}  // namespace wpi::cmd::sysid
diff --git a/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
index a4f5d4b7cd..e1fd07592d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/commands2/RunCommand.hpp"
 #include "wpi/util/array.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 // Class to verify the overload resolution of Command::AddRequirements. This
 // does not derive from Command because AddRequirements is non-virtual,
@@ -15,7 +15,7 @@ using namespace frc2;
 class MockAddRequirements {
  public:
   MOCK_METHOD(void, AddRequirements, (Requirements), ());
-  MOCK_METHOD(void, AddRequirements, ((wpi::SmallSet<Subsystem*, 4>)), ());
+  MOCK_METHOD(void, AddRequirements, ((wpi::util::SmallSet<Subsystem*, 4>)), ());
   MOCK_METHOD(void, AddRequirements, (Subsystem*), ());
 };
 
@@ -40,12 +40,12 @@ TEST(AddRequirementsTest, SpanOverloadResolution) {
 }
 
 TEST(AddRequirementsTest, SmallSetOverloadResolution) {
-  wpi::SmallSet<Subsystem*, 4> requirementsSet;
+  wpi::util::SmallSet<Subsystem*, 4> requirementsSet;
 
   MockAddRequirements overloadResolver;
 
   EXPECT_CALL(overloadResolver,
-              AddRequirements(testing::An<wpi::SmallSet<Subsystem*, 4>>()));
+              AddRequirements(testing::An<wpi::util::SmallSet<Subsystem*, 4>>()));
 
   overloadResolver.AddRequirements(requirementsSet);
 }
@@ -84,7 +84,7 @@ TEST(AddRequirementsTest, SpanSemantics) {
   TestSubsystem requirement1;
   TestSubsystem requirement2;
 
-  wpi::array<Subsystem* const, 2> requirementsArray(&requirement1,
+  wpi::util::array<Subsystem* const, 2> requirementsArray(&requirement1,
                                                     &requirement2);
 
   RunCommand command([] {});
@@ -97,7 +97,7 @@ TEST(AddRequirementsTest, SpanSemantics) {
 TEST(AddRequirementsTest, SpanDuplicatesSemantics) {
   TestSubsystem requirement;
 
-  wpi::array<Subsystem* const, 2> requirementsArray(&requirement, &requirement);
+  wpi::util::array<Subsystem* const, 2> requirementsArray(&requirement, &requirement);
 
   RunCommand command([] {});
   command.AddRequirements(std::span{requirementsArray});
@@ -109,7 +109,7 @@ TEST(AddRequirementsTest, SmallSetSemantics) {
   TestSubsystem requirement1;
   TestSubsystem requirement2;
 
-  wpi::SmallSet<Subsystem*, 4> requirementsSet;
+  wpi::util::SmallSet<Subsystem*, 4> requirementsSet;
   requirementsSet.insert(&requirement1);
   requirementsSet.insert(&requirement2);
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
index 539886c9eb..ab8acbcd1c 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
@@ -13,13 +13,13 @@
 #include "wpi/commands2/WaitUntilCommand.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class CommandDecoratorTest : public CommandTestBase {};
 
 TEST_F(CommandDecoratorTest, WithTimeout) {
   CommandScheduler scheduler = GetScheduler();
 
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
 
   auto command = cmd::Idle().WithTimeout(100_ms);
 
@@ -28,13 +28,13 @@ TEST_F(CommandDecoratorTest, WithTimeout) {
 
   EXPECT_TRUE(scheduler.IsScheduled(command));
 
-  frc::sim::StepTiming(150_ms);
+  wpi::sim::StepTiming(150_ms);
 
   scheduler.Run();
 
   EXPECT_FALSE(scheduler.IsScheduled(command));
 
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 }
 
 TEST_F(CommandDecoratorTest, Until) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
index 48a1c2bbcb..c9b0761250 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class CommandPtrTest : public CommandTestBase {};
 
 TEST_F(CommandPtrTest, MovedFrom) {
@@ -27,16 +27,16 @@ TEST_F(CommandPtrTest, MovedFrom) {
   EXPECT_EQ(1, counter);
   EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(movedTo));
 
-  EXPECT_THROW(scheduler.Schedule(movedFrom), frc::RuntimeError);
+  EXPECT_THROW(scheduler.Schedule(movedFrom), wpi::RuntimeError);
   // NOLINTNEXTLINE(clang-analyzer-cplusplus.Move)
-  EXPECT_THROW(movedFrom.IsScheduled(), frc::RuntimeError);
+  EXPECT_THROW(movedFrom.IsScheduled(), wpi::RuntimeError);
   EXPECT_THROW(static_cast<void>(std::move(movedFrom).Repeatedly()),
-               frc::RuntimeError);
+               wpi::RuntimeError);
 
   EXPECT_EQ(1, counter);
 }
 
 TEST_F(CommandPtrTest, NullInitialization) {
   EXPECT_THROW(auto cmd = CommandPtr{std::unique_ptr<Command>{}},
-               frc::RuntimeError);
+               wpi::RuntimeError);
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
index ff8cdaf574..1cf58cf11b 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class CommandRequirementsTest : public CommandTestBase {};
 
 TEST_F(CommandRequirementsTest, RequirementInterrupt) {
@@ -81,5 +81,5 @@ TEST_F(CommandRequirementsTest, DefaultCommandRequirementError) {
   MockCommand command1;
 
   ASSERT_THROW(requirement1.SetDefaultCommand(std::move(command1)),
-               frc::RuntimeError);
+               wpi::RuntimeError);
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
index fe01fa793e..15073f79cf 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/smartdashboard/SmartDashboard.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class CommandScheduleTest : public CommandTestBase {};
 
 TEST_F(CommandScheduleTest, InstantSchedule) {
@@ -100,8 +100,8 @@ TEST_F(CommandScheduleTest, SchedulerCancel) {
 TEST_F(CommandScheduleTest, CommandKnowsWhenItEnded) {
   CommandScheduler scheduler = GetScheduler();
 
-  frc2::FunctionalCommand* commandPtr = nullptr;
-  auto command = frc2::FunctionalCommand(
+  wpi::cmd::FunctionalCommand* commandPtr = nullptr;
+  auto command = wpi::cmd::FunctionalCommand(
       [] {}, [] {},
       [&](auto isForced) {
         EXPECT_FALSE(scheduler.IsScheduled(commandPtr))
@@ -120,10 +120,10 @@ TEST_F(CommandScheduleTest, CommandKnowsWhenItEnded) {
 TEST_F(CommandScheduleTest, ScheduleCommandInCommand) {
   CommandScheduler scheduler = GetScheduler();
   int counter = 0;
-  frc2::InstantCommand commandToGetScheduled{[&counter] { counter++; }};
+  wpi::cmd::InstantCommand commandToGetScheduled{[&counter] { counter++; }};
 
   auto command =
-      frc2::RunCommand([&counter, &scheduler, &commandToGetScheduled] {
+      wpi::cmd::RunCommand([&counter, &scheduler, &commandToGetScheduled] {
         scheduler.Schedule(&commandToGetScheduled);
         EXPECT_EQ(counter, 1)
             << "Scheduled command's init was not run immediately "
@@ -151,21 +151,21 @@ TEST_F(CommandScheduleTest, NotScheduledCancel) {
 
 TEST_F(CommandScheduleTest, SmartDashboardCancel) {
   CommandScheduler scheduler = GetScheduler();
-  frc::SmartDashboard::PutData("Scheduler", &scheduler);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::PutData("Scheduler", &scheduler);
+  wpi::SmartDashboard::UpdateValues();
 
   MockCommand command;
   scheduler.Schedule(&command);
   scheduler.Run();
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_TRUE(scheduler.IsScheduled(&command));
 
   uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(&command);
-  nt::NetworkTableInstance::GetDefault()
+  wpi::nt::NetworkTableInstance::GetDefault()
       .GetEntry("/SmartDashboard/Scheduler/Cancel")
       .SetIntegerArray(
           std::span<const int64_t>{{static_cast<int64_t>(ptrTmp)}});
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   scheduler.Run();
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
index f072cfe99a..1e84dd8d63 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
@@ -8,37 +8,37 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/smartdashboard/SmartDashboard.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 class CommandSendableButtonTest : public CommandTestBase {
  protected:
   int m_schedule;
   int m_cancel;
-  nt::BooleanPublisher m_publish;
+  wpi::nt::BooleanPublisher m_publish;
   std::optional<CommandPtr> m_command;
 
   void SetUp() override {
     m_schedule = 0;
     m_cancel = 0;
     m_command = cmd::StartEnd([this] { m_schedule++; }, [this] { m_cancel++; });
-    m_publish = nt::NetworkTableInstance::GetDefault()
+    m_publish = wpi::nt::NetworkTableInstance::GetDefault()
                     .GetBooleanTopic("/SmartDashboard/command/running")
                     .Publish();
-    frc::SmartDashboard::PutData("command", m_command->get());
-    frc::SmartDashboard::UpdateValues();
+    wpi::SmartDashboard::PutData("command", m_command->get());
+    wpi::SmartDashboard::UpdateValues();
   }
 };
 
 TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
   // Not scheduled and true -> scheduled
   GetScheduler().Run();
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_FALSE(m_command->IsScheduled());
   EXPECT_EQ(0, m_schedule);
   EXPECT_EQ(0, m_cancel);
 
   m_publish.Set(true);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   GetScheduler().Run();
   EXPECT_TRUE(m_command->IsScheduled());
   EXPECT_EQ(1, m_schedule);
@@ -47,15 +47,15 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
 
 TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
   // Scheduled and true -> no-op
-  frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
+  wpi::cmd::CommandScheduler::GetInstance().Schedule(m_command.value());
   GetScheduler().Run();
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
   EXPECT_EQ(1, m_schedule);
   EXPECT_EQ(0, m_cancel);
 
   m_publish.Set(true);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   GetScheduler().Run();
   EXPECT_TRUE(m_command->IsScheduled());
   EXPECT_EQ(1, m_schedule);
@@ -65,13 +65,13 @@ TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
 TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
   // Not scheduled and false -> no-op
   GetScheduler().Run();
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_FALSE(m_command->IsScheduled());
   EXPECT_EQ(0, m_schedule);
   EXPECT_EQ(0, m_cancel);
 
   m_publish.Set(false);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   GetScheduler().Run();
   EXPECT_FALSE(m_command->IsScheduled());
   EXPECT_EQ(0, m_schedule);
@@ -80,15 +80,15 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
 
 TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
   // Scheduled and false -> cancel
-  frc2::CommandScheduler::GetInstance().Schedule(m_command.value());
+  wpi::cmd::CommandScheduler::GetInstance().Schedule(m_command.value());
   GetScheduler().Run();
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
   EXPECT_EQ(1, m_schedule);
   EXPECT_EQ(0, m_cancel);
 
   m_publish.Set(false);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   GetScheduler().Run();
   EXPECT_FALSE(m_command->IsScheduled());
   EXPECT_EQ(1, m_schedule);
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
index 026c14a344..8b2bc29540 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
@@ -4,7 +4,7 @@
 
 #include "CommandTestBase.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandTestBase::CommandTestBase() {
   auto& scheduler = CommandScheduler::GetInstance();
@@ -26,7 +26,7 @@ CommandScheduler CommandTestBase::GetScheduler() {
 }
 
 void CommandTestBase::SetDSEnabled(bool enabled) {
-  frc::sim::DriverStationSim::SetDsAttached(true);
-  frc::sim::DriverStationSim::SetEnabled(enabled);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetDsAttached(true);
+  wpi::sim::DriverStationSim::SetEnabled(enabled);
+  wpi::sim::DriverStationSim::NotifyNewData();
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
index 8a298e351b..2bef6a1bf0 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
@@ -16,7 +16,7 @@
 #include "wpi/commands2/SubsystemBase.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 class TestSubsystem : public SubsystemBase {
  public:
@@ -33,7 +33,7 @@ class TestSubsystem : public SubsystemBase {
  */
 class MockCommand : public CommandHelper<Command, MockCommand> {
  public:
-  MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
+  MOCK_CONST_METHOD0(GetRequirements, wpi::util::SmallSet<Subsystem*, 4>());
   MOCK_METHOD0(IsFinished, bool());
   MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
   MOCK_METHOD0(Initialize, void());
@@ -83,7 +83,7 @@ class MockCommand : public CommandHelper<Command, MockCommand> {
   }
 
  private:
-  wpi::SmallSet<Subsystem*, 4> m_requirements;
+  wpi::util::SmallSet<Subsystem*, 4> m_requirements;
 };
 
 class CommandTestBase : public ::testing::Test {
@@ -120,10 +120,10 @@ class CommandTestBaseWithParam : public ::testing::TestWithParam<T> {
   CommandScheduler GetScheduler() { return CommandScheduler(); }
 
   void SetDSEnabled(bool enabled) {
-    frc::sim::DriverStationSim::SetDsAttached(true);
-    frc::sim::DriverStationSim::SetEnabled(enabled);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetDsAttached(true);
+    wpi::sim::DriverStationSim::SetEnabled(enabled);
+    wpi::sim::DriverStationSim::NotifyNewData();
   }
 };
 
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp b/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
index 019298e21c..e9bfde73bd 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
@@ -13,7 +13,7 @@
 #include "make_vector.hpp"
 #include "wpi/commands2/Commands.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 inline namespace single {
 template <typename T>
@@ -182,4 +182,4 @@ REGISTER_TYPED_TEST_SUITE_P(MultiCompositionInterruptibilityTest, AllCancelSelf,
   INSTANTIATE_TYPED_TEST_SUITE_P(Suite, MultiCompositionRunsWhenDisabledTest, \
                                  CompositionType)
 }  // namespace multi
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
index 84c707e767..12555f4ab5 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/commands2/ConditionalCommand.hpp"
 #include "wpi/commands2/InstantCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ConditionalCommandTest : public CommandTestBase {};
 
 TEST_F(ConditionalCommandTest, ConditionalCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
index 619da45985..e2df9f7a29 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/RunCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class DefaultCommandTest : public CommandTestBase {};
 
 TEST_F(DefaultCommandTest, DefaultCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
index b464af9f13..62457e694f 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/commands2/DeferredCommand.hpp"
 #include "wpi/commands2/FunctionalCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 class DeferredFunctionsTest : public CommandTestBaseWithParam<bool> {};
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
index d471bdc677..b5852e7073 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
@@ -5,7 +5,7 @@
 #include "CommandTestBase.hpp"
 #include "wpi/commands2/FunctionalCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class FunctionalCommandTest : public CommandTestBase {};
 
 TEST_F(FunctionalCommandTest, FunctionalCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
index 387f22cb90..24b3a01c30 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/InstantCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class InstantCommandTest : public CommandTestBase {};
 
 TEST_F(InstantCommandTest, InstantCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
index 0aaae24157..5597093439 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/NotifierCommand.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 using namespace std::chrono_literals;
 
 class NotifierCommandTest : public CommandTestBase {};
@@ -14,18 +14,18 @@ class NotifierCommandTest : public CommandTestBase {};
 TEST_F(NotifierCommandTest, NotifierCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
 
   int counter = 0;
   NotifierCommand command([&] { counter++; }, 10_ms, {});
 
   scheduler.Schedule(&command);
   for (int i = 0; i < 5; ++i) {
-    frc::sim::StepTiming(5_ms);
+    wpi::sim::StepTiming(5_ms);
   }
   scheduler.Cancel(&command);
 
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 
   EXPECT_EQ(counter, 2);
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
index ac3b0db493..01f4cc4086 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
@@ -13,12 +13,12 @@
 #include "wpi/driverstation/Joystick.hpp"
 #include "wpi/simulation/JoystickSim.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class POVButtonTest : public CommandTestBase {};
 
 TEST_F(POVButtonTest, SetPOV) {
-  frc::sim::JoystickSim joysim(1);
-  joysim.SetPOV(frc::DriverStation::kUp);
+  wpi::sim::JoystickSim joysim(1);
+  joysim.SetPOV(wpi::DriverStation::kUp);
   joysim.NotifyNewData();
 
   auto& scheduler = CommandScheduler::GetInstance();
@@ -26,12 +26,12 @@ TEST_F(POVButtonTest, SetPOV) {
 
   WaitUntilCommand command([&finished] { return finished; });
 
-  frc::Joystick joy(1);
-  POVButton(&joy, frc::DriverStation::kRight).OnTrue(&command);
+  wpi::Joystick joy(1);
+  POVButton(&joy, wpi::DriverStation::kRight).OnTrue(&command);
   scheduler.Run();
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 
-  joysim.SetPOV(frc::DriverStation::kRight);
+  joysim.SetPOV(wpi::DriverStation::kRight);
   joysim.NotifyNewData();
 
   scheduler.Run();
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
index 00f8f61001..9eaec16cd0 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/commands2/ParallelCommandGroup.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ParallelCommandGroupTest : public CommandTestBase {};
 
 TEST_F(ParallelCommandGroupTest, ParallelGroupSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
index c40e839c03..a74e7c1cdb 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/commands2/ParallelDeadlineGroup.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ParallelDeadlineGroupTest : public CommandTestBase {};
 
 TEST_F(ParallelDeadlineGroupTest, DeadlineGroupSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
index e4ad75bcd8..8c0343d2e6 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/commands2/SequentialCommandGroup.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ParallelRaceGroupTest : public CommandTestBase {};
 
 TEST_F(ParallelRaceGroupTest, ParallelRaceSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
index a2b02e1549..0d8ca526b3 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/PrintCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class PrintCommandTest : public CommandTestBase {};
 
 TEST_F(PrintCommandTest, PrintCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
index a2192d893e..214a4ba2e8 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/commands2/ProxyCommand.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ProxyCommandTest : public CommandTestBase {};
 
 TEST_F(ProxyCommandTest, NonOwningCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
index 2fde7602f7..1504ef0c30 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/commands2/RepeatCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class RepeatCommandTest : public CommandTestBase {};
 
 TEST_F(RepeatCommandTest, CallsMethodsCorrectly) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
index 34ac2beec6..7f1dc53056 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/commands2/SelectCommand.hpp"
 #include "wpi/commands2/SequentialCommandGroup.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class RobotDisabledCommandTest : public CommandTestBase {};
 
 TEST_F(RobotDisabledCommandTest, RobotDisabledCommandCancel) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
index 307760bff5..6da6204d55 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/RunCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class RunCommandTest : public CommandTestBase {};
 
 TEST_F(RunCommandTest, RunCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
index d6393c11e7..2121a5056c 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/commands2/ScheduleCommand.hpp"
 #include "wpi/commands2/SequentialCommandGroup.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class ScheduleCommandTest : public CommandTestBase {};
 
 TEST_F(ScheduleCommandTest, ScheduleCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
index d1fef110f0..0082578dbb 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/commands2/RunCommand.hpp"
 #include "wpi/commands2/StartEndCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class SchedulerTest : public CommandTestBase {};
 
 TEST_F(SchedulerTest, SchedulerLambdaTestNoInterrupt) {
@@ -176,9 +176,9 @@ TEST_F(SchedulerTest, ScheduleScheduledNoOp) {
 }
 
 class TrackDestroyCommand
-    : public frc2::CommandHelper<Command, TrackDestroyCommand> {
+    : public wpi::cmd::CommandHelper<Command, TrackDestroyCommand> {
  public:
-  explicit TrackDestroyCommand(wpi::unique_function<void()> deleteFunc)
+  explicit TrackDestroyCommand(wpi::util::unique_function<void()> deleteFunc)
       : m_deleteFunc{std::move(deleteFunc)} {}
   TrackDestroyCommand(TrackDestroyCommand&& other)
       : m_deleteFunc{std::exchange(other.m_deleteFunc, [] {})} {}
@@ -189,7 +189,7 @@ class TrackDestroyCommand
   ~TrackDestroyCommand() override { m_deleteFunc(); }
 
  private:
-  wpi::unique_function<void()> m_deleteFunc;
+  wpi::util::unique_function<void()> m_deleteFunc;
 };
 
 TEST_F(SchedulerTest, ScheduleCommandPtr) {
@@ -203,7 +203,7 @@ TEST_F(SchedulerTest, ScheduleCommandPtr) {
     auto commandPtr =
         TrackDestroyCommand([&destructionCounter] { destructionCounter++; })
             .AlongWith(
-                frc2::InstantCommand([&runCounter] { runCounter++; }).ToPtr())
+                wpi::cmd::InstantCommand([&runCounter] { runCounter++; }).ToPtr())
             .Until([&finish] { return finish; });
     EXPECT_EQ(destructionCounter, 0) << "Composition should not delete command";
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
index a3d6300685..2f15e4e11b 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/commands2/RunCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 class SchedulingRecursionTest
     : public CommandTestBaseWithParam<Command::InterruptionBehavior> {};
@@ -343,15 +343,15 @@ TEST_F(SchedulingRecursionTest, CancelDefaultCommandFromEnd) {
 TEST_F(SchedulingRecursionTest, CancelNextCommandFromCommand) {
   CommandScheduler scheduler = GetScheduler();
 
-  frc2::RunCommand* command1Ptr = nullptr;
-  frc2::RunCommand* command2Ptr = nullptr;
+  wpi::cmd::RunCommand* command1Ptr = nullptr;
+  wpi::cmd::RunCommand* command2Ptr = nullptr;
   int counter = 0;
 
-  auto command1 = frc2::RunCommand([&counter, &command2Ptr, &scheduler] {
+  auto command1 = wpi::cmd::RunCommand([&counter, &command2Ptr, &scheduler] {
     scheduler.Cancel(command2Ptr);
     counter++;
   });
-  auto command2 = frc2::RunCommand([&counter, &command1Ptr, &scheduler] {
+  auto command2 = wpi::cmd::RunCommand([&counter, &command1Ptr, &scheduler] {
     scheduler.Cancel(command1Ptr);
     counter++;
   });
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
index c0a658c950..406267ba0e 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/commands2/InstantCommand.hpp"
 #include "wpi/commands2/SelectCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class SelectCommandTest : public CommandTestBase {};
 
 TEST_F(SelectCommandTest, SelectCommand) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
index 40925f3b33..dcd69bf048 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/commands2/SequentialCommandGroup.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class SequentialCommandGroupTest : public CommandTestBase {};
 
 TEST_F(SequentialCommandGroupTest, SequentialGroupSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
index d2997f0133..6e1ce9b46f 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/StartEndCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class StartEndCommandTest : public CommandTestBase {};
 
 TEST_F(StartEndCommandTest, StartEndCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
index 91848df916..2b59dfcdb4 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
@@ -8,11 +8,11 @@
 #include "wpi/commands2/WaitUntilCommand.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class WaitCommandTest : public CommandTestBase {};
 
 TEST_F(WaitCommandTest, WaitCommandSchedule) {
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
 
   CommandScheduler scheduler = GetScheduler();
 
@@ -21,9 +21,9 @@ TEST_F(WaitCommandTest, WaitCommandSchedule) {
   scheduler.Schedule(command);
   scheduler.Run();
   EXPECT_TRUE(scheduler.IsScheduled(command));
-  frc::sim::StepTiming(110_ms);
+  wpi::sim::StepTiming(110_ms);
   scheduler.Run();
   EXPECT_FALSE(scheduler.IsScheduled(command));
 
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 }
diff --git a/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
index e09e1bb642..3f2cf88a08 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
@@ -6,7 +6,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class WaitUntilCommandTest : public CommandTestBase {};
 
 TEST_F(WaitUntilCommandTest, WaitUntilCommandSchedule) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
index b780c0b98f..e76e5ca57b 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
@@ -11,18 +11,18 @@
 #include "wpi/commands2/button/NetworkButton.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 class NetworkButtonTest : public CommandTestBase {
  public:
   NetworkButtonTest() {
-    inst = nt::NetworkTableInstance::Create();
+    inst = wpi::nt::NetworkTableInstance::Create();
     inst.StartLocal();
   }
 
-  ~NetworkButtonTest() override { nt::NetworkTableInstance::Destroy(inst); }
+  ~NetworkButtonTest() override { wpi::nt::NetworkTableInstance::Destroy(inst); }
 
-  nt::NetworkTableInstance inst;
+  wpi::nt::NetworkTableInstance inst;
 };
 
 TEST_F(NetworkButtonTest, SetNetworkButton) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
index ad461dfa41..b23ffa3e03 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
@@ -8,8 +8,8 @@
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 
-using namespace frc2;
-using namespace frc::sim;
+using namespace wpi::cmd;
+using namespace wpi::sim;
 class RobotModeTriggersTest : public CommandTestBase {};
 
 TEST(RobotModeTriggersTest, Autonomous) {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
index 9872a5f9d1..3792d34602 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
@@ -15,7 +15,7 @@
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 class TriggerTest : public CommandTestBase {};
 
 TEST_F(TriggerTest, OnTrue) {
@@ -242,7 +242,7 @@ TEST_F(TriggerTest, Debounce) {
   scheduler.Run();
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 
-  frc::sim::StepTiming(300_ms);
+  wpi::sim::StepTiming(300_ms);
 
   scheduler.Run();
   EXPECT_TRUE(scheduler.IsScheduled(&command));
diff --git a/commandsv2/src/test/native/cpp/wpi/command/make_vector.hpp b/commandsv2/src/test/native/cpp/wpi/command/make_vector.hpp
index 8dbf7544ac..5e161484c9 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/make_vector.hpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/make_vector.hpp
@@ -8,7 +8,7 @@
 #include <utility>
 #include <vector>
 
-namespace frc2 {
+namespace wpi::cmd {
 
 template <typename T = void, typename... Args,
           typename CommonType = std::conditional_t<
@@ -31,4 +31,4 @@ std::vector<CommonType> make_vector(Args&&... args) {
   }
 }
 
-}  // namespace frc2
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
index 1efa380e7a..f88893870f 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
@@ -14,7 +14,7 @@
 #include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
 enum StateTest {
   Invalid,
@@ -30,79 +30,79 @@ enum StateTest {
 class SysIdRoutineTest : public ::testing::Test {
  protected:
   std::vector<StateTest> currentStateList{};
-  std::vector<units::volt_t> sentVoltages{};
-  frc2::Subsystem m_subsystem{};
-  frc2::sysid::SysIdRoutine m_sysidRoutine{
-      frc2::sysid::Config{
+  std::vector<wpi::units::volt_t> sentVoltages{};
+  wpi::cmd::Subsystem m_subsystem{};
+  wpi::cmd::sysid::SysIdRoutine m_sysidRoutine{
+      wpi::cmd::sysid::Config{
           std::nullopt, std::nullopt, std::nullopt,
-          [this](frc::sysid::State state) {
+          [this](wpi::sysid::State state) {
             switch (state) {
-              case frc::sysid::State::kQuasistaticForward:
+              case wpi::sysid::State::kQuasistaticForward:
                 currentStateList.emplace_back(StateTest::InRecordStateQf);
                 break;
-              case frc::sysid::State::kQuasistaticReverse:
+              case wpi::sysid::State::kQuasistaticReverse:
                 currentStateList.emplace_back(StateTest::InRecordStateQr);
                 break;
-              case frc::sysid::State::kDynamicForward:
+              case wpi::sysid::State::kDynamicForward:
                 currentStateList.emplace_back(StateTest::InRecordStateDf);
                 break;
-              case frc::sysid::State::kDynamicReverse:
+              case wpi::sysid::State::kDynamicReverse:
                 currentStateList.emplace_back(StateTest::InRecordStateDr);
                 break;
-              case frc::sysid::State::kNone:
+              case wpi::sysid::State::kNone:
                 currentStateList.emplace_back(StateTest::DoneWithRecordState);
                 break;
             }
           }},
-      frc2::sysid::Mechanism{
-          [this](units::volt_t driveVoltage) {
+      wpi::cmd::sysid::Mechanism{
+          [this](wpi::units::volt_t driveVoltage) {
             sentVoltages.emplace_back(driveVoltage);
             currentStateList.emplace_back(StateTest::InDrive);
           },
-          [this](frc::sysid::SysIdRoutineLog* log) {
+          [this](wpi::sysid::SysIdRoutineLog* log) {
             currentStateList.emplace_back(StateTest::InLog);
             log->Motor("Mock Motor").position(0_m).velocity(0_mps).voltage(0_V);
           },
           &m_subsystem}};
 
-  frc2::CommandPtr m_quasistaticForward{
-      m_sysidRoutine.Quasistatic(frc2::sysid::Direction::kForward)};
-  frc2::CommandPtr m_quasistaticReverse{
-      m_sysidRoutine.Quasistatic(frc2::sysid::Direction::kReverse)};
-  frc2::CommandPtr m_dynamicForward{
-      m_sysidRoutine.Dynamic(frc2::sysid::Direction::kForward)};
-  frc2::CommandPtr m_dynamicReverse{
-      m_sysidRoutine.Dynamic(frc2::sysid::Direction::kReverse)};
+  wpi::cmd::CommandPtr m_quasistaticForward{
+      m_sysidRoutine.Quasistatic(wpi::cmd::sysid::Direction::kForward)};
+  wpi::cmd::CommandPtr m_quasistaticReverse{
+      m_sysidRoutine.Quasistatic(wpi::cmd::sysid::Direction::kReverse)};
+  wpi::cmd::CommandPtr m_dynamicForward{
+      m_sysidRoutine.Dynamic(wpi::cmd::sysid::Direction::kForward)};
+  wpi::cmd::CommandPtr m_dynamicReverse{
+      m_sysidRoutine.Dynamic(wpi::cmd::sysid::Direction::kReverse)};
 
-  frc2::sysid::SysIdRoutine m_emptySysidRoutine{
-      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
-      frc2::sysid::Mechanism{[](units::volt_t driveVoltage) {}, nullptr,
+  wpi::cmd::sysid::SysIdRoutine m_emptySysidRoutine{
+      wpi::cmd::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
+      wpi::cmd::sysid::Mechanism{[](wpi::units::volt_t driveVoltage) {}, nullptr,
                              &m_subsystem}};
 
-  frc2::CommandPtr m_emptyRoutineForward{
-      m_emptySysidRoutine.Quasistatic(frc2::sysid::Direction::kForward)};
+  wpi::cmd::CommandPtr m_emptyRoutineForward{
+      m_emptySysidRoutine.Quasistatic(wpi::cmd::sysid::Direction::kForward)};
 
-  void RunCommand(frc2::CommandPtr command) {
+  void RunCommand(wpi::cmd::CommandPtr command) {
     command.get()->Initialize();
     command.get()->Execute();
-    frc::sim::StepTiming(1_s);
+    wpi::sim::StepTiming(1_s);
     command.get()->Execute();
     command.get()->End(true);
   }
 
   void SetUp() override {
-    frc::sim::PauseTiming();
-    frc2::CommandPtr m_quasistaticForward{
-        m_sysidRoutine.Quasistatic(frc2::sysid::Direction::kForward)};
-    frc2::CommandPtr m_quasistaticReverse{
-        m_sysidRoutine.Quasistatic(frc2::sysid::Direction::kReverse)};
-    frc2::CommandPtr m_dynamicForward{
-        m_sysidRoutine.Dynamic(frc2::sysid::Direction::kForward)};
-    frc2::CommandPtr m_dynamicReverse{
-        m_sysidRoutine.Dynamic(frc2::sysid::Direction::kReverse)};
+    wpi::sim::PauseTiming();
+    wpi::cmd::CommandPtr m_quasistaticForward{
+        m_sysidRoutine.Quasistatic(wpi::cmd::sysid::Direction::kForward)};
+    wpi::cmd::CommandPtr m_quasistaticReverse{
+        m_sysidRoutine.Quasistatic(wpi::cmd::sysid::Direction::kReverse)};
+    wpi::cmd::CommandPtr m_dynamicForward{
+        m_sysidRoutine.Dynamic(wpi::cmd::sysid::Direction::kForward)};
+    wpi::cmd::CommandPtr m_dynamicReverse{
+        m_sysidRoutine.Dynamic(wpi::cmd::sysid::Direction::kReverse)};
   }
 
-  void TearDown() override { frc::sim::ResumeTiming(); }
+  void TearDown() override { wpi::sim::ResumeTiming(); }
 };
 
 TEST_F(SysIdRoutineTest, RecordStateBookendsMotorLogging) {
@@ -151,28 +151,28 @@ TEST_F(SysIdRoutineTest, DeclareCorrectState) {
 
 TEST_F(SysIdRoutineTest, OutputCorrectVoltage) {
   RunCommand(std::move(m_quasistaticForward));
-  std::vector<units::volt_t> expectedVoltages{1_V, 0_V};
+  std::vector<wpi::units::volt_t> expectedVoltages{1_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();
   sentVoltages.clear();
 
   RunCommand(std::move(m_quasistaticReverse));
-  expectedVoltages = std::vector<units::volt_t>{-1_V, 0_V};
+  expectedVoltages = std::vector<wpi::units::volt_t>{-1_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();
   sentVoltages.clear();
 
   RunCommand(std::move(m_dynamicForward));
-  expectedVoltages = std::vector<units::volt_t>{7_V, 0_V};
+  expectedVoltages = std::vector<wpi::units::volt_t>{7_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();
   sentVoltages.clear();
 
   RunCommand(std::move(m_dynamicReverse));
-  expectedVoltages = std::vector<units::volt_t>{-7_V, 0_V};
+  expectedVoltages = std::vector<wpi::units::volt_t>{-7_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();
diff --git a/cscore/examples/enum_usb/enum_usb.cpp b/cscore/examples/enum_usb/enum_usb.cpp
index 4108630b81..7c4cee7236 100644
--- a/cscore/examples/enum_usb/enum_usb.cpp
+++ b/cscore/examples/enum_usb/enum_usb.cpp
@@ -10,39 +10,39 @@
 int main() {
   CS_Status status = 0;
 
-  for (const auto& caminfo : cs::EnumerateUsbCameras(&status)) {
-    wpi::print("{}: {} ({})\n", caminfo.dev, caminfo.path, caminfo.name);
+  for (const auto& caminfo : wpi::cs::EnumerateUsbCameras(&status)) {
+    wpi::util::print("{}: {} ({})\n", caminfo.dev, caminfo.path, caminfo.name);
     if (!caminfo.otherPaths.empty()) {
       std::puts("Other device paths:");
       for (auto&& path : caminfo.otherPaths) {
-        wpi::print("  {}\n", path);
+        wpi::util::print("  {}\n", path);
       }
     }
 
-    cs::UsbCamera camera{"usbcam", caminfo.dev};
+    wpi::cs::UsbCamera camera{"usbcam", caminfo.dev};
 
     std::puts("Properties:");
     for (const auto& prop : camera.EnumerateProperties()) {
-      wpi::print("  {}", prop.GetName());
+      wpi::util::print("  {}", prop.GetName());
       switch (prop.GetKind()) {
-        case cs::VideoProperty::kBoolean:
-          wpi::print(" (bool): value={} default={}", prop.Get(),
+        case wpi::cs::VideoProperty::kBoolean:
+          wpi::util::print(" (bool): value={} default={}", prop.Get(),
                      prop.GetDefault());
           break;
-        case cs::VideoProperty::kInteger:
-          wpi::print(" (int): value={} min={} max={} step={} default={}",
+        case wpi::cs::VideoProperty::kInteger:
+          wpi::util::print(" (int): value={} min={} max={} step={} default={}",
                      prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
                      prop.GetDefault());
           break;
-        case cs::VideoProperty::kString:
-          wpi::print(" (string): {}", prop.GetString());
+        case wpi::cs::VideoProperty::kString:
+          wpi::util::print(" (string): {}", prop.GetString());
           break;
-        case cs::VideoProperty::kEnum: {
-          wpi::print(" (enum): value={}", prop.Get());
+        case wpi::cs::VideoProperty::kEnum: {
+          wpi::util::print(" (enum): value={}", prop.Get());
           auto choices = prop.GetChoices();
           for (size_t i = 0; i < choices.size(); ++i) {
             if (!choices[i].empty()) {
-              wpi::print("\n    {}: {}", i, choices[i]);
+              wpi::util::print("\n    {}: {}", i, choices[i]);
             }
           }
           break;
@@ -57,20 +57,20 @@ int main() {
     for (const auto& mode : camera.EnumerateVideoModes()) {
       const char* pixelFormat;
       switch (mode.pixelFormat) {
-        case cs::VideoMode::kMJPEG:
+        case wpi::cs::VideoMode::kMJPEG:
           pixelFormat = "MJPEG";
           break;
-        case cs::VideoMode::kYUYV:
+        case wpi::cs::VideoMode::kYUYV:
           pixelFormat = "YUYV";
           break;
-        case cs::VideoMode::kRGB565:
+        case wpi::cs::VideoMode::kRGB565:
           pixelFormat = "RGB565";
           break;
         default:
           pixelFormat = "Unknown";
           break;
       }
-      wpi::print("  PixelFormat:{} Width:{} Height:{} FPS:{}\n", pixelFormat,
+      wpi::util::print("  PixelFormat:{} Width:{} Height:{} FPS:{}\n", pixelFormat,
                  mode.width, mode.height, mode.fps);
     }
   }
diff --git a/cscore/examples/httpcvstream/httpcvstream.cpp b/cscore/examples/httpcvstream/httpcvstream.cpp
index 3366e84a14..508fecf445 100644
--- a/cscore/examples/httpcvstream/httpcvstream.cpp
+++ b/cscore/examples/httpcvstream/httpcvstream.cpp
@@ -11,12 +11,12 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
-  camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
-  cs::CvSink cvsink{"cvsink"};
+  wpi::cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
+  camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
+  wpi::cs::CvSink cvsink{"cvsink"};
   cvsink.SetSource(camera);
-  cs::CvSource cvsource{"cvsource", cs::VideoMode::kMJPEG, 320, 240, 30};
-  cs::MjpegServer cvMjpegServer{"cvhttpserver", 8083};
+  wpi::cs::CvSource cvsource{"cvsource", wpi::cs::VideoMode::kMJPEG, 320, 240, 30};
+  wpi::cs::MjpegServer cvMjpegServer{"cvhttpserver", 8083};
   cvMjpegServer.SetSource(cvsource);
 
   cv::Mat test;
@@ -24,10 +24,10 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      wpi::print("error: {}\n", cvsink.GetError());
+      wpi::util::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    wpi::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+    wpi::util::print("got frame at time {} size ({}, {})\n", time, test.size().width,
                test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
diff --git a/cscore/examples/settings/settings.cpp b/cscore/examples/settings/settings.cpp
index 3ab28f7621..2e1ac6b6ab 100644
--- a/cscore/examples/settings/settings.cpp
+++ b/cscore/examples/settings/settings.cpp
@@ -19,14 +19,14 @@ int main(int argc, char** argv) {
   }
 
   int id;
-  if (auto v = wpi::parse_integer<int>(argv[1], 10)) {
+  if (auto v = wpi::util::parse_integer<int>(argv[1], 10)) {
     id = v.value();
   } else {
     std::fputs("Expected number for camera\n", stderr);
     return 2;
   }
 
-  cs::UsbCamera camera{"usbcam", id};
+  wpi::cs::UsbCamera camera{"usbcam", id};
 
   // Set prior to connect
   int arg = 2;
@@ -36,7 +36,7 @@ int main(int argc, char** argv) {
       propName = argv[arg];
     } else {
       std::string_view propVal{argv[arg]};
-      if (auto v = wpi::parse_integer<int>(propVal, 10)) {
+      if (auto v = wpi::util::parse_integer<int>(propVal, 10)) {
         camera.GetProperty(propName).Set(v.value());
       } else {
         camera.GetProperty(propName).SetString(propVal);
@@ -60,7 +60,7 @@ int main(int argc, char** argv) {
       propName = argv[arg];
     } else {
       std::string_view propVal{argv[arg]};
-      if (auto v = wpi::parse_integer<int>(propVal, 10)) {
+      if (auto v = wpi::util::parse_integer<int>(propVal, 10)) {
         camera.GetProperty(propName).Set(v.value());
       } else {
         camera.GetProperty(propName).SetString(propVal);
@@ -72,26 +72,26 @@ int main(int argc, char** argv) {
   // Print settings
   std::puts("Properties:");
   for (const auto& prop : camera.EnumerateProperties()) {
-    wpi::print("  {}", prop.GetName());
+    wpi::util::print("  {}", prop.GetName());
     switch (prop.GetKind()) {
-      case cs::VideoProperty::kBoolean:
-        wpi::print(" (bool): value={} default={}", prop.Get(),
+      case wpi::cs::VideoProperty::kBoolean:
+        wpi::util::print(" (bool): value={} default={}", prop.Get(),
                    prop.GetDefault());
         break;
-      case cs::VideoProperty::kInteger:
-        wpi::print(" (int): value={} min={} max={} step={} default={}",
+      case wpi::cs::VideoProperty::kInteger:
+        wpi::util::print(" (int): value={} min={} max={} step={} default={}",
                    prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
                    prop.GetDefault());
         break;
-      case cs::VideoProperty::kString:
-        wpi::print(" (string): {}", prop.GetString());
+      case wpi::cs::VideoProperty::kString:
+        wpi::util::print(" (string): {}", prop.GetString());
         break;
-      case cs::VideoProperty::kEnum: {
-        wpi::print(" (enum): value={}", prop.Get());
+      case wpi::cs::VideoProperty::kEnum: {
+        wpi::util::print(" (enum): value={}", prop.Get());
         auto choices = prop.GetChoices();
         for (size_t i = 0; i < choices.size(); ++i) {
           if (!choices[i].empty()) {
-            wpi::print("\n    {}: {}", i, choices[i]);
+            wpi::util::print("\n    {}: {}", i, choices[i]);
           }
         }
         break;
diff --git a/cscore/examples/usbcvstream/usbcvstream.cpp b/cscore/examples/usbcvstream/usbcvstream.cpp
index 6376ae8729..34f6ac04eb 100644
--- a/cscore/examples/usbcvstream/usbcvstream.cpp
+++ b/cscore/examples/usbcvstream/usbcvstream.cpp
@@ -8,14 +8,14 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  cs::UsbCamera camera{"usbcam", 0};
-  camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
-  cs::MjpegServer mjpegServer{"httpserver", 8081};
+  wpi::cs::UsbCamera camera{"usbcam", 0};
+  camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
+  wpi::cs::MjpegServer mjpegServer{"httpserver", 8081};
   mjpegServer.SetSource(camera);
-  cs::CvSink cvsink{"cvsink"};
+  wpi::cs::CvSink cvsink{"cvsink"};
   cvsink.SetSource(camera);
-  cs::CvSource cvsource{"cvsource", cs::VideoMode::kMJPEG, 320, 240, 30};
-  cs::MjpegServer cvMjpegServer{"cvhttpserver", 8082};
+  wpi::cs::CvSource cvsource{"cvsource", wpi::cs::VideoMode::kMJPEG, 320, 240, 30};
+  wpi::cs::MjpegServer cvMjpegServer{"cvhttpserver", 8082};
   cvMjpegServer.SetSource(cvsource);
 
   cv::Mat test;
@@ -23,10 +23,10 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      wpi::print("error: {}\n", cvsink.GetError());
+      wpi::util::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    wpi::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+    wpi::util::print("got frame at time {} size ({}, {})\n", time, test.size().width,
                test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
diff --git a/cscore/examples/usbstream/usbstream.cpp b/cscore/examples/usbstream/usbstream.cpp
index 1ca051a16a..eea7bd3b38 100644
--- a/cscore/examples/usbstream/usbstream.cpp
+++ b/cscore/examples/usbstream/usbstream.cpp
@@ -8,24 +8,24 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::print("hostname: {}\n", cs::GetHostname());
+  wpi::util::print("hostname: {}\n", wpi::cs::GetHostname());
   std::puts("IPv4 network addresses:");
-  for (const auto& addr : cs::GetNetworkInterfaces()) {
-    wpi::print("  {}\n", addr);
+  for (const auto& addr : wpi::cs::GetNetworkInterfaces()) {
+    wpi::util::print("  {}\n", addr);
   }
-  cs::UsbCamera camera{"usbcam", 0};
-  camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
-  cs::MjpegServer mjpegServer{"httpserver", 8081};
+  wpi::cs::UsbCamera camera{"usbcam", 0};
+  camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 320, 240, 30);
+  wpi::cs::MjpegServer mjpegServer{"httpserver", 8081};
   mjpegServer.SetSource(camera);
 
   CS_Status status = 0;
-  cs::AddListener(
-      [&](const cs::RawEvent& event) {
-        wpi::print("FPS={} MBPS={}\n", camera.GetActualFPS(),
+  wpi::cs::AddListener(
+      [&](const wpi::cs::RawEvent& event) {
+        wpi::util::print("FPS={} MBPS={}\n", camera.GetActualFPS(),
                    (camera.GetActualDataRate() / 1000000.0));
       },
-      cs::RawEvent::kTelemetryUpdated, false, &status);
-  cs::SetTelemetryPeriod(1.0);
+      wpi::cs::RawEvent::kTelemetryUpdated, false, &status);
+  wpi::cs::SetTelemetryPeriod(1.0);
 
   std::getchar();
 }
diff --git a/cscore/examples/usbviewer/usbviewer.cpp b/cscore/examples/usbviewer/usbviewer.cpp
index afd55eed47..42adf8e487 100644
--- a/cscore/examples/usbviewer/usbviewer.cpp
+++ b/cscore/examples/usbviewer/usbviewer.cpp
@@ -24,15 +24,15 @@
 namespace gui = wpi::gui;
 
 int main() {
-  wpi::spinlock latestFrameMutex;
+  wpi::util::spinlock latestFrameMutex;
   std::unique_ptr<cv::Mat> latestFrame;
-  wpi::mutex freeListMutex;
+  wpi::util::mutex freeListMutex;
   std::vector<std::unique_ptr<cv::Mat>> freeList;
   std::atomic<bool> stopCamera{false};
 
-  cs::UsbCamera camera{"usbcam", 0};
-  camera.SetVideoMode(cs::VideoMode::kMJPEG, 640, 480, 30);
-  cs::CvSink cvsink{"cvsink"};
+  wpi::cs::UsbCamera camera{"usbcam", 0};
+  camera.SetVideoMode(wpi::cs::VideoMode::kMJPEG, 640, 480, 30);
+  wpi::cs::CvSink cvsink{"cvsink"};
   cvsink.SetSource(camera);
 
   std::thread thr([&] {
@@ -41,7 +41,7 @@ int main() {
       // get frame from camera
       uint64_t time = cvsink.GrabFrame(frame);
       if (time == 0) {
-        wpi::print("error: {}\n", cvsink.GetError());
+        wpi::util::print("error: {}\n", cvsink.GetError());
         continue;
       }
 
diff --git a/cscore/src/dev/native/cpp/main.cpp b/cscore/src/dev/native/cpp/main.cpp
index eb649c043d..270b145024 100644
--- a/cscore/src/dev/native/cpp/main.cpp
+++ b/cscore/src/dev/native/cpp/main.cpp
@@ -6,5 +6,5 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::print("{}\n", cs::GetHostname());
+  wpi::util::print("{}\n", wpi::cs::GetHostname());
 }
diff --git a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp b/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
index 6b4fd27a0e..1f65955d7a 100644
--- a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
@@ -12,10 +12,10 @@
 #include "Notifier.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
 ConfigurableSourceImpl::ConfigurableSourceImpl(std::string_view name,
-                                               wpi::Logger& logger,
+                                               wpi::util::Logger& logger,
                                                Notifier& notifier,
                                                Telemetry& telemetry,
                                                const VideoMode& mode)
@@ -52,7 +52,7 @@ void ConfigurableSourceImpl::NumSinksEnabledChanged() {
 }
 
 void ConfigurableSourceImpl::NotifyError(std::string_view msg) {
-  PutError(msg, wpi::Now());
+  PutError(msg, wpi::util::Now());
 }
 
 int ConfigurableSourceImpl::CreateProperty(std::string_view name,
@@ -106,7 +106,7 @@ void ConfigurableSourceImpl::SetEnumPropertyChoices(
                                   prop->value, {});
 }
 
-namespace cs {
+namespace wpi::cs {
 static constexpr unsigned SourceMask = CS_SOURCE_CV | CS_SOURCE_RAW;
 
 void NotifySourceError(CS_Source source, std::string_view msg,
@@ -195,23 +195,23 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
       .SetEnumPropertyChoices(propertyIndex, choices, status);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 void CS_NotifySourceError(CS_Source source, const struct WPI_String* msg,
                           CS_Status* status) {
-  return cs::NotifySourceError(source, wpi::to_string_view(msg), status);
+  return wpi::cs::NotifySourceError(source, wpi::util::to_string_view(msg), status);
 }
 
 void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
                            CS_Status* status) {
-  return cs::SetSourceConnected(source, connected, status);
+  return wpi::cs::SetSourceConnected(source, connected, status);
 }
 
 void CS_SetSourceDescription(CS_Source source,
                              const struct WPI_String* description,
                              CS_Status* status) {
-  return cs::SetSourceDescription(source, wpi::to_string_view(description),
+  return wpi::cs::SetSourceDescription(source, wpi::util::to_string_view(description),
                                   status);
 }
 
@@ -220,7 +220,7 @@ CS_Property CS_CreateSourceProperty(CS_Source source,
                                     enum CS_PropertyKind kind, int minimum,
                                     int maximum, int step, int defaultValue,
                                     int value, CS_Status* status) {
-  return cs::CreateSourceProperty(source, wpi::to_string_view(name), kind,
+  return wpi::cs::CreateSourceProperty(source, wpi::util::to_string_view(name), kind,
                                   minimum, maximum, step, defaultValue, value,
                                   status);
 }
@@ -229,7 +229,7 @@ CS_Property CS_CreateSourcePropertyCallback(
     CS_Source source, const char* name, enum CS_PropertyKind kind, int minimum,
     int maximum, int step, int defaultValue, int value, void* data,
     void (*onChange)(void* data, CS_Property property), CS_Status* status) {
-  return cs::CreateSourcePropertyCallback(
+  return wpi::cs::CreateSourcePropertyCallback(
       source, name, kind, minimum, maximum, step, defaultValue, value,
       [=](CS_Property property) { onChange(data, property); }, status);
 }
@@ -237,12 +237,12 @@ CS_Property CS_CreateSourcePropertyCallback(
 void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
                                      const struct WPI_String* choices,
                                      int count, CS_Status* status) {
-  wpi::SmallVector<std::string, 8> vec;
+  wpi::util::SmallVector<std::string, 8> vec;
   vec.reserve(count);
   for (int i = 0; i < count; ++i) {
-    vec.emplace_back(wpi::to_string_view(&choices[i]));
+    vec.emplace_back(wpi::util::to_string_view(&choices[i]));
   }
-  return cs::SetSourceEnumPropertyChoices(source, property, vec, status);
+  return wpi::cs::SetSourceEnumPropertyChoices(source, property, vec, status);
 }
 
 }  // extern "C"
diff --git a/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp b/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
index 65f94c4da4..b04f7f09bb 100644
--- a/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
+++ b/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
@@ -15,11 +15,11 @@
 
 #include "SourceImpl.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class ConfigurableSourceImpl : public SourceImpl {
  protected:
-  ConfigurableSourceImpl(std::string_view name, wpi::Logger& logger,
+  ConfigurableSourceImpl(std::string_view name, wpi::util::Logger& logger,
                          Notifier& notifier, Telemetry& telemetry,
                          const VideoMode& mode);
 
@@ -48,6 +48,6 @@ class ConfigurableSourceImpl : public SourceImpl {
   std::atomic_bool m_connected{true};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_CONFIGURABLESOURCEIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/Frame.cpp b/cscore/src/main/native/cpp/Frame.cpp
index 9ffd9d51bb..6d21969550 100644
--- a/cscore/src/main/native/cpp/Frame.cpp
+++ b/cscore/src/main/native/cpp/Frame.cpp
@@ -14,7 +14,7 @@
 #include "Instance.hpp"
 #include "SourceImpl.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 Frame::Frame(SourceImpl& source, std::string_view error, Time time,
              WPI_TimestampSource timeSrc)
@@ -802,8 +802,8 @@ void Frame::ReleaseFrame() {
   m_impl = nullptr;
 }
 
-namespace cs {
-std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
+namespace wpi::cs {
+std::unique_ptr<Image> CreateImageFromBGRA(wpi::cs::SourceImpl* source, size_t width,
                                            size_t height, size_t stride,
                                            const uint8_t* data) {
   cv::Mat finalImage{static_cast<int>(height), static_cast<int>(width), CV_8UC4,
@@ -813,4 +813,4 @@ std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
   cv::cvtColor(finalImage, dest->AsMat(), cv::COLOR_BGRA2BGR);
   return dest;
 }
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/cpp/Frame.hpp b/cscore/src/main/native/cpp/Frame.hpp
index ebb7e73ba7..5552a2fce9 100644
--- a/cscore/src/main/native/cpp/Frame.hpp
+++ b/cscore/src/main/native/cpp/Frame.hpp
@@ -17,11 +17,11 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class SourceImpl;
 
-std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
+std::unique_ptr<Image> CreateImageFromBGRA(wpi::cs::SourceImpl* source, size_t width,
                                            size_t height, size_t stride,
                                            const uint8_t* data);
 
@@ -35,13 +35,13 @@ class Frame {
   struct Impl {
     explicit Impl(SourceImpl& source_) : source(source_) {}
 
-    wpi::recursive_mutex mutex;
+    wpi::util::recursive_mutex mutex;
     std::atomic_int refcount{0};
     Time time{0};
     WPI_TimestampSource timeSource{WPI_TIMESRC_UNKNOWN};
     SourceImpl& source;
     std::string error;
-    wpi::SmallVector<Image*, 4> images;
+    wpi::util::SmallVector<Image*, 4> images;
     std::vector<int> compressionParams;
   };
 
@@ -250,6 +250,6 @@ class Frame {
   Impl* m_impl{nullptr};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_FRAME_HPP_
diff --git a/cscore/src/main/native/cpp/Handle.hpp b/cscore/src/main/native/cpp/Handle.hpp
index ce8133985c..94aa99b2fd 100644
--- a/cscore/src/main/native/cpp/Handle.hpp
+++ b/cscore/src/main/native/cpp/Handle.hpp
@@ -8,7 +8,7 @@
 #include "wpi/cs/cscore_c.h"
 #include "wpi/util/Synchronization.h"
 
-namespace cs {
+namespace wpi::cs {
 
 // Handle data layout:
 // Bits 0-15:  Handle index
@@ -19,7 +19,7 @@ class Handle {
  public:
   enum Type {
     kUndefined = 0,
-    kProperty = wpi::kHandleTypeCSBase,
+    kProperty = wpi::util::kHandleTypeCSBase,
     kSource,
     kSink,
     kListener,
@@ -63,6 +63,6 @@ class Handle {
   CS_Handle m_handle;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_HANDLE_HPP_
diff --git a/cscore/src/main/native/cpp/HttpCameraImpl.cpp b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
index 7d1a3a852c..342c981f49 100644
--- a/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -22,10 +22,10 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
 HttpCameraImpl::HttpCameraImpl(std::string_view name, CS_HttpCameraKind kind,
-                               wpi::Logger& logger, Notifier& notifier,
+                               wpi::util::Logger& logger, Notifier& notifier,
                                Telemetry& telemetry)
     : SourceImpl{name, logger, notifier, telemetry}, m_kind{kind} {}
 
@@ -123,8 +123,8 @@ void HttpCameraImpl::StreamThreadMain() {
     }
 
     // connect
-    wpi::SmallString<64> boundary;
-    wpi::HttpConnection* conn = DeviceStreamConnect(boundary);
+    wpi::util::SmallString<64> boundary;
+    wpi::net::HttpConnection* conn = DeviceStreamConnect(boundary);
 
     if (!m_active) {
       break;
@@ -150,10 +150,10 @@ void HttpCameraImpl::StreamThreadMain() {
   SetConnected(false);
 }
 
-wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
-    wpi::SmallVectorImpl<char>& boundary) {
+wpi::net::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
+    wpi::util::SmallVectorImpl<char>& boundary) {
   // Build the request
-  wpi::HttpRequest req;
+  wpi::net::HttpRequest req;
   {
     std::scoped_lock lock(m_mutex);
     if (m_locations.empty()) {
@@ -164,20 +164,20 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
     if (m_nextLocation >= m_locations.size()) {
       m_nextLocation = 0;
     }
-    req = wpi::HttpRequest{m_locations[m_nextLocation++], m_streamSettings};
+    req = wpi::net::HttpRequest{m_locations[m_nextLocation++], m_streamSettings};
     m_streamSettingsUpdated = false;
   }
 
   // Try to connect
   auto stream =
-      wpi::TCPConnector::connect(req.host.c_str(), req.port, m_logger, 1);
+      wpi::net::TCPConnector::connect(req.host.c_str(), req.port, m_logger, 1);
 
   if (!m_active || !stream) {
     return nullptr;
   }
 
-  auto connPtr = std::make_unique<wpi::HttpConnection>(std::move(stream), 1);
-  wpi::HttpConnection* conn = connPtr.get();
+  auto connPtr = std::make_unique<wpi::net::HttpConnection>(std::move(stream), 1);
+  wpi::net::HttpConnection* conn = connPtr.get();
 
   // update m_streamConn
   {
@@ -195,8 +195,8 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   }
 
   // Parse Content-Type header to get the boundary
-  auto [mediaType, contentType] = wpi::split(conn->contentType.str(), ';');
-  mediaType = wpi::trim(mediaType);
+  auto [mediaType, contentType] = wpi::util::split(conn->contentType.str(), ';');
+  mediaType = wpi::util::trim(mediaType);
   if (mediaType != "multipart/x-mixed-replace") {
     SWARNING("\"{}\": unrecognized Content-Type \"{}\"", req.host.str(),
              mediaType);
@@ -209,13 +209,13 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   boundary.clear();
   while (!contentType.empty()) {
     std::string_view keyvalue;
-    std::tie(keyvalue, contentType) = wpi::split(contentType, ';');
-    contentType = wpi::ltrim(contentType);
-    auto [key, value] = wpi::split(keyvalue, '=');
-    if (wpi::trim(key) == "boundary") {
-      value = wpi::trim(wpi::trim(value), '"');  // value may be quoted
-      if (wpi::starts_with(value, "--")) {
-        value = wpi::substr(value, 2);
+    std::tie(keyvalue, contentType) = wpi::util::split(contentType, ';');
+    contentType = wpi::util::ltrim(contentType);
+    auto [key, value] = wpi::util::split(keyvalue, '=');
+    if (wpi::util::trim(key) == "boundary") {
+      value = wpi::util::trim(wpi::util::trim(value), '"');  // value may be quoted
+      if (wpi::util::starts_with(value, "--")) {
+        value = wpi::util::substr(value, 2);
       }
       boundary.append(value.begin(), value.end());
     }
@@ -232,7 +232,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   return conn;
 }
 
-void HttpCameraImpl::DeviceStream(wpi::raw_istream& is,
+void HttpCameraImpl::DeviceStream(wpi::util::raw_istream& is,
                                   std::string_view boundary) {
   // Stored here so we reuse it from frame to frame
   std::string imageBuf;
@@ -244,7 +244,7 @@ void HttpCameraImpl::DeviceStream(wpi::raw_istream& is,
   // streaming loop
   while (m_active && !is.has_error() && IsEnabled() && numErrors < 3 &&
          !m_streamSettingsUpdated) {
-    if (!FindMultipartBoundary(is, boundary, nullptr)) {
+    if (!wpi::net::FindMultipartBoundary(is, boundary, nullptr)) {
       break;
     }
 
@@ -274,29 +274,29 @@ void HttpCameraImpl::DeviceStream(wpi::raw_istream& is,
   }
 }
 
-bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
+bool HttpCameraImpl::DeviceStreamFrame(wpi::util::raw_istream& is,
                                        std::string& imageBuf) {
   // Read the headers
-  wpi::SmallString<64> contentTypeBuf;
-  wpi::SmallString<64> contentLengthBuf;
-  if (!ParseHttpHeaders(is, &contentTypeBuf, &contentLengthBuf)) {
+  wpi::util::SmallString<64> contentTypeBuf;
+  wpi::util::SmallString<64> contentLengthBuf;
+  if (!wpi::net::ParseHttpHeaders(is, &contentTypeBuf, &contentLengthBuf)) {
     SWARNING("disconnected during headers");
-    PutError("disconnected during headers", wpi::Now());
+    PutError("disconnected during headers", wpi::util::Now());
     return false;
   }
 
   // Check the content type (if present)
   if (!contentTypeBuf.str().empty() &&
-      !wpi::starts_with(contentTypeBuf, "image/jpeg")) {
+      !wpi::util::starts_with(contentTypeBuf, "image/jpeg")) {
     auto errMsg = fmt::format("received unknown Content-Type \"{}\"",
                               contentTypeBuf.str());
     SWARNING("{}", errMsg);
-    PutError(errMsg, wpi::Now());
+    PutError(errMsg, wpi::util::Now());
     return false;
   }
 
   int width, height;
-  if (auto v = wpi::parse_integer<unsigned int>(contentLengthBuf, 10)) {
+  if (auto v = wpi::util::parse_integer<unsigned int>(contentLengthBuf, 10)) {
     // We know how big it is!  Just get a frame of the right size and read
     // the data directly into it.
     unsigned int contentLength = v.value();
@@ -308,21 +308,21 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
     }
     if (!GetJpegSize(image->str(), &width, &height)) {
       SWARNING("did not receive a JPEG image");
-      PutError("did not receive a JPEG image", wpi::Now());
+      PutError("did not receive a JPEG image", wpi::util::Now());
       return false;
     }
     image->width = width;
     image->height = height;
-    PutFrame(std::move(image), wpi::Now());
+    PutFrame(std::move(image), wpi::util::Now());
   } else {
     // Ugh, no Content-Length?  Read the blocks of the JPEG file.
     if (!ReadJpeg(is, imageBuf, &width, &height)) {
       SWARNING("did not receive a JPEG image");
-      PutError("did not receive a JPEG image", wpi::Now());
+      PutError("did not receive a JPEG image", wpi::util::Now());
       return false;
     }
     PutFrame(VideoMode::PixelFormat::kMJPEG, width, height, imageBuf,
-             wpi::Now());
+             wpi::util::Now());
   }
 
   ++m_frameCount;
@@ -340,7 +340,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
 
 void HttpCameraImpl::SettingsThreadMain() {
   for (;;) {
-    wpi::HttpRequest req;
+    wpi::net::HttpRequest req;
     {
       std::unique_lock lock(m_mutex);
       m_settingsCond.wait(lock, [=, this] {
@@ -351,7 +351,7 @@ void HttpCameraImpl::SettingsThreadMain() {
       }
 
       // Build the request
-      req = wpi::HttpRequest{m_locations[m_prefLocation], m_settings};
+      req = wpi::net::HttpRequest{m_locations[m_prefLocation], m_settings};
     }
 
     DeviceSendSettings(req);
@@ -360,17 +360,17 @@ void HttpCameraImpl::SettingsThreadMain() {
   SDEBUG("Settings Thread exiting");
 }
 
-void HttpCameraImpl::DeviceSendSettings(wpi::HttpRequest& req) {
+void HttpCameraImpl::DeviceSendSettings(wpi::net::HttpRequest& req) {
   // Try to connect
   auto stream =
-      wpi::TCPConnector::connect(req.host.c_str(), req.port, m_logger, 1);
+      wpi::net::TCPConnector::connect(req.host.c_str(), req.port, m_logger, 1);
 
   if (!m_active || !stream) {
     return;
   }
 
-  auto connPtr = std::make_unique<wpi::HttpConnection>(std::move(stream), 1);
-  wpi::HttpConnection* conn = connPtr.get();
+  auto connPtr = std::make_unique<wpi::net::HttpConnection>(std::move(stream), 1);
+  wpi::net::HttpConnection* conn = connPtr.get();
 
   // update m_settingsConn
   {
@@ -394,7 +394,7 @@ CS_HttpCameraKind HttpCameraImpl::GetKind() const {
 
 bool HttpCameraImpl::SetUrls(std::span<const std::string> urls,
                              CS_Status* status) {
-  std::vector<wpi::HttpLocation> locations;
+  std::vector<wpi::net::HttpLocation> locations;
   for (const auto& url : urls) {
     bool error = false;
     std::string errorMsg;
@@ -573,7 +573,7 @@ bool AxisCameraImpl::CacheProperties(CS_Status* status) const {
   return true;
 }
 
-namespace cs {
+namespace wpi::cs {
 
 CS_Source CreateHttpCamera(std::string_view name, std::string_view url,
                            CS_HttpCameraKind kind, CS_Status* status) {
@@ -645,49 +645,49 @@ std::vector<std::string> GetHttpCameraUrls(CS_Source source,
   return static_cast<HttpCameraImpl&>(*data->source).GetUrls();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 
 CS_Source CS_CreateHttpCamera(const struct WPI_String* name,
                               const struct WPI_String* url,
                               CS_HttpCameraKind kind, CS_Status* status) {
-  return cs::CreateHttpCamera(wpi::to_string_view(name),
-                              wpi::to_string_view(url), kind, status);
+  return wpi::cs::CreateHttpCamera(wpi::util::to_string_view(name),
+                              wpi::util::to_string_view(url), kind, status);
 }
 
 CS_Source CS_CreateHttpCameraMulti(const struct WPI_String* name,
                                    const struct WPI_String* urls, int count,
                                    CS_HttpCameraKind kind, CS_Status* status) {
-  wpi::SmallVector<std::string, 4> vec;
+  wpi::util::SmallVector<std::string, 4> vec;
   vec.reserve(count);
   for (int i = 0; i < count; ++i) {
-    vec.emplace_back(wpi::to_string_view(&urls[i]));
+    vec.emplace_back(wpi::util::to_string_view(&urls[i]));
   }
-  return cs::CreateHttpCamera(wpi::to_string_view(name), vec, kind, status);
+  return wpi::cs::CreateHttpCamera(wpi::util::to_string_view(name), vec, kind, status);
 }
 
 CS_HttpCameraKind CS_GetHttpCameraKind(CS_Source source, CS_Status* status) {
-  return cs::GetHttpCameraKind(source, status);
+  return wpi::cs::GetHttpCameraKind(source, status);
 }
 
 void CS_SetHttpCameraUrls(CS_Source source, const struct WPI_String* urls,
                           int count, CS_Status* status) {
-  wpi::SmallVector<std::string, 4> vec;
+  wpi::util::SmallVector<std::string, 4> vec;
   vec.reserve(count);
   for (int i = 0; i < count; ++i) {
-    vec.emplace_back(wpi::to_string_view(&urls[i]));
+    vec.emplace_back(wpi::util::to_string_view(&urls[i]));
   }
-  cs::SetHttpCameraUrls(source, vec, status);
+  wpi::cs::SetHttpCameraUrls(source, vec, status);
 }
 
 WPI_String* CS_GetHttpCameraUrls(CS_Source source, int* count,
                                  CS_Status* status) {
-  auto urls = cs::GetHttpCameraUrls(source, status);
+  auto urls = wpi::cs::GetHttpCameraUrls(source, status);
   WPI_String* out = WPI_AllocateStringArray(urls.size());
   *count = urls.size();
   for (size_t i = 0; i < urls.size(); ++i) {
-    cs::ConvertToC(&out[i], urls[i]);
+    wpi::cs::ConvertToC(&out[i], urls[i]);
   }
   return out;
 }
diff --git a/cscore/src/main/native/cpp/HttpCameraImpl.hpp b/cscore/src/main/native/cpp/HttpCameraImpl.hpp
index a7ce5780c9..0a5e1e6080 100644
--- a/cscore/src/main/native/cpp/HttpCameraImpl.hpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.hpp
@@ -23,12 +23,12 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/raw_istream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class HttpCameraImpl : public SourceImpl {
  public:
   HttpCameraImpl(std::string_view name, CS_HttpCameraKind kind,
-                 wpi::Logger& logger, Notifier& notifier, Telemetry& telemetry);
+                 wpi::util::Logger& logger, Notifier& notifier, Telemetry& telemetry);
   ~HttpCameraImpl() override;
 
   void Start() override;
@@ -99,14 +99,14 @@ class HttpCameraImpl : public SourceImpl {
   void StreamThreadMain();
 
   // Functions used by StreamThreadMain()
-  wpi::HttpConnection* DeviceStreamConnect(
-      wpi::SmallVectorImpl<char>& boundary);
-  void DeviceStream(wpi::raw_istream& is, std::string_view boundary);
-  bool DeviceStreamFrame(wpi::raw_istream& is, std::string& imageBuf);
+  wpi::net::HttpConnection* DeviceStreamConnect(
+      wpi::util::SmallVectorImpl<char>& boundary);
+  void DeviceStream(wpi::util::raw_istream& is, std::string_view boundary);
+  bool DeviceStreamFrame(wpi::util::raw_istream& is, std::string& imageBuf);
 
   // The camera settings thread
   void SettingsThreadMain();
-  void DeviceSendSettings(wpi::HttpRequest& req);
+  void DeviceSendSettings(wpi::net::HttpRequest& req);
 
   // The monitor thread
   void MonitorThreadMain();
@@ -122,31 +122,31 @@ class HttpCameraImpl : public SourceImpl {
   //
 
   // The camera connections
-  std::unique_ptr<wpi::HttpConnection> m_streamConn;
-  std::unique_ptr<wpi::HttpConnection> m_settingsConn;
+  std::unique_ptr<wpi::net::HttpConnection> m_streamConn;
+  std::unique_ptr<wpi::net::HttpConnection> m_settingsConn;
 
   CS_HttpCameraKind m_kind;
 
-  std::vector<wpi::HttpLocation> m_locations;
+  std::vector<wpi::net::HttpLocation> m_locations;
   size_t m_nextLocation{0};
   int m_prefLocation{-1};  // preferred location
 
   std::atomic_int m_frameCount{0};
 
-  wpi::condition_variable m_sinkEnabledCond;
+  wpi::util::condition_variable m_sinkEnabledCond;
 
-  wpi::StringMap<std::string> m_settings;
-  wpi::condition_variable m_settingsCond;
+  wpi::util::StringMap<std::string> m_settings;
+  wpi::util::condition_variable m_settingsCond;
 
-  wpi::StringMap<std::string> m_streamSettings;
+  wpi::util::StringMap<std::string> m_streamSettings;
   std::atomic_bool m_streamSettingsUpdated{false};
 
-  wpi::condition_variable m_monitorCond;
+  wpi::util::condition_variable m_monitorCond;
 };
 
 class AxisCameraImpl : public HttpCameraImpl {
  public:
-  AxisCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  AxisCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                  Telemetry& telemetry)
       : HttpCameraImpl{name, CS_HTTP_AXIS, logger, notifier, telemetry} {}
 #if 0
@@ -158,6 +158,6 @@ class AxisCameraImpl : public HttpCameraImpl {
   bool CacheProperties(CS_Status* status) const override;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_HTTPCAMERAIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/Image.hpp b/cscore/src/main/native/cpp/Image.hpp
index 993f7d44d3..867cacf00d 100644
--- a/cscore/src/main/native/cpp/Image.hpp
+++ b/cscore/src/main/native/cpp/Image.hpp
@@ -13,7 +13,7 @@
 #include "default_init_allocator.hpp"
 #include "wpi/cs/cscore_cpp.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Frame;
 
@@ -129,6 +129,6 @@ class Image {
   int jpegQuality{-1};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_IMAGE_HPP_
diff --git a/cscore/src/main/native/cpp/Instance.cpp b/cscore/src/main/native/cpp/Instance.cpp
index 22b0496df5..e4baccbddb 100644
--- a/cscore/src/main/native/cpp/Instance.cpp
+++ b/cscore/src/main/native/cpp/Instance.cpp
@@ -13,12 +13,12 @@
 #include "wpi/util/fs.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 static void def_log_func(unsigned int level, const char* file,
                          unsigned int line, const char* msg) {
   if (level == 20) {
-    wpi::print(stderr, "CS: {}\n", msg);
+    wpi::util::print(stderr, "CS: {}\n", msg);
     return;
   }
 
@@ -32,7 +32,7 @@ static void def_log_func(unsigned int level, const char* file,
   } else {
     return;
   }
-  wpi::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
+  wpi::util::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
              // NOLINTNEXTLINE(build/include_what_you_use)
              fs::path{file}.filename().string(), line);
 }
diff --git a/cscore/src/main/native/cpp/Instance.hpp b/cscore/src/main/native/cpp/Instance.hpp
index 679c9c9db4..93224e56bf 100644
--- a/cscore/src/main/native/cpp/Instance.hpp
+++ b/cscore/src/main/native/cpp/Instance.hpp
@@ -20,7 +20,7 @@
 #include "UsbCameraListener.hpp"
 #include "wpi/util/Logger.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 struct SourceData {
   SourceData(CS_SourceKind kind_, std::shared_ptr<SourceImpl> source_)
@@ -51,7 +51,7 @@ class Instance {
 
   void Shutdown();
 
-  wpi::Logger logger;
+  wpi::util::Logger logger;
   Notifier notifier;
   Telemetry telemetry;
   NetworkListener networkListener;
@@ -62,7 +62,7 @@ class Instance {
   UnlimitedHandleResource<Handle, SinkData, Handle::kSink> m_sinks;
 
  public:
-  wpi::EventLoopRunner eventLoop;
+  wpi::net::EventLoopRunner eventLoop;
 
   std::pair<CS_Sink, std::shared_ptr<SinkData>> FindSink(const SinkImpl& sink);
   std::pair<CS_Source, std::shared_ptr<SourceData>> FindSource(
@@ -87,16 +87,16 @@ class Instance {
   void DestroySink(CS_Sink handle);
 
   std::span<CS_Source> EnumerateSourceHandles(
-      wpi::SmallVectorImpl<CS_Source>& vec) {
+      wpi::util::SmallVectorImpl<CS_Source>& vec) {
     return m_sources.GetAll(vec);
   }
 
-  std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec) {
+  std::span<CS_Sink> EnumerateSinkHandles(wpi::util::SmallVectorImpl<CS_Sink>& vec) {
     return m_sinks.GetAll(vec);
   }
 
   std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
-                                          wpi::SmallVectorImpl<CS_Sink>& vec) {
+                                          wpi::util::SmallVectorImpl<CS_Sink>& vec) {
     vec.clear();
     m_sinks.ForEach([&](CS_Sink sinkHandle, const SinkData& data) {
       if (source == data.sourceHandle.load()) {
@@ -110,6 +110,6 @@ class Instance {
   Instance();
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_INSTANCE_HPP_
diff --git a/cscore/src/main/native/cpp/JpegUtil.cpp b/cscore/src/main/native/cpp/JpegUtil.cpp
index 50b8e50384..90e6c6c446 100644
--- a/cscore/src/main/native/cpp/JpegUtil.cpp
+++ b/cscore/src/main/native/cpp/JpegUtil.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/raw_istream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 // DHT data for MJPEG images that don't have it.
 static const unsigned char dhtData[] = {
@@ -67,7 +67,7 @@ bool GetJpegSize(std::string_view data, int* width, int* height) {
     return false;
   }
 
-  data = wpi::substr(data, 2);  // Get to the first block
+  data = wpi::util::substr(data, 2);  // Get to the first block
   for (;;) {
     if (data.size() < 4) {
       return false;  // EOF
@@ -92,7 +92,7 @@ bool GetJpegSize(std::string_view data, int* width, int* height) {
       return true;
     }
     // Go to the next block
-    data = wpi::substr(data, bytes[2] * 256 + bytes[3] + 2);
+    data = wpi::util::substr(data, bytes[2] * 256 + bytes[3] + 2);
   }
 }
 
@@ -105,7 +105,7 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
   *locSOF = *size;
 
   // Search until SOS for DHT tag
-  sdata = wpi::substr(sdata, 2);  // Get to the first block
+  sdata = wpi::util::substr(sdata, 2);  // Get to the first block
   for (;;) {
     if (sdata.size() < 4) {
       return false;  // EOF
@@ -124,7 +124,7 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
       *locSOF = sdata.data() - data;  // SOF
     }
     // Go to the next block
-    sdata = wpi::substr(sdata, bytes[2] * 256 + bytes[3] + 2);
+    sdata = wpi::util::substr(sdata, bytes[2] * 256 + bytes[3] + 2);
   }
 
   // Only add DHT if we also found SOF (insertion point)
@@ -139,14 +139,14 @@ std::string_view JpegGetDHT() {
   return {reinterpret_cast<const char*>(dhtData), sizeof(dhtData)};
 }
 
-static inline void ReadInto(wpi::raw_istream& is, std::string& buf,
+static inline void ReadInto(wpi::util::raw_istream& is, std::string& buf,
                             size_t len) {
   size_t oldSize = buf.size();
   buf.resize(oldSize + len);
   is.read(&(*buf.begin()) + oldSize, len);
 }
 
-bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, int* height) {
+bool ReadJpeg(wpi::util::raw_istream& is, std::string& buf, int* width, int* height) {
   // in case we don't get a SOF
   *width = 0;
   *height = 0;
@@ -234,4 +234,4 @@ bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, int* height) {
   }
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/cpp/JpegUtil.hpp b/cscore/src/main/native/cpp/JpegUtil.hpp
index d43c3dcaf9..16bf34d683 100644
--- a/cscore/src/main/native/cpp/JpegUtil.hpp
+++ b/cscore/src/main/native/cpp/JpegUtil.hpp
@@ -8,11 +8,11 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 class raw_istream;
 }  // namespace wpi
 
-namespace cs {
+namespace wpi::cs {
 
 bool IsJpeg(std::string_view data);
 
@@ -22,8 +22,8 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF);
 
 std::string_view JpegGetDHT();
 
-bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, int* height);
+bool ReadJpeg(wpi::util::raw_istream& is, std::string& buf, int* width, int* height);
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_JPEGUTIL_HPP_
diff --git a/cscore/src/main/native/cpp/Log.cpp b/cscore/src/main/native/cpp/Log.cpp
index 4a249ec3f8..4bde2d2ee2 100644
--- a/cscore/src/main/native/cpp/Log.cpp
+++ b/cscore/src/main/native/cpp/Log.cpp
@@ -4,7 +4,7 @@
 
 #include "Log.hpp"
 
-void cs::NamedLogV(wpi::Logger& logger, unsigned int level, const char* file,
+void wpi::cs::NamedLogV(wpi::util::Logger& logger, unsigned int level, const char* file,
                    unsigned int line, std::string_view name,
                    fmt::string_view format, fmt::format_args args) {
   fmt::memory_buffer out;
diff --git a/cscore/src/main/native/cpp/Log.hpp b/cscore/src/main/native/cpp/Log.hpp
index d5f2371853..cff3606199 100644
--- a/cscore/src/main/native/cpp/Log.hpp
+++ b/cscore/src/main/native/cpp/Log.hpp
@@ -9,14 +9,14 @@
 
 #include "wpi/util/Logger.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
-void NamedLogV(wpi::Logger& logger, unsigned int level, const char* file,
+void NamedLogV(wpi::util::Logger& logger, unsigned int level, const char* file,
                unsigned int line, std::string_view name,
                fmt::string_view format, fmt::format_args args);
 
 template <typename S, typename... Args>
-inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
+inline void NamedLog(wpi::util::Logger& logger, unsigned int level, const char* file,
                      unsigned int line, std::string_view name, const S& format,
                      Args&&... args) {
   if (logger.HasLogger() && level >= logger.min_level()) {
@@ -25,7 +25,7 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
   }
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #define LOG(level, format, ...) \
   WPI_LOG(m_logger, level, format __VA_OPT__(, ) __VA_ARGS__)
@@ -53,11 +53,11 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
            format __VA_OPT__(, ) __VA_ARGS__)
 
 #define SERROR(format, ...) \
-  SLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
 #define SWARNING(format, ...) \
-  SLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
 #define SINFO(format, ...) \
-  SLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
 
 #ifdef NDEBUG
 #define SDEBUG(format, ...) \
@@ -77,15 +77,15 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
   } while (0)
 #else
 #define SDEBUG(format, ...) \
-  SLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
 #define SDEBUG1(format, ...) \
-  SLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
 #define SDEBUG2(format, ...) \
-  SLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
 #define SDEBUG3(format, ...) \
-  SLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
 #define SDEBUG4(format, ...) \
-  SLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+  SLOG(::wpi::util::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
 #endif
 
 #endif  // CSCORE_LOG_HPP_
diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index 990dbc5d8a..c3f0292586 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -26,7 +26,7 @@
 #include "wpi/util/fmt/raw_ostream.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 // The boundary used for the M-JPEG stream.
 // It separates the multipart stream of pictures
@@ -75,22 +75,22 @@ static const char* startRootPage =
     "<div class=\"settings\">\n";
 static const char* endRootPage = "</div></body></html>";
 
-class MjpegServerImpl::ConnThread : public wpi::SafeThread {
+class MjpegServerImpl::ConnThread : public wpi::util::SafeThread {
  public:
-  explicit ConnThread(std::string_view name, wpi::Logger& logger)
+  explicit ConnThread(std::string_view name, wpi::util::Logger& logger)
       : m_name(name), m_logger(logger) {}
 
   void Main() override;
 
-  bool ProcessCommand(wpi::raw_ostream& os, SourceImpl& source,
+  bool ProcessCommand(wpi::util::raw_ostream& os, SourceImpl& source,
                       std::string_view parameters, bool respond);
-  void SendJSON(wpi::raw_ostream& os, SourceImpl& source, bool header);
-  void SendHTMLHeadTitle(wpi::raw_ostream& os) const;
-  void SendHTML(wpi::raw_ostream& os, SourceImpl& source, bool header);
-  void SendStream(wpi::raw_socket_ostream& os);
+  void SendJSON(wpi::util::raw_ostream& os, SourceImpl& source, bool header);
+  void SendHTMLHeadTitle(wpi::util::raw_ostream& os) const;
+  void SendHTML(wpi::util::raw_ostream& os, SourceImpl& source, bool header);
+  void SendStream(wpi::net::raw_socket_ostream& os);
   void ProcessRequest();
 
-  std::unique_ptr<wpi::NetworkStream> m_stream;
+  std::unique_ptr<wpi::net::NetworkStream> m_stream;
   std::shared_ptr<SourceImpl> m_source;
   bool m_streaming = false;
   bool m_noStreaming = false;
@@ -102,7 +102,7 @@ class MjpegServerImpl::ConnThread : public wpi::SafeThread {
 
  private:
   std::string m_name;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
   std::string_view GetName() { return m_name; }
 
@@ -134,10 +134,10 @@ class MjpegServerImpl::ConnThread : public wpi::SafeThread {
 // A browser should connect for each file and not serve files from its cache.
 // Using cached pictures would lead to showing old/outdated pictures.
 // Many browsers seem to ignore, or at least not always obey, those headers.
-static void SendHeader(wpi::raw_ostream& os, int code,
+static void SendHeader(wpi::util::raw_ostream& os, int code,
                        std::string_view codeText, std::string_view contentType,
                        std::string_view extra = {}) {
-  wpi::print(os, "HTTP/1.0 {} {}\r\n", code, codeText);
+  wpi::util::print(os, "HTTP/1.0 {} {}\r\n", code, codeText);
   os << "Connection: close\r\n"
         "Server: CameraServer/1.0\r\n"
         "Cache-Control: no-store, no-cache, must-revalidate, pre-check=0, "
@@ -155,7 +155,7 @@ static void SendHeader(wpi::raw_ostream& os, int code,
 // Send error header and message
 // @param code HTTP error code (e.g. 404)
 // @param message Additional message text
-static void SendError(wpi::raw_ostream& os, int code,
+static void SendError(wpi::util::raw_ostream& os, int code,
                       std::string_view message) {
   std::string_view codeText, extra, baseMessage;
   switch (code) {
@@ -195,21 +195,21 @@ static void SendError(wpi::raw_ostream& os, int code,
 }
 
 // Perform a command specified by HTTP GET parameters.
-bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
+bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::util::raw_ostream& os,
                                                  SourceImpl& source,
                                                  std::string_view parameters,
                                                  bool respond) {
-  wpi::SmallString<256> responseBuf;
-  wpi::raw_svector_ostream response{responseBuf};
+  wpi::util::SmallString<256> responseBuf;
+  wpi::util::raw_svector_ostream response{responseBuf};
   // command format: param1=value1&param2=value2...
   while (!parameters.empty()) {
     // split out next param and value
     std::string_view rawParam, rawValue;
-    std::tie(rawParam, parameters) = wpi::split(parameters, '&');
+    std::tie(rawParam, parameters) = wpi::util::split(parameters, '&');
     if (rawParam.empty()) {
       continue;  // ignore "&&"
     }
-    std::tie(rawParam, rawValue) = wpi::split(rawParam, '=');
+    std::tie(rawParam, rawValue) = wpi::util::split(rawParam, '=');
     if (rawParam.empty() || rawValue.empty()) {
       continue;  // ignore "param="
     }
@@ -217,8 +217,8 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
 
     // unescape param
     bool error = false;
-    wpi::SmallString<64> paramBuf;
-    std::string_view param = wpi::UnescapeURI(rawParam, paramBuf, &error);
+    wpi::util::SmallString<64> paramBuf;
+    std::string_view param = wpi::net::UnescapeURI(rawParam, paramBuf, &error);
     if (error) {
       auto estr = fmt::format("could not unescape parameter \"{}\"", rawParam);
       SendError(os, 500, estr);
@@ -227,8 +227,8 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
     }
 
     // unescape value
-    wpi::SmallString<64> valueBuf;
-    std::string_view value = wpi::UnescapeURI(rawValue, valueBuf, &error);
+    wpi::util::SmallString<64> valueBuf;
+    std::string_view value = wpi::net::UnescapeURI(rawValue, valueBuf, &error);
     if (error) {
       auto estr = fmt::format("could not unescape value \"{}\"", rawValue);
       SendError(os, 500, estr);
@@ -239,9 +239,9 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
     // Handle resolution, compression, and FPS.  These are handled locally
     // rather than passed to the source.
     if (param == "resolution") {
-      auto [widthStr, heightStr] = wpi::split(value, 'x');
-      int width = wpi::parse_integer<int>(widthStr, 10).value_or(-1);
-      int height = wpi::parse_integer<int>(heightStr, 10).value_or(-1);
+      auto [widthStr, heightStr] = wpi::util::split(value, 'x');
+      int width = wpi::util::parse_integer<int>(widthStr, 10).value_or(-1);
+      int height = wpi::util::parse_integer<int>(heightStr, 10).value_or(-1);
       if (width < 0) {
         response << param << ": \"width is not an integer\"\r\n";
         SWARNING("HTTP parameter \"{}\" width \"{}\" is not an integer", param,
@@ -261,7 +261,7 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
     }
 
     if (param == "fps") {
-      if (auto v = wpi::parse_integer<int>(value, 10)) {
+      if (auto v = wpi::util::parse_integer<int>(value, 10)) {
         m_fps = v.value();
         response << param << ": \"ok\"\r\n";
       } else {
@@ -273,7 +273,7 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
     }
 
     if (param == "compression") {
-      if (auto v = wpi::parse_integer<int>(value, 10)) {
+      if (auto v = wpi::util::parse_integer<int>(value, 10)) {
         m_compression = v.value();
         response << param << ": \"ok\"\r\n";
       } else {
@@ -303,8 +303,8 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
       case CS_PROP_BOOLEAN:
       case CS_PROP_INTEGER:
       case CS_PROP_ENUM: {
-        if (auto v = wpi::parse_integer<int>(value, 10)) {
-          wpi::print(response, "{}: {}\r\n", param, v.value());
+        if (auto v = wpi::util::parse_integer<int>(value, 10)) {
+          wpi::util::print(response, "{}: {}\r\n", param, v.value());
           SDEBUG4("HTTP parameter \"{}\" value {}", param, value);
           source.SetProperty(prop, v.value(), &status);
         } else {
@@ -335,13 +335,13 @@ bool MjpegServerImpl::ConnThread::ProcessCommand(wpi::raw_ostream& os,
 }
 
 void MjpegServerImpl::ConnThread::SendHTMLHeadTitle(
-    wpi::raw_ostream& os) const {
+    wpi::util::raw_ostream& os) const {
   os << "<html><head><title>" << m_name << " CameraServer</title>"
      << "<meta charset=\"UTF-8\">";
 }
 
 // Send the root html file with controls for all the settable properties.
-void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
+void MjpegServerImpl::ConnThread::SendHTML(wpi::util::raw_ostream& os,
                                            SourceImpl& source, bool header) {
   if (header) {
     SendHeader(os, 200, "OK", "text/html");
@@ -349,19 +349,19 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
 
   SendHTMLHeadTitle(os);
   os << startRootPage;
-  wpi::SmallVector<int, 32> properties_vec;
+  wpi::util::SmallVector<int, 32> properties_vec;
   CS_Status status = 0;
   for (auto prop : source.EnumerateProperties(properties_vec, &status)) {
-    wpi::SmallString<128> name_buf;
+    wpi::util::SmallString<128> name_buf;
     auto name = source.GetPropertyName(prop, name_buf, &status);
-    if (wpi::starts_with(name, "raw_")) {
+    if (wpi::util::starts_with(name, "raw_")) {
       continue;
     }
     auto kind = source.GetPropertyKind(prop);
-    wpi::print(os, "<p /><label for=\"{0}\">{0}</label>\n", name);
+    wpi::util::print(os, "<p /><label for=\"{0}\">{0}</label>\n", name);
     switch (kind) {
       case CS_PROP_BOOLEAN:
-        wpi::print(os,
+        wpi::util::print(os,
                    "<input id=\"{0}\" type=\"checkbox\" "
                    "onclick=\"update('{0}', this.checked ? 1 : 0)\" ",
                    name);
@@ -376,12 +376,12 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
         auto min = source.GetPropertyMin(prop, &status);
         auto max = source.GetPropertyMax(prop, &status);
         auto step = source.GetPropertyStep(prop, &status);
-        wpi::print(os,
+        wpi::util::print(os,
                    "<input type=\"range\" min=\"{1}\" max=\"{2}\" "
                    "value=\"{3}\" id=\"{0}\" step=\"{4}\" "
                    "oninput=\"updateInt('#{0}op', '{0}', value)\" />\n",
                    name, min, max, valI, step);
-        wpi::print(os, "<output for=\"{0}\" id=\"{0}op\">{1}</output>\n", name,
+        wpi::util::print(os, "<output for=\"{0}\" id=\"{0}op\">{1}</output>\n", name,
                    valI);
         break;
       }
@@ -395,29 +395,29 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
             continue;  // skip empty choices
           }
           // replace any non-printable characters in name with spaces
-          wpi::SmallString<128> ch_name;
+          wpi::util::SmallString<128> ch_name;
           for (char ch : *choice) {
-            ch_name.push_back(wpi::isPrint(ch) ? ch : ' ');
+            ch_name.push_back(wpi::util::isPrint(ch) ? ch : ' ');
           }
-          wpi::print(os,
+          wpi::util::print(os,
                      "<input id=\"{0}{1}\" type=\"radio\" name=\"{0}\" "
                      "value=\"{2}\" onclick=\"update('{0}', {1})\"",
                      name, j, ch_name.str());
           if (j == valE) {
             os << " checked";
           }
-          wpi::print(os, " /><label for=\"{}{}\">{}</label>\n", name, j,
+          wpi::util::print(os, " /><label for=\"{}{}\">{}</label>\n", name, j,
                      ch_name.str());
         }
         break;
       }
       case CS_PROP_STRING: {
-        wpi::SmallString<128> strval_buf;
-        wpi::print(os,
+        wpi::util::SmallString<128> strval_buf;
+        wpi::util::print(os,
                    "<input type=\"text\" id=\"{0}box\" name=\"{0}\" "
                    "value=\"{1}\" />\n",
                    name, source.GetStringProperty(prop, strval_buf, &status));
-        wpi::print(os,
+        wpi::util::print(os,
                    "<input type=\"button\" value =\"Submit\" "
                    "onclick=\"update('{0}', {0}box.value)\" />\n",
                    name);
@@ -473,7 +473,7 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
         os << "unknown";
         break;
     }
-    wpi::print(os, "</td><td>{}</td><td>{}</td><td>{}</td></tr>", mode.width,
+    wpi::util::print(os, "</td><td>{}</td><td>{}</td><td>{}</td></tr>", mode.width,
                mode.height, mode.fps);
   }
   os << "</table>\n";
@@ -482,14 +482,14 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
 }
 
 // Send a JSON file which is contains information about the source parameters.
-void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
+void MjpegServerImpl::ConnThread::SendJSON(wpi::util::raw_ostream& os,
                                            SourceImpl& source, bool header) {
   if (header) {
     SendHeader(os, 200, "OK", "application/json");
   }
 
   os << "{\n\"controls\": [\n";
-  wpi::SmallVector<int, 32> properties_vec;
+  wpi::util::SmallVector<int, 32> properties_vec;
   bool first = true;
   CS_Status status = 0;
   for (auto prop : source.EnumerateProperties(properties_vec, &status)) {
@@ -499,27 +499,27 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
       os << ",\n";
     }
     os << '{';
-    wpi::SmallString<128> name_buf;
+    wpi::util::SmallString<128> name_buf;
     auto name = source.GetPropertyName(prop, name_buf, &status);
     auto kind = source.GetPropertyKind(prop);
-    wpi::print(os, "\n\"name\": \"{}\"", name);
-    wpi::print(os, ",\n\"id\": \"{}\"", prop);
-    wpi::print(os, ",\n\"type\": \"{}\"", static_cast<int>(kind));
-    wpi::print(os, ",\n\"min\": \"{}\"", source.GetPropertyMin(prop, &status));
-    wpi::print(os, ",\n\"max\": \"{}\"", source.GetPropertyMax(prop, &status));
-    wpi::print(os, ",\n\"step\": \"{}\"",
+    wpi::util::print(os, "\n\"name\": \"{}\"", name);
+    wpi::util::print(os, ",\n\"id\": \"{}\"", prop);
+    wpi::util::print(os, ",\n\"type\": \"{}\"", static_cast<int>(kind));
+    wpi::util::print(os, ",\n\"min\": \"{}\"", source.GetPropertyMin(prop, &status));
+    wpi::util::print(os, ",\n\"max\": \"{}\"", source.GetPropertyMax(prop, &status));
+    wpi::util::print(os, ",\n\"step\": \"{}\"",
                source.GetPropertyStep(prop, &status));
-    wpi::print(os, ",\n\"default\": \"{}\"",
+    wpi::util::print(os, ",\n\"default\": \"{}\"",
                source.GetPropertyDefault(prop, &status));
     os << ",\n\"value\": \"";
     switch (kind) {
       case CS_PROP_BOOLEAN:
       case CS_PROP_INTEGER:
       case CS_PROP_ENUM:
-        wpi::print(os, "{}", source.GetProperty(prop, &status));
+        wpi::util::print(os, "{}", source.GetProperty(prop, &status));
         break;
       case CS_PROP_STRING: {
-        wpi::SmallString<128> strval_buf;
+        wpi::util::SmallString<128> strval_buf;
         os << source.GetStringProperty(prop, strval_buf, &status);
         break;
       }
@@ -542,11 +542,11 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
           os << ", ";
         }
         // replace any non-printable characters in name with spaces
-        wpi::SmallString<128> ch_name;
+        wpi::util::SmallString<128> ch_name;
         for (char ch : *choice) {
           ch_name.push_back(std::isprint(ch) ? ch : ' ');
         }
-        wpi::print(os, "\"{}\": \"{}\"", j, ch_name.str());
+        wpi::util::print(os, "\"{}\": \"{}\"", j, ch_name.str());
       }
       os << "}\n";
     }
@@ -588,19 +588,19 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
         os << "unknown";
         break;
     }
-    wpi::print(os, "\",\n\"width\": \"{}\"", mode.width);
-    wpi::print(os, ",\n\"height\": \"{}\"", mode.height);
-    wpi::print(os, ",\n\"fps\": \"{}\"", mode.fps);
+    wpi::util::print(os, "\",\n\"width\": \"{}\"", mode.width);
+    wpi::util::print(os, ",\n\"height\": \"{}\"", mode.height);
+    wpi::util::print(os, ",\n\"fps\": \"{}\"", mode.fps);
     os << '}';
   }
   os << "\n]\n}\n";
   os.flush();
 }
 
-MjpegServerImpl::MjpegServerImpl(std::string_view name, wpi::Logger& logger,
+MjpegServerImpl::MjpegServerImpl(std::string_view name, wpi::util::Logger& logger,
                                  Notifier& notifier, Telemetry& telemetry,
                                  std::string_view listenAddress, int port,
-                                 std::unique_ptr<wpi::NetworkAcceptor> acceptor)
+                                 std::unique_ptr<wpi::net::NetworkAcceptor> acceptor)
     : SinkImpl{name, logger, notifier, telemetry},
       m_listenAddress(listenAddress),
       m_port(port),
@@ -663,7 +663,7 @@ void MjpegServerImpl::Stop() {
 }
 
 // Send HTTP response and a stream of JPG-frames
-void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
+void MjpegServerImpl::ConnThread::SendStream(wpi::net::raw_socket_ostream& os) {
   if (m_noStreaming) {
     SERROR("Too many simultaneous client streams");
     SendError(os, 503, "Too many simultaneous streams");
@@ -672,8 +672,8 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
 
   os.SetUnbuffered();
 
-  wpi::SmallString<256> header;
-  wpi::raw_svector_ostream oss{header};
+  wpi::util::SmallString<256> header;
+  wpi::util::raw_svector_ostream oss{header};
 
   SendHeader(oss, 200, "OK", "multipart/x-mixed-replace;boundary=" BOUNDARY);
   os << oss.str();
@@ -774,8 +774,8 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
     double timestamp = lastFrameTime / 1000000.0;
     header.clear();
     oss << "\r\n--" BOUNDARY "\r\n" << "Content-Type: image/jpeg\r\n";
-    wpi::print(oss, "Content-Length: {}\r\n", size);
-    wpi::print(oss, "X-Timestamp: {}\r\n", timestamp);
+    wpi::util::print(oss, "Content-Length: {}\r\n", size);
+    wpi::util::print(oss, "X-Timestamp: {}\r\n", timestamp);
     oss << "\r\n";
     os << oss.str();
     if (addDHT) {
@@ -792,11 +792,11 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
 }
 
 void MjpegServerImpl::ConnThread::ProcessRequest() {
-  wpi::raw_socket_istream is{*m_stream};
-  wpi::raw_socket_ostream os{*m_stream, true};
+  wpi::net::raw_socket_istream is{*m_stream};
+  wpi::net::raw_socket_ostream os{*m_stream, true};
 
   // Read the request string from the stream
-  wpi::SmallString<128> reqBuf;
+  wpi::util::SmallString<128> reqBuf;
   std::string_view req = is.getline(reqBuf, 4096);
   if (is.has_error()) {
     SDEBUG("error getting request string");
@@ -813,14 +813,14 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   // compatibility, others are for Axis camera compatibility.
   if ((pos = req.find("POST /stream")) != std::string_view::npos) {
     kind = kStream;
-    parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 12)), 1);
+    parameters = wpi::util::substr(wpi::util::substr(req, req.find('?', pos + 12)), 1);
   } else if ((pos = req.find("GET /?action=stream")) !=
              std::string_view::npos) {
     kind = kStream;
-    parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 19)), 1);
+    parameters = wpi::util::substr(wpi::util::substr(req, req.find('&', pos + 19)), 1);
   } else if ((pos = req.find("GET /stream.mjpg")) != std::string_view::npos) {
     kind = kStream;
-    parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 16)), 1);
+    parameters = wpi::util::substr(wpi::util::substr(req, req.find('?', pos + 16)), 1);
   } else if (req.find("GET /settings") != std::string_view::npos &&
              req.find(".json") != std::string_view::npos) {
     kind = kGetSettings;
@@ -836,7 +836,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   } else if ((pos = req.find("GET /?action=command")) !=
              std::string_view::npos) {
     kind = kCommand;
-    parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 20)), 1);
+    parameters = wpi::util::substr(wpi::util::substr(req, req.find('&', pos + 20)), 1);
   } else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
     kind = kRootPage;
   } else {
@@ -849,14 +849,14 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   pos = parameters.find_first_not_of(
       "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
       "-=&1234567890%./");
-  parameters = wpi::substr(parameters, 0, pos);
+  parameters = wpi::util::substr(parameters, 0, pos);
   SDEBUG("command parameters: \"{}\"", parameters);
 
   // Read the rest of the HTTP request.
   // The end of the request is marked by a single, empty line
-  wpi::SmallString<128> lineBuf;
+  wpi::util::SmallString<128> lineBuf;
   for (;;) {
-    if (wpi::starts_with(is.getline(lineBuf, 4096), "\n")) {
+    if (wpi::util::starts_with(is.getline(lineBuf, 4096), "\n")) {
       break;
     }
     if (is.has_error()) {
@@ -960,7 +960,7 @@ void MjpegServerImpl::ServerThreadMain() {
     std::scoped_lock lock(m_mutex);
     // Find unoccupied worker thread, or create one if necessary
     auto it = std::find_if(m_connThreads.begin(), m_connThreads.end(),
-                           [](const wpi::SafeThreadOwner<ConnThread>& owner) {
+                           [](const wpi::util::SafeThreadOwner<ConnThread>& owner) {
                              auto thr = owner.GetThread();
                              return !thr || !thr->m_stream;
                            });
@@ -974,7 +974,7 @@ void MjpegServerImpl::ServerThreadMain() {
 
     auto nstreams =
         std::count_if(m_connThreads.begin(), m_connThreads.end(),
-                      [](const wpi::SafeThreadOwner<ConnThread>& owner) {
+                      [](const wpi::util::SafeThreadOwner<ConnThread>& owner) {
                         auto thr = owner.GetThread();
                         return thr && thr->m_streaming;
                       });
@@ -1013,7 +1013,7 @@ void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {
   }
 }
 
-namespace cs {
+namespace wpi::cs {
 
 CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
                           int port, CS_Status* status) {
@@ -1022,8 +1022,8 @@ CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
       CS_SINK_MJPEG,
       std::make_shared<MjpegServerImpl>(
           name, inst.logger, inst.notifier, inst.telemetry, listenAddress, port,
-          std::unique_ptr<wpi::NetworkAcceptor>(
-              new wpi::TCPAcceptor(port, listenAddress, inst.logger))));
+          std::unique_ptr<wpi::net::NetworkAcceptor>(
+              new wpi::net::TCPAcceptor(port, listenAddress, inst.logger))));
 }
 
 std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {
@@ -1044,25 +1044,25 @@ int GetMjpegServerPort(CS_Sink sink, CS_Status* status) {
   return static_cast<MjpegServerImpl&>(*data->sink).GetPort();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 
 CS_Sink CS_CreateMjpegServer(const struct WPI_String* name,
                              const struct WPI_String* listenAddress, int port,
                              CS_Status* status) {
-  return cs::CreateMjpegServer(wpi::to_string_view(name),
-                               wpi::to_string_view(listenAddress), port,
+  return wpi::cs::CreateMjpegServer(wpi::util::to_string_view(name),
+                               wpi::util::to_string_view(listenAddress), port,
                                status);
 }
 
 void CS_GetMjpegServerListenAddress(CS_Sink sink, WPI_String* listenAddress,
                                     CS_Status* status) {
-  cs::ConvertToC(listenAddress, cs::GetMjpegServerListenAddress(sink, status));
+  wpi::cs::ConvertToC(listenAddress, wpi::cs::GetMjpegServerListenAddress(sink, status));
 }
 
 int CS_GetMjpegServerPort(CS_Sink sink, CS_Status* status) {
-  return cs::GetMjpegServerPort(sink, status);
+  return wpi::cs::GetMjpegServerPort(sink, status);
 }
 
 }  // extern "C"
diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.hpp b/cscore/src/main/native/cpp/MjpegServerImpl.hpp
index 1f216ab008..c15019f5ae 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.hpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.hpp
@@ -22,16 +22,16 @@
 #include "wpi/util/raw_istream.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class SourceImpl;
 
 class MjpegServerImpl : public SinkImpl {
  public:
-  MjpegServerImpl(std::string_view name, wpi::Logger& logger,
+  MjpegServerImpl(std::string_view name, wpi::util::Logger& logger,
                   Notifier& notifier, Telemetry& telemetry,
                   std::string_view listenAddress, int port,
-                  std::unique_ptr<wpi::NetworkAcceptor> acceptor);
+                  std::unique_ptr<wpi::net::NetworkAcceptor> acceptor);
   ~MjpegServerImpl() override;
 
   void Stop();
@@ -49,11 +49,11 @@ class MjpegServerImpl : public SinkImpl {
   std::string m_listenAddress;
   int m_port;
 
-  std::unique_ptr<wpi::NetworkAcceptor> m_acceptor;
+  std::unique_ptr<wpi::net::NetworkAcceptor> m_acceptor;
   std::atomic_bool m_active;  // set to false to terminate threads
   std::thread m_serverThread;
 
-  std::vector<wpi::SafeThreadOwner<ConnThread>> m_connThreads;
+  std::vector<wpi::util::SafeThreadOwner<ConnThread>> m_connThreads;
 
   // property indices
   int m_widthProp;
@@ -63,6 +63,6 @@ class MjpegServerImpl : public SinkImpl {
   int m_fpsProp;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_MJPEGSERVERIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/NetworkListener.hpp b/cscore/src/main/native/cpp/NetworkListener.hpp
index ec79792792..4eb3c0cd97 100644
--- a/cscore/src/main/native/cpp/NetworkListener.hpp
+++ b/cscore/src/main/native/cpp/NetworkListener.hpp
@@ -9,13 +9,13 @@
 
 #include "wpi/util/Logger.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Notifier;
 
 class NetworkListener {
  public:
-  NetworkListener(wpi::Logger& logger, Notifier& notifier);
+  NetworkListener(wpi::util::Logger& logger, Notifier& notifier);
   ~NetworkListener();
 
   void Start();
@@ -26,6 +26,6 @@ class NetworkListener {
   std::unique_ptr<Impl> m_impl;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_NETWORKLISTENER_HPP_
diff --git a/cscore/src/main/native/cpp/Notifier.cpp b/cscore/src/main/native/cpp/Notifier.cpp
index c5808285a1..851d5fc657 100644
--- a/cscore/src/main/native/cpp/Notifier.cpp
+++ b/cscore/src/main/native/cpp/Notifier.cpp
@@ -11,7 +11,7 @@
 #include "SinkImpl.hpp"
 #include "SourceImpl.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 Notifier::Notifier() {}
 
diff --git a/cscore/src/main/native/cpp/Notifier.hpp b/cscore/src/main/native/cpp/Notifier.hpp
index c5e2975228..580c5ca623 100644
--- a/cscore/src/main/native/cpp/Notifier.hpp
+++ b/cscore/src/main/native/cpp/Notifier.hpp
@@ -12,14 +12,14 @@
 #include "wpi/cs/cscore_cpp.hpp"
 #include "wpi/util/CallbackManager.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class SinkImpl;
 class SourceImpl;
 
 namespace impl {
 
-struct ListenerData : public wpi::CallbackListenerData<
+struct ListenerData : public wpi::util::CallbackListenerData<
                           std::function<void(const RawEvent& event)>> {
   ListenerData() = default;
   ListenerData(std::function<void(const RawEvent& event)> callback_,
@@ -32,7 +32,7 @@ struct ListenerData : public wpi::CallbackListenerData<
 };
 
 class NotifierThread
-    : public wpi::CallbackThread<NotifierThread, RawEvent, ListenerData> {
+    : public wpi::util::CallbackThread<NotifierThread, RawEvent, ListenerData> {
  public:
   NotifierThread(std::function<void()> on_start, std::function<void()> on_exit)
       : CallbackThread(std::move(on_start), std::move(on_exit)) {}
@@ -53,7 +53,7 @@ class NotifierThread
 
 }  // namespace impl
 
-class Notifier : public wpi::CallbackManager<Notifier, impl::NotifierThread> {
+class Notifier : public wpi::util::CallbackManager<Notifier, impl::NotifierThread> {
   friend class NotifierTest;
 
  public:
@@ -87,6 +87,6 @@ class Notifier : public wpi::CallbackManager<Notifier, impl::NotifierThread> {
   void NotifyUsbCamerasChanged();
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_NOTIFIER_HPP_
diff --git a/cscore/src/main/native/cpp/PropertyContainer.cpp b/cscore/src/main/native/cpp/PropertyContainer.cpp
index 84fd6acc8e..0a2d2d8cb3 100644
--- a/cscore/src/main/native/cpp/PropertyContainer.cpp
+++ b/cscore/src/main/native/cpp/PropertyContainer.cpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 int PropertyContainer::GetPropertyIndex(std::string_view name) const {
   // We can't fail, so instead we create a new index if caching fails.
@@ -32,7 +32,7 @@ int PropertyContainer::GetPropertyIndex(std::string_view name) const {
 }
 
 std::span<int> PropertyContainer::EnumerateProperties(
-    wpi::SmallVectorImpl<int>& vec, CS_Status* status) const {
+    wpi::util::SmallVectorImpl<int>& vec, CS_Status* status) const {
   if (!m_properties_cached && !CacheProperties(status)) {
     return {};
   }
@@ -59,7 +59,7 @@ CS_PropertyKind PropertyContainer::GetPropertyKind(int property) const {
 }
 
 std::string_view PropertyContainer::GetPropertyName(
-    int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
+    int property, wpi::util::SmallVectorImpl<char>& buf, CS_Status* status) const {
   if (!m_properties_cached && !CacheProperties(status)) {
     return {};
   }
@@ -168,7 +168,7 @@ int PropertyContainer::GetPropertyDefault(int property,
 }
 
 std::string_view PropertyContainer::GetStringProperty(
-    int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
+    int property, wpi::util::SmallVectorImpl<char>& buf, CS_Status* status) const {
   if (!m_properties_cached && !CacheProperties(status)) {
     return {};
   }
@@ -238,15 +238,15 @@ bool PropertyContainer::CacheProperties(CS_Status* status) const {
   return true;
 }
 
-bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
-                                          wpi::Logger& logger,
+bool PropertyContainer::SetPropertiesJson(const wpi::util::json& config,
+                                          wpi::util::Logger& logger,
                                           std::string_view logName,
                                           CS_Status* status) {
   for (auto&& prop : config) {
     std::string name;
     try {
       name = prop.at("name").get<std::string>();
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       WPI_WARNING(logger, "{}: SetConfigJson: could not read property name: {}",
                   logName, e.what());
       continue;
@@ -270,7 +270,7 @@ bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
                  logName, name, val);
         SetProperty(n, val, status);
       }
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       WPI_WARNING(logger,
                   "{}: SetConfigJson: could not read property value: {}",
                   logName, e.what());
@@ -281,12 +281,12 @@ bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
   return true;
 }
 
-wpi::json PropertyContainer::GetPropertiesJsonObject(CS_Status* status) {
-  wpi::json j;
-  wpi::SmallVector<int, 32> propVec;
+wpi::util::json PropertyContainer::GetPropertiesJsonObject(CS_Status* status) {
+  wpi::util::json j;
+  wpi::util::SmallVector<int, 32> propVec;
   for (int p : EnumerateProperties(propVec, status)) {
-    wpi::json prop;
-    wpi::SmallString<128> strBuf;
+    wpi::util::json prop;
+    wpi::util::SmallString<128> strBuf;
     prop.emplace("name", GetPropertyName(p, strBuf, status));
     switch (GetPropertyKind(p)) {
       case CS_PROP_BOOLEAN:
diff --git a/cscore/src/main/native/cpp/PropertyContainer.hpp b/cscore/src/main/native/cpp/PropertyContainer.hpp
index f830390e76..4cf95ea321 100644
--- a/cscore/src/main/native/cpp/PropertyContainer.hpp
+++ b/cscore/src/main/native/cpp/PropertyContainer.hpp
@@ -19,24 +19,24 @@
 #include "wpi/util/json_fwd.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace cs {
+namespace wpi::cs {
 
 class PropertyContainer {
  public:
   virtual ~PropertyContainer() = default;
 
   int GetPropertyIndex(std::string_view name) const;
-  std::span<int> EnumerateProperties(wpi::SmallVectorImpl<int>& vec,
+  std::span<int> EnumerateProperties(wpi::util::SmallVectorImpl<int>& vec,
                                      CS_Status* status) const;
   CS_PropertyKind GetPropertyKind(int property) const;
   std::string_view GetPropertyName(int property,
-                                   wpi::SmallVectorImpl<char>& buf,
+                                   wpi::util::SmallVectorImpl<char>& buf,
                                    CS_Status* status) const;
   int GetProperty(int property, CS_Status* status) const;
   virtual void SetProperty(int property, int value, CS_Status* status);
@@ -45,16 +45,16 @@ class PropertyContainer {
   int GetPropertyStep(int property, CS_Status* status) const;
   int GetPropertyDefault(int property, CS_Status* status) const;
   std::string_view GetStringProperty(int property,
-                                     wpi::SmallVectorImpl<char>& buf,
+                                     wpi::util::SmallVectorImpl<char>& buf,
                                      CS_Status* status) const;
   virtual void SetStringProperty(int property, std::string_view value,
                                  CS_Status* status);
   std::vector<std::string> GetEnumPropertyChoices(int property,
                                                   CS_Status* status) const;
 
-  bool SetPropertiesJson(const wpi::json& config, wpi::Logger& logger,
+  bool SetPropertiesJson(const wpi::util::json& config, wpi::util::Logger& logger,
                          std::string_view logName, CS_Status* status);
-  wpi::json GetPropertiesJsonObject(CS_Status* status);
+  wpi::util::json GetPropertiesJsonObject(CS_Status* status);
 
  protected:
   // Get a property; must be called with m_mutex held.
@@ -116,13 +116,13 @@ class PropertyContainer {
   // should not be called again)
   mutable std::atomic_bool m_properties_cached{false};
 
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
 
   // Cached properties (protected with m_mutex)
   mutable std::vector<std::unique_ptr<PropertyImpl>> m_propertyData;
-  mutable wpi::StringMap<int> m_properties;
+  mutable wpi::util::StringMap<int> m_properties;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_PROPERTYCONTAINER_HPP_
diff --git a/cscore/src/main/native/cpp/PropertyImpl.cpp b/cscore/src/main/native/cpp/PropertyImpl.cpp
index 09be1ed6d7..eda385283e 100644
--- a/cscore/src/main/native/cpp/PropertyImpl.cpp
+++ b/cscore/src/main/native/cpp/PropertyImpl.cpp
@@ -4,7 +4,7 @@
 
 #include "PropertyImpl.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 PropertyImpl::PropertyImpl(std::string_view name_) : name{name_} {}
 PropertyImpl::PropertyImpl(std::string_view name_, CS_PropertyKind kind_,
diff --git a/cscore/src/main/native/cpp/PropertyImpl.hpp b/cscore/src/main/native/cpp/PropertyImpl.hpp
index 06860ed8f2..b53bc98963 100644
--- a/cscore/src/main/native/cpp/PropertyImpl.hpp
+++ b/cscore/src/main/native/cpp/PropertyImpl.hpp
@@ -12,7 +12,7 @@
 #include "wpi/cs/cscore_c.h"
 #include "wpi/util/Signal.h"
 
-namespace cs {
+namespace wpi::cs {
 
 // Property data
 class PropertyImpl {
@@ -45,9 +45,9 @@ class PropertyImpl {
   bool valueSet{false};
 
   // emitted when value changes
-  wpi::sig::Signal<> changed;
+  wpi::util::sig::Signal<> changed;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_PROPERTYIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/RawSinkImpl.cpp b/cscore/src/main/native/cpp/RawSinkImpl.cpp
index 1d69221b45..b6fa170c78 100644
--- a/cscore/src/main/native/cpp/RawSinkImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSinkImpl.cpp
@@ -10,16 +10,16 @@
 #include "Instance.hpp"
 #include "wpi/cs/cscore_raw.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
-RawSinkImpl::RawSinkImpl(std::string_view name, wpi::Logger& logger,
+RawSinkImpl::RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
                          Notifier& notifier, Telemetry& telemetry)
     : SinkImpl{name, logger, notifier, telemetry} {
   m_active = true;
   // m_thread = std::thread(&RawSinkImpl::ThreadMain, this);
 }
 
-RawSinkImpl::RawSinkImpl(std::string_view name, wpi::Logger& logger,
+RawSinkImpl::RawSinkImpl(std::string_view name, wpi::util::Logger& logger,
                          Notifier& notifier, Telemetry& telemetry,
                          std::function<void(uint64_t time)> processFrame)
     : SinkImpl{name, logger, notifier, telemetry} {}
@@ -151,7 +151,7 @@ void RawSinkImpl::ThreadMain() {
   Disable();
 }
 
-namespace cs {
+namespace wpi::cs {
 static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
 
 CS_Sink CreateRawSink(std::string_view name, bool isCv, CS_Status* status) {
@@ -202,30 +202,30 @@ uint64_t GrabSinkFrameTimeoutLastTime(CS_Sink sink, WPI_RawFrame& image,
       .GrabFrame(image, timeout, lastFrameTime);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 CS_Sink CS_CreateRawSink(const struct WPI_String* name, CS_Bool isCv,
                          CS_Status* status) {
-  return cs::CreateRawSink(wpi::to_string_view(name), isCv, status);
+  return wpi::cs::CreateRawSink(wpi::util::to_string_view(name), isCv, status);
 }
 
 CS_Sink CS_CreateRawSinkCallback(
     const struct WPI_String* name, CS_Bool isCv, void* data,
     void (*processFrame)(void* data, uint64_t time), CS_Status* status) {
-  return cs::CreateRawSinkCallback(
-      wpi::to_string_view(name), isCv,
+  return wpi::cs::CreateRawSinkCallback(
+      wpi::util::to_string_view(name), isCv,
       [=](uint64_t time) { processFrame(data, time); }, status);
 }
 
 uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* image,
                              CS_Status* status) {
-  return cs::GrabSinkFrame(sink, *image, status);
+  return wpi::cs::GrabSinkFrame(sink, *image, status);
 }
 
 uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
                                     double timeout, CS_Status* status) {
-  return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
+  return wpi::cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
 }
 
 uint64_t CS_GrabRawSinkFrameTimeoutWithFrameTime(CS_Sink sink,
@@ -233,7 +233,7 @@ uint64_t CS_GrabRawSinkFrameTimeoutWithFrameTime(CS_Sink sink,
                                                  double timeout,
                                                  uint64_t lastFrameTime,
                                                  CS_Status* status) {
-  return cs::GrabSinkFrameTimeoutLastTime(sink, *image, timeout, lastFrameTime,
+  return wpi::cs::GrabSinkFrameTimeoutLastTime(sink, *image, timeout, lastFrameTime,
                                           status);
 }
 
diff --git a/cscore/src/main/native/cpp/RawSinkImpl.hpp b/cscore/src/main/native/cpp/RawSinkImpl.hpp
index c356c11215..3e923181d2 100644
--- a/cscore/src/main/native/cpp/RawSinkImpl.hpp
+++ b/cscore/src/main/native/cpp/RawSinkImpl.hpp
@@ -17,14 +17,14 @@
 #include "wpi/cs/cscore_raw.h"
 #include "wpi/util/condition_variable.hpp"
 
-namespace cs {
+namespace wpi::cs {
 class SourceImpl;
 
 class RawSinkImpl : public SinkImpl {
  public:
-  RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  RawSinkImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
               Telemetry& telemetry);
-  RawSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  RawSinkImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
               Telemetry& telemetry,
               std::function<void(uint64_t time)> processFrame);
   ~RawSinkImpl() override;
@@ -48,6 +48,6 @@ class RawSinkImpl : public SinkImpl {
   std::thread m_thread;
   std::function<void(uint64_t time)> m_processFrame;
 };
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_RAWSINKIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/RawSourceImpl.cpp b/cscore/src/main/native/cpp/RawSourceImpl.cpp
index c8b2130468..edf4d7e961 100644
--- a/cscore/src/main/native/cpp/RawSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.cpp
@@ -11,9 +11,9 @@
 #include "wpi/cs/cscore_raw.h"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
-RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
+RawSourceImpl::RawSourceImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              const VideoMode& mode)
     : ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
@@ -21,13 +21,13 @@ RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
 RawSourceImpl::~RawSourceImpl() = default;
 
 void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
-  auto currentTime = wpi::Now();
+  auto currentTime = wpi::util::Now();
   std::string_view data_view{reinterpret_cast<char*>(image.data), image.size};
   SourceImpl::PutFrame(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
                        image.width, image.height, data_view, currentTime);
 }
 
-namespace cs {
+namespace wpi::cs {
 static constexpr unsigned SourceMask = CS_SOURCE_CV | CS_SOURCE_RAW;
 
 CS_Source CreateRawSource(std::string_view name, bool isCv,
@@ -49,18 +49,18 @@ void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
   static_cast<RawSourceImpl&>(*data->source).PutFrame(image);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 CS_Source CS_CreateRawSource(const struct WPI_String* name, CS_Bool isCv,
                              const CS_VideoMode* mode, CS_Status* status) {
-  return cs::CreateRawSource(wpi::to_string_view(name), isCv,
-                             static_cast<const cs::VideoMode&>(*mode), status);
+  return wpi::cs::CreateRawSource(wpi::util::to_string_view(name), isCv,
+                             static_cast<const wpi::cs::VideoMode&>(*mode), status);
 }
 
 void CS_PutRawSourceFrame(CS_Source source, const struct WPI_RawFrame* image,
                           CS_Status* status) {
-  return cs::PutSourceFrame(source, *image, status);
+  return wpi::cs::PutSourceFrame(source, *image, status);
 }
 
 }  // extern "C"
diff --git a/cscore/src/main/native/cpp/RawSourceImpl.hpp b/cscore/src/main/native/cpp/RawSourceImpl.hpp
index 294080a793..37aec634d2 100644
--- a/cscore/src/main/native/cpp/RawSourceImpl.hpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.hpp
@@ -16,11 +16,11 @@
 #include "SourceImpl.hpp"
 #include "wpi/cs/cscore_raw.h"
 
-namespace cs {
+namespace wpi::cs {
 
 class RawSourceImpl : public ConfigurableSourceImpl {
  public:
-  RawSourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  RawSourceImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, const VideoMode& mode);
   ~RawSourceImpl() override;
 
@@ -31,6 +31,6 @@ class RawSourceImpl : public ConfigurableSourceImpl {
   std::atomic_bool m_connected{true};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_RAWSOURCEIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/SinkImpl.cpp b/cscore/src/main/native/cpp/SinkImpl.cpp
index 88869e3089..847cbcffae 100644
--- a/cscore/src/main/native/cpp/SinkImpl.cpp
+++ b/cscore/src/main/native/cpp/SinkImpl.cpp
@@ -13,9 +13,9 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
-SinkImpl::SinkImpl(std::string_view name, wpi::Logger& logger,
+SinkImpl::SinkImpl(std::string_view name, wpi::util::Logger& logger,
                    Notifier& notifier, Telemetry& telemetry)
     : m_logger(logger),
       m_notifier(notifier),
@@ -37,7 +37,7 @@ void SinkImpl::SetDescription(std::string_view description) {
 }
 
 std::string_view SinkImpl::GetDescription(
-    wpi::SmallVectorImpl<char>& buf) const {
+    wpi::util::SmallVectorImpl<char>& buf) const {
   std::scoped_lock lock(m_mutex);
   buf.append(m_description.begin(), m_description.end());
   return {buf.data(), buf.size()};
@@ -113,7 +113,7 @@ std::string SinkImpl::GetError() const {
   return std::string{m_source->GetCurFrame().GetError()};
 }
 
-std::string_view SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
+std::string_view SinkImpl::GetError(wpi::util::SmallVectorImpl<char>& buf) const {
   std::scoped_lock lock(m_mutex);
   if (!m_source) {
     return "no source connected";
@@ -126,10 +126,10 @@ std::string_view SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
 }
 
 bool SinkImpl::SetConfigJson(std::string_view config, CS_Status* status) {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(config);
-  } catch (const wpi::json::parse_error& e) {
+    j = wpi::util::json::parse(config);
+  } catch (const wpi::util::json::parse_error& e) {
     SWARNING("SetConfigJson: parse error at byte {}: {}", e.byte, e.what());
     *status = CS_PROPERTY_WRITE_FAILED;
     return false;
@@ -137,7 +137,7 @@ bool SinkImpl::SetConfigJson(std::string_view config, CS_Status* status) {
   return SetConfigJson(j, status);
 }
 
-bool SinkImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
+bool SinkImpl::SetConfigJson(const wpi::util::json& config, CS_Status* status) {
   if (config.count("properties") != 0) {
     SetPropertiesJson(config.at("properties"), m_logger, GetName(), status);
   }
@@ -147,16 +147,16 @@ bool SinkImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
 
 std::string SinkImpl::GetConfigJson(CS_Status* status) {
   std::string rv;
-  wpi::raw_string_ostream os(rv);
+  wpi::util::raw_string_ostream os(rv);
   GetConfigJsonObject(status).dump(os, 4);
   os.flush();
   return rv;
 }
 
-wpi::json SinkImpl::GetConfigJsonObject(CS_Status* status) {
-  wpi::json j;
+wpi::util::json SinkImpl::GetConfigJsonObject(CS_Status* status) {
+  wpi::util::json j;
 
-  wpi::json props = GetPropertiesJsonObject(status);
+  wpi::util::json props = GetPropertiesJsonObject(status);
   if (props.is_array()) {
     j.emplace("properties", props);
   }
@@ -199,7 +199,7 @@ void SinkImpl::UpdatePropertyValue(int property, bool setString, int value,
 
 void SinkImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {}
 
-namespace cs {
+namespace wpi::cs {
 static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
 
 void SetSinkDescription(CS_Sink sink, std::string_view description,
@@ -221,7 +221,7 @@ std::string GetSinkError(CS_Sink sink, CS_Status* status) {
   return data->sink->GetError();
 }
 
-std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
+std::string_view GetSinkError(CS_Sink sink, wpi::util::SmallVectorImpl<char>& buf,
                               CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data || (data->kind & SinkMask) == 0) {
@@ -240,22 +240,22 @@ void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
   data->sink->SetEnabled(enabled);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 extern "C" {
 void CS_SetSinkDescription(CS_Sink sink, const struct WPI_String* description,
                            CS_Status* status) {
-  return cs::SetSinkDescription(sink, wpi::to_string_view(description), status);
+  return wpi::cs::SetSinkDescription(sink, wpi::util::to_string_view(description), status);
 }
 
 void CS_GetSinkError(CS_Sink sink, struct WPI_String* error,
                      CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(error, cs::GetSinkError(sink, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(error, wpi::cs::GetSinkError(sink, buf, status));
 }
 
 void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status) {
-  return cs::SetSinkEnabled(sink, enabled, status);
+  return wpi::cs::SetSinkEnabled(sink, enabled, status);
 }
 
 }  // extern "C"
diff --git a/cscore/src/main/native/cpp/SinkImpl.hpp b/cscore/src/main/native/cpp/SinkImpl.hpp
index 910ff14567..60da9a16cc 100644
--- a/cscore/src/main/native/cpp/SinkImpl.hpp
+++ b/cscore/src/main/native/cpp/SinkImpl.hpp
@@ -14,7 +14,7 @@
 #include "wpi/util/json_fwd.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Frame;
 class Notifier;
@@ -22,7 +22,7 @@ class Telemetry;
 
 class SinkImpl : public PropertyContainer {
  public:
-  explicit SinkImpl(std::string_view name, wpi::Logger& logger,
+  explicit SinkImpl(std::string_view name, wpi::util::Logger& logger,
                     Notifier& notifier, Telemetry& telemetry);
   ~SinkImpl() override;
   SinkImpl(const SinkImpl& queue) = delete;
@@ -31,7 +31,7 @@ class SinkImpl : public PropertyContainer {
   std::string_view GetName() const { return m_name; }
 
   void SetDescription(std::string_view description);
-  std::string_view GetDescription(wpi::SmallVectorImpl<char>& buf) const;
+  std::string_view GetDescription(wpi::util::SmallVectorImpl<char>& buf) const;
 
   void Enable();
   void Disable();
@@ -45,12 +45,12 @@ class SinkImpl : public PropertyContainer {
   }
 
   std::string GetError() const;
-  std::string_view GetError(wpi::SmallVectorImpl<char>& buf) const;
+  std::string_view GetError(wpi::util::SmallVectorImpl<char>& buf) const;
 
   bool SetConfigJson(std::string_view config, CS_Status* status);
-  virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
+  virtual bool SetConfigJson(const wpi::util::json& config, CS_Status* status);
   std::string GetConfigJson(CS_Status* status);
-  virtual wpi::json GetConfigJsonObject(CS_Status* status);
+  virtual wpi::util::json GetConfigJsonObject(CS_Status* status);
 
  protected:
   // PropertyContainer implementation
@@ -61,7 +61,7 @@ class SinkImpl : public PropertyContainer {
   virtual void SetSourceImpl(std::shared_ptr<SourceImpl> source);
 
  protected:
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   Notifier& m_notifier;
   Telemetry& m_telemetry;
 
@@ -72,6 +72,6 @@ class SinkImpl : public PropertyContainer {
   int m_enabledCount{0};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_SINKIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/SourceImpl.cpp b/cscore/src/main/native/cpp/SourceImpl.cpp
index 446c3c7bf6..4e06ab53b6 100644
--- a/cscore/src/main/native/cpp/SourceImpl.cpp
+++ b/cscore/src/main/native/cpp/SourceImpl.cpp
@@ -18,11 +18,11 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
 static constexpr size_t kMaxImagesAvail = 32;
 
-SourceImpl::SourceImpl(std::string_view name, wpi::Logger& logger,
+SourceImpl::SourceImpl(std::string_view name, wpi::util::Logger& logger,
                        Notifier& notifier, Telemetry& telemetry)
     : m_logger(logger),
       m_notifier(notifier),
@@ -50,7 +50,7 @@ void SourceImpl::SetDescription(std::string_view description) {
 }
 
 std::string_view SourceImpl::GetDescription(
-    wpi::SmallVectorImpl<char>& buf) const {
+    wpi::util::SmallVectorImpl<char>& buf) const {
   std::scoped_lock lock(m_mutex);
   buf.append(m_description.begin(), m_description.end());
   return {buf.data(), buf.size()};
@@ -94,7 +94,7 @@ Frame SourceImpl::GetNextFrame(double timeout, Frame::Time lastFrameTime) {
   if (!m_frameCv.wait_for(
           lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
           [=, this] { return m_frame.GetTime() != lastFrameTime; })) {
-    m_frame = Frame{*this, "timed out getting frame", wpi::Now(),
+    m_frame = Frame{*this, "timed out getting frame", wpi::util::Now(),
                     WPI_TIMESRC_UNKNOWN};
   }
   return m_frame;
@@ -179,10 +179,10 @@ bool SourceImpl::SetFPS(int fps, CS_Status* status) {
 }
 
 bool SourceImpl::SetConfigJson(std::string_view config, CS_Status* status) {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(config);
-  } catch (const wpi::json::parse_error& e) {
+    j = wpi::util::json::parse(config);
+  } catch (const wpi::util::json::parse_error& e) {
     SWARNING("SetConfigJson: parse error at byte {}: {}", e.byte, e.what());
     *status = CS_PROPERTY_WRITE_FAILED;
     return false;
@@ -190,34 +190,34 @@ bool SourceImpl::SetConfigJson(std::string_view config, CS_Status* status) {
   return SetConfigJson(j, status);
 }
 
-bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
+bool SourceImpl::SetConfigJson(const wpi::util::json& config, CS_Status* status) {
   VideoMode mode;
 
   // pixel format
   if (config.count("pixel format") != 0) {
     try {
       auto str = config.at("pixel format").get<std::string>();
-      if (wpi::equals_lower(str, "mjpeg")) {
-        mode.pixelFormat = cs::VideoMode::kMJPEG;
-      } else if (wpi::equals_lower(str, "yuyv")) {
-        mode.pixelFormat = cs::VideoMode::kYUYV;
-      } else if (wpi::equals_lower(str, "rgb565")) {
-        mode.pixelFormat = cs::VideoMode::kRGB565;
-      } else if (wpi::equals_lower(str, "bgr")) {
-        mode.pixelFormat = cs::VideoMode::kBGR;
-      } else if (wpi::equals_lower(str, "bgra")) {
-        mode.pixelFormat = cs::VideoMode::kBGRA;
-      } else if (wpi::equals_lower(str, "gray")) {
-        mode.pixelFormat = cs::VideoMode::kGray;
-      } else if (wpi::equals_lower(str, "y16")) {
-        mode.pixelFormat = cs::VideoMode::kY16;
-      } else if (wpi::equals_lower(str, "uyvy")) {
-        mode.pixelFormat = cs::VideoMode::kUYVY;
+      if (wpi::util::equals_lower(str, "mjpeg")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kMJPEG;
+      } else if (wpi::util::equals_lower(str, "yuyv")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kYUYV;
+      } else if (wpi::util::equals_lower(str, "rgb565")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kRGB565;
+      } else if (wpi::util::equals_lower(str, "bgr")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kBGR;
+      } else if (wpi::util::equals_lower(str, "bgra")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kBGRA;
+      } else if (wpi::util::equals_lower(str, "gray")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kGray;
+      } else if (wpi::util::equals_lower(str, "y16")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kY16;
+      } else if (wpi::util::equals_lower(str, "uyvy")) {
+        mode.pixelFormat = wpi::cs::VideoMode::kUYVY;
       } else {
         SWARNING("SetConfigJson: could not understand pixel format value '{}'",
                  str);
       }
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read pixel format: {}", e.what());
     }
   }
@@ -226,7 +226,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
   if (config.count("width") != 0) {
     try {
       mode.width = config.at("width").get<unsigned int>();
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read width: {}", e.what());
     }
   }
@@ -235,7 +235,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
   if (config.count("height") != 0) {
     try {
       mode.height = config.at("height").get<unsigned int>();
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read height: {}", e.what());
     }
   }
@@ -244,7 +244,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
   if (config.count("fps") != 0) {
     try {
       mode.fps = config.at("fps").get<unsigned int>();
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read fps: {}", e.what());
     }
   }
@@ -258,9 +258,9 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
         mode.pixelFormat, mode.width, mode.height, mode.fps);
     SetVideoMode(mode, status);
   } else {
-    if (mode.pixelFormat != cs::VideoMode::kUnknown) {
+    if (mode.pixelFormat != wpi::cs::VideoMode::kUnknown) {
       SINFO("SetConfigJson: setting pixelFormat {}", mode.pixelFormat);
-      SetPixelFormat(static_cast<cs::VideoMode::PixelFormat>(mode.pixelFormat),
+      SetPixelFormat(static_cast<wpi::cs::VideoMode::PixelFormat>(mode.pixelFormat),
                      status);
     }
     if (mode.width != 0 && mode.height != 0) {
@@ -280,7 +280,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
       int val = config.at("brightness").get<int>();
       SINFO("SetConfigJson: setting brightness to {}", val);
       SetBrightness(val, status);
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read brightness: {}", e.what());
     }
   }
@@ -291,10 +291,10 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
       auto& setting = config.at("white balance");
       if (setting.is_string()) {
         auto str = setting.get<std::string>();
-        if (wpi::equals_lower(str, "auto")) {
+        if (wpi::util::equals_lower(str, "auto")) {
           SINFO("SetConfigJson: setting white balance to {}", "auto");
           SetWhiteBalanceAuto(status);
-        } else if (wpi::equals_lower(str, "hold")) {
+        } else if (wpi::util::equals_lower(str, "hold")) {
           SINFO("SetConfigJson: setting white balance to {}", "hold current");
           SetWhiteBalanceHoldCurrent(status);
         } else {
@@ -307,7 +307,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
         SINFO("SetConfigJson: setting white balance to {}", val);
         SetWhiteBalanceManual(val, status);
       }
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read white balance: {}", e.what());
     }
   }
@@ -318,10 +318,10 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
       auto& setting = config.at("exposure");
       if (setting.is_string()) {
         auto str = setting.get<std::string>();
-        if (wpi::equals_lower(str, "auto")) {
+        if (wpi::util::equals_lower(str, "auto")) {
           SINFO("SetConfigJson: setting exposure to {}", "auto");
           SetExposureAuto(status);
-        } else if (wpi::equals_lower(str, "hold")) {
+        } else if (wpi::util::equals_lower(str, "hold")) {
           SINFO("SetConfigJson: setting exposure to {}", "hold current");
           SetExposureHoldCurrent(status);
         } else {
@@ -333,7 +333,7 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
         SINFO("SetConfigJson: setting exposure to {}", val);
         SetExposureManual(val, status);
       }
-    } catch (const wpi::json::exception& e) {
+    } catch (const wpi::util::json::exception& e) {
       SWARNING("SetConfigJson: could not read exposure: {}", e.what());
     }
   }
@@ -348,14 +348,14 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
 
 std::string SourceImpl::GetConfigJson(CS_Status* status) {
   std::string rv;
-  wpi::raw_string_ostream os(rv);
+  wpi::util::raw_string_ostream os(rv);
   GetConfigJsonObject(status).dump(os, 4);
   os.flush();
   return rv;
 }
 
-wpi::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
-  wpi::json j;
+wpi::util::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
+  wpi::util::json j;
 
   // pixel format
   std::string_view pixelFormat;
@@ -409,7 +409,7 @@ wpi::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
   // TODO: output brightness, white balance, and exposure?
 
   // properties
-  wpi::json props = GetPropertiesJsonObject(status);
+  wpi::util::json props = GetPropertiesJsonObject(status);
   if (props.is_array()) {
     j.emplace("properties", props);
   }
diff --git a/cscore/src/main/native/cpp/SourceImpl.hpp b/cscore/src/main/native/cpp/SourceImpl.hpp
index abdcd96649..33842748bb 100644
--- a/cscore/src/main/native/cpp/SourceImpl.hpp
+++ b/cscore/src/main/native/cpp/SourceImpl.hpp
@@ -23,7 +23,7 @@
 #include "wpi/util/json_fwd.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Notifier;
 class Telemetry;
@@ -32,7 +32,7 @@ class SourceImpl : public PropertyContainer {
   friend class Frame;
 
  public:
-  SourceImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  SourceImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
              Telemetry& telemetry);
   ~SourceImpl() override;
   SourceImpl(const SourceImpl& oth) = delete;
@@ -43,7 +43,7 @@ class SourceImpl : public PropertyContainer {
   std::string_view GetName() const { return m_name; }
 
   void SetDescription(std::string_view description);
-  std::string_view GetDescription(wpi::SmallVectorImpl<char>& buf) const;
+  std::string_view GetDescription(wpi::util::SmallVectorImpl<char>& buf) const;
 
   void SetConnectionStrategy(CS_ConnectionStrategy strategy) {
     m_strategy = static_cast<int>(strategy);
@@ -126,9 +126,9 @@ class SourceImpl : public PropertyContainer {
   virtual bool SetFPS(int fps, CS_Status* status);
 
   bool SetConfigJson(std::string_view config, CS_Status* status);
-  virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
+  virtual bool SetConfigJson(const wpi::util::json& config, CS_Status* status);
   std::string GetConfigJson(CS_Status* status);
-  virtual wpi::json GetConfigJsonObject(CS_Status* status);
+  virtual wpi::util::json GetConfigJsonObject(CS_Status* status);
 
   std::vector<VideoMode> EnumerateVideoModes(CS_Status* status) const;
 
@@ -159,7 +159,7 @@ class SourceImpl : public PropertyContainer {
   // Current video mode
   mutable VideoMode m_mode;
 
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   Notifier& m_notifier;
   Telemetry& m_telemetry;
 
@@ -174,13 +174,13 @@ class SourceImpl : public PropertyContainer {
   std::atomic_int m_strategy{CS_CONNECTION_AUTO_MANAGE};
   std::atomic_int m_numSinksEnabled{0};
 
-  wpi::mutex m_frameMutex;
-  wpi::condition_variable m_frameCv;
+  wpi::util::mutex m_frameMutex;
+  wpi::util::condition_variable m_frameCv;
 
   bool m_destroyFrames{false};
 
   // Pool of frames/images to reduce malloc traffic.
-  wpi::mutex m_poolMutex;
+  wpi::util::mutex m_poolMutex;
   std::vector<std::unique_ptr<Frame::Impl>> m_framesAvail;
   std::vector<std::unique_ptr<Image>> m_imagesAvail;
 
@@ -193,6 +193,6 @@ class SourceImpl : public PropertyContainer {
   Frame m_frame;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_SOURCEIMPL_HPP_
diff --git a/cscore/src/main/native/cpp/Telemetry.cpp b/cscore/src/main/native/cpp/Telemetry.cpp
index 0b959b3c39..a52720b097 100644
--- a/cscore/src/main/native/cpp/Telemetry.cpp
+++ b/cscore/src/main/native/cpp/Telemetry.cpp
@@ -14,17 +14,17 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
-class Telemetry::Thread : public wpi::SafeThread {
+class Telemetry::Thread : public wpi::util::SafeThread {
  public:
   explicit Thread(Notifier& notifier) : m_notifier(notifier) {}
 
   void Main() override;
 
   Notifier& m_notifier;
-  wpi::DenseMap<std::pair<CS_Handle, int>, int64_t> m_user;
-  wpi::DenseMap<std::pair<CS_Handle, int>, int64_t> m_current;
+  wpi::util::DenseMap<std::pair<CS_Handle, int>, int64_t> m_user;
+  wpi::util::DenseMap<std::pair<CS_Handle, int>, int64_t> m_current;
   double m_period = 0.0;
   double m_elapsed = 0.0;
   bool m_updated = false;
diff --git a/cscore/src/main/native/cpp/Telemetry.hpp b/cscore/src/main/native/cpp/Telemetry.hpp
index a4955b6c0c..51defeb5f8 100644
--- a/cscore/src/main/native/cpp/Telemetry.hpp
+++ b/cscore/src/main/native/cpp/Telemetry.hpp
@@ -8,7 +8,7 @@
 #include "wpi/cs/cscore_cpp.hpp"
 #include "wpi/util/SafeThread.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Notifier;
 class SourceImpl;
@@ -38,9 +38,9 @@ class Telemetry {
   Notifier& m_notifier;
 
   class Thread;
-  wpi::SafeThreadOwner<Thread> m_owner;
+  wpi::util::SafeThreadOwner<Thread> m_owner;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_TELEMETRY_HPP_
diff --git a/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp b/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
index 5d56167ef8..953d49a3e7 100644
--- a/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
+++ b/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 // The UnlimitedHandleResource class is a way to track handles. This version
 // allows an unlimited number of handles that are allocated sequentially. When
@@ -34,7 +34,7 @@ namespace cs {
 // @tparam typeValue The type value stored in the handle
 // @tparam TMutex The mutex type to use
 template <typename THandle, typename TStruct, int typeValue,
-          typename TMutex = wpi::mutex>
+          typename TMutex = wpi::util::mutex>
 class UnlimitedHandleResource {
  public:
   UnlimitedHandleResource(const UnlimitedHandleResource&) = delete;
@@ -50,7 +50,7 @@ class UnlimitedHandleResource {
   std::shared_ptr<TStruct> Free(THandle handle);
 
   template <typename T>
-  std::span<T> GetAll(wpi::SmallVectorImpl<T>& vec);
+  std::span<T> GetAll(wpi::util::SmallVectorImpl<T>& vec);
 
   std::vector<std::shared_ptr<TStruct>> FreeAll();
 
@@ -149,7 +149,7 @@ template <typename THandle, typename TStruct, int typeValue, typename TMutex>
 template <typename T>
 inline std::span<T>
 UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::GetAll(
-    wpi::SmallVectorImpl<T>& vec) {
+    wpi::util::SmallVectorImpl<T>& vec) {
   ForEach([&](THandle handle, const TStruct&) { vec.push_back(handle); });
   return vec;
 }
@@ -189,6 +189,6 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FindIf(F func) {
   return std::pair{0, nullptr};
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_UNLIMITEDHANDLERESOURCE_HPP_
diff --git a/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp b/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
index 527960e17a..e6466a8f62 100644
--- a/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
+++ b/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
@@ -8,16 +8,16 @@
 #include "wpi/cs/cscore_cpp.hpp"
 #include "wpi/util/MemAlloc.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 static void ConvertToC(CS_UsbCameraInfo* out, const UsbCameraInfo& in) {
   out->dev = in.dev;
-  cs::ConvertToC(&out->path, in.path);
-  cs::ConvertToC(&out->name, in.name);
+  wpi::cs::ConvertToC(&out->path, in.path);
+  wpi::cs::ConvertToC(&out->name, in.name);
   out->otherPaths = WPI_AllocateStringArray(in.otherPaths.size());
   out->otherPathsCount = in.otherPaths.size();
   for (size_t i = 0; i < in.otherPaths.size(); ++i) {
-    cs::ConvertToC(&out->otherPaths[i], in.otherPaths[i]);
+    wpi::cs::ConvertToC(&out->otherPaths[i], in.otherPaths[i]);
   }
   out->vendorId = in.vendorId;
   out->productId = in.productId;
@@ -35,36 +35,36 @@ extern "C" {
 
 CS_Source CS_CreateUsbCameraDev(const struct WPI_String* name, int dev,
                                 CS_Status* status) {
-  return cs::CreateUsbCameraDev(wpi::to_string_view(name), dev, status);
+  return wpi::cs::CreateUsbCameraDev(wpi::util::to_string_view(name), dev, status);
 }
 
 CS_Source CS_CreateUsbCameraPath(const struct WPI_String* name,
                                  const struct WPI_String* path,
                                  CS_Status* status) {
-  return cs::CreateUsbCameraPath(wpi::to_string_view(name),
-                                 wpi::to_string_view(path), status);
+  return wpi::cs::CreateUsbCameraPath(wpi::util::to_string_view(name),
+                                 wpi::util::to_string_view(path), status);
 }
 
 void CS_SetUsbCameraPath(CS_Source source, const struct WPI_String* path,
                          CS_Status* status) {
-  cs::SetUsbCameraPath(source, wpi::to_string_view(path), status);
+  wpi::cs::SetUsbCameraPath(source, wpi::util::to_string_view(path), status);
 }
 
 void CS_GetUsbCameraPath(CS_Source source, WPI_String* path,
                          CS_Status* status) {
-  ConvertToC(path, cs::GetUsbCameraPath(source, status));
+  ConvertToC(path, wpi::cs::GetUsbCameraPath(source, status));
 }
 
 void CS_GetUsbCameraInfo(CS_Source source, CS_UsbCameraInfo* info,
                          CS_Status* status) {
-  auto info_cpp = cs::GetUsbCameraInfo(source, status);
+  auto info_cpp = wpi::cs::GetUsbCameraInfo(source, status);
   ConvertToC(info, info_cpp);
 }
 
 CS_UsbCameraInfo* CS_EnumerateUsbCameras(int* count, CS_Status* status) {
-  auto cameras = cs::EnumerateUsbCameras(status);
+  auto cameras = wpi::cs::EnumerateUsbCameras(status);
   CS_UsbCameraInfo* out = static_cast<CS_UsbCameraInfo*>(
-      wpi::safe_malloc(cameras.size() * sizeof(CS_UsbCameraInfo)));
+      wpi::util::safe_malloc(cameras.size() * sizeof(CS_UsbCameraInfo)));
   *count = cameras.size();
   for (size_t i = 0; i < cameras.size(); ++i) {
     ConvertToC(&out[i], cameras[i]);
diff --git a/cscore/src/main/native/cpp/UsbCameraListener.hpp b/cscore/src/main/native/cpp/UsbCameraListener.hpp
index 467855c3e6..750f6e8444 100644
--- a/cscore/src/main/native/cpp/UsbCameraListener.hpp
+++ b/cscore/src/main/native/cpp/UsbCameraListener.hpp
@@ -9,13 +9,13 @@
 
 #include "wpi/util/Logger.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Notifier;
 
 class UsbCameraListener {
  public:
-  UsbCameraListener(wpi::Logger& logger, Notifier& notifier);
+  UsbCameraListener(wpi::util::Logger& logger, Notifier& notifier);
   ~UsbCameraListener();
 
   void Start();
@@ -26,6 +26,6 @@ class UsbCameraListener {
   std::unique_ptr<Impl> m_impl;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBCAMERALISTENER_HPP_
diff --git a/cscore/src/main/native/cpp/c_util.hpp b/cscore/src/main/native/cpp/c_util.hpp
index 7c328b5194..5fc3c46bc3 100644
--- a/cscore/src/main/native/cpp/c_util.hpp
+++ b/cscore/src/main/native/cpp/c_util.hpp
@@ -10,13 +10,13 @@
 
 #include "wpi/util/string.h"
 
-namespace cs {
+namespace wpi::cs {
 
 inline void ConvertToC(struct WPI_String* output, std::string_view str) {
   char* write = WPI_AllocateString(output, str.size());
   std::memcpy(write, str.data(), str.size());
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_C_UTIL_HPP_
diff --git a/cscore/src/main/native/cpp/cscore_c.cpp b/cscore/src/main/native/cpp/cscore_c.cpp
index 941bf78895..083686c417 100644
--- a/cscore/src/main/native/cpp/cscore_c.cpp
+++ b/cscore/src/main/native/cpp/cscore_c.cpp
@@ -15,17 +15,17 @@
 #include "wpi/util/MemAlloc.hpp"
 #include "wpi/util/SmallString.hpp"
 
-static CS_Event ConvertToC(const cs::RawEvent& rawEvent) {
+static CS_Event ConvertToC(const wpi::cs::RawEvent& rawEvent) {
   CS_Event event;
   event.kind = static_cast<CS_EventKind>(static_cast<int>(rawEvent.kind));
   event.source = rawEvent.sourceHandle;
   event.sink = rawEvent.sinkHandle;
-  cs::ConvertToC(&event.name, rawEvent.name);
+  wpi::cs::ConvertToC(&event.name, rawEvent.name);
   event.mode = rawEvent.mode;
   event.property = rawEvent.propertyHandle;
   event.propertyKind = rawEvent.propertyKind;
   event.value = rawEvent.value;
-  cs::ConvertToC(&event.name, rawEvent.valueStr);
+  wpi::cs::ConvertToC(&event.name, rawEvent.valueStr);
   event.listener = rawEvent.listener;
   return event;
 }
@@ -34,7 +34,7 @@ template <typename O, typename I>
 static O* ConvertToC(std::vector<I>&& in, int* count) {
   using T = std::vector<I>;
   size_t size = in.size();
-  O* out = static_cast<O*>(wpi::safe_malloc(size * sizeof(O) + sizeof(T)));
+  O* out = static_cast<O*>(wpi::util::safe_malloc(size * sizeof(O) + sizeof(T)));
   *count = size;
   for (size_t i = 0; i < size; ++i) {
     out[i] = ConvertToC(in[i]);
@@ -51,106 +51,106 @@ static O* ConvertToC(std::vector<I>&& in, int* count) {
 extern "C" {
 
 CS_PropertyKind CS_GetPropertyKind(CS_Property property, CS_Status* status) {
-  return cs::GetPropertyKind(property, status);
+  return wpi::cs::GetPropertyKind(property, status);
 }
 
 void CS_GetPropertyName(CS_Property property, WPI_String* name,
                         CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(name, cs::GetPropertyName(property, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(name, wpi::cs::GetPropertyName(property, buf, status));
 }
 
 int CS_GetProperty(CS_Property property, CS_Status* status) {
-  return cs::GetProperty(property, status);
+  return wpi::cs::GetProperty(property, status);
 }
 
 void CS_SetProperty(CS_Property property, int value, CS_Status* status) {
-  return cs::SetProperty(property, value, status);
+  return wpi::cs::SetProperty(property, value, status);
 }
 
 int CS_GetPropertyMin(CS_Property property, CS_Status* status) {
-  return cs::GetPropertyMin(property, status);
+  return wpi::cs::GetPropertyMin(property, status);
 }
 
 int CS_GetPropertyMax(CS_Property property, CS_Status* status) {
-  return cs::GetPropertyMax(property, status);
+  return wpi::cs::GetPropertyMax(property, status);
 }
 
 int CS_GetPropertyStep(CS_Property property, CS_Status* status) {
-  return cs::GetPropertyStep(property, status);
+  return wpi::cs::GetPropertyStep(property, status);
 }
 
 int CS_GetPropertyDefault(CS_Property property, CS_Status* status) {
-  return cs::GetPropertyDefault(property, status);
+  return wpi::cs::GetPropertyDefault(property, status);
 }
 
 void CS_GetStringProperty(CS_Property property, WPI_String* value,
                           CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(value, cs::GetStringProperty(property, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(value, wpi::cs::GetStringProperty(property, buf, status));
 }
 
 void CS_SetStringProperty(CS_Property property, const struct WPI_String* value,
                           CS_Status* status) {
-  return cs::SetStringProperty(property, wpi::to_string_view(value), status);
+  return wpi::cs::SetStringProperty(property, wpi::util::to_string_view(value), status);
 }
 
 WPI_String* CS_GetEnumPropertyChoices(CS_Property property, int* count,
                                       CS_Status* status) {
-  auto choices = cs::GetEnumPropertyChoices(property, status);
+  auto choices = wpi::cs::GetEnumPropertyChoices(property, status);
   WPI_String* out = WPI_AllocateStringArray(choices.size());
   *count = choices.size();
   for (size_t i = 0; i < choices.size(); ++i) {
-    cs::ConvertToC(&out[i], choices[i]);
+    wpi::cs::ConvertToC(&out[i], choices[i]);
   }
   return out;
 }
 
 CS_SourceKind CS_GetSourceKind(CS_Source source, CS_Status* status) {
-  return cs::GetSourceKind(source, status);
+  return wpi::cs::GetSourceKind(source, status);
 }
 
 void CS_GetSourceName(CS_Source source, WPI_String* name, CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(name, cs::GetSourceName(source, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(name, wpi::cs::GetSourceName(source, buf, status));
 }
 
 void CS_GetSourceDescription(CS_Source source, WPI_String* description,
                              CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(description, cs::GetSourceDescription(source, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(description, wpi::cs::GetSourceDescription(source, buf, status));
 }
 
 uint64_t CS_GetSourceLastFrameTime(CS_Source source, CS_Status* status) {
-  return cs::GetSourceLastFrameTime(source, status);
+  return wpi::cs::GetSourceLastFrameTime(source, status);
 }
 
 void CS_SetSourceConnectionStrategy(CS_Source source,
                                     CS_ConnectionStrategy strategy,
                                     CS_Status* status) {
-  cs::SetSourceConnectionStrategy(source, strategy, status);
+  wpi::cs::SetSourceConnectionStrategy(source, strategy, status);
 }
 
 CS_Bool CS_IsSourceConnected(CS_Source source, CS_Status* status) {
-  return cs::IsSourceConnected(source, status);
+  return wpi::cs::IsSourceConnected(source, status);
 }
 
 CS_Bool CS_IsSourceEnabled(CS_Source source, CS_Status* status) {
-  return cs::IsSourceEnabled(source, status);
+  return wpi::cs::IsSourceEnabled(source, status);
 }
 
 CS_Property CS_GetSourceProperty(CS_Source source,
                                  const struct WPI_String* name,
                                  CS_Status* status) {
-  return cs::GetSourceProperty(source, wpi::to_string_view(name), status);
+  return wpi::cs::GetSourceProperty(source, wpi::util::to_string_view(name), status);
 }
 
 CS_Property* CS_EnumerateSourceProperties(CS_Source source, int* count,
                                           CS_Status* status) {
-  wpi::SmallVector<CS_Property, 32> buf;
-  auto vec = cs::EnumerateSourceProperties(source, buf, status);
+  wpi::util::SmallVector<CS_Property, 32> buf;
+  auto vec = wpi::cs::EnumerateSourceProperties(source, buf, status);
   CS_Property* out = static_cast<CS_Property*>(
-      wpi::safe_malloc(vec.size() * sizeof(CS_Property)));
+      wpi::util::safe_malloc(vec.size() * sizeof(CS_Property)));
   *count = vec.size();
   std::copy(vec.begin(), vec.end(), out);
   return out;
@@ -158,22 +158,22 @@ CS_Property* CS_EnumerateSourceProperties(CS_Source source, int* count,
 
 void CS_GetSourceVideoMode(CS_Source source, CS_VideoMode* mode,
                            CS_Status* status) {
-  *mode = cs::GetSourceVideoMode(source, status);
+  *mode = wpi::cs::GetSourceVideoMode(source, status);
 }
 
 CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
                               CS_Status* status) {
-  return cs::SetSourceVideoMode(
-      source, static_cast<const cs::VideoMode&>(*mode), status);
+  return wpi::cs::SetSourceVideoMode(
+      source, static_cast<const wpi::cs::VideoMode&>(*mode), status);
 }
 
 CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
                                       enum WPI_PixelFormat pixelFormat,
                                       int width, int height, int fps,
                                       CS_Status* status) {
-  return cs::SetSourceVideoMode(
+  return wpi::cs::SetSourceVideoMode(
       source,
-      cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(
+      wpi::cs::VideoMode{static_cast<wpi::cs::VideoMode::PixelFormat>(
                         static_cast<int>(pixelFormat)),
                     width, height, fps},
       status);
@@ -182,37 +182,37 @@ CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
 CS_Bool CS_SetSourcePixelFormat(CS_Source source,
                                 enum WPI_PixelFormat pixelFormat,
                                 CS_Status* status) {
-  return cs::SetSourcePixelFormat(
+  return wpi::cs::SetSourcePixelFormat(
       source,
-      static_cast<cs::VideoMode::PixelFormat>(static_cast<int>(pixelFormat)),
+      static_cast<wpi::cs::VideoMode::PixelFormat>(static_cast<int>(pixelFormat)),
       status);
 }
 
 CS_Bool CS_SetSourceResolution(CS_Source source, int width, int height,
                                CS_Status* status) {
-  return cs::SetSourceResolution(source, width, height, status);
+  return wpi::cs::SetSourceResolution(source, width, height, status);
 }
 
 CS_Bool CS_SetSourceFPS(CS_Source source, int fps, CS_Status* status) {
-  return cs::SetSourceFPS(source, fps, status);
+  return wpi::cs::SetSourceFPS(source, fps, status);
 }
 
 CS_Bool CS_SetSourceConfigJson(CS_Source source,
                                const struct WPI_String* config,
                                CS_Status* status) {
-  return cs::SetSourceConfigJson(source, wpi::to_string_view(config), status);
+  return wpi::cs::SetSourceConfigJson(source, wpi::util::to_string_view(config), status);
 }
 
 void CS_GetSourceConfigJson(CS_Source source, WPI_String* config,
                             CS_Status* status) {
-  cs::ConvertToC(config, cs::GetSourceConfigJson(source, status));
+  wpi::cs::ConvertToC(config, wpi::cs::GetSourceConfigJson(source, status));
 }
 
 CS_VideoMode* CS_EnumerateSourceVideoModes(CS_Source source, int* count,
                                            CS_Status* status) {
-  auto vec = cs::EnumerateSourceVideoModes(source, status);
+  auto vec = wpi::cs::EnumerateSourceVideoModes(source, status);
   CS_VideoMode* out = static_cast<CS_VideoMode*>(
-      wpi::safe_malloc(vec.size() * sizeof(CS_VideoMode)));
+      wpi::util::safe_malloc(vec.size() * sizeof(CS_VideoMode)));
   *count = vec.size();
   std::copy(vec.begin(), vec.end(), out);
   return out;
@@ -220,84 +220,84 @@ CS_VideoMode* CS_EnumerateSourceVideoModes(CS_Source source, int* count,
 
 CS_Sink* CS_EnumerateSourceSinks(CS_Source source, int* count,
                                  CS_Status* status) {
-  wpi::SmallVector<CS_Sink, 32> buf;
-  auto handles = cs::EnumerateSourceSinks(source, buf, status);
+  wpi::util::SmallVector<CS_Sink, 32> buf;
+  auto handles = wpi::cs::EnumerateSourceSinks(source, buf, status);
   CS_Sink* sinks =
-      static_cast<CS_Sink*>(wpi::safe_malloc(handles.size() * sizeof(CS_Sink)));
+      static_cast<CS_Sink*>(wpi::util::safe_malloc(handles.size() * sizeof(CS_Sink)));
   *count = handles.size();
   std::copy(handles.begin(), handles.end(), sinks);
   return sinks;
 }
 
 CS_Source CS_CopySource(CS_Source source, CS_Status* status) {
-  return cs::CopySource(source, status);
+  return wpi::cs::CopySource(source, status);
 }
 
 void CS_ReleaseSource(CS_Source source, CS_Status* status) {
-  return cs::ReleaseSource(source, status);
+  return wpi::cs::ReleaseSource(source, status);
 }
 
 void CS_SetCameraBrightness(CS_Source source, int brightness,
                             CS_Status* status) {
-  return cs::SetCameraBrightness(source, brightness, status);
+  return wpi::cs::SetCameraBrightness(source, brightness, status);
 }
 
 int CS_GetCameraBrightness(CS_Source source, CS_Status* status) {
-  return cs::GetCameraBrightness(source, status);
+  return wpi::cs::GetCameraBrightness(source, status);
 }
 
 void CS_SetCameraWhiteBalanceAuto(CS_Source source, CS_Status* status) {
-  return cs::SetCameraWhiteBalanceAuto(source, status);
+  return wpi::cs::SetCameraWhiteBalanceAuto(source, status);
 }
 
 void CS_SetCameraWhiteBalanceHoldCurrent(CS_Source source, CS_Status* status) {
-  return cs::SetCameraWhiteBalanceHoldCurrent(source, status);
+  return wpi::cs::SetCameraWhiteBalanceHoldCurrent(source, status);
 }
 
 void CS_SetCameraWhiteBalanceManual(CS_Source source, int value,
                                     CS_Status* status) {
-  return cs::SetCameraWhiteBalanceManual(source, value, status);
+  return wpi::cs::SetCameraWhiteBalanceManual(source, value, status);
 }
 
 void CS_SetCameraExposureAuto(CS_Source source, CS_Status* status) {
-  return cs::SetCameraExposureAuto(source, status);
+  return wpi::cs::SetCameraExposureAuto(source, status);
 }
 
 void CS_SetCameraExposureHoldCurrent(CS_Source source, CS_Status* status) {
-  return cs::SetCameraExposureHoldCurrent(source, status);
+  return wpi::cs::SetCameraExposureHoldCurrent(source, status);
 }
 
 void CS_SetCameraExposureManual(CS_Source source, int value,
                                 CS_Status* status) {
-  return cs::SetCameraExposureManual(source, value, status);
+  return wpi::cs::SetCameraExposureManual(source, value, status);
 }
 
 CS_SinkKind CS_GetSinkKind(CS_Sink sink, CS_Status* status) {
-  return cs::GetSinkKind(sink, status);
+  return wpi::cs::GetSinkKind(sink, status);
 }
 
 void CS_GetSinkName(CS_Sink sink, WPI_String* name, CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(name, cs::GetSinkName(sink, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(name, wpi::cs::GetSinkName(sink, buf, status));
 }
 
 void CS_GetSinkDescription(CS_Sink sink, WPI_String* description,
                            CS_Status* status) {
-  wpi::SmallString<128> buf;
-  cs::ConvertToC(description, cs::GetSinkDescription(sink, buf, status));
+  wpi::util::SmallString<128> buf;
+  wpi::cs::ConvertToC(description, wpi::cs::GetSinkDescription(sink, buf, status));
 }
 
 CS_Property CS_GetSinkProperty(CS_Sink sink, const struct WPI_String* name,
                                CS_Status* status) {
-  return cs::GetSinkProperty(sink, wpi::to_string_view(name), status);
+  return wpi::cs::GetSinkProperty(sink, wpi::util::to_string_view(name), status);
 }
 
 CS_Property* CS_EnumerateSinkProperties(CS_Sink sink, int* count,
                                         CS_Status* status) {
-  wpi::SmallVector<CS_Property, 32> buf;
-  auto vec = cs::EnumerateSinkProperties(sink, buf, status);
+  wpi::util::SmallVector<CS_Property, 32> buf;
+  auto vec = wpi::cs::EnumerateSinkProperties(sink, buf, status);
   CS_Property* out = static_cast<CS_Property*>(
-      wpi::safe_malloc(vec.size() * sizeof(CS_Property)));
+      wpi::util::safe_malloc(vec.size() * sizeof(CS_Property)));
   *count = vec.size();
   std::copy(vec.begin(), vec.end(), out);
   return out;
@@ -305,49 +305,49 @@ CS_Property* CS_EnumerateSinkProperties(CS_Sink sink, int* count,
 
 CS_Bool CS_SetSinkConfigJson(CS_Sink sink, const struct WPI_String* config,
                              CS_Status* status) {
-  return cs::SetSinkConfigJson(sink, wpi::to_string_view(config), status);
+  return wpi::cs::SetSinkConfigJson(sink, wpi::util::to_string_view(config), status);
 }
 
 void CS_GetSinkConfigJson(CS_Sink sink, WPI_String* config, CS_Status* status) {
-  cs::ConvertToC(config, cs::GetSinkConfigJson(sink, status));
+  wpi::cs::ConvertToC(config, wpi::cs::GetSinkConfigJson(sink, status));
 }
 
 void CS_SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
-  return cs::SetSinkSource(sink, source, status);
+  return wpi::cs::SetSinkSource(sink, source, status);
 }
 
 CS_Source CS_GetSinkSource(CS_Sink sink, CS_Status* status) {
-  return cs::GetSinkSource(sink, status);
+  return wpi::cs::GetSinkSource(sink, status);
 }
 
 CS_Property CS_GetSinkSourceProperty(CS_Sink sink,
                                      const struct WPI_String* name,
                                      CS_Status* status) {
-  return cs::GetSinkSourceProperty(sink, wpi::to_string_view(name), status);
+  return wpi::cs::GetSinkSourceProperty(sink, wpi::util::to_string_view(name), status);
 }
 
 CS_Sink CS_CopySink(CS_Sink sink, CS_Status* status) {
-  return cs::CopySink(sink, status);
+  return wpi::cs::CopySink(sink, status);
 }
 
 void CS_ReleaseSink(CS_Sink sink, CS_Status* status) {
-  return cs::ReleaseSink(sink, status);
+  return wpi::cs::ReleaseSink(sink, status);
 }
 
 void CS_SetListenerOnStart(void (*onStart)(void* data), void* data) {
-  cs::SetListenerOnStart([=] { onStart(data); });
+  wpi::cs::SetListenerOnStart([=] { onStart(data); });
 }
 
 void CS_SetListenerOnExit(void (*onExit)(void* data), void* data) {
-  cs::SetListenerOnExit([=] { onExit(data); });
+  wpi::cs::SetListenerOnExit([=] { onExit(data); });
 }
 
 CS_Listener CS_AddListener(void* data,
                            void (*callback)(void* data, const CS_Event* event),
                            int eventMask, CS_Bool immediateNotify,
                            CS_Status* status) {
-  return cs::AddListener(
-      [=](const cs::RawEvent& rawEvent) {
+  return wpi::cs::AddListener(
+      [=](const wpi::cs::RawEvent& rawEvent) {
         CS_Event event = ConvertToC(rawEvent);
         callback(data, &event);
       },
@@ -355,41 +355,41 @@ CS_Listener CS_AddListener(void* data,
 }
 
 void CS_RemoveListener(CS_Listener handle, CS_Status* status) {
-  return cs::RemoveListener(handle, status);
+  return wpi::cs::RemoveListener(handle, status);
 }
 
 CS_ListenerPoller CS_CreateListenerPoller(void) {
-  return cs::CreateListenerPoller();
+  return wpi::cs::CreateListenerPoller();
 }
 
 void CS_DestroyListenerPoller(CS_ListenerPoller poller) {
-  cs::DestroyListenerPoller(poller);
+  wpi::cs::DestroyListenerPoller(poller);
 }
 
 CS_Listener CS_AddPolledListener(CS_ListenerPoller poller, int eventMask,
                                  CS_Bool immediateNotify, CS_Status* status) {
-  return cs::AddPolledListener(poller, eventMask, immediateNotify, status);
+  return wpi::cs::AddPolledListener(poller, eventMask, immediateNotify, status);
 }
 
 struct CS_Event* CS_PollListener(CS_ListenerPoller poller, int* count) {
-  return ConvertToC<CS_Event>(cs::PollListener(poller), count);
+  return ConvertToC<CS_Event>(wpi::cs::PollListener(poller), count);
 }
 
 struct CS_Event* CS_PollListenerTimeout(CS_ListenerPoller poller, int* count,
                                         double timeout, CS_Bool* timedOut) {
   bool cppTimedOut = false;
-  auto arrCpp = cs::PollListener(poller, timeout, &cppTimedOut);
+  auto arrCpp = wpi::cs::PollListener(poller, timeout, &cppTimedOut);
   *timedOut = cppTimedOut;
   return ConvertToC<CS_Event>(std::move(arrCpp), count);
 }
 
 void CS_CancelPollListener(CS_ListenerPoller poller) {
-  cs::CancelPollListener(poller);
+  wpi::cs::CancelPollListener(poller);
 }
 
 void CS_FreeEvents(CS_Event* arr, int count) {
   // destroy vector saved at end of array
-  using T = std::vector<cs::RawEvent>;
+  using T = std::vector<wpi::cs::RawEvent>;
   alignas(T) unsigned char buf[sizeof(T)];
   std::memcpy(buf, arr + count, sizeof(T));
   reinterpret_cast<T*>(buf)->~T();
@@ -398,51 +398,51 @@ void CS_FreeEvents(CS_Event* arr, int count) {
 }
 
 int CS_NotifierDestroyed(void) {
-  return cs::NotifierDestroyed();
+  return wpi::cs::NotifierDestroyed();
 }
 
 void CS_SetTelemetryPeriod(double seconds) {
-  cs::SetTelemetryPeriod(seconds);
+  wpi::cs::SetTelemetryPeriod(seconds);
 }
 
 double CS_GetTelemetryElapsedTime(void) {
-  return cs::GetTelemetryElapsedTime();
+  return wpi::cs::GetTelemetryElapsedTime();
 }
 
 int64_t CS_GetTelemetryValue(CS_Handle handle, CS_TelemetryKind kind,
                              CS_Status* status) {
-  return cs::GetTelemetryValue(handle, kind, status);
+  return wpi::cs::GetTelemetryValue(handle, kind, status);
 }
 
 double CS_GetTelemetryAverageValue(CS_Handle handle, CS_TelemetryKind kind,
                                    CS_Status* status) {
-  return cs::GetTelemetryAverageValue(handle, kind, status);
+  return wpi::cs::GetTelemetryAverageValue(handle, kind, status);
 }
 
 void CS_SetLogger(CS_LogFunc func, void* data, unsigned int min_level) {
-  cs::SetLogger(
+  wpi::cs::SetLogger(
       [=](unsigned int level, const char* file, unsigned int line,
           const char* msg) {
-        auto fileStr = wpi::make_string(file);
-        auto msgStr = wpi::make_string(msg);
+        auto fileStr = wpi::util::make_string(file);
+        auto msgStr = wpi::util::make_string(msg);
         func(data, level, &fileStr, line, &msgStr);
       },
       min_level);
 }
 
 void CS_SetDefaultLogger(unsigned int min_level) {
-  cs::SetDefaultLogger(min_level);
+  wpi::cs::SetDefaultLogger(min_level);
 }
 
 void CS_Shutdown(void) {
-  cs::Shutdown();
+  wpi::cs::Shutdown();
 }
 
 CS_Source* CS_EnumerateSources(int* count, CS_Status* status) {
-  wpi::SmallVector<CS_Source, 32> buf;
-  auto handles = cs::EnumerateSourceHandles(buf, status);
+  wpi::util::SmallVector<CS_Source, 32> buf;
+  auto handles = wpi::cs::EnumerateSourceHandles(buf, status);
   CS_Source* sources = static_cast<CS_Source*>(
-      wpi::safe_malloc(handles.size() * sizeof(CS_Source)));
+      wpi::util::safe_malloc(handles.size() * sizeof(CS_Source)));
   *count = handles.size();
   std::copy(handles.begin(), handles.end(), sources);
   return sources;
@@ -455,17 +455,17 @@ void CS_ReleaseEnumeratedSources(CS_Source* sources, int count) {
   for (int i = 0; i < count; ++i) {
     CS_Status status = 0;
     if (sources[i] != 0) {
-      cs::ReleaseSource(sources[i], &status);
+      wpi::cs::ReleaseSource(sources[i], &status);
     }
   }
   std::free(sources);
 }
 
 CS_Sink* CS_EnumerateSinks(int* count, CS_Status* status) {
-  wpi::SmallVector<CS_Sink, 32> buf;
-  auto handles = cs::EnumerateSinkHandles(buf, status);
+  wpi::util::SmallVector<CS_Sink, 32> buf;
+  auto handles = wpi::cs::EnumerateSinkHandles(buf, status);
   CS_Sink* sinks =
-      static_cast<CS_Sink*>(wpi::safe_malloc(handles.size() * sizeof(CS_Sink)));
+      static_cast<CS_Sink*>(wpi::util::safe_malloc(handles.size() * sizeof(CS_Sink)));
   *count = handles.size();
   std::copy(handles.begin(), handles.end(), sinks);
   return sinks;
@@ -478,7 +478,7 @@ void CS_ReleaseEnumeratedSinks(CS_Sink* sinks, int count) {
   for (int i = 0; i < count; ++i) {
     CS_Status status = 0;
     if (sinks[i] != 0) {
-      cs::ReleaseSink(sinks[i], &status);
+      wpi::cs::ReleaseSink(sinks[i], &status);
     }
   }
   std::free(sinks);
@@ -493,15 +493,15 @@ void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count) {
 }
 
 void CS_GetHostname(struct WPI_String* hostname) {
-  cs::ConvertToC(hostname, cs::GetHostname());
+  wpi::cs::ConvertToC(hostname, wpi::cs::GetHostname());
 }
 
 WPI_String* CS_GetNetworkInterfaces(int* count) {
-  auto interfaces = cs::GetNetworkInterfaces();
+  auto interfaces = wpi::cs::GetNetworkInterfaces();
   WPI_String* out = WPI_AllocateStringArray(interfaces.size());
   *count = interfaces.size();
   for (size_t i = 0; i < interfaces.size(); ++i) {
-    cs::ConvertToC(&out[i], interfaces[i]);
+    wpi::cs::ConvertToC(&out[i], interfaces[i]);
   }
   return out;
 }
diff --git a/cscore/src/main/native/cpp/cscore_cpp.cpp b/cscore/src/main/native/cpp/cscore_cpp.cpp
index 8aa92a3f3f..b7d17aba0e 100644
--- a/cscore/src/main/native/cpp/cscore_cpp.cpp
+++ b/cscore/src/main/native/cpp/cscore_cpp.cpp
@@ -21,7 +21,7 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 static std::shared_ptr<PropertyContainer> GetPropertyContainer(
     CS_Property propertyHandle, int* propertyIndex, CS_Status* status) {
@@ -51,7 +51,7 @@ static std::shared_ptr<PropertyContainer> GetPropertyContainer(
   return container;
 }
 
-namespace cs {
+namespace wpi::cs {
 
 //
 // Property Functions
@@ -67,7 +67,7 @@ CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status) {
 }
 
 std::string GetPropertyName(CS_Property property, CS_Status* status) {
-  wpi::SmallString<128> buf;
+  wpi::util::SmallString<128> buf;
   int propertyIndex;
   auto container = GetPropertyContainer(property, &propertyIndex, status);
   if (!container) {
@@ -77,7 +77,7 @@ std::string GetPropertyName(CS_Property property, CS_Status* status) {
 }
 
 std::string_view GetPropertyName(CS_Property property,
-                                 wpi::SmallVectorImpl<char>& buf,
+                                 wpi::util::SmallVectorImpl<char>& buf,
                                  CS_Status* status) {
   int propertyIndex;
   auto container = GetPropertyContainer(property, &propertyIndex, status);
@@ -142,7 +142,7 @@ int GetPropertyDefault(CS_Property property, CS_Status* status) {
 }
 
 std::string GetStringProperty(CS_Property property, CS_Status* status) {
-  wpi::SmallString<128> buf;
+  wpi::util::SmallString<128> buf;
   int propertyIndex;
   auto container = GetPropertyContainer(property, &propertyIndex, status);
   if (!container) {
@@ -152,7 +152,7 @@ std::string GetStringProperty(CS_Property property, CS_Status* status) {
 }
 
 std::string_view GetStringProperty(CS_Property property,
-                                   wpi::SmallVectorImpl<char>& buf,
+                                   wpi::util::SmallVectorImpl<char>& buf,
                                    CS_Status* status) {
   int propertyIndex;
   auto container = GetPropertyContainer(property, &propertyIndex, status);
@@ -205,7 +205,7 @@ std::string GetSourceName(CS_Source source, CS_Status* status) {
 }
 
 std::string_view GetSourceName(CS_Source source,
-                               wpi::SmallVectorImpl<char>& buf,
+                               wpi::util::SmallVectorImpl<char>& buf,
                                CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data) {
@@ -221,12 +221,12 @@ std::string GetSourceDescription(CS_Source source, CS_Status* status) {
     *status = CS_INVALID_HANDLE;
     return {};
   }
-  wpi::SmallString<128> buf;
+  wpi::util::SmallString<128> buf;
   return std::string{data->source->GetDescription(buf)};
 }
 
 std::string_view GetSourceDescription(CS_Source source,
-                                      wpi::SmallVectorImpl<char>& buf,
+                                      wpi::util::SmallVectorImpl<char>& buf,
                                       CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data) {
@@ -290,14 +290,14 @@ CS_Property GetSourceProperty(CS_Source source, std::string_view name,
 }
 
 std::span<CS_Property> EnumerateSourceProperties(
-    CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
+    CS_Source source, wpi::util::SmallVectorImpl<CS_Property>& vec,
     CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data) {
     *status = CS_INVALID_HANDLE;
     return {};
   }
-  wpi::SmallVector<int, 32> properties_buf;
+  wpi::util::SmallVector<int, 32> properties_buf;
   for (auto property :
        data->source->EnumerateProperties(properties_buf, status)) {
     vec.push_back(Handle{source, property, Handle::kProperty});
@@ -363,7 +363,7 @@ bool SetSourceConfigJson(CS_Source source, std::string_view config,
   return data->source->SetConfigJson(config, status);
 }
 
-bool SetSourceConfigJson(CS_Source source, const wpi::json& config,
+bool SetSourceConfigJson(CS_Source source, const wpi::util::json& config,
                          CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data) {
@@ -382,11 +382,11 @@ std::string GetSourceConfigJson(CS_Source source, CS_Status* status) {
   return data->source->GetConfigJson(status);
 }
 
-wpi::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status) {
+wpi::util::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data) {
     *status = CS_INVALID_HANDLE;
-    return wpi::json{};
+    return wpi::util::json{};
   }
   return data->source->GetConfigJsonObject(status);
 }
@@ -402,7 +402,7 @@ std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
 }
 
 std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
-                                        wpi::SmallVectorImpl<CS_Sink>& vec,
+                                        wpi::util::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status) {
   auto& inst = Instance::GetInstance();
   auto data = inst.GetSource(source);
@@ -540,7 +540,7 @@ std::string GetSinkName(CS_Sink sink, CS_Status* status) {
   return std::string{data->sink->GetName()};
 }
 
-std::string_view GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
+std::string_view GetSinkName(CS_Sink sink, wpi::util::SmallVectorImpl<char>& buf,
                              CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
@@ -556,12 +556,12 @@ std::string GetSinkDescription(CS_Sink sink, CS_Status* status) {
     *status = CS_INVALID_HANDLE;
     return {};
   }
-  wpi::SmallString<128> buf;
+  wpi::util::SmallString<128> buf;
   return std::string{data->sink->GetDescription(buf)};
 }
 
 std::string_view GetSinkDescription(CS_Sink sink,
-                                    wpi::SmallVectorImpl<char>& buf,
+                                    wpi::util::SmallVectorImpl<char>& buf,
                                     CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
@@ -587,13 +587,13 @@ CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
 }
 
 std::span<CS_Property> EnumerateSinkProperties(
-    CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status) {
+    CS_Sink sink, wpi::util::SmallVectorImpl<CS_Property>& vec, CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
     *status = CS_INVALID_HANDLE;
     return {};
   }
-  wpi::SmallVector<int, 32> properties_buf;
+  wpi::util::SmallVector<int, 32> properties_buf;
   for (auto property :
        data->sink->EnumerateProperties(properties_buf, status)) {
     vec.push_back(Handle{sink, property, Handle::kSinkProperty});
@@ -611,7 +611,7 @@ bool SetSinkConfigJson(CS_Sink sink, std::string_view config,
   return data->sink->SetConfigJson(config, status);
 }
 
-bool SetSinkConfigJson(CS_Sink sink, const wpi::json& config,
+bool SetSinkConfigJson(CS_Sink sink, const wpi::util::json& config,
                        CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
@@ -630,11 +630,11 @@ std::string GetSinkConfigJson(CS_Sink sink, CS_Status* status) {
   return data->sink->GetConfigJson(status);
 }
 
-wpi::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status) {
+wpi::util::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
     *status = CS_INVALID_HANDLE;
-    return wpi::json{};
+    return wpi::util::json{};
   }
   return data->sink->GetConfigJsonObject(status);
 }
@@ -869,17 +869,17 @@ void Shutdown() {
 //
 
 std::span<CS_Source> EnumerateSourceHandles(
-    wpi::SmallVectorImpl<CS_Source>& vec, CS_Status* status) {
+    wpi::util::SmallVectorImpl<CS_Source>& vec, CS_Status* status) {
   return Instance::GetInstance().EnumerateSourceHandles(vec);
 }
 
-std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
+std::span<CS_Sink> EnumerateSinkHandles(wpi::util::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status) {
   return Instance::GetInstance().EnumerateSinkHandles(vec);
 }
 
 std::string GetHostname() {
-  return wpi::GetHostname();
+  return wpi::net::GetHostname();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/cpp/cscore_oo.cpp b/cscore/src/main/native/cpp/cscore_oo.cpp
index 091997509b..19e21a254b 100644
--- a/cscore/src/main/native/cpp/cscore_oo.cpp
+++ b/cscore/src/main/native/cpp/cscore_oo.cpp
@@ -11,20 +11,20 @@
 
 #include "wpi/util/json.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
-wpi::json VideoSource::GetConfigJsonObject() const {
+wpi::util::json VideoSource::GetConfigJsonObject() const {
   m_status = 0;
   return GetSourceConfigJsonObject(m_handle, &m_status);
 }
 
-wpi::json VideoSink::GetConfigJsonObject() const {
+wpi::util::json VideoSink::GetConfigJsonObject() const {
   m_status = 0;
   return GetSinkConfigJsonObject(m_handle, &m_status);
 }
 
 std::vector<VideoProperty> VideoSource::EnumerateProperties() const {
-  wpi::SmallVector<CS_Property, 32> handles_buf;
+  wpi::util::SmallVector<CS_Property, 32> handles_buf;
   CS_Status status = 0;
   auto handles = EnumerateSourceProperties(m_handle, handles_buf, &status);
 
@@ -37,7 +37,7 @@ std::vector<VideoProperty> VideoSource::EnumerateProperties() const {
 }
 
 std::vector<VideoSink> VideoSource::EnumerateSinks() {
-  wpi::SmallVector<CS_Sink, 16> handles_buf;
+  wpi::util::SmallVector<CS_Sink, 16> handles_buf;
   CS_Status status = 0;
   auto handles = EnumerateSourceSinks(m_handle, handles_buf, &status);
 
@@ -50,9 +50,9 @@ std::vector<VideoSink> VideoSource::EnumerateSinks() {
 }
 
 std::vector<VideoSource> VideoSource::EnumerateSources() {
-  wpi::SmallVector<CS_Source, 16> handles_buf;
+  wpi::util::SmallVector<CS_Source, 16> handles_buf;
   CS_Status status = 0;
-  auto handles = ::cs::EnumerateSourceHandles(handles_buf, &status);
+  auto handles = ::wpi::cs::EnumerateSourceHandles(handles_buf, &status);
 
   std::vector<VideoSource> sources;
   sources.reserve(handles.size());
@@ -63,7 +63,7 @@ std::vector<VideoSource> VideoSource::EnumerateSources() {
 }
 
 std::vector<VideoProperty> VideoSink::EnumerateProperties() const {
-  wpi::SmallVector<CS_Property, 32> handles_buf;
+  wpi::util::SmallVector<CS_Property, 32> handles_buf;
   CS_Status status = 0;
   auto handles = EnumerateSinkProperties(m_handle, handles_buf, &status);
 
@@ -76,9 +76,9 @@ std::vector<VideoProperty> VideoSink::EnumerateProperties() const {
 }
 
 std::vector<VideoSink> VideoSink::EnumerateSinks() {
-  wpi::SmallVector<CS_Sink, 16> handles_buf;
+  wpi::util::SmallVector<CS_Sink, 16> handles_buf;
   CS_Status status = 0;
-  auto handles = ::cs::EnumerateSinkHandles(handles_buf, &status);
+  auto handles = ::wpi::cs::EnumerateSinkHandles(handles_buf, &status);
 
   std::vector<VideoSink> sinks;
   sinks.reserve(handles.size());
diff --git a/cscore/src/main/native/cpp/default_init_allocator.hpp b/cscore/src/main/native/cpp/default_init_allocator.hpp
index d7706974bc..19de39a98c 100644
--- a/cscore/src/main/native/cpp/default_init_allocator.hpp
+++ b/cscore/src/main/native/cpp/default_init_allocator.hpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <utility>
 
-namespace cs {
+namespace wpi::cs {
 
 // Allocator adaptor that interposes construct() calls to
 // convert value initialization into default initialization.
@@ -36,6 +36,6 @@ class default_init_allocator : public A {
   }
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_DEFAULT_INIT_ALLOCATOR_HPP_
diff --git a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
index 39caab181e..20c92bb1f7 100644
--- a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
+++ b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
@@ -21,7 +21,7 @@ namespace cv {
 class Mat;
 }  // namespace cv
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 //
 // Globals and load/unload
@@ -107,14 +107,14 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
   }
 
   // Initial configuration of listener start/exit
-  cs::SetListenerOnStart(ListenerOnStart);
-  cs::SetListenerOnExit(ListenerOnExit);
+  wpi::cs::SetListenerOnStart(ListenerOnStart);
+  wpi::cs::SetListenerOnExit(ListenerOnExit);
 
   return JNI_VERSION_1_6;
 }
 
 JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
-  cs::Shutdown();
+  wpi::cs::Shutdown();
 
   JNIEnv* env;
   if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
@@ -141,7 +141,7 @@ class JCSGlobal {
   JCSGlobal(JNIEnv* env, T obj)
       : m_obj(static_cast<T>(env->NewGlobalRef(obj))) {}
   ~JCSGlobal() {
-    if (!jvm || cs::NotifierDestroyed()) {
+    if (!jvm || wpi::cs::NotifierDestroyed()) {
       return;
     }
     JNIEnv* env;
@@ -223,7 +223,7 @@ static inline bool CheckStatus(JNIEnv* env, CS_Status status) {
   return status == CS_OK;
 }
 
-static jobject MakeJObject(JNIEnv* env, const cs::UsbCameraInfo& info) {
+static jobject MakeJObject(JNIEnv* env, const wpi::cs::UsbCameraInfo& info) {
   static jmethodID constructor = env->GetMethodID(
       usbCameraInfoCls, "<init>",
       "(ILjava/lang/String;Ljava/lang/String;[Ljava/lang/String;II)V");
@@ -236,7 +236,7 @@ static jobject MakeJObject(JNIEnv* env, const cs::UsbCameraInfo& info) {
                         static_cast<jint>(info.productId));
 }
 
-static jobject MakeJObject(JNIEnv* env, const cs::VideoMode& videoMode) {
+static jobject MakeJObject(JNIEnv* env, const wpi::cs::VideoMode& videoMode) {
   static jmethodID constructor =
       env->GetMethodID(videoModeCls, "<init>", "(IIII)V");
   return env->NewObject(
@@ -245,7 +245,7 @@ static jobject MakeJObject(JNIEnv* env, const cs::VideoMode& videoMode) {
       static_cast<jint>(videoMode.fps));
 }
 
-static jobject MakeJObject(JNIEnv* env, const cs::RawEvent& event) {
+static jobject MakeJObject(JNIEnv* env, const wpi::cs::RawEvent& event) {
   static jmethodID constructor =
       env->GetMethodID(videoEventCls, "<init>",
                        "(IIILjava/lang/String;IIIIIIILjava/lang/String;I)V");
@@ -272,7 +272,7 @@ static jobject MakeJObject(JNIEnv* env, const cs::RawEvent& event) {
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const cs::RawEvent> arr) {
+                                std::span<const wpi::cs::RawEvent> arr) {
   jobjectArray jarr = env->NewObjectArray(arr.size(), videoEventCls, nullptr);
   if (!jarr) {
     return nullptr;
@@ -296,7 +296,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyKind
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetPropertyKind(property, &status);
+  auto val = wpi::cs::GetPropertyKind(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -311,8 +311,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyName
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetPropertyName(property, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetPropertyName(property, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -329,7 +329,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getProperty
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetProperty(property, &status);
+  auto val = wpi::cs::GetProperty(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -344,7 +344,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setProperty
   (JNIEnv* env, jclass, jint property, jint value)
 {
   CS_Status status = 0;
-  cs::SetProperty(property, value, &status);
+  wpi::cs::SetProperty(property, value, &status);
   CheckStatus(env, status);
 }
 
@@ -358,7 +358,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyMin
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetPropertyMin(property, &status);
+  auto val = wpi::cs::GetPropertyMin(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -373,7 +373,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyMax
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetPropertyMax(property, &status);
+  auto val = wpi::cs::GetPropertyMax(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -388,7 +388,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyStep
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetPropertyStep(property, &status);
+  auto val = wpi::cs::GetPropertyStep(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -403,7 +403,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getPropertyDefault
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto val = cs::GetPropertyDefault(property, &status);
+  auto val = wpi::cs::GetPropertyDefault(property, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -418,8 +418,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getStringProperty
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetStringProperty(property, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetStringProperty(property, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -440,7 +440,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setStringProperty
     return;
   }
   CS_Status status = 0;
-  cs::SetStringProperty(property, JStringRef{env, value}.str(), &status);
+  wpi::cs::SetStringProperty(property, JStringRef{env, value}.str(), &status);
   CheckStatus(env, status);
 }
 
@@ -454,7 +454,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getEnumPropertyChoices
   (JNIEnv* env, jclass, jint property)
 {
   CS_Status status = 0;
-  auto arr = cs::GetEnumPropertyChoices(property, &status);
+  auto arr = wpi::cs::GetEnumPropertyChoices(property, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -475,7 +475,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createUsbCameraDev
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateUsbCameraDev(JStringRef{env, name}.str(), dev, &status);
+  auto val = wpi::cs::CreateUsbCameraDev(JStringRef{env, name}.str(), dev, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -498,7 +498,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createUsbCameraPath
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateUsbCameraPath(JStringRef{env, name}.str(),
+  auto val = wpi::cs::CreateUsbCameraPath(JStringRef{env, name}.str(),
                                      JStringRef{env, path}.str(), &status);
   CheckStatus(env, status);
   return val;
@@ -522,7 +522,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createHttpCamera
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateHttpCamera(
+  auto val = wpi::cs::CreateHttpCamera(
       JStringRef{env, name}.str(), JStringRef{env, url}.str(),
       static_cast<CS_HttpCameraKind>(kind), &status);
   CheckStatus(env, status);
@@ -547,7 +547,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createHttpCameraMulti
     return 0;
   }
   size_t len = env->GetArrayLength(urls);
-  wpi::SmallVector<std::string, 8> vec;
+  wpi::util::SmallVector<std::string, 8> vec;
   vec.reserve(len);
   for (size_t i = 0; i < len; ++i) {
     JLocal<jstring> elem{
@@ -560,7 +560,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createHttpCameraMulti
   }
   CS_Status status = 0;
   auto val =
-      cs::CreateHttpCamera(JStringRef{env, name}.str(), vec,
+      wpi::cs::CreateHttpCamera(JStringRef{env, name}.str(), vec,
                            static_cast<CS_HttpCameraKind>(kind), &status);
   CheckStatus(env, status);
   return val;
@@ -581,9 +581,9 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createRawSource
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateRawSource(
+  auto val = wpi::cs::CreateRawSource(
       JStringRef{env, name}.str(), isCv,
-      cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
+      wpi::cs::VideoMode{static_cast<wpi::cs::VideoMode::PixelFormat>(pixelFormat),
                     static_cast<int>(width), static_cast<int>(height),
                     static_cast<int>(fps)},
       &status);
@@ -601,7 +601,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceKind
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetSourceKind(source, &status);
+  auto val = wpi::cs::GetSourceKind(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -616,8 +616,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceName
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSourceName(source, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetSourceName(source, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -634,8 +634,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceDescription
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSourceDescription(source, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetSourceDescription(source, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -652,7 +652,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceLastFrameTime
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetSourceLastFrameTime(source, &status);
+  auto val = wpi::cs::GetSourceLastFrameTime(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -667,7 +667,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceConnectionStrategy
   (JNIEnv* env, jclass, jint source, jint strategy)
 {
   CS_Status status = 0;
-  cs::SetSourceConnectionStrategy(
+  wpi::cs::SetSourceConnectionStrategy(
       source, static_cast<CS_ConnectionStrategy>(strategy), &status);
   CheckStatus(env, status);
 }
@@ -682,7 +682,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_isSourceConnected
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::IsSourceConnected(source, &status);
+  auto val = wpi::cs::IsSourceConnected(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -697,7 +697,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_isSourceEnabled
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::IsSourceEnabled(source, &status);
+  auto val = wpi::cs::IsSourceEnabled(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -717,7 +717,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceProperty
   }
   CS_Status status = 0;
   auto val =
-      cs::GetSourceProperty(source, JStringRef{env, name}.str(), &status);
+      wpi::cs::GetSourceProperty(source, JStringRef{env, name}.str(), &status);
   CheckStatus(env, status);
   return val;
 }
@@ -732,8 +732,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSourceProperties
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  wpi::SmallVector<CS_Property, 32> buf;
-  auto arr = cs::EnumerateSourceProperties(source, buf, &status);
+  wpi::util::SmallVector<CS_Property, 32> buf;
+  auto arr = wpi::cs::EnumerateSourceProperties(source, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -750,7 +750,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceVideoMode
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetSourceVideoMode(source, &status);
+  auto val = wpi::cs::GetSourceVideoMode(source, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -768,9 +768,9 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceVideoMode
    jint fps)
 {
   CS_Status status = 0;
-  auto val = cs::SetSourceVideoMode(
+  auto val = wpi::cs::SetSourceVideoMode(
       source,
-      cs::VideoMode(static_cast<cs::VideoMode::PixelFormat>(pixelFormat), width,
+      wpi::cs::VideoMode(static_cast<wpi::cs::VideoMode::PixelFormat>(pixelFormat), width,
                     height, fps),
       &status);
   CheckStatus(env, status);
@@ -787,8 +787,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourcePixelFormat
   (JNIEnv* env, jclass, jint source, jint pixelFormat)
 {
   CS_Status status = 0;
-  auto val = cs::SetSourcePixelFormat(
-      source, static_cast<cs::VideoMode::PixelFormat>(pixelFormat), &status);
+  auto val = wpi::cs::SetSourcePixelFormat(
+      source, static_cast<wpi::cs::VideoMode::PixelFormat>(pixelFormat), &status);
   CheckStatus(env, status);
   return val;
 }
@@ -803,7 +803,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceResolution
   (JNIEnv* env, jclass, jint source, jint width, jint height)
 {
   CS_Status status = 0;
-  auto val = cs::SetSourceResolution(source, width, height, &status);
+  auto val = wpi::cs::SetSourceResolution(source, width, height, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -818,7 +818,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceFPS
   (JNIEnv* env, jclass, jint source, jint fps)
 {
   CS_Status status = 0;
-  auto val = cs::SetSourceFPS(source, fps, &status);
+  auto val = wpi::cs::SetSourceFPS(source, fps, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -833,7 +833,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceConfigJson
   (JNIEnv* env, jclass, jint source, jstring config)
 {
   CS_Status status = 0;
-  auto val = cs::SetSourceConfigJson(source, JStringRef{env, config}, &status);
+  auto val = wpi::cs::SetSourceConfigJson(source, JStringRef{env, config}, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -848,7 +848,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSourceConfigJson
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetSourceConfigJson(source, &status);
+  auto val = wpi::cs::GetSourceConfigJson(source, &status);
   CheckStatus(env, status);
   return MakeJString(env, val);
 }
@@ -863,7 +863,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSourceVideoModes
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto arr = cs::EnumerateSourceVideoModes(source, &status);
+  auto arr = wpi::cs::EnumerateSourceVideoModes(source, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -888,8 +888,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSourceSinks
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  wpi::SmallVector<CS_Sink, 16> buf;
-  auto arr = cs::EnumerateSourceSinks(source, buf, &status);
+  wpi::util::SmallVector<CS_Sink, 16> buf;
+  auto arr = wpi::cs::EnumerateSourceSinks(source, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -906,7 +906,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_copySource
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::CopySource(source, &status);
+  auto val = wpi::cs::CopySource(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -921,7 +921,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_releaseSource
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  cs::ReleaseSource(source, &status);
+  wpi::cs::ReleaseSource(source, &status);
   CheckStatus(env, status);
 }
 
@@ -935,7 +935,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraBrightness
   (JNIEnv* env, jclass, jint source, jint brightness)
 {
   CS_Status status = 0;
-  cs::SetCameraBrightness(source, brightness, &status);
+  wpi::cs::SetCameraBrightness(source, brightness, &status);
   CheckStatus(env, status);
 }
 
@@ -949,7 +949,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getCameraBrightness
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetCameraBrightness(source, &status);
+  auto val = wpi::cs::GetCameraBrightness(source, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -964,7 +964,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraWhiteBalanceAuto
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  cs::SetCameraWhiteBalanceAuto(source, &status);
+  wpi::cs::SetCameraWhiteBalanceAuto(source, &status);
   CheckStatus(env, status);
 }
 
@@ -978,7 +978,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraWhiteBalanceHoldCurrent
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  cs::SetCameraWhiteBalanceHoldCurrent(source, &status);
+  wpi::cs::SetCameraWhiteBalanceHoldCurrent(source, &status);
   CheckStatus(env, status);
 }
 
@@ -992,7 +992,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraWhiteBalanceManual
   (JNIEnv* env, jclass, jint source, jint value)
 {
   CS_Status status = 0;
-  cs::SetCameraWhiteBalanceManual(source, value, &status);
+  wpi::cs::SetCameraWhiteBalanceManual(source, value, &status);
   CheckStatus(env, status);
 }
 
@@ -1006,7 +1006,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraExposureAuto
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  cs::SetCameraExposureAuto(source, &status);
+  wpi::cs::SetCameraExposureAuto(source, &status);
   CheckStatus(env, status);
 }
 
@@ -1020,7 +1020,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraExposureHoldCurrent
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  cs::SetCameraExposureHoldCurrent(source, &status);
+  wpi::cs::SetCameraExposureHoldCurrent(source, &status);
   CheckStatus(env, status);
 }
 
@@ -1034,7 +1034,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setCameraExposureManual
   (JNIEnv* env, jclass, jint source, jint value)
 {
   CS_Status status = 0;
-  cs::SetCameraExposureManual(source, value, &status);
+  wpi::cs::SetCameraExposureManual(source, value, &status);
   CheckStatus(env, status);
 }
 
@@ -1048,7 +1048,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setUsbCameraPath
   (JNIEnv* env, jclass, jint source, jstring path)
 {
   CS_Status status = 0;
-  cs::SetUsbCameraPath(source, JStringRef{env, path}.str(), &status);
+  wpi::cs::SetUsbCameraPath(source, JStringRef{env, path}.str(), &status);
   CheckStatus(env, status);
 }
 
@@ -1062,7 +1062,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getUsbCameraPath
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto str = cs::GetUsbCameraPath(source, &status);
+  auto str = wpi::cs::GetUsbCameraPath(source, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1079,7 +1079,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getUsbCameraInfo
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto info = cs::GetUsbCameraInfo(source, &status);
+  auto info = wpi::cs::GetUsbCameraInfo(source, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1096,7 +1096,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getHttpCameraKind
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto kind = cs::GetHttpCameraKind(source, &status);
+  auto kind = wpi::cs::GetHttpCameraKind(source, &status);
   if (!CheckStatus(env, status)) {
     return 0;
   }
@@ -1117,7 +1117,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setHttpCameraUrls
     return;
   }
   size_t len = env->GetArrayLength(urls);
-  wpi::SmallVector<std::string, 8> vec;
+  wpi::util::SmallVector<std::string, 8> vec;
   vec.reserve(len);
   for (size_t i = 0; i < len; ++i) {
     JLocal<jstring> elem{
@@ -1129,7 +1129,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setHttpCameraUrls
     vec.emplace_back(JStringRef{env, elem}.str());
   }
   CS_Status status = 0;
-  cs::SetHttpCameraUrls(source, vec, &status);
+  wpi::cs::SetHttpCameraUrls(source, vec, &status);
   CheckStatus(env, status);
 }
 
@@ -1143,7 +1143,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getHttpCameraUrls
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto arr = cs::GetHttpCameraUrls(source, &status);
+  auto arr = wpi::cs::GetHttpCameraUrls(source, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1159,13 +1159,13 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_putRawSourceFrame
   (JNIEnv* env, jclass, jint source, jlong framePtr)
 {
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
   if (!frame) {
     nullPointerEx.Throw(env, "frame is null");
     return;
   }
   CS_Status status = 0;
-  cs::PutSourceFrame(source, *frame, &status);
+  wpi::cs::PutSourceFrame(source, *frame, &status);
   CheckStatus(env, status);
 }
 
@@ -1193,7 +1193,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_putRawSourceFrameBB
   frame.stride = stride;
   frame.pixelFormat = pixelFormat;
   CS_Status status = 0;
-  cs::PutSourceFrame(source, frame, &status);
+  wpi::cs::PutSourceFrame(source, frame, &status);
   CheckStatus(env, status);
 }
 
@@ -1221,7 +1221,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_putRawSourceFrameData
   frame.stride = stride;
   frame.pixelFormat = pixelFormat;
   CS_Status status = 0;
-  cs::PutSourceFrame(source, frame, &status);
+  wpi::cs::PutSourceFrame(source, frame, &status);
   CheckStatus(env, status);
 }
 
@@ -1239,7 +1239,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_notifySourceError
     return;
   }
   CS_Status status = 0;
-  cs::NotifySourceError(source, JStringRef{env, msg}.str(), &status);
+  wpi::cs::NotifySourceError(source, JStringRef{env, msg}.str(), &status);
   CheckStatus(env, status);
 }
 
@@ -1253,7 +1253,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceConnected
   (JNIEnv* env, jclass, jint source, jboolean connected)
 {
   CS_Status status = 0;
-  cs::SetSourceConnected(source, connected, &status);
+  wpi::cs::SetSourceConnected(source, connected, &status);
   CheckStatus(env, status);
 }
 
@@ -1271,7 +1271,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceDescription
     return;
   }
   CS_Status status = 0;
-  cs::SetSourceDescription(source, JStringRef{env, description}.str(), &status);
+  wpi::cs::SetSourceDescription(source, JStringRef{env, description}.str(), &status);
   CheckStatus(env, status);
 }
 
@@ -1286,7 +1286,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createSourceProperty
    jint maximum, jint step, jint defaultValue, jint value)
 {
   CS_Status status = 0;
-  auto val = cs::CreateSourceProperty(
+  auto val = wpi::cs::CreateSourceProperty(
       source, JStringRef{env, name}.str(), static_cast<CS_PropertyKind>(kind),
       minimum, maximum, step, defaultValue, value, &status);
   CheckStatus(env, status);
@@ -1307,7 +1307,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceEnumPropertyChoices
     return;
   }
   size_t len = env->GetArrayLength(choices);
-  wpi::SmallVector<std::string, 8> vec;
+  wpi::util::SmallVector<std::string, 8> vec;
   vec.reserve(len);
   for (size_t i = 0; i < len; ++i) {
     JLocal<jstring> elem{
@@ -1319,7 +1319,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSourceEnumPropertyChoices
     vec.emplace_back(JStringRef{env, elem}.str());
   }
   CS_Status status = 0;
-  cs::SetSourceEnumPropertyChoices(source, property, vec, &status);
+  wpi::cs::SetSourceEnumPropertyChoices(source, property, vec, &status);
   CheckStatus(env, status);
 }
 
@@ -1341,7 +1341,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createMjpegServer
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateMjpegServer(JStringRef{env, name}.str(),
+  auto val = wpi::cs::CreateMjpegServer(JStringRef{env, name}.str(),
                                    JStringRef{env, listenAddress}.str(), port,
                                    &status);
   CheckStatus(env, status);
@@ -1362,7 +1362,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_createRawSink
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateRawSink(JStringRef{env, name}.str(), isCv, &status);
+  auto val = wpi::cs::CreateRawSink(JStringRef{env, name}.str(), isCv, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1377,7 +1377,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkKind
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  auto val = cs::GetSinkKind(sink, &status);
+  auto val = wpi::cs::GetSinkKind(sink, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1392,8 +1392,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkName
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSinkName(sink, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetSinkName(sink, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1410,8 +1410,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkDescription
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSinkDescription(sink, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetSinkDescription(sink, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1432,7 +1432,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkProperty
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::GetSinkProperty(sink, JStringRef{env, name}.str(), &status);
+  auto val = wpi::cs::GetSinkProperty(sink, JStringRef{env, name}.str(), &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1447,8 +1447,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSinkProperties
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  wpi::SmallVector<CS_Property, 32> buf;
-  auto arr = cs::EnumerateSinkProperties(source, buf, &status);
+  wpi::util::SmallVector<CS_Property, 32> buf;
+  auto arr = wpi::cs::EnumerateSinkProperties(source, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1465,7 +1465,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSinkConfigJson
   (JNIEnv* env, jclass, jint source, jstring config)
 {
   CS_Status status = 0;
-  auto val = cs::SetSinkConfigJson(source, JStringRef{env, config}, &status);
+  auto val = wpi::cs::SetSinkConfigJson(source, JStringRef{env, config}, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1480,7 +1480,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkConfigJson
   (JNIEnv* env, jclass, jint source)
 {
   CS_Status status = 0;
-  auto val = cs::GetSinkConfigJson(source, &status);
+  auto val = wpi::cs::GetSinkConfigJson(source, &status);
   CheckStatus(env, status);
   return MakeJString(env, val);
 }
@@ -1495,7 +1495,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSinkSource
   (JNIEnv* env, jclass, jint sink, jint source)
 {
   CS_Status status = 0;
-  cs::SetSinkSource(sink, source, &status);
+  wpi::cs::SetSinkSource(sink, source, &status);
   CheckStatus(env, status);
 }
 
@@ -1514,7 +1514,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkSourceProperty
   }
   CS_Status status = 0;
   auto val =
-      cs::GetSinkSourceProperty(sink, JStringRef{env, name}.str(), &status);
+      wpi::cs::GetSinkSourceProperty(sink, JStringRef{env, name}.str(), &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1529,7 +1529,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkSource
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  auto val = cs::GetSinkSource(sink, &status);
+  auto val = wpi::cs::GetSinkSource(sink, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1544,7 +1544,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_copySink
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  auto val = cs::CopySink(sink, &status);
+  auto val = wpi::cs::CopySink(sink, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1559,7 +1559,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_releaseSink
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  cs::ReleaseSink(sink, &status);
+  wpi::cs::ReleaseSink(sink, &status);
   CheckStatus(env, status);
 }
 
@@ -1573,7 +1573,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getMjpegServerListenAddress
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  auto str = cs::GetMjpegServerListenAddress(sink, &status);
+  auto str = wpi::cs::GetMjpegServerListenAddress(sink, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1590,7 +1590,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getMjpegServerPort
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  auto val = cs::GetMjpegServerPort(sink, &status);
+  auto val = wpi::cs::GetMjpegServerPort(sink, &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1609,7 +1609,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSinkDescription
     return;
   }
   CS_Status status = 0;
-  cs::SetSinkDescription(sink, JStringRef{env, description}.str(), &status);
+  wpi::cs::SetSinkDescription(sink, JStringRef{env, description}.str(), &status);
   CheckStatus(env, status);
 }
 
@@ -1622,14 +1622,14 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_grabRawSinkFrame
   (JNIEnv* env, jclass, jint sink, jobject frameObj, jlong framePtr)
 {
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
   auto origData = frame->data;
   CS_Status status = 0;
-  auto rv = cs::GrabSinkFrame(static_cast<CS_Sink>(sink), *frame, &status);
+  auto rv = wpi::cs::GrabSinkFrame(static_cast<CS_Sink>(sink), *frame, &status);
   if (!CheckStatus(env, status)) {
     return 0;
   }
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame,
+  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame,
                     origData != frame->data);
   return rv;
 }
@@ -1644,15 +1644,15 @@ Java_org_wpilib_vision_camera_CameraServerJNI_grabRawSinkFrameTimeout
   (JNIEnv* env, jclass, jint sink, jobject frameObj, jlong framePtr,
    jdouble timeout)
 {
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
   auto origData = frame->data;
   CS_Status status = 0;
-  auto rv = cs::GrabSinkFrameTimeout(static_cast<CS_Sink>(sink), *frame,
+  auto rv = wpi::cs::GrabSinkFrameTimeout(static_cast<CS_Sink>(sink), *frame,
                                      timeout, &status);
   if (!CheckStatus(env, status)) {
     return 0;
   }
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame,
+  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame,
                     origData != frame->data);
   return rv;
 }
@@ -1667,8 +1667,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getSinkError
   (JNIEnv* env, jclass, jint sink)
 {
   CS_Status status = 0;
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSinkError(sink, buf, &status);
+  wpi::util::SmallString<128> buf;
+  auto str = wpi::cs::GetSinkError(sink, buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1685,7 +1685,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setSinkEnabled
   (JNIEnv* env, jclass, jint sink, jboolean enabled)
 {
   CS_Status status = 0;
-  cs::SetSinkEnabled(sink, enabled, &status);
+  wpi::cs::SetSinkEnabled(sink, enabled, &status);
   CheckStatus(env, status);
 }
 
@@ -1721,8 +1721,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_addListener
   }
 
   CS_Status status = 0;
-  CS_Listener handle = cs::AddListener(
-      [=](const cs::RawEvent& event) {
+  CS_Listener handle = wpi::cs::AddListener(
+      [=](const wpi::cs::RawEvent& event) {
         JNIEnv* env = listenerEnv;
         if (!env || !env->functions) {
           return;
@@ -1763,7 +1763,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_removeListener
   (JNIEnv* env, jclass, jint handle)
 {
   CS_Status status = 0;
-  cs::RemoveListener(handle, &status);
+  wpi::cs::RemoveListener(handle, &status);
   CheckStatus(env, status);
 }
 
@@ -1776,7 +1776,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_createListenerPoller
   (JNIEnv*, jclass)
 {
-  return cs::CreateListenerPoller();
+  return wpi::cs::CreateListenerPoller();
 }
 
 /*
@@ -1788,7 +1788,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_destroyListenerPoller
   (JNIEnv*, jclass, jint poller)
 {
-  cs::DestroyListenerPoller(poller);
+  wpi::cs::DestroyListenerPoller(poller);
 }
 
 /*
@@ -1801,7 +1801,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_addPolledListener
   (JNIEnv* env, jclass, jint poller, jint eventMask, jboolean immediateNotify)
 {
   CS_Status status = 0;
-  auto rv = cs::AddPolledListener(poller, eventMask, immediateNotify, &status);
+  auto rv = wpi::cs::AddPolledListener(poller, eventMask, immediateNotify, &status);
   CheckStatus(env, status);
   return rv;
 }
@@ -1815,7 +1815,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_pollListener
   (JNIEnv* env, jclass, jint poller)
 {
-  auto events = cs::PollListener(poller);
+  auto events = wpi::cs::PollListener(poller);
   if (events.empty()) {
     interruptedEx.Throw(env, "PollListener interrupted");
     return nullptr;
@@ -1833,7 +1833,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_pollListenerTimeout
   (JNIEnv* env, jclass, jint poller, jdouble timeout)
 {
   bool timed_out = false;
-  auto events = cs::PollListener(poller, timeout, &timed_out);
+  auto events = wpi::cs::PollListener(poller, timeout, &timed_out);
   if (events.empty() && !timed_out) {
     interruptedEx.Throw(env, "PollListener interrupted");
     return nullptr;
@@ -1850,7 +1850,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_cancelPollListener
   (JNIEnv*, jclass, jint poller)
 {
-  cs::CancelPollListener(poller);
+  wpi::cs::CancelPollListener(poller);
 }
 
 /*
@@ -1862,7 +1862,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_setTelemetryPeriod
   (JNIEnv* env, jclass, jdouble seconds)
 {
-  cs::SetTelemetryPeriod(seconds);
+  wpi::cs::SetTelemetryPeriod(seconds);
 }
 
 /*
@@ -1874,7 +1874,7 @@ JNIEXPORT jdouble JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_getTelemetryElapsedTime
   (JNIEnv* env, jclass)
 {
-  return cs::GetTelemetryElapsedTime();
+  return wpi::cs::GetTelemetryElapsedTime();
 }
 
 /*
@@ -1887,7 +1887,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getTelemetryValue
   (JNIEnv* env, jclass, jint handle, jint kind)
 {
   CS_Status status = 0;
-  auto val = cs::GetTelemetryValue(handle, static_cast<CS_TelemetryKind>(kind),
+  auto val = wpi::cs::GetTelemetryValue(handle, static_cast<CS_TelemetryKind>(kind),
                                    &status);
   CheckStatus(env, status);
   return val;
@@ -1903,7 +1903,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_getTelemetryAverageValue
   (JNIEnv* env, jclass, jint handle, jint kind)
 {
   CS_Status status = 0;
-  auto val = cs::GetTelemetryAverageValue(
+  auto val = wpi::cs::GetTelemetryAverageValue(
       handle, static_cast<CS_TelemetryKind>(kind), &status);
   CheckStatus(env, status);
   return val;
@@ -1919,7 +1919,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateUsbCameras
   (JNIEnv* env, jclass)
 {
   CS_Status status = 0;
-  auto arr = cs::EnumerateUsbCameras(&status);
+  auto arr = wpi::cs::EnumerateUsbCameras(&status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1945,8 +1945,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSources
   (JNIEnv* env, jclass)
 {
   CS_Status status = 0;
-  wpi::SmallVector<CS_Source, 16> buf;
-  auto arr = cs::EnumerateSourceHandles(buf, &status);
+  wpi::util::SmallVector<CS_Source, 16> buf;
+  auto arr = wpi::cs::EnumerateSourceHandles(buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1963,8 +1963,8 @@ Java_org_wpilib_vision_camera_CameraServerJNI_enumerateSinks
   (JNIEnv* env, jclass)
 {
   CS_Status status = 0;
-  wpi::SmallVector<CS_Sink, 16> buf;
-  auto arr = cs::EnumerateSinkHandles(buf, &status);
+  wpi::util::SmallVector<CS_Sink, 16> buf;
+  auto arr = wpi::cs::EnumerateSinkHandles(buf, &status);
   if (!CheckStatus(env, status)) {
     return nullptr;
   }
@@ -1980,7 +1980,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_getHostname
   (JNIEnv* env, jclass)
 {
-  return MakeJString(env, cs::GetHostname());
+  return MakeJString(env, wpi::cs::GetHostname());
 }
 
 /*
@@ -1992,7 +1992,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_getNetworkInterfaces
   (JNIEnv* env, jclass)
 {
-  return MakeJStringArray(env, cs::GetNetworkInterfaces());
+  return MakeJStringArray(env, wpi::cs::GetNetworkInterfaces());
 }
 
 }  // extern "C"
@@ -2058,7 +2058,7 @@ Java_org_wpilib_vision_camera_CameraServerJNI_setLogger
   logger.Start();
   logger.SetFunc(env, func, mid);
 
-  cs::SetLogger(
+  wpi::cs::SetLogger(
       [](unsigned int level, const char* file, unsigned int line,
          const char* msg) {
         LoggerJNI::GetInstance().Send(level, file, line, msg);
@@ -2075,7 +2075,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_runMainRunLoop
   (JNIEnv*, jclass)
 {
-  cs::RunMainRunLoop();
+  wpi::cs::RunMainRunLoop();
 }
 
 /*
@@ -2087,7 +2087,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_runMainRunLoopTimeout
   (JNIEnv*, jclass, jdouble timeout)
 {
-  return cs::RunMainRunLoopTimeout(timeout);
+  return wpi::cs::RunMainRunLoopTimeout(timeout);
 }
 
 /*
@@ -2099,7 +2099,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_camera_CameraServerJNI_stopMainRunLoop
   (JNIEnv*, jclass)
 {
-  return cs::StopMainRunLoop();
+  return wpi::cs::StopMainRunLoop();
 }
 
 }  // extern "C"
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp b/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
index 63bfe23d18..66ccfe5654 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
@@ -25,7 +25,7 @@
 #endif
 
 /** CameraServer (cscore) namespace */
-namespace cs {
+namespace wpi::cs {
 
 /**
  * @defgroup cscore_cpp_api cscore C++ function API
@@ -178,7 +178,7 @@ struct RawEvent {
 CS_PropertyKind GetPropertyKind(CS_Property property, CS_Status* status);
 std::string GetPropertyName(CS_Property property, CS_Status* status);
 std::string_view GetPropertyName(CS_Property property,
-                                 wpi::SmallVectorImpl<char>& buf,
+                                 wpi::util::SmallVectorImpl<char>& buf,
                                  CS_Status* status);
 int GetProperty(CS_Property property, CS_Status* status);
 void SetProperty(CS_Property property, int value, CS_Status* status);
@@ -188,7 +188,7 @@ int GetPropertyStep(CS_Property property, CS_Status* status);
 int GetPropertyDefault(CS_Property property, CS_Status* status);
 std::string GetStringProperty(CS_Property property, CS_Status* status);
 std::string_view GetStringProperty(CS_Property property,
-                                   wpi::SmallVectorImpl<char>& buf,
+                                   wpi::util::SmallVectorImpl<char>& buf,
                                    CS_Status* status);
 void SetStringProperty(CS_Property property, std::string_view value,
                        CS_Status* status);
@@ -219,11 +219,11 @@ CS_Source CreateCvSource(std::string_view name, const VideoMode& mode,
 CS_SourceKind GetSourceKind(CS_Source source, CS_Status* status);
 std::string GetSourceName(CS_Source source, CS_Status* status);
 std::string_view GetSourceName(CS_Source source,
-                               wpi::SmallVectorImpl<char>& buf,
+                               wpi::util::SmallVectorImpl<char>& buf,
                                CS_Status* status);
 std::string GetSourceDescription(CS_Source source, CS_Status* status);
 std::string_view GetSourceDescription(CS_Source source,
-                                      wpi::SmallVectorImpl<char>& buf,
+                                      wpi::util::SmallVectorImpl<char>& buf,
                                       CS_Status* status);
 uint64_t GetSourceLastFrameTime(CS_Source source, CS_Status* status);
 void SetSourceConnectionStrategy(CS_Source source,
@@ -234,7 +234,7 @@ bool IsSourceEnabled(CS_Source source, CS_Status* status);
 CS_Property GetSourceProperty(CS_Source source, std::string_view name,
                               CS_Status* status);
 std::span<CS_Property> EnumerateSourceProperties(
-    CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
+    CS_Source source, wpi::util::SmallVectorImpl<CS_Property>& vec,
     CS_Status* status);
 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
 bool SetSourceVideoMode(CS_Source source, const VideoMode& mode,
@@ -246,14 +246,14 @@ bool SetSourceResolution(CS_Source source, int width, int height,
 bool SetSourceFPS(CS_Source source, int fps, CS_Status* status);
 bool SetSourceConfigJson(CS_Source source, std::string_view config,
                          CS_Status* status);
-bool SetSourceConfigJson(CS_Source source, const wpi::json& config,
+bool SetSourceConfigJson(CS_Source source, const wpi::util::json& config,
                          CS_Status* status);
 std::string GetSourceConfigJson(CS_Source source, CS_Status* status);
-wpi::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status);
+wpi::util::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status);
 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
                                                  CS_Status* status);
 std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
-                                        wpi::SmallVectorImpl<CS_Sink>& vec,
+                                        wpi::util::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status);
 CS_Source CopySource(CS_Source source, CS_Status* status);
 void ReleaseSource(CS_Source source, CS_Status* status);
@@ -332,25 +332,25 @@ CS_Sink CreateCvSinkCallback(std::string_view name,
  */
 CS_SinkKind GetSinkKind(CS_Sink sink, CS_Status* status);
 std::string GetSinkName(CS_Sink sink, CS_Status* status);
-std::string_view GetSinkName(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
+std::string_view GetSinkName(CS_Sink sink, wpi::util::SmallVectorImpl<char>& buf,
                              CS_Status* status);
 std::string GetSinkDescription(CS_Sink sink, CS_Status* status);
 std::string_view GetSinkDescription(CS_Sink sink,
-                                    wpi::SmallVectorImpl<char>& buf,
+                                    wpi::util::SmallVectorImpl<char>& buf,
                                     CS_Status* status);
 CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
                             CS_Status* status);
 std::span<CS_Property> EnumerateSinkProperties(
-    CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status);
+    CS_Sink sink, wpi::util::SmallVectorImpl<CS_Property>& vec, CS_Status* status);
 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
 CS_Property GetSinkSourceProperty(CS_Sink sink, std::string_view name,
                                   CS_Status* status);
 bool SetSinkConfigJson(CS_Sink sink, std::string_view config,
                        CS_Status* status);
-bool SetSinkConfigJson(CS_Sink sink, const wpi::json& config,
+bool SetSinkConfigJson(CS_Sink sink, const wpi::util::json& config,
                        CS_Status* status);
 std::string GetSinkConfigJson(CS_Sink sink, CS_Status* status);
-wpi::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status);
+wpi::util::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status);
 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
 CS_Sink CopySink(CS_Sink sink, CS_Status* status);
 void ReleaseSink(CS_Sink sink, CS_Status* status);
@@ -371,7 +371,7 @@ int GetMjpegServerPort(CS_Sink sink, CS_Status* status);
 void SetSinkDescription(CS_Sink sink, std::string_view description,
                         CS_Status* status);
 std::string GetSinkError(CS_Sink sink, CS_Status* status);
-std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
+std::string_view GetSinkError(CS_Sink sink, wpi::util::SmallVectorImpl<char>& buf,
                               CS_Status* status);
 void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status);
 /** @} */
@@ -436,8 +436,8 @@ void Shutdown();
 std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status);
 
 std::span<CS_Source> EnumerateSourceHandles(
-    wpi::SmallVectorImpl<CS_Source>& vec, CS_Status* status);
-std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
+    wpi::util::SmallVectorImpl<CS_Source>& vec, CS_Status* status);
+std::span<CS_Sink> EnumerateSinkHandles(wpi::util::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status);
 
 std::string GetHostname();
@@ -447,7 +447,7 @@ std::vector<std::string> GetNetworkInterfaces();
 
 /** @} */
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #ifdef _WIN32
 // Disable uninitialized variable warnings
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp b/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
index 1894c2537d..c3e79f2b93 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
@@ -13,7 +13,7 @@
 #include "wpi/cs/cscore_raw.h"
 #include "wpi/util/RawFrame.h"
 
-namespace cs {
+namespace wpi::cs {
 /**
  * A source for user code to provide OpenCV images as video frames.
  *
@@ -107,7 +107,7 @@ class CvSink : public ImageSink {
    * with.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
@@ -119,7 +119,7 @@ class CvSink : public ImageSink {
    * with.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
@@ -133,7 +133,7 @@ class CvSink : public ImageSink {
    * any grabFrame*() call on the sink.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
@@ -146,7 +146,7 @@ class CvSink : public ImageSink {
    * any grabFrame*() call on the sink.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
@@ -166,7 +166,7 @@ class CvSink : public ImageSink {
    * a new frame.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
@@ -175,7 +175,7 @@ class CvSink : public ImageSink {
 
   /**
    * Get the last time a frame was grabbed. This uses the same time base as
-   * wpi::Now().
+   * wpi::util::Now().
    *
    * @return Time in 1 us increments.
    */
@@ -193,7 +193,7 @@ class CvSink : public ImageSink {
  private:
   constexpr int GetCvFormat(WPI_PixelFormat pixelFormat);
 
-  wpi::RawFrame rawFrame;
+  wpi::util::RawFrame rawFrame;
   VideoMode::PixelFormat pixelFormat;
 };
 
@@ -431,6 +431,6 @@ inline WPI_TimestampSource CvSink::LastFrameTimeSource() {
   return static_cast<WPI_TimestampSource>(rawFrame.timestampSrc);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_WPI_CS_CSCORE_CV_HPP_
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp b/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
index c3c66ee3d5..80e038d0ca 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
@@ -16,7 +16,7 @@
 #include "wpi/cs/cscore_cpp.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 /**
  * @defgroup cscore_oo cscore C++ object-oriented API
@@ -191,7 +191,7 @@ class VideoProperty {
    * @param buf The backing storage to which to write the property value.
    * @return The string property value as a reference to the given buffer.
    */
-  std::string_view GetString(wpi::SmallVectorImpl<char>& buf) const {
+  std::string_view GetString(wpi::util::SmallVectorImpl<char>& buf) const {
     m_status = 0;
     return GetStringProperty(m_handle, buf, &m_status);
   }
@@ -349,7 +349,7 @@ class VideoSource {
 
   /**
    * Get the last time a frame was captured.
-   * This uses the same time base as wpi::Now().
+   * This uses the same time base as wpi::util::Now().
    *
    * @return Time in 1 us increments.
    */
@@ -515,7 +515,7 @@ class VideoSource {
    * @param config configuration
    * @return True if set successfully
    */
-  bool SetConfigJson(const wpi::json& config) {
+  bool SetConfigJson(const wpi::util::json& config) {
     m_status = 0;
     return SetSourceConfigJson(m_handle, config, &m_status);
   }
@@ -535,7 +535,7 @@ class VideoSource {
    *
    * @return JSON configuration object
    */
-  wpi::json GetConfigJsonObject() const;
+  wpi::util::json GetConfigJsonObject() const;
 
   /**
    * Get the actual FPS.
@@ -546,7 +546,7 @@ class VideoSource {
    */
   double GetActualFPS() const {
     m_status = 0;
-    return cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_FRAMES_RECEIVED,
+    return wpi::cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_FRAMES_RECEIVED,
                                         &m_status);
   }
 
@@ -559,7 +559,7 @@ class VideoSource {
    */
   double GetActualDataRate() const {
     m_status = 0;
-    return cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_BYTES_RECEIVED,
+    return wpi::cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_BYTES_RECEIVED,
                                         &m_status);
   }
 
@@ -727,7 +727,7 @@ class UsbCamera : public VideoCamera {
    */
   static std::vector<UsbCameraInfo> EnumerateUsbCameras() {
     CS_Status status = 0;
-    return ::cs::EnumerateUsbCameras(&status);
+    return ::wpi::cs::EnumerateUsbCameras(&status);
   }
 
   /**
@@ -735,7 +735,7 @@ class UsbCamera : public VideoCamera {
    */
   void SetPath(std::string_view path) {
     m_status = 0;
-    return ::cs::SetUsbCameraPath(m_handle, path, &m_status);
+    return ::wpi::cs::SetUsbCameraPath(m_handle, path, &m_status);
   }
 
   /**
@@ -743,7 +743,7 @@ class UsbCamera : public VideoCamera {
    */
   std::string GetPath() const {
     m_status = 0;
-    return ::cs::GetUsbCameraPath(m_handle, &m_status);
+    return ::wpi::cs::GetUsbCameraPath(m_handle, &m_status);
   }
 
   /**
@@ -751,7 +751,7 @@ class UsbCamera : public VideoCamera {
    */
   UsbCameraInfo GetInfo() const {
     m_status = 0;
-    return ::cs::GetUsbCameraInfo(m_handle, &m_status);
+    return ::wpi::cs::GetUsbCameraInfo(m_handle, &m_status);
   }
 
   /**
@@ -867,7 +867,7 @@ class HttpCamera : public VideoCamera {
   HttpCameraKind GetHttpCameraKind() const {
     m_status = 0;
     return static_cast<HttpCameraKind>(
-        static_cast<int>(::cs::GetHttpCameraKind(m_handle, &m_status)));
+        static_cast<int>(::wpi::cs::GetHttpCameraKind(m_handle, &m_status)));
   }
 
   /**
@@ -875,7 +875,7 @@ class HttpCamera : public VideoCamera {
    */
   void SetUrls(std::span<const std::string> urls) {
     m_status = 0;
-    ::cs::SetHttpCameraUrls(m_handle, urls, &m_status);
+    ::wpi::cs::SetHttpCameraUrls(m_handle, urls, &m_status);
   }
 
   /**
@@ -889,7 +889,7 @@ class HttpCamera : public VideoCamera {
       vec.emplace_back(url);
     }
     m_status = 0;
-    ::cs::SetHttpCameraUrls(m_handle, vec, &m_status);
+    ::wpi::cs::SetHttpCameraUrls(m_handle, vec, &m_status);
   }
 
   /**
@@ -897,7 +897,7 @@ class HttpCamera : public VideoCamera {
    */
   std::vector<std::string> GetUrls() const {
     m_status = 0;
-    return ::cs::GetHttpCameraUrls(m_handle, &m_status);
+    return ::wpi::cs::GetHttpCameraUrls(m_handle, &m_status);
   }
 };
 
@@ -1256,7 +1256,7 @@ class VideoSink {
    * @param config configuration
    * @return True if set successfully
    */
-  bool SetConfigJson(const wpi::json& config) {
+  bool SetConfigJson(const wpi::util::json& config) {
     m_status = 0;
     return SetSinkConfigJson(m_handle, config, &m_status);
   }
@@ -1276,7 +1276,7 @@ class VideoSink {
    *
    * @return JSON configuration object
    */
-  wpi::json GetConfigJsonObject() const;
+  wpi::util::json GetConfigJsonObject() const;
 
   /**
    * Configure which source should provide frames to this sink.  Each sink
@@ -1370,7 +1370,7 @@ class MjpegServer : public VideoSink {
    */
   std::string GetListenAddress() const {
     m_status = 0;
-    return cs::GetMjpegServerListenAddress(m_handle, &m_status);
+    return wpi::cs::GetMjpegServerListenAddress(m_handle, &m_status);
   }
 
   /**
@@ -1378,7 +1378,7 @@ class MjpegServer : public VideoSink {
    */
   int GetPort() const {
     m_status = 0;
-    return cs::GetMjpegServerPort(m_handle, &m_status);
+    return wpi::cs::GetMjpegServerPort(m_handle, &m_status);
   }
 
   /**
@@ -1577,6 +1577,6 @@ class VideoListener {
 
 /** @} */
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_WPI_CS_CSCORE_OO_HPP_
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_raw.h b/cscore/src/main/native/include/wpi/cs/cscore_raw.h
index 11f80c2508..7b3ff550a2 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_raw.h
+++ b/cscore/src/main/native/include/wpi/cs/cscore_raw.h
@@ -52,7 +52,7 @@ CS_Source CS_CreateRawSource(const struct WPI_String* name, CS_Bool isCv,
 #endif
 
 #ifdef __cplusplus
-namespace cs {
+namespace wpi::cs {
 
 /**
  * @defgroup cscore_raw_func Raw Image Functions
@@ -111,7 +111,7 @@ class RawSource : public ImageSource {
    *
    * @param image raw frame image
    */
-  void PutFrame(wpi::RawFrame& image);
+  void PutFrame(wpi::util::RawFrame& image);
 };
 
 /**
@@ -155,22 +155,22 @@ class RawSink : public ImageSink {
    * The provided image will have three 8-bit channels stored in BGR order.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
-  uint64_t GrabFrame(wpi::RawFrame& image, double timeout = 0.225) const;
+  uint64_t GrabFrame(wpi::util::RawFrame& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
    * The provided image will have three 8-bit channels stored in BGR order.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
-  uint64_t GrabFrameNoTimeout(wpi::RawFrame& image) const;
+  uint64_t GrabFrameNoTimeout(wpi::util::RawFrame& image) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -183,11 +183,11 @@ class RawSink : public ImageSink {
    * a new frame.
    *
    * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in the same time base as wpi::Now(),
+   *         message); the frame time is in the same time base as wpi::util::Now(),
    *         and is in 1 us increments.
    */
   [[nodiscard]]
-  uint64_t GrabFrameLastTime(wpi::RawFrame& image, uint64_t lastFrameTime,
+  uint64_t GrabFrameLastTime(wpi::util::RawFrame& image, uint64_t lastFrameTime,
                              double timeout = 0.225) const;
 };
 
@@ -202,7 +202,7 @@ inline RawSource::RawSource(std::string_view name,
                              &m_status);
 }
 
-inline void RawSource::PutFrame(wpi::RawFrame& image) {
+inline void RawSource::PutFrame(wpi::util::RawFrame& image) {
   m_status = 0;
   PutSourceFrame(m_handle, image, &m_status);
 }
@@ -216,17 +216,17 @@ inline RawSink::RawSink(std::string_view name,
   m_handle = CreateRawSinkCallback(name, false, processFrame, &m_status);
 }
 
-inline uint64_t RawSink::GrabFrame(wpi::RawFrame& image, double timeout) const {
+inline uint64_t RawSink::GrabFrame(wpi::util::RawFrame& image, double timeout) const {
   m_status = 0;
   return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
 }
 
-inline uint64_t RawSink::GrabFrameNoTimeout(wpi::RawFrame& image) const {
+inline uint64_t RawSink::GrabFrameNoTimeout(wpi::util::RawFrame& image) const {
   m_status = 0;
   return GrabSinkFrame(m_handle, image, &m_status);
 }
 
-inline uint64_t RawSink::GrabFrameLastTime(wpi::RawFrame& image,
+inline uint64_t RawSink::GrabFrameLastTime(wpi::util::RawFrame& image,
                                            uint64_t lastFrameTime,
                                            double timeout) const {
   m_status = 0;
@@ -235,7 +235,7 @@ inline uint64_t RawSink::GrabFrameLastTime(wpi::RawFrame& image,
 }
 /** @} */
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif
 
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_runloop.hpp b/cscore/src/main/native/include/wpi/cs/cscore_runloop.hpp
index 255feb45db..4152ec0ab6 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_runloop.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_runloop.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace cs {
+namespace wpi::cs {
 
 void RunMainRunLoop();
 
@@ -17,4 +17,4 @@ int RunMainRunLoopTimeout(double timeout);
 
 void StopMainRunLoop();
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/linux/NetworkListener.cpp b/cscore/src/main/native/linux/NetworkListener.cpp
index 382d97ca1d..c48c9da6cc 100644
--- a/cscore/src/main/native/linux/NetworkListener.cpp
+++ b/cscore/src/main/native/linux/NetworkListener.cpp
@@ -20,31 +20,31 @@
 #include "Notifier.hpp"
 #include "wpi/util/SafeThread.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 class NetworkListener::Impl {
  public:
-  Impl(wpi::Logger& logger, Notifier& notifier)
+  Impl(wpi::util::Logger& logger, Notifier& notifier)
       : m_logger(logger), m_notifier(notifier) {}
 
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   Notifier& m_notifier;
 
-  class Thread : public wpi::SafeThread {
+  class Thread : public wpi::util::SafeThread {
    public:
-    Thread(wpi::Logger& logger, Notifier& notifier)
+    Thread(wpi::util::Logger& logger, Notifier& notifier)
         : m_logger(logger), m_notifier(notifier) {}
     void Main() override;
 
-    wpi::Logger& m_logger;
+    wpi::util::Logger& m_logger;
     Notifier& m_notifier;
     int m_command_fd = -1;
   };
 
-  wpi::SafeThreadOwner<Thread> m_owner;
+  wpi::util::SafeThreadOwner<Thread> m_owner;
 };
 
-NetworkListener::NetworkListener(wpi::Logger& logger, Notifier& notifier)
+NetworkListener::NetworkListener(wpi::util::Logger& logger, Notifier& notifier)
     : m_impl(std::make_unique<Impl>(logger, notifier)) {}
 
 NetworkListener::~NetworkListener() {
diff --git a/cscore/src/main/native/linux/NetworkUtil.cpp b/cscore/src/main/native/linux/NetworkUtil.cpp
index d15398f441..160ab4458c 100644
--- a/cscore/src/main/native/linux/NetworkUtil.cpp
+++ b/cscore/src/main/native/linux/NetworkUtil.cpp
@@ -12,7 +12,7 @@
 #include <string>
 #include <vector>
 
-namespace cs {
+namespace wpi::cs {
 
 std::vector<std::string> GetNetworkInterfaces() {
   struct ifaddrs* ifa;
@@ -42,4 +42,4 @@ std::vector<std::string> GetNetworkInterfaces() {
   return rv;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/linux/RunLoopHelpers.cpp b/cscore/src/main/native/linux/RunLoopHelpers.cpp
index 4c0c9d6b2e..936312240a 100644
--- a/cscore/src/main/native/linux/RunLoopHelpers.cpp
+++ b/cscore/src/main/native/linux/RunLoopHelpers.cpp
@@ -5,22 +5,22 @@
 #include "wpi/cs/cscore_runloop.hpp"
 #include "wpi/util/Synchronization.h"
 
-static wpi::Event& GetInstance() {
-  static wpi::Event event;
+static wpi::util::Event& GetInstance() {
+  static wpi::util::Event event;
   return event;
 }
 
-namespace cs {
+namespace wpi::cs {
 
 void RunMainRunLoop() {
-  wpi::Event& event = GetInstance();
-  wpi::WaitForObject(event.GetHandle());
+  wpi::util::Event& event = GetInstance();
+  wpi::util::WaitForObject(event.GetHandle());
 }
 
 int RunMainRunLoopTimeout(double timeout) {
-  wpi::Event& event = GetInstance();
+  wpi::util::Event& event = GetInstance();
   bool timedOut = false;
-  bool signaled = wpi::WaitForObject(event.GetHandle(), timeout, &timedOut);
+  bool signaled = wpi::util::WaitForObject(event.GetHandle(), timeout, &timedOut);
   if (timedOut) {
     return 3;
   }
@@ -31,8 +31,8 @@ int RunMainRunLoopTimeout(double timeout) {
 }
 
 void StopMainRunLoop() {
-  wpi::Event& event = GetInstance();
+  wpi::util::Event& event = GetInstance();
   event.Set();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/linux/UsbCameraBuffer.hpp b/cscore/src/main/native/linux/UsbCameraBuffer.hpp
index 4fd13d1d90..c2aa829325 100644
--- a/cscore/src/main/native/linux/UsbCameraBuffer.hpp
+++ b/cscore/src/main/native/linux/UsbCameraBuffer.hpp
@@ -9,7 +9,7 @@
 
 #include <utility>
 
-namespace cs {
+namespace wpi::cs {
 
 class UsbCameraBuffer {
  public:
@@ -50,6 +50,6 @@ class UsbCameraBuffer {
   size_t m_length{0};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBCAMERABUFFER_HPP_
diff --git a/cscore/src/main/native/linux/UsbCameraImpl.cpp b/cscore/src/main/native/linux/UsbCameraImpl.cpp
index 4378842819..4e9aa73fa9 100644
--- a/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -41,7 +41,7 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace cs;
+using namespace wpi::cs;
 
 namespace {
 // Find the length of an array.
@@ -120,8 +120,8 @@ static __u32 FromPixelFormat(VideoMode::PixelFormat pixelFormat) {
 }
 
 static bool IsPercentageProperty(std::string_view name) {
-  if (wpi::starts_with(name, "raw_")) {
-    name = wpi::substr(name, 4);
+  if (wpi::util::starts_with(name, "raw_")) {
+    name = wpi::util::substr(name, 4);
   }
   return name == "brightness" || name == "contrast" || name == "saturation" ||
          name == "hue" || name == "sharpness" || name == "gain" ||
@@ -206,14 +206,14 @@ static bool GetVendorProduct(int dev, int* vendor, int* product) {
     return false;
   }
   std::string_view readStr{readBuf};
-  if (auto v = wpi::parse_integer<int>(
-          wpi::substr(wpi::substr(readStr, readStr.find('v')), 1, 4), 16)) {
+  if (auto v = wpi::util::parse_integer<int>(
+          wpi::util::substr(wpi::util::substr(readStr, readStr.find('v')), 1, 4), 16)) {
     *vendor = v.value();
   } else {
     return false;
   }
-  if (auto v = wpi::parse_integer<int>(
-          wpi::substr(wpi::substr(readStr, readStr.find('p')), 1, 4), 16)) {
+  if (auto v = wpi::util::parse_integer<int>(
+          wpi::util::substr(wpi::util::substr(readStr, readStr.find('p')), 1, 4), 16)) {
     *product = v.value();
   } else {
     return false;
@@ -239,7 +239,7 @@ static bool GetDescriptionSysV4L(int dev, std::string* desc) {
     return false;
   }
 
-  *desc = wpi::rtrim(std::string_view(readBuf, n));
+  *desc = wpi::util::rtrim(std::string_view(readBuf, n));
   return true;
 }
 
@@ -261,9 +261,9 @@ static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
   // try to convert "UVC Camera (0000:0000)" into a better name
   std::optional<int> vendor;
   std::optional<int> product;
-  if (wpi::starts_with(card, "UVC Camera (") &&
-      (vendor = wpi::parse_integer<int>(wpi::substr(card, 12, 4), 16)) &&
-      (product = wpi::parse_integer<int>(wpi::substr(card, 17, 4), 16))) {
+  if (wpi::util::starts_with(card, "UVC Camera (") &&
+      (vendor = wpi::util::parse_integer<int>(wpi::util::substr(card, 12, 4), 16)) &&
+      (product = wpi::util::parse_integer<int>(wpi::util::substr(card, 17, 4), 16))) {
     std::string card2 = GetUsbNameFromId(vendor.value(), product.value());
     if (!card2.empty()) {
       *desc = std::move(card2);
@@ -306,10 +306,10 @@ static int GetDeviceNum(const char* cpath) {
   }
 
   std::string fn = path.filename();
-  if (!wpi::starts_with(fn, "video")) {
+  if (!wpi::util::starts_with(fn, "video")) {
     return -1;
   }
-  if (auto dev = wpi::parse_integer<int>(wpi::substr(fn, 5), 10)) {
+  if (auto dev = wpi::util::parse_integer<int>(wpi::util::substr(fn, 5), 10)) {
     return dev.value();
   }
   return -1;
@@ -334,7 +334,7 @@ static std::string GetDescriptionImpl(const char* cpath) {
   return std::string{};
 }
 
-UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
+UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              std::string_view path)
     : SourceImpl{name, logger, notifier, telemetry},
@@ -391,27 +391,27 @@ void UsbCameraImpl::Start() {
 void UsbCameraImpl::CameraThreadMain() {
   // We want to be notified on file creation and deletion events in the device
   // path.  This is used to detect disconnects and reconnects.
-  std::unique_ptr<wpi::raw_fd_istream> notify_is;
+  std::unique_ptr<wpi::util::raw_fd_istream> notify_is;
   int notify_fd = inotify_init();
   if (notify_fd >= 0) {
     // need to make a copy as dirname can modify it
-    wpi::SmallString<64> pathCopy{m_path};
+    wpi::util::SmallString<64> pathCopy{m_path};
     pathCopy.push_back('\0');
     if (inotify_add_watch(notify_fd, dirname(pathCopy.data()),
                           IN_CREATE | IN_DELETE) < 0) {
       close(notify_fd);
       notify_fd = -1;
     } else {
-      notify_is = std::make_unique<wpi::raw_fd_istream>(
+      notify_is = std::make_unique<wpi::util::raw_fd_istream>(
           notify_fd, true, sizeof(struct inotify_event) + NAME_MAX + 1);
     }
   }
   bool notified = (notify_fd < 0);  // treat as always notified if cannot notify
 
   // Get the basename for later notify use
-  wpi::SmallString<64> pathCopy{m_path};
+  wpi::util::SmallString<64> pathCopy{m_path};
   pathCopy.push_back('\0');
-  wpi::SmallString<64> base{basename(pathCopy.data())};
+  wpi::util::SmallString<64> base{basename(pathCopy.data())};
 
   // Used to restart streaming on reconnect
   bool wasStreaming = false;
@@ -486,7 +486,7 @@ void UsbCameraImpl::CameraThreadMain() {
         // Read the event structure
         notify_is->read(&event, sizeof(event));
         // Read the event name
-        wpi::SmallString<64> raw_name;
+        wpi::util::SmallString<64> raw_name;
         raw_name.resize(event.len);
         notify_is->read(raw_name.data(), event.len);
         // If the name is what we expect...
@@ -555,18 +555,18 @@ void UsbCameraImpl::CameraThreadMain() {
           good = false;
         }
         if (good) {
-          Frame::Time frameTime{wpi::Now()};
+          Frame::Time frameTime{wpi::util::Now()};
           WPI_TimestampSource timeSource{WPI_TIMESRC_FRAME_DEQUEUE};
 
           // check the timestamp time
           auto tsFlags = buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK;
           SDEBUG4("Flags {}", tsFlags);
           if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN) {
-            SDEBUG4("Got unknown time for frame - default to wpi::Now");
+            SDEBUG4("Got unknown time for frame - default to wpi::util::Now");
           } else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC) {
             SDEBUG4("Got valid monotonic time for frame");
             // we can't go directly to frametime, since the rest of cscore
-            // expects us to use wpi::Now, which is in an arbitrary timebase
+            // expects us to use wpi::util::Now, which is in an arbitrary timebase
             // (see timestamp.cpp). Best I can do is (approximately) translate
             // between timebases
 
@@ -595,7 +595,7 @@ void UsbCameraImpl::CameraThreadMain() {
               // Can't do anything if we can't access the clock, leave default
             }
           } else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_COPY) {
-            SDEBUG4("Got valid copy time for frame - default to wpi::Now");
+            SDEBUG4("Got valid copy time for frame - default to wpi::util::Now");
           }
 
           PutFrame(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat),
@@ -813,7 +813,7 @@ bool UsbCameraImpl::DeviceStreamOff() {
 }
 
 CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   VideoMode newMode;
   if (msg.kind == Message::kCmdSetMode) {
     newMode.pixelFormat = msg.data[0];
@@ -877,7 +877,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   bool setString = (msg.kind == Message::kCmdSetPropertyStr);
   int property = msg.data[0];
   int value = msg.data[1];
@@ -940,7 +940,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceCmdSetPath(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   m_path = msg.dataStr;
   lock.unlock();
   // disconnect and reconnect
@@ -960,7 +960,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetPath(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   if (msg.kind == Message::kCmdSetMode ||
       msg.kind == Message::kCmdSetPixelFormat ||
       msg.kind == Message::kCmdSetResolution ||
@@ -1453,12 +1453,12 @@ bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
 }
 
 void UsbCameraImpl::SetQuirks() {
-  wpi::SmallString<128> descbuf;
+  wpi::util::SmallString<128> descbuf;
   std::string_view desc = GetDescription(descbuf);
-  m_lifecam_exposure = wpi::ends_with(desc, "LifeCam HD-3000") ||
-                       wpi::ends_with(desc, "LifeCam Cinema (TM)");
-  m_ov9281_exposure = wpi::contains(desc, "OV9281");
-  m_picamera = wpi::ends_with(desc, "mmal service");
+  m_lifecam_exposure = wpi::util::ends_with(desc, "LifeCam HD-3000") ||
+                       wpi::util::ends_with(desc, "LifeCam Cinema (TM)");
+  m_ov9281_exposure = wpi::util::contains(desc, "OV9281");
+  m_picamera = wpi::util::ends_with(desc, "mmal service");
 
   int deviceNum = GetDeviceNum(m_path.c_str());
   if (deviceNum >= 0) {
@@ -1611,7 +1611,7 @@ std::string UsbCameraImpl::GetPath() const {
   return m_path;
 }
 
-namespace cs {
+namespace wpi::cs {
 
 CS_Source CreateUsbCameraDev(std::string_view name, int dev,
                              CS_Status* status) {
@@ -1668,7 +1668,7 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status) {
 
   // look through /dev/v4l/by-id and /dev/v4l/by-path for symlinks to the
   // keypath
-  wpi::SmallString<128> path;
+  wpi::util::SmallString<128> path;
   for (auto symlinkDir : symlinkDirs) {
     if (DIR* dp = ::opendir(symlinkDir)) {
       while (struct dirent* ep = ::readdir(dp)) {
@@ -1703,13 +1703,13 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   if (DIR* dp = ::opendir("/dev")) {
     while (struct dirent* ep = ::readdir(dp)) {
       std::string_view fname{ep->d_name};
-      if (!wpi::starts_with(fname, "video")) {
+      if (!wpi::util::starts_with(fname, "video")) {
         continue;
       }
 
       unsigned int dev = 0;
       if (auto v =
-              wpi::parse_integer<unsigned int>(wpi::substr(fname, 5), 10)) {
+              wpi::util::parse_integer<unsigned int>(wpi::util::substr(fname, 5), 10)) {
         dev = v.value();
       } else {
         continue;
@@ -1718,7 +1718,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
       UsbCameraInfo info;
       info.dev = dev;
 
-      wpi::SmallString<32> path{"/dev/"};
+      wpi::util::SmallString<32> path{"/dev/"};
       path += fname;
       info.path = path.str();
 
@@ -1747,7 +1747,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
 
   // look through /dev/v4l/by-id and /dev/v4l/by-path for symlinks to
   // /dev/videoN
-  wpi::SmallString<128> path;
+  wpi::util::SmallString<128> path;
   for (auto symlinkDir : symlinkDirs) {
     if (DIR* dp = ::opendir(symlinkDir)) {
       while (struct dirent* ep = ::readdir(dp)) {
@@ -1759,8 +1759,8 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
           if (target) {
             std::string fname = fs::path{target}.filename();
             std::optional<unsigned int> dev;
-            if (wpi::starts_with(fname, "video") &&
-                (dev = wpi::parse_integer<unsigned int>(wpi::substr(fname, 5),
+            if (wpi::util::starts_with(fname, "video") &&
+                (dev = wpi::util::parse_integer<unsigned int>(wpi::util::substr(fname, 5),
                                                         10)) &&
                 dev.value() < retval.size()) {
               retval[dev.value()].otherPaths.emplace_back(path.str());
@@ -1782,4 +1782,4 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   return retval;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/linux/UsbCameraImpl.hpp b/cscore/src/main/native/linux/UsbCameraImpl.hpp
index 27da2b8280..4680732416 100644
--- a/cscore/src/main/native/linux/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.hpp
@@ -24,14 +24,14 @@
 #include "wpi/util/raw_istream.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class Notifier;
 class Telemetry;
 
 class UsbCameraImpl : public SourceImpl {
  public:
-  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  UsbCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, std::string_view path);
   ~UsbCameraImpl() override;
 
@@ -123,13 +123,13 @@ class UsbCameraImpl : public SourceImpl {
   void DeviceCacheVideoModes();
 
   // Command helper functions
-  CS_StatusValue DeviceProcessCommand(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceProcessCommand(std::unique_lock<wpi::util::mutex>& lock,
                                       const Message& msg);
-  CS_StatusValue DeviceCmdSetMode(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceCmdSetMode(std::unique_lock<wpi::util::mutex>& lock,
                                   const Message& msg);
-  CS_StatusValue DeviceCmdSetProperty(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceCmdSetProperty(std::unique_lock<wpi::util::mutex>& lock,
                                       const Message& msg);
-  CS_StatusValue DeviceCmdSetPath(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceCmdSetPath(std::unique_lock<wpi::util::mutex>& lock,
                                   const Message& msg);
 
   // Property helper functions
@@ -170,12 +170,12 @@ class UsbCameraImpl : public SourceImpl {
   // Message queues
   mutable std::vector<Message> m_commands;
   mutable std::vector<std::pair<std::thread::id, CS_StatusValue>> m_responses;
-  mutable wpi::condition_variable m_responseCv;
+  mutable wpi::util::condition_variable m_responseCv;
 
   // Path
   std::string m_path;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBCAMERAIMPL_HPP_
diff --git a/cscore/src/main/native/linux/UsbCameraListener.cpp b/cscore/src/main/native/linux/UsbCameraListener.cpp
index 55dc9836dd..5d5d83a510 100644
--- a/cscore/src/main/native/linux/UsbCameraListener.cpp
+++ b/cscore/src/main/native/linux/UsbCameraListener.cpp
@@ -13,7 +13,7 @@
 #include "Notifier.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 class UsbCameraListener::Impl {
  public:
@@ -21,28 +21,28 @@ class UsbCameraListener::Impl {
 
   Notifier& m_notifier;
 
-  std::unique_ptr<wpi::EventLoopRunner> m_runner;
+  std::unique_ptr<wpi::net::EventLoopRunner> m_runner;
 };
 
-UsbCameraListener::UsbCameraListener(wpi::Logger& logger, Notifier& notifier)
+UsbCameraListener::UsbCameraListener(wpi::util::Logger& logger, Notifier& notifier)
     : m_impl(std::make_unique<Impl>(notifier)) {}
 
 UsbCameraListener::~UsbCameraListener() = default;
 
 void UsbCameraListener::Start() {
   if (!m_impl->m_runner) {
-    m_impl->m_runner = std::make_unique<wpi::EventLoopRunner>();
-    m_impl->m_runner->ExecAsync([impl = m_impl.get()](wpi::uv::Loop& loop) {
-      auto refreshTimer = wpi::uv::Timer::Create(loop);
+    m_impl->m_runner = std::make_unique<wpi::net::EventLoopRunner>();
+    m_impl->m_runner->ExecAsync([impl = m_impl.get()](wpi::net::uv::Loop& loop) {
+      auto refreshTimer = wpi::net::uv::Timer::Create(loop);
       refreshTimer->timeout.connect([notifier = &impl->m_notifier] {
         notifier->NotifyUsbCamerasChanged();
       });
       refreshTimer->Unreference();
 
-      auto devEvents = wpi::uv::FsEvent::Create(loop);
+      auto devEvents = wpi::net::uv::FsEvent::Create(loop);
       devEvents->fsEvent.connect([refreshTimer](const char* fn, int flags) {
-        if (wpi::starts_with(fn, "video")) {
-          refreshTimer->Start(wpi::uv::Timer::Time(200));
+        if (wpi::util::starts_with(fn, "video")) {
+          refreshTimer->Start(wpi::net::uv::Timer::Time(200));
         }
       });
       devEvents->Start("/dev");
diff --git a/cscore/src/main/native/linux/UsbCameraProperty.cpp b/cscore/src/main/native/linux/UsbCameraProperty.cpp
index bec5dd770d..9d02f8cbde 100644
--- a/cscore/src/main/native/linux/UsbCameraProperty.cpp
+++ b/cscore/src/main/native/linux/UsbCameraProperty.cpp
@@ -14,7 +14,7 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 static int GetIntCtrlIoctl(int fd, unsigned id, int type, int64_t* value) {
   unsigned ctrl_class = V4L2_CTRL_ID2CLASS(id);
@@ -98,7 +98,7 @@ static int GetStringCtrlIoctl(int fd, int id, int maximum, std::string* value) {
 
 static int SetStringCtrlIoctl(int fd, int id, int maximum,
                               std::string_view value) {
-  wpi::SmallString<64> str{wpi::substr(value, 0, maximum)};
+  wpi::util::SmallString<64> str{wpi::util::substr(value, 0, maximum)};
 
   struct v4l2_ext_control ctrl;
   struct v4l2_ext_controls ctrls;
@@ -116,7 +116,7 @@ static int SetStringCtrlIoctl(int fd, int id, int maximum,
 // Removes non-alphanumeric characters and replaces spaces with underscores.
 // e.g. "Zoom, Absolute" -> "zoom_absolute", "Pan (Absolute)" -> "pan_absolute"
 static std::string_view NormalizeName(std::string_view name,
-                                      wpi::SmallVectorImpl<char>& buf) {
+                                      wpi::util::SmallVectorImpl<char>& buf) {
   bool newWord = false;
   for (auto ch : name) {
     if (std::isalnum(ch)) {
@@ -170,7 +170,7 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
   while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') {
     ++len;
   }
-  wpi::SmallString<64> name_buf;
+  wpi::util::SmallString<64> name_buf;
   name = NormalizeName({ctrl.name, len}, name_buf);
 }
 #endif
@@ -209,7 +209,7 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_queryctrl& ctrl)
   while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') {
     ++len;
   }
-  wpi::SmallString<64> name_buf;
+  wpi::util::SmallString<64> name_buf;
   name =
       NormalizeName({reinterpret_cast<const char*>(ctrl.name), len}, name_buf);
 }
@@ -267,7 +267,7 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
   return prop;
 }
 
-bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::util::mutex>& lock, int fd) {
   if (fd < 0) {
     return true;
   }
@@ -306,14 +306,14 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
   return rv >= 0;
 }
 
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   int fd) const {
   // Make a copy of the string as we're about to release the lock
-  wpi::SmallString<128> valueStrCopy{valueStr};
+  wpi::util::SmallString<128> valueStrCopy{valueStr};
   return DeviceSet(lock, fd, value, valueStrCopy.str());
 }
 
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock, int fd,
                                   int newValue,
                                   std::string_view newValueStr) const {
   if (!device || fd < 0) {
diff --git a/cscore/src/main/native/linux/UsbCameraProperty.hpp b/cscore/src/main/native/linux/UsbCameraProperty.hpp
index 712b5a2b2f..bb880d8da5 100644
--- a/cscore/src/main/native/linux/UsbCameraProperty.hpp
+++ b/cscore/src/main/native/linux/UsbCameraProperty.hpp
@@ -13,7 +13,7 @@
 #include "PropertyImpl.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 // Property data
 class UsbCameraProperty : public PropertyImpl {
@@ -52,9 +52,9 @@ class UsbCameraProperty : public PropertyImpl {
 
   static std::unique_ptr<UsbCameraProperty> DeviceQuery(int fd, __u32* id);
 
-  bool DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd);
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd) const;
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd, int newValue,
+  bool DeviceGet(std::unique_lock<wpi::util::mutex>& lock, int fd);
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock, int fd) const;
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock, int fd, int newValue,
                  std::string_view newValueStr) const;
 
   // If this is a device (rather than software) property
@@ -73,6 +73,6 @@ class UsbCameraProperty : public PropertyImpl {
   bool intMenu{false};
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBCAMERAPROPERTY_HPP_
diff --git a/cscore/src/main/native/linux/UsbUtil.cpp b/cscore/src/main/native/linux/UsbUtil.cpp
index 1c40d8c374..a0d09e99ff 100644
--- a/cscore/src/main/native/linux/UsbUtil.cpp
+++ b/cscore/src/main/native/linux/UsbUtil.cpp
@@ -19,7 +19,7 @@
 #include "wpi/util/raw_istream.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 static std::string GetUsbNameFromFile(int vendor, int product) {
   int fd = open("/var/lib/usbutils/usb.ids", O_RDONLY);
@@ -27,15 +27,15 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
     return {};
   }
 
-  wpi::SmallString<128> buf;
-  wpi::raw_fd_istream is{fd, true};
+  wpi::util::SmallString<128> buf;
+  wpi::util::raw_fd_istream is{fd, true};
 
   // build vendor and product 4-char hex strings
   auto vendorStr = fmt::format("{:04x}", vendor);
   auto productStr = fmt::format("{:04x}", product);
 
   // scan file
-  wpi::SmallString<128> lineBuf;
+  wpi::util::SmallString<128> lineBuf;
   bool foundVendor = false;
   for (;;) {
     auto line = is.getline(lineBuf, 4096);
@@ -48,9 +48,9 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
     }
 
     // look for vendor at start of line
-    if (wpi::starts_with(line, vendorStr)) {
+    if (wpi::util::starts_with(line, vendorStr)) {
       foundVendor = true;
-      buf += wpi::trim(wpi::substr(line, 5));
+      buf += wpi::util::trim(wpi::util::substr(line, 5));
       buf += ' ';
       continue;
     }
@@ -63,8 +63,8 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
       }
 
       // look for product
-      if (wpi::starts_with(wpi::substr(line, 1), productStr)) {
-        buf += wpi::trim(wpi::substr(line, 6));
+      if (wpi::util::starts_with(wpi::util::substr(line, 1), productStr)) {
+        buf += wpi::util::trim(wpi::util::substr(line, 6));
         return std::string{buf};
       }
     }
@@ -161,4 +161,4 @@ int CheckedIoctl(int fd, unsigned long req, void* data,  // NOLINT(runtime/int)
   return retval;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/linux/UsbUtil.hpp b/cscore/src/main/native/linux/UsbUtil.hpp
index 9963821e63..207e95f1ea 100644
--- a/cscore/src/main/native/linux/UsbUtil.hpp
+++ b/cscore/src/main/native/linux/UsbUtil.hpp
@@ -7,7 +7,7 @@
 
 #include <string>
 
-namespace cs {
+namespace wpi::cs {
 
 std::string GetUsbNameFromId(int vendor, int product);
 
@@ -19,6 +19,6 @@ int CheckedIoctl(int fd, unsigned long req, void* data,  // NOLINT(runtime/int)
 #define TryIoctl(fd, req, data) \
   CheckedIoctl(fd, req, data, #req, __FILE__, __LINE__, true)
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBUTIL_HPP_
diff --git a/cscore/src/main/native/objcpp/RunLoopHelpers.mm b/cscore/src/main/native/objcpp/RunLoopHelpers.mm
index 86b6048311..f2ddefcbb5 100644
--- a/cscore/src/main/native/objcpp/RunLoopHelpers.mm
+++ b/cscore/src/main/native/objcpp/RunLoopHelpers.mm
@@ -7,7 +7,7 @@
 #include <CoreFoundation/CFRunLoop.h>
 #import <Foundation/Foundation.h>
 
-namespace cs {
+namespace wpi::cs {
 
 void RunMainRunLoop() {
   if (CFRunLoopGetMain() != CFRunLoopGetCurrent()) {
diff --git a/cscore/src/main/native/objcpp/UsbCameraDelegate.hpp b/cscore/src/main/native/objcpp/UsbCameraDelegate.hpp
index 61a0473767..9a5b37a5cd 100644
--- a/cscore/src/main/native/objcpp/UsbCameraDelegate.hpp
+++ b/cscore/src/main/native/objcpp/UsbCameraDelegate.hpp
@@ -7,14 +7,14 @@
 #import <AVFoundation/AVFoundation.h>
 #include <memory>
 
-namespace cs {
+namespace wpi::cs {
 class UsbCameraImpl;
 }
 
 @interface UsbCameraDelegate
     : NSObject <AVCaptureVideoDataOutputSampleBufferDelegate>
 
-@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+@property(nonatomic) std::weak_ptr<wpi::cs::UsbCameraImpl> cppImpl;
 
 - (void)captureOutput:(AVCaptureOutput*)captureOutput
     didOutputSampleBuffer:(CMSampleBufferRef)sampleBuffer
diff --git a/cscore/src/main/native/objcpp/UsbCameraDelegate.mm b/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
index 22a603dd79..136698b6f5 100644
--- a/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
@@ -21,7 +21,7 @@
   (void)sampleBuffer;
   (void)connection;
 
-  auto currentTime = wpi::Now();
+  auto currentTime = wpi::util::Now();
 
   auto sharedThis = self.cppImpl.lock();
   if (!sharedThis) {
@@ -51,7 +51,7 @@
     return;
   }
 
-  std::unique_ptr<cs::Image> image = cs::CreateImageFromBGRA(
+  std::unique_ptr<wpi::cs::Image> image = wpi::cs::CreateImageFromBGRA(
       sharedThis.get(), width, height, rowBytes, reinterpret_cast<uint8_t*>(baseaddress));
 
   CVPixelBufferUnlockBaseAddress(imageBuffer, 0);
diff --git a/cscore/src/main/native/objcpp/UsbCameraImpl.hpp b/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
index 3d35fdb1ab..4fe886d2df 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
@@ -16,7 +16,7 @@
 
 #include "SourceImpl.hpp"
 
-namespace cs {
+namespace wpi::cs {
 struct CameraFPSRange {
   int min;
   int max;
@@ -32,9 +32,9 @@ struct CameraModeStore {
 
 class UsbCameraImpl : public SourceImpl {
  public:
-  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  UsbCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, std::string_view path);
-  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  UsbCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, int deviceId);
   ~UsbCameraImpl() override;
 
@@ -64,7 +64,7 @@ class UsbCameraImpl : public SourceImpl {
   void NumSinksChanged() override;
   void NumSinksEnabledChanged() override;
 
-  cs::Notifier& objcGetNotifier() { return m_notifier; }
+  wpi::cs::Notifier& objcGetNotifier() { return m_notifier; }
 
   void objcSwapVideoModes(std::vector<VideoMode>& modes) {
     std::scoped_lock lock(m_mutex);
@@ -86,7 +86,7 @@ class UsbCameraImpl : public SourceImpl {
     return m_platformModes;
   }
 
-  wpi::Logger& objcGetLogger() { return m_logger; }
+  wpi::util::Logger& objcGetLogger() { return m_logger; }
 
   UsbCameraImplObjc* cppGetObjc() { return m_objc; }
 
@@ -106,18 +106,18 @@ class UsbCameraImpl : public SourceImpl {
     UpdatePropertyValue(property, setString, value, valueStr);
   }
 
-  wpi::mutex& GetMutex() { return m_mutex; }
+  wpi::util::mutex& GetMutex() { return m_mutex; }
 
   // Property cache accessors
-  wpi::StringMap<uint32_t>& GetPropertyCache() { return m_propertyCache; }
-  wpi::StringMap<uint32_t>& GetPropertyAutoCache() { return m_propertyAutoCache; }
+  wpi::util::StringMap<uint32_t>& GetPropertyCache() { return m_propertyCache; }
+  wpi::util::StringMap<uint32_t>& GetPropertyAutoCache() { return m_propertyAutoCache; }
 
  private:
   UsbCameraImplObjc* m_objc;
   std::vector<CameraModeStore> m_platformModes;
   
   // Property caches
-  wpi::StringMap<uint32_t> m_propertyCache;
-  wpi::StringMap<uint32_t> m_propertyAutoCache;
+  wpi::util::StringMap<uint32_t> m_propertyCache;
+  wpi::util::StringMap<uint32_t> m_propertyAutoCache;
 };
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/objcpp/UsbCameraImpl.mm b/cscore/src/main/native/objcpp/UsbCameraImpl.mm
index 3b4483d591..95dafa45c7 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImpl.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraImpl.mm
@@ -20,9 +20,9 @@
 #include "wpi/cs/cscore_cpp.hpp"
 #include "UsbCameraImpl.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
-UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
+UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              std::string_view path)
     : SourceImpl{name, logger, notifier, telemetry} {
@@ -32,7 +32,7 @@ UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
                                      encoding:NSUTF8StringEncoding];
   m_objc = objc;
 }
-UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
+UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              int deviceId)
     : SourceImpl{name, logger, notifier, telemetry} {
@@ -108,7 +108,7 @@ void UsbCameraImpl::NumSinksEnabledChanged() {
 
 CS_Source CreateUsbCameraDev(std::string_view name, int dev,
                              CS_Status* status) {
-  std::vector<UsbCameraInfo> devices = cs::EnumerateUsbCameras(status);
+  std::vector<UsbCameraInfo> devices = wpi::cs::EnumerateUsbCameras(status);
   if (static_cast<int>(devices.size()) > dev) {
     return CreateUsbCameraPath(name, devices[dev].path, status);
   }
@@ -203,4 +203,4 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status) {
   return info;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp b/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
index fc54f89ee3..f80eadfca3 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
+++ b/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
@@ -38,7 +38,7 @@
 #define kPropertyAutoWhiteBalance "white_balance_automatic"
 #define kPropertyAutoFocus "focus_auto"
 
-namespace cs {
+namespace wpi::cs {
 class UsbCameraImpl;
 }
 
@@ -46,7 +46,7 @@ class UsbCameraImpl;
 
 @property(nonatomic) AVCaptureDeviceFormat* currentFormat;
 @property(nonatomic) int currentFPS;
-@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+@property(nonatomic) std::weak_ptr<wpi::cs::UsbCameraImpl> cppImpl;
 @property(nonatomic) dispatch_queue_t sessionQueue;
 @property(nonatomic) NSString* path;
 @property(nonatomic) int deviceId;
@@ -82,8 +82,8 @@ class UsbCameraImpl;
 - (void)setExposureHoldCurrent:(CS_Status*)status;
 - (void)setExposureManual:(int)value status:(CS_Status*)status;
 
-- (bool)setVideoMode:(const cs::VideoMode&)mode status:(CS_Status*)status;
-- (bool)setPixelFormat:(cs::VideoMode::PixelFormat)pixelFormat
+- (bool)setVideoMode:(const wpi::cs::VideoMode&)mode status:(CS_Status*)status;
+- (bool)setPixelFormat:(wpi::cs::VideoMode::PixelFormat)pixelFormat
                 status:(CS_Status*)status;
 - (bool)setResolutionWidth:(int)width
                 withHeight:(int)height
diff --git a/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm b/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
index 2a4d596737..d9f2861b66 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
@@ -20,11 +20,11 @@ inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
     return;
   }
 
-  wpi::Logger& logger = sharedThis->objcGetLogger();
+  wpi::util::Logger& logger = sharedThis->objcGetLogger();
   std::string_view name = sharedThis->GetName();
 
   if (logger.HasLogger() && level >= logger.min_level()) {
-    cs::NamedLogV(logger, level, file, line, name, format,
+    wpi::cs::NamedLogV(logger, level, file, line, name, format,
                   fmt::make_format_args(args...));
   }
 }
@@ -34,11 +34,11 @@ inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
            format __VA_OPT__(, ) __VA_ARGS__)
 
 #define OBJCERROR(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCWARNING(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCINFO(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
 
 #ifdef NDEBUG
 #define OBJCDEBUG(format, ...) \
@@ -58,18 +58,18 @@ inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
   } while (0)
 #else
 #define OBJCDEBUG(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCDEBUG1(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCDEBUG2(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCDEBUG3(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
 #define OBJCDEBUG4(format, ...) \
-  OBJCLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+  OBJCLOG(::wpi::util::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
 #endif
 
-using namespace cs;
+using namespace wpi::cs;
 
 @implementation UsbCameraImplObjc
 
@@ -169,7 +169,7 @@ using namespace cs;
     }
     
     // Get the property name from the property index
-    wpi::SmallString<128> nameBuf;
+    wpi::util::SmallString<128> nameBuf;
     std::string_view propName = sharedThis->GetPropertyName(property, nameBuf, status);
     if (*status != 0) {
         OBJCERROR("Failed to get property name for index {}", property);
@@ -402,7 +402,7 @@ using namespace cs;
   sharedThis->SetProperty(prop, value, status);
 }
 
-- (bool)setVideoMode:(const cs::VideoMode&)mode status:(CS_Status*)status {
+- (bool)setVideoMode:(const wpi::cs::VideoMode&)mode status:(CS_Status*)status {
   dispatch_async_and_wait(self.sessionQueue, ^{
     auto sharedThis = self.cppImpl.lock();
     if (!sharedThis) {
@@ -414,7 +414,7 @@ using namespace cs;
   });
   return true;
 }
-- (bool)setPixelFormat:(cs::VideoMode::PixelFormat)pixelFormat
+- (bool)setPixelFormat:(wpi::cs::VideoMode::PixelFormat)pixelFormat
                 status:(CS_Status*)status {
   dispatch_async_and_wait(self.sessionQueue, ^{
     auto sharedThis = self.cppImpl.lock();
@@ -449,7 +449,7 @@ using namespace cs;
   return true;
 }
 
-- (void)internalSetMode:(const cs::VideoMode&)newMode
+- (void)internalSetMode:(const wpi::cs::VideoMode&)newMode
                  status:(CS_Status*)status {
   auto sharedThis = self.cppImpl.lock();
   if (!sharedThis) {
@@ -693,13 +693,13 @@ using namespace cs;
     propertyAutoCache[nameStr] = propID;
 }
 
-static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
+static wpi::cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   switch (fourcc) {
     case kCVPixelFormatType_422YpCbCr8_yuvs:
     case kCVPixelFormatType_422YpCbCr8FullRange:
-      return cs::VideoMode::PixelFormat::kYUYV;
+      return wpi::cs::VideoMode::PixelFormat::kYUYV;
     default:
-      return cs::VideoMode::PixelFormat::kBGR;
+      return wpi::cs::VideoMode::PixelFormat::kBGR;
   }
 }
 
@@ -761,7 +761,7 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
                                              CS_SOURCE_VIDEOMODES_UPDATED);
 }
 
-- (AVCaptureDeviceFormat*)deviceCheckModeValid:(const cs::VideoMode*)toCheck
+- (AVCaptureDeviceFormat*)deviceCheckModeValid:(const wpi::cs::VideoMode*)toCheck
                                        withFps:(int*)fps {
   auto sharedThis = self.cppImpl.lock();
   if (!sharedThis) {
@@ -995,7 +995,7 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
     OBJCINFO("Starting for device id {}", self.deviceId);
     // Enumerate Devices
     CS_Status status = 0;
-    auto cameras = cs::EnumerateUsbCameras(&status);
+    auto cameras = wpi::cs::EnumerateUsbCameras(&status);
     if (static_cast<int>(cameras.size()) <= self.deviceId) {
       return false;
     }
diff --git a/cscore/src/main/native/objcpp/UsbCameraListener.mm b/cscore/src/main/native/objcpp/UsbCameraListener.mm
index b7c66341a9..b1e7e919e4 100644
--- a/cscore/src/main/native/objcpp/UsbCameraListener.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraListener.mm
@@ -8,7 +8,7 @@
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #include "Notifier.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 @interface UsbCameraListenerImpl : NSObject
 @property(nonatomic) Notifier* notifier;
@@ -99,7 +99,7 @@ class UsbCameraListener::Impl {
   }
 };
 
-UsbCameraListener::UsbCameraListener(wpi::Logger&, Notifier& notifier)
+UsbCameraListener::UsbCameraListener(wpi::util::Logger&, Notifier& notifier)
     : m_impl{std::make_unique<Impl>(notifier)} {}
 
 UsbCameraListener::~UsbCameraListener() {
diff --git a/cscore/src/main/native/objcpp/UvcControlImpl.hpp b/cscore/src/main/native/objcpp/UvcControlImpl.hpp
index a3c2fb19cc..810e2a0ea1 100644
--- a/cscore/src/main/native/objcpp/UvcControlImpl.hpp
+++ b/cscore/src/main/native/objcpp/UvcControlImpl.hpp
@@ -82,7 +82,7 @@
 #define CAPPROPID_POWERLINEFREQ 13
 #define CAPPROPID_LAST 14
 
-namespace cs {
+namespace wpi::cs {
 class UsbCameraImpl;
 }
 
@@ -90,7 +90,7 @@ class UsbCameraImpl;
 
 @property(nonatomic) IOUSBInterfaceInterface190** controlInterface;
 @property(nonatomic) uint32_t processingUnitID;
-@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+@property(nonatomic) std::weak_ptr<wpi::cs::UsbCameraImpl> cppImpl;
 
 // Create from AVCaptureDevice
 + (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status;
diff --git a/cscore/src/main/native/objcpp/UvcControlImpl.mm b/cscore/src/main/native/objcpp/UvcControlImpl.mm
index 087164f64a..88699b0a83 100644
--- a/cscore/src/main/native/objcpp/UvcControlImpl.mm
+++ b/cscore/src/main/native/objcpp/UvcControlImpl.mm
@@ -40,11 +40,11 @@ inline void NamedLog(UvcControlImpl* objc, unsigned int level,
     return;
   }
 
-  wpi::Logger& logger = sharedThis->objcGetLogger();
+  wpi::util::Logger& logger = sharedThis->objcGetLogger();
   std::string_view name = sharedThis->GetName();
 
   if (logger.HasLogger() && level >= logger.min_level()) {
-    cs::NamedLogV(logger, level, file, line, name, format,
+    wpi::cs::NamedLogV(logger, level, file, line, name, format,
                   fmt::make_format_args(args...));
   }
 }
@@ -54,11 +54,11 @@ inline void NamedLog(UvcControlImpl* objc, unsigned int level,
            format __VA_OPT__(, ) __VA_ARGS__)
 
 #define UVCERROR(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCWARNING(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCINFO(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
 
 #ifdef NDEBUG
 #define UVCDEBUG(format, ...) \
@@ -78,15 +78,15 @@ inline void NamedLog(UvcControlImpl* objc, unsigned int level,
   } while (0)
 #else
 #define UVCDEBUG(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCDEBUG1(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCDEBUG2(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCDEBUG3(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
 #define UVCDEBUG4(format, ...) \
-  UVCLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+  UVCLOG(::wpi::util::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
 #endif
 
 // USB descriptor for UVC processing unit
diff --git a/cscore/src/main/native/osx/NetworkListener.cpp b/cscore/src/main/native/osx/NetworkListener.cpp
index ee7581ef21..9829e4fa0c 100644
--- a/cscore/src/main/native/osx/NetworkListener.cpp
+++ b/cscore/src/main/native/osx/NetworkListener.cpp
@@ -4,11 +4,11 @@
 
 #include "NetworkListener.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 class NetworkListener::Impl {};
 
-NetworkListener::NetworkListener(wpi::Logger& logger, Notifier& notifier) {}
+NetworkListener::NetworkListener(wpi::util::Logger& logger, Notifier& notifier) {}
 
 NetworkListener::~NetworkListener() = default;
 
diff --git a/cscore/src/main/native/osx/NetworkUtil.cpp b/cscore/src/main/native/osx/NetworkUtil.cpp
index 4b12034827..24193f7929 100644
--- a/cscore/src/main/native/osx/NetworkUtil.cpp
+++ b/cscore/src/main/native/osx/NetworkUtil.cpp
@@ -7,10 +7,10 @@
 
 #include "wpi/cs/cscore_cpp.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 std::vector<std::string> GetNetworkInterfaces() {
   return std::vector<std::string>{};  // TODO
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/COMCreators.cpp b/cscore/src/main/native/windows/COMCreators.cpp
index 3d5a99a953..a143e66c8a 100644
--- a/cscore/src/main/native/windows/COMCreators.cpp
+++ b/cscore/src/main/native/windows/COMCreators.cpp
@@ -31,10 +31,10 @@
 #pragma comment(lib, "Mfreadwrite.lib")
 #pragma comment(lib, "Shlwapi.lib")
 
-namespace cs {
+namespace wpi::cs {
 
-SourceReaderCB::SourceReaderCB(std::weak_ptr<cs::UsbCameraImpl> source,
-                               const cs::VideoMode& mode)
+SourceReaderCB::SourceReaderCB(std::weak_ptr<wpi::cs::UsbCameraImpl> source,
+                               const wpi::cs::VideoMode& mode)
     : m_nRefCount(1), m_source(source), m_mode{mode} {}
 
 // IUnknown methods
@@ -94,7 +94,7 @@ STDMETHODIMP SourceReaderCB::OnReadSample(HRESULT hrStatus, DWORD dwStreamIndex,
 
 // Create a Source Reader COM Smart Object
 ComPtr<SourceReaderCB> CreateSourceReaderCB(
-    std::weak_ptr<cs::UsbCameraImpl> source, const cs::VideoMode& mode) {
+    std::weak_ptr<wpi::cs::UsbCameraImpl> source, const wpi::cs::VideoMode& mode) {
   SourceReaderCB* ptr = new SourceReaderCB(source, mode);
   ComPtr<SourceReaderCB> sourceReaderCB;
   sourceReaderCB.Attach(ptr);
@@ -157,4 +157,4 @@ ComPtr<IMFSourceReader> CreateSourceReader(IMFMediaSource* mediaSource,
   return sourceReader;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/COMCreators.hpp b/cscore/src/main/native/windows/COMCreators.hpp
index dcbcbb21cb..782f8fc850 100644
--- a/cscore/src/main/native/windows/COMCreators.hpp
+++ b/cscore/src/main/native/windows/COMCreators.hpp
@@ -12,7 +12,7 @@
 #include "ComPtr.hpp"
 #include "wpi/cs/cscore_cpp.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class UsbCameraImpl;
 
@@ -20,8 +20,8 @@ class UsbCameraImpl;
 // COM object, so it needs a to ref count itself.
 class SourceReaderCB : public IMFSourceReaderCallback {
  public:
-  explicit SourceReaderCB(std::weak_ptr<cs::UsbCameraImpl> source,
-                          const cs::VideoMode& mode);
+  explicit SourceReaderCB(std::weak_ptr<wpi::cs::UsbCameraImpl> source,
+                          const wpi::cs::VideoMode& mode);
   void SetVideoMode(const VideoMode& mode) { m_mode = mode; }
 
   STDMETHODIMP QueryInterface(REFIID iid, void** ppv);
@@ -35,7 +35,7 @@ class SourceReaderCB : public IMFSourceReaderCallback {
                             IMFSample* pSample  // Can be NULL
   );
 
-  void InvalidateCapture() { m_source = std::weak_ptr<cs::UsbCameraImpl>(); }
+  void InvalidateCapture() { m_source = std::weak_ptr<wpi::cs::UsbCameraImpl>(); }
 
  private:
   // Destructor is private. Caller should call Release.
@@ -43,13 +43,13 @@ class SourceReaderCB : public IMFSourceReaderCallback {
   void NotifyError(HRESULT hr);
 
   ULONG m_nRefCount;
-  std::weak_ptr<cs::UsbCameraImpl> m_source;
-  cs::VideoMode m_mode;
+  std::weak_ptr<wpi::cs::UsbCameraImpl> m_source;
+  wpi::cs::VideoMode m_mode;
 };
 
 ComPtr<SourceReaderCB> CreateSourceReaderCB(
-    std::weak_ptr<cs::UsbCameraImpl> source, const cs::VideoMode& mode);
+    std::weak_ptr<wpi::cs::UsbCameraImpl> source, const wpi::cs::VideoMode& mode);
 ComPtr<IMFSourceReader> CreateSourceReader(IMFMediaSource* mediaSource,
                                            IMFSourceReaderCallback* callback);
 ComPtr<IMFMediaSource> CreateVideoCaptureDevice(LPCWSTR pszSymbolicLink);
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/ComPtr.hpp b/cscore/src/main/native/windows/ComPtr.hpp
index 2d9f241b5d..f67c1095ca 100644
--- a/cscore/src/main/native/windows/ComPtr.hpp
+++ b/cscore/src/main/native/windows/ComPtr.hpp
@@ -9,7 +9,7 @@
 
 #include <cassert>
 
-namespace cs {
+namespace wpi::cs {
 
 template <typename Interface>
 class RemoveAddRefRelease : public Interface {
@@ -146,4 +146,4 @@ void swap(
   left.Swap(right);
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/NetworkListener.cpp b/cscore/src/main/native/windows/NetworkListener.cpp
index d2de28216a..51424830d2 100644
--- a/cscore/src/main/native/windows/NetworkListener.cpp
+++ b/cscore/src/main/native/windows/NetworkListener.cpp
@@ -22,13 +22,13 @@
 
 #pragma comment(lib, "Iphlpapi.lib")
 
-using namespace cs;
+using namespace wpi::cs;
 
 class NetworkListener::Impl {
  public:
-  Impl(wpi::Logger& logger, Notifier& notifier)
+  Impl(wpi::util::Logger& logger, Notifier& notifier)
       : m_logger(logger), m_notifier(notifier) {}
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   Notifier& m_notifier;
   HANDLE eventHandle = 0;
 };
@@ -41,7 +41,7 @@ static void WINAPI OnInterfaceChange(PVOID callerContext,
   notifier->NotifyNetworkInterfacesChanged();
 }
 
-NetworkListener::NetworkListener(wpi::Logger& logger, Notifier& notifier)
+NetworkListener::NetworkListener(wpi::util::Logger& logger, Notifier& notifier)
     : m_impl(std::make_unique<Impl>(logger, notifier)) {}
 
 NetworkListener::~NetworkListener() {
diff --git a/cscore/src/main/native/windows/NetworkUtil.cpp b/cscore/src/main/native/windows/NetworkUtil.cpp
index 3365cf1397..ac7b561cc1 100644
--- a/cscore/src/main/native/windows/NetworkUtil.cpp
+++ b/cscore/src/main/native/windows/NetworkUtil.cpp
@@ -12,7 +12,7 @@
 
 #pragma comment(lib, "Ws2_32.lib")
 
-namespace cs {
+namespace wpi::cs {
 
 std::vector<std::string> GetNetworkInterfaces() {
   uv_interface_address_t* adrs;
@@ -42,4 +42,4 @@ std::vector<std::string> GetNetworkInterfaces() {
   return addresses;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/RunLoopHelpers.cpp b/cscore/src/main/native/windows/RunLoopHelpers.cpp
index 4c0c9d6b2e..936312240a 100644
--- a/cscore/src/main/native/windows/RunLoopHelpers.cpp
+++ b/cscore/src/main/native/windows/RunLoopHelpers.cpp
@@ -5,22 +5,22 @@
 #include "wpi/cs/cscore_runloop.hpp"
 #include "wpi/util/Synchronization.h"
 
-static wpi::Event& GetInstance() {
-  static wpi::Event event;
+static wpi::util::Event& GetInstance() {
+  static wpi::util::Event event;
   return event;
 }
 
-namespace cs {
+namespace wpi::cs {
 
 void RunMainRunLoop() {
-  wpi::Event& event = GetInstance();
-  wpi::WaitForObject(event.GetHandle());
+  wpi::util::Event& event = GetInstance();
+  wpi::util::WaitForObject(event.GetHandle());
 }
 
 int RunMainRunLoopTimeout(double timeout) {
-  wpi::Event& event = GetInstance();
+  wpi::util::Event& event = GetInstance();
   bool timedOut = false;
-  bool signaled = wpi::WaitForObject(event.GetHandle(), timeout, &timedOut);
+  bool signaled = wpi::util::WaitForObject(event.GetHandle(), timeout, &timedOut);
   if (timedOut) {
     return 3;
   }
@@ -31,8 +31,8 @@ int RunMainRunLoopTimeout(double timeout) {
 }
 
 void StopMainRunLoop() {
-  wpi::Event& event = GetInstance();
+  wpi::util::Event& event = GetInstance();
   event.Set();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/UsbCameraImpl.cpp b/cscore/src/main/native/windows/UsbCameraImpl.cpp
index 0bee6fb6df..d9d77bfeae 100644
--- a/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -63,22 +63,22 @@ static constexpr char const* kPropConnectVerbose = "connect_verbose";
 
 static constexpr unsigned kPropConnectVerboseId = 0;
 
-using namespace cs;
+using namespace wpi::cs;
 
-namespace cs {
+namespace wpi::cs {
 
-UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
+UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              std::string_view path)
     : SourceImpl{name, logger, notifier, telemetry}, m_path{path} {
-  wpi::SmallVector<wchar_t, 128> wideStorage;
-  wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+  wpi::util::SmallVector<wchar_t, 128> wideStorage;
+  wpi::util::sys::windows::UTF8ToUTF16(m_path, wideStorage);
   m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
   m_deviceId = -1;
   StartMessagePump();
 }
 
-UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
+UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::util::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              int deviceId)
     : SourceImpl{name, logger, notifier, telemetry}, m_deviceId(deviceId) {
@@ -242,7 +242,7 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
 
   pDi = reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(pHdr);
 
-  if (wpi::equals_lower(m_path, pDi->dbcc_name)) {
+  if (wpi::util::equals_lower(m_path, pDi->dbcc_name)) {
     if (wParam == DBT_DEVICEARRIVAL) {
       *connected = true;
       return true;
@@ -268,8 +268,8 @@ void UsbCameraImpl::DeviceDisconnect() {
 }
 
 static bool IsPercentageProperty(std::string_view name) {
-  if (wpi::starts_with(name, "raw_")) {
-    name = wpi::substr(name, 4);
+  if (wpi::util::starts_with(name, "raw_")) {
+    name = wpi::util::substr(name, 4);
   }
   return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
          name == "Hue" || name == "Sharpness" || name == "Gain" ||
@@ -282,7 +282,7 @@ void UsbCameraImpl::ProcessFrame(IMFSample* videoSample,
     return;
   }
 
-  auto currentTime = wpi::Now();
+  auto currentTime = wpi::util::Now();
 
   ComPtr<IMFMediaBuffer> buf;
 
@@ -378,7 +378,7 @@ LRESULT UsbCameraImpl::PumpMain(HWND hwnd, UINT uiMsg, WPARAM wParam,
         // If path is empty, we attempted to connect with a device ID. Enumerate
         // and check
         CS_Status status = 0;
-        auto devices = cs::EnumerateUsbCameras(&status);
+        auto devices = wpi::cs::EnumerateUsbCameras(&status);
         if (devices.size() > m_deviceId) {
           // If has device ID, use the device ID from the event
           // because of windows bug
@@ -386,8 +386,8 @@ LRESULT UsbCameraImpl::PumpMain(HWND hwnd, UINT uiMsg, WPARAM wParam,
           DEV_BROADCAST_DEVICEINTERFACE_A* pDi =
               reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(parameter);
           m_path = pDi->dbcc_name;
-          wpi::SmallVector<wchar_t, 128> wideStorage;
-          wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+          wpi::util::SmallVector<wchar_t, 128> wideStorage;
+          wpi::util::sys::windows::UTF8ToUTF16(m_path, wideStorage);
           m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
         } else {
           // This device not found
@@ -425,22 +425,22 @@ LRESULT UsbCameraImpl::PumpMain(HWND hwnd, UINT uiMsg, WPARAM wParam,
   return 0l;
 }
 
-static cs::VideoMode::PixelFormat GetFromGUID(const GUID& guid) {
+static wpi::cs::VideoMode::PixelFormat GetFromGUID(const GUID& guid) {
   // Compare GUID to one of the supported ones
   if (IsEqualGUID(guid, MFVideoFormat_L8)) {
-    return cs::VideoMode::PixelFormat::kGray;
+    return wpi::cs::VideoMode::PixelFormat::kGray;
   } else if (IsEqualGUID(guid, MFVideoFormat_L16)) {
-    return cs::VideoMode::PixelFormat::kY16;
+    return wpi::cs::VideoMode::PixelFormat::kY16;
   } else if (IsEqualGUID(guid, MFVideoFormat_YUY2)) {
-    return cs::VideoMode::PixelFormat::kYUYV;
+    return wpi::cs::VideoMode::PixelFormat::kYUYV;
   } else if (IsEqualGUID(guid, MFVideoFormat_MJPG)) {
-    return cs::VideoMode::PixelFormat::kMJPEG;
+    return wpi::cs::VideoMode::PixelFormat::kMJPEG;
   } else if (IsEqualGUID(guid, MFVideoFormat_RGB565)) {
-    return cs::VideoMode::PixelFormat::kRGB565;
+    return wpi::cs::VideoMode::PixelFormat::kRGB565;
   } else if (IsEqualGUID(guid, MFVideoFormat_UYVY)) {
-    return cs::VideoMode::PixelFormat::kUYVY;
+    return wpi::cs::VideoMode::PixelFormat::kUYVY;
   } else {
-    return cs::VideoMode::PixelFormat::kUnknown;
+    return wpi::cs::VideoMode::PixelFormat::kUnknown;
   }
 }
 
@@ -713,7 +713,7 @@ void UsbCameraImpl::DeviceCacheProperty(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
-    std::unique_lock<wpi::mutex>& lock, Message::Kind msgKind,
+    std::unique_lock<wpi::util::mutex>& lock, Message::Kind msgKind,
     const Message* msg) {
   if (msgKind == Message::kCmdSetMode ||
       msgKind == Message::kCmdSetPixelFormat ||
@@ -736,8 +736,8 @@ CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
     {
       std::scoped_lock lock(m_mutex);
       m_path = msg->dataStr;
-      wpi::SmallVector<wchar_t, 128> wideStorage;
-      wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+      wpi::util::SmallVector<wchar_t, 128> wideStorage;
+      wpi::util::sys::windows::UTF8ToUTF16(m_path, wideStorage);
       m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
     }
     DeviceDisconnect();
@@ -749,7 +749,7 @@ CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   bool setString = (msg.kind == Message::kCmdSetPropertyStr);
   int property = msg.data[0];
   int value = msg.data[1];
@@ -826,7 +826,7 @@ ComPtr<IMFMediaType> UsbCameraImpl::DeviceCheckModeValid(
 }
 
 CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
-    std::unique_lock<wpi::mutex>& lock, const Message& msg) {
+    std::unique_lock<wpi::util::mutex>& lock, const Message& msg) {
   VideoMode newMode;
   if (msg.kind == Message::kCmdSetMode) {
     newMode.pixelFormat = msg.data[0];
@@ -1021,19 +1021,19 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
 }
 
 static void ParseVidAndPid(std::string_view path, int* pid, int* vid) {
-  auto vidIndex = wpi::find_lower(path, "vid_");
-  auto pidIndex = wpi::find_lower(path, "pid_");
+  auto vidIndex = wpi::util::find_lower(path, "vid_");
+  auto pidIndex = wpi::util::find_lower(path, "pid_");
 
   if (vidIndex != std::string_view::npos) {
-    auto vidSlice = wpi::slice(path, vidIndex + 4, vidIndex + 8);
-    if (auto v = wpi::parse_integer<uint16_t>(vidSlice, 16)) {
+    auto vidSlice = wpi::util::slice(path, vidIndex + 4, vidIndex + 8);
+    if (auto v = wpi::util::parse_integer<uint16_t>(vidSlice, 16)) {
       *vid = v.value();
     }
   }
 
   if (pidIndex != std::string_view::npos) {
-    auto pidSlice = wpi::slice(path, pidIndex + 4, pidIndex + 8);
-    if (auto v = wpi::parse_integer<uint16_t>(pidSlice, 16)) {
+    auto pidSlice = wpi::util::slice(path, pidIndex + 4, pidIndex + 8);
+    if (auto v = wpi::util::parse_integer<uint16_t>(pidSlice, 16)) {
       *pid = v.value();
     }
   }
@@ -1045,7 +1045,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   // Ensure we are initialized by grabbing the message pump
   // GetMessagePump();
 
-  wpi::SmallString<128> storage;
+  wpi::util::SmallString<128> storage;
   WCHAR buf[512];
   ComPtr<IMFAttributes> pAttributes;
   IMFActivate** ppDevices = nullptr;
@@ -1083,13 +1083,13 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
     ppDevices[i]->GetString(MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME, buf,
                             sizeof(buf) / sizeof(WCHAR), &characters);
     storage.clear();
-    wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+    wpi::util::sys::windows::UTF16ToUTF8(buf, characters, storage);
     info.name = std::string{storage};
     ppDevices[i]->GetString(
         MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, buf,
         sizeof(buf) / sizeof(WCHAR), &characters);
     storage.clear();
-    wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+    wpi::util::sys::windows::UTF16ToUTF8(buf, characters, storage);
     info.path = std::string{storage};
 
     // Try to parse path from symbolic link
@@ -1117,7 +1117,7 @@ done:
 CS_Source CreateUsbCameraDev(std::string_view name, int dev,
                              CS_Status* status) {
   // First check if device exists
-  auto devices = cs::EnumerateUsbCameras(status);
+  auto devices = wpi::cs::EnumerateUsbCameras(status);
   if (devices.size() > dev) {
     return CreateUsbCameraPath(name, devices[dev].path, status);
   }
@@ -1163,11 +1163,11 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status) {
   }
 
   info.path = static_cast<UsbCameraImpl&>(*data->source).GetPath();
-  wpi::SmallVector<char, 64> buf;
+  wpi::util::SmallVector<char, 64> buf;
   info.name = static_cast<UsbCameraImpl&>(*data->source).GetDescription(buf);
   ParseVidAndPid(info.path, &info.productId, &info.vendorId);
   info.dev = -1;  // We have lost dev information by this point in time.
   return info;
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/UsbCameraImpl.hpp b/cscore/src/main/native/windows/UsbCameraImpl.hpp
index 86ae606211..a97754fe8f 100644
--- a/cscore/src/main/native/windows/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.hpp
@@ -34,14 +34,14 @@
 #include "wpi/util/raw_istream.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 class UsbCameraImpl : public SourceImpl,
                       public std::enable_shared_from_this<UsbCameraImpl> {
  public:
-  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  UsbCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, std::string_view path);
-  UsbCameraImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
+  UsbCameraImpl(std::string_view name, wpi::util::Logger& logger, Notifier& notifier,
                 Telemetry& telemetry, int deviceId);
   ~UsbCameraImpl() override;
 
@@ -137,12 +137,12 @@ class UsbCameraImpl : public SourceImpl,
   ComPtr<IMFMediaType> DeviceCheckModeValid(const VideoMode& toCheck);
 
   // Command helper functions
-  CS_StatusValue DeviceProcessCommand(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceProcessCommand(std::unique_lock<wpi::util::mutex>& lock,
                                       Message::Kind msgKind,
                                       const Message* msg);
-  CS_StatusValue DeviceCmdSetMode(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceCmdSetMode(std::unique_lock<wpi::util::mutex>& lock,
                                   const Message& msg);
-  CS_StatusValue DeviceCmdSetProperty(std::unique_lock<wpi::mutex>& lock,
+  CS_StatusValue DeviceCmdSetProperty(std::unique_lock<wpi::util::mutex>& lock,
                                       const Message& msg);
 
   // Property helper functions
@@ -163,7 +163,7 @@ class UsbCameraImpl : public SourceImpl,
   ComPtr<IMFMediaSource> m_mediaSource;
   ComPtr<IMFSourceReader> m_sourceReader;
   ComPtr<SourceReaderCB> m_imageCallback;
-  std::unique_ptr<cs::WindowsMessagePump> m_messagePump;
+  std::unique_ptr<wpi::cs::WindowsMessagePump> m_messagePump;
   ComPtr<IMFMediaType> m_currentMode;
 
   std::string m_path;
@@ -174,6 +174,6 @@ class UsbCameraImpl : public SourceImpl,
   std::vector<std::pair<VideoMode, ComPtr<IMFMediaType>>> m_windowsVideoModes;
 };
 
-}  // namespace cs
+}  // namespace wpi::cs
 
 #endif  // CSCORE_USBCAMERAIMPL_HPP_
diff --git a/cscore/src/main/native/windows/UsbCameraListener.cpp b/cscore/src/main/native/windows/UsbCameraListener.cpp
index 61570cceba..740b4fd934 100644
--- a/cscore/src/main/native/windows/UsbCameraListener.cpp
+++ b/cscore/src/main/native/windows/UsbCameraListener.cpp
@@ -13,7 +13,7 @@
 
 #define IDT_TIMER1 1001
 
-using namespace cs;
+using namespace wpi::cs;
 
 class UsbCameraListener::Impl {
  public:
@@ -55,10 +55,10 @@ class UsbCameraListener::Impl {
   }
 
   Notifier& m_notifier;
-  std::unique_ptr<cs::WindowsMessagePump> m_messagePump;
+  std::unique_ptr<wpi::cs::WindowsMessagePump> m_messagePump;
 };
 
-UsbCameraListener::UsbCameraListener(wpi::Logger& logger, Notifier& notifier)
+UsbCameraListener::UsbCameraListener(wpi::util::Logger& logger, Notifier& notifier)
     : m_impl{std::make_unique<Impl>(notifier)} {}
 
 UsbCameraListener::~UsbCameraListener() {
diff --git a/cscore/src/main/native/windows/UsbCameraProperty.cpp b/cscore/src/main/native/windows/UsbCameraProperty.cpp
index 6f89c749a5..b82d997a21 100644
--- a/cscore/src/main/native/windows/UsbCameraProperty.cpp
+++ b/cscore/src/main/native/windows/UsbCameraProperty.cpp
@@ -8,7 +8,7 @@
 
 #include "ComPtr.hpp"
 
-using namespace cs;
+using namespace wpi::cs;
 
 UsbCameraProperty::UsbCameraProperty(std::string_view name_,
                                      tagVideoProcAmpProperty tag, bool autoProp,
@@ -38,7 +38,7 @@ UsbCameraProperty::UsbCameraProperty(std::string_view name_,
   }
 }
 
-bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMVideoProcAmp* pProcAmp) {
   if (!pProcAmp) {
     return true;
@@ -54,11 +54,11 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
 
   return false;
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMVideoProcAmp* pProcAmp) const {
   return DeviceSet(lock, pProcAmp, value);
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMVideoProcAmp* pProcAmp,
                                   int newValue) const {
   if (!pProcAmp) {
@@ -104,7 +104,7 @@ UsbCameraProperty::UsbCameraProperty(std::string_view name_,
   }
 }
 
-bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMCameraControl* pProcAmp) {
   if (!pProcAmp) {
     return true;
@@ -120,11 +120,11 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
 
   return false;
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMCameraControl* pProcAmp) const {
   return DeviceSet(lock, pProcAmp, value);
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IAMCameraControl* pProcAmp,
                                   int newValue) const {
   if (!pProcAmp) {
@@ -141,7 +141,7 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
   return false;
 }
 
-bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::util::mutex>& lock,
                                   IMFSourceReader* sourceReader) {
   if (!sourceReader) {
     return true;
@@ -167,11 +167,11 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
     }
   }
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IMFSourceReader* sourceReader) const {
   return DeviceSet(lock, sourceReader, value);
 }
-bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                                   IMFSourceReader* sourceReader,
                                   int newValue) const {
   if (!sourceReader) {
diff --git a/cscore/src/main/native/windows/UsbCameraProperty.hpp b/cscore/src/main/native/windows/UsbCameraProperty.hpp
index 2f0c056839..3a81f413b8 100644
--- a/cscore/src/main/native/windows/UsbCameraProperty.hpp
+++ b/cscore/src/main/native/windows/UsbCameraProperty.hpp
@@ -16,7 +16,7 @@
 #include "PropertyImpl.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace cs {
+namespace wpi::cs {
 
 // Property data
 class UsbCameraProperty : public PropertyImpl {
@@ -54,11 +54,11 @@ class UsbCameraProperty : public PropertyImpl {
   UsbCameraProperty(std::string_view name_, tagCameraControlProperty tag,
                     bool autoProp, IAMCameraControl* pProcAmp, bool* isValid);
 
-  bool DeviceGet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceGet(std::unique_lock<wpi::util::mutex>& lock,
                  IMFSourceReader* sourceReader);
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                  IMFSourceReader* sourceReader) const;
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                  IMFSourceReader* sourceReader, int newValue) const;
 
   // If this is a device (rather than software) property
@@ -81,17 +81,17 @@ class UsbCameraProperty : public PropertyImpl {
   int type{0};     // implementation type, not CS_PropertyKind!
 
  private:
-  bool DeviceGet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceGet(std::unique_lock<wpi::util::mutex>& lock,
                  IAMCameraControl* pProcAmp);
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                  IAMCameraControl* pProcAmp) const;
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, IAMCameraControl* pProcAmp,
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock, IAMCameraControl* pProcAmp,
                  int newValue) const;
 
-  bool DeviceGet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp);
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+  bool DeviceGet(std::unique_lock<wpi::util::mutex>& lock, IAMVideoProcAmp* pProcAmp);
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock,
                  IAMVideoProcAmp* pProcAmp) const;
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp,
+  bool DeviceSet(std::unique_lock<wpi::util::mutex>& lock, IAMVideoProcAmp* pProcAmp,
                  int newValue) const;
 };
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/WindowsMessagePump.cpp b/cscore/src/main/native/windows/WindowsMessagePump.cpp
index cc9dede479..3f0d93ff60 100644
--- a/cscore/src/main/native/windows/WindowsMessagePump.cpp
+++ b/cscore/src/main/native/windows/WindowsMessagePump.cpp
@@ -21,7 +21,7 @@
 #pragma comment(lib, "Ole32.lib")
 #pragma comment(lib, "User32.lib")
 
-namespace cs {
+namespace wpi::cs {
 
 static LRESULT CALLBACK pWndProc(HWND hwnd, UINT uiMsg, WPARAM wParam,
                                  LPARAM lParam) {
@@ -148,4 +148,4 @@ void WindowsMessagePump::ThreadMain(HANDLE eventHandle) {
   CoUninitialize();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/main/native/windows/WindowsMessagePump.hpp b/cscore/src/main/native/windows/WindowsMessagePump.hpp
index 97a3f2d018..2bcb533659 100644
--- a/cscore/src/main/native/windows/WindowsMessagePump.hpp
+++ b/cscore/src/main/native/windows/WindowsMessagePump.hpp
@@ -9,7 +9,7 @@
 #include <functional>
 #include <thread>
 
-namespace cs {
+namespace wpi::cs {
 class WindowsMessagePump {
  public:
   explicit WindowsMessagePump(
@@ -60,4 +60,4 @@ class WindowsMessagePump {
 
   std::thread m_mainThread;
 };
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/cscore/src/test/native/cpp/CameraSourceTest.cpp b/cscore/src/test/native/cpp/CameraSourceTest.cpp
index c73d8c29a5..bcc51e2965 100644
--- a/cscore/src/test/native/cpp/CameraSourceTest.cpp
+++ b/cscore/src/test/native/cpp/CameraSourceTest.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/cs/cscore.h"
 
-namespace cs {
+namespace wpi::cs {
 
 class CameraSourceTest : public ::testing::Test {
  protected:
@@ -15,7 +15,7 @@ class CameraSourceTest : public ::testing::Test {
 
 TEST_F(CameraSourceTest, HTTPCamera) {
   auto source = HttpCamera("axis", "http://localhost:8000");
-  cs::Shutdown();
+  wpi::cs::Shutdown();
 }
 
-}  // namespace cs
+}  // namespace wpi::cs
diff --git a/datalog/examples/printlog/printlog.cpp b/datalog/examples/printlog/printlog.cpp
index c4e966fdf1..ac9586a1a0 100644
--- a/datalog/examples/printlog/printlog.cpp
+++ b/datalog/examples/printlog/printlog.cpp
@@ -17,74 +17,74 @@
 
 int main(int argc, const char** argv) {
   if (argc != 2) {
-    wpi::print(stderr, "Usage: printlog <file>\n");
+    wpi::util::print(stderr, "Usage: printlog <file>\n");
     return EXIT_FAILURE;
   }
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(argv[1]);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(argv[1]);
   if (!fileBuffer) {
-    wpi::print(stderr, "could not open file: {}\n",
+    wpi::util::print(stderr, "could not open file: {}\n",
                fileBuffer.error().message());
     return EXIT_FAILURE;
   }
   wpi::log::DataLogReader reader{std::move(*fileBuffer)};
   if (!reader) {
-    wpi::print(stderr, "not a log file\n");
+    wpi::util::print(stderr, "not a log file\n");
     return EXIT_FAILURE;
   }
 
-  wpi::DenseMap<int, wpi::log::StartRecordData> entries;
+  wpi::util::DenseMap<int, wpi::log::StartRecordData> entries;
   for (auto&& record : reader) {
     if (record.IsStart()) {
       wpi::log::StartRecordData data;
       if (record.GetStartData(&data)) {
-        wpi::print("Start({}, name='{}', type='{}', metadata='{}') [{}]\n",
+        wpi::util::print("Start({}, name='{}', type='{}', metadata='{}') [{}]\n",
                    data.entry, data.name, data.type, data.metadata,
                    record.GetTimestamp() / 1000000.0);
         if (entries.find(data.entry) != entries.end()) {
-          wpi::print("...DUPLICATE entry ID, overriding\n");
+          wpi::util::print("...DUPLICATE entry ID, overriding\n");
         }
         entries[data.entry] = data;
       } else {
-        wpi::print("Start(INVALID)\n");
+        wpi::util::print("Start(INVALID)\n");
       }
     } else if (record.IsFinish()) {
       int entry;
       if (record.GetFinishEntry(&entry)) {
-        wpi::print("Finish({}) [{}]\n", entry,
+        wpi::util::print("Finish({}) [{}]\n", entry,
                    record.GetTimestamp() / 1000000.0);
         auto it = entries.find(entry);
         if (it == entries.end()) {
-          wpi::print("...ID not found\n");
+          wpi::util::print("...ID not found\n");
         } else {
           entries.erase(it);
         }
       } else {
-        wpi::print("Finish(INVALID)\n");
+        wpi::util::print("Finish(INVALID)\n");
       }
     } else if (record.IsSetMetadata()) {
       wpi::log::MetadataRecordData data;
       if (record.GetSetMetadataData(&data)) {
-        wpi::print("SetMetadata({}, '{}') [{}]\n", data.entry, data.metadata,
+        wpi::util::print("SetMetadata({}, '{}') [{}]\n", data.entry, data.metadata,
                    record.GetTimestamp() / 1000000.0);
         auto it = entries.find(data.entry);
         if (it == entries.end()) {
-          wpi::print("...ID not found\n");
+          wpi::util::print("...ID not found\n");
         } else {
           it->second.metadata = data.metadata;
         }
       } else {
-        wpi::print("SetMetadata(INVALID)\n");
+        wpi::util::print("SetMetadata(INVALID)\n");
       }
     } else if (record.IsControl()) {
-      wpi::print("Unrecognized control record\n");
+      wpi::util::print("Unrecognized control record\n");
     } else {
-      wpi::print("Data({}, size={}) ", record.GetEntry(), record.GetSize());
+      wpi::util::print("Data({}, size={}) ", record.GetEntry(), record.GetSize());
       auto entry = entries.find(record.GetEntry());
       if (entry == entries.end()) {
-        wpi::print("<ID not found>\n");
+        wpi::util::print("<ID not found>\n");
         continue;
       }
-      wpi::print("<name='{}', type='{}'> [{}]\n", entry->second.name,
+      wpi::util::print("<name='{}', type='{}'> [{}]\n", entry->second.name,
                  entry->second.type, record.GetTimestamp() / 1000000.0);
 
       // handle systemTime specially
@@ -92,10 +92,10 @@ int main(int argc, const char** argv) {
         int64_t val;
         if (record.GetInteger(&val)) {
           std::time_t timeval = val / 1000000;
-          wpi::print("  {:%Y-%m-%d %H:%M:%S}.{:06}\n",
+          wpi::util::print("  {:%Y-%m-%d %H:%M:%S}.{:06}\n",
                      *std::localtime(&timeval), val % 1000000);
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
         continue;
       }
@@ -103,63 +103,63 @@ int main(int argc, const char** argv) {
       if (entry->second.type == "double") {
         double val;
         if (record.GetDouble(&val)) {
-          wpi::print("  {}\n", val);
+          wpi::util::print("  {}\n", val);
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "int64") {
         int64_t val;
         if (record.GetInteger(&val)) {
-          wpi::print("  {}\n", val);
+          wpi::util::print("  {}\n", val);
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "string" ||
                  entry->second.type == "json") {
         std::string_view val;
         record.GetString(&val);
-        wpi::print("  '{}'\n", val);
+        wpi::util::print("  '{}'\n", val);
       } else if (entry->second.type == "boolean") {
         bool val;
         if (record.GetBoolean(&val)) {
-          wpi::print("  {}\n", val);
+          wpi::util::print("  {}\n", val);
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "boolean[]") {
         std::vector<int> val;
         if (record.GetBooleanArray(&val)) {
-          wpi::print("  {}\n", fmt::join(val, ", "));
+          wpi::util::print("  {}\n", fmt::join(val, ", "));
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "double[]") {
         std::vector<double> val;
         if (record.GetDoubleArray(&val)) {
-          wpi::print("  {}\n", fmt::join(val, ", "));
+          wpi::util::print("  {}\n", fmt::join(val, ", "));
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "float[]") {
         std::vector<float> val;
         if (record.GetFloatArray(&val)) {
-          wpi::print("  {}\n", fmt::join(val, ", "));
+          wpi::util::print("  {}\n", fmt::join(val, ", "));
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "int64[]") {
         std::vector<int64_t> val;
         if (record.GetIntegerArray(&val)) {
-          wpi::print("  {}\n", fmt::join(val, ", "));
+          wpi::util::print("  {}\n", fmt::join(val, ", "));
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       } else if (entry->second.type == "string[]") {
         std::vector<std::string_view> val;
         if (record.GetStringArray(&val)) {
-          wpi::print("  {}\n", fmt::join(val, ", "));
+          wpi::util::print("  {}\n", fmt::join(val, ", "));
         } else {
-          wpi::print("  invalid\n");
+          wpi::util::print("  invalid\n");
         }
       }
     }
diff --git a/datalog/examples/writelog/writelog.cpp b/datalog/examples/writelog/writelog.cpp
index 154a97dcd1..6e6d23bd33 100644
--- a/datalog/examples/writelog/writelog.cpp
+++ b/datalog/examples/writelog/writelog.cpp
@@ -65,7 +65,7 @@ int main(int argc, char** argv) {
 
   for (const auto& [name, fn] : testVec) {
     auto resVec = std::vector<microseconds::rep>();
-    wpi::print("{}: ", name);
+    wpi::util::print("{}: ", name);
 
     for (int i = 0; i < kNumRuns; ++i) {
       auto start = high_resolution_clock::now();
@@ -74,7 +74,7 @@ int main(int argc, char** argv) {
       resVec.push_back(duration_cast<microseconds>(stop - start).count());
     }
 
-    wpi::print("{}us\n",
+    wpi::util::print("{}us\n",
                std::accumulate(resVec.begin(), resVec.end(), 0) / kNumRuns);
   }
 
diff --git a/datalog/src/main/native/cpp/DataLog.cpp b/datalog/src/main/native/cpp/DataLog.cpp
index b48fffc5ad..50ffa32105 100644
--- a/datalog/src/main/native/cpp/DataLog.cpp
+++ b/datalog/src/main/native/cpp/DataLog.cpp
@@ -25,14 +25,14 @@ static constexpr size_t kRecordMaxHeaderSize = 17;
 
 static void DefaultLog(unsigned int level, const char* file, unsigned int line,
                        const char* msg) {
-  if (level > wpi::WPI_LOG_INFO) {
-    wpi::print(stderr, "DataLog: {}\n", msg);
-  } else if (level == wpi::WPI_LOG_INFO) {
-    wpi::print("DataLog: {}\n", msg);
+  if (level > wpi::util::WPI_LOG_INFO) {
+    wpi::util::print(stderr, "DataLog: {}\n", msg);
+  } else if (level == wpi::util::WPI_LOG_INFO) {
+    wpi::util::print("DataLog: {}\n", msg);
   }
 }
 
-wpi::Logger DataLog::s_defaultMessageLog{DefaultLog};
+wpi::util::Logger DataLog::s_defaultMessageLog{DefaultLog};
 
 template <typename T>
 static unsigned int WriteVarInt(uint8_t* buf, T val) {
@@ -56,7 +56,7 @@ static unsigned int WriteRecordHeader(uint8_t* buf, uint32_t entry,
   unsigned int payloadLen = WriteVarInt(buf, payloadSize);
   buf += payloadLen;
   unsigned int timestampLen =
-      WriteVarInt(buf, timestamp == 0 ? wpi::Now() : timestamp);
+      WriteVarInt(buf, timestamp == 0 ? wpi::util::Now() : timestamp);
   buf += timestampLen;
   *origbuf =
       ((timestampLen - 1) << 4) | ((payloadLen - 1) << 2) | (entryLen - 1);
@@ -78,7 +78,7 @@ void DataLog::StartFile() {
   uint8_t* buf = Reserve(m_extraHeader.size() + 12);
   static const uint8_t header[] = {'W', 'P', 'I', 'L', 'O', 'G', 0, 1};
   std::memcpy(buf, header, 8);
-  support::endian::write32le(buf + 8, m_extraHeader.size());
+  wpi::util::support::endian::write32le(buf + 8, m_extraHeader.size());
   std::memcpy(buf + 12, m_extraHeader.data(), m_extraHeader.size());
 
   // Existing start and schema data records
@@ -145,7 +145,7 @@ void DataLog::AddSchema(std::string_view name, std::string_view type,
     return;  // don't add duplicates
   }
   schemaInfo.data.assign(schema.begin(), schema.end());
-  wpi::SmallString<128> fullName{"/.schema/"};
+  wpi::util::SmallString<128> fullName{"/.schema/"};
   fullName += name;
   int entry = StartImpl(fullName, type, {}, timestamp);
 
@@ -206,7 +206,7 @@ void DataLog::AppendStartRecord(int id, std::string_view name,
   size_t strsize = name.size() + type.size() + metadata.size();
   uint8_t* buf = StartRecord(0, timestamp, 5 + 12 + strsize, 5);
   *buf++ = impl::kControlStart;
-  wpi::support::endian::write32le(buf, id);
+  wpi::util::support::endian::write32le(buf, id);
   AppendStringImpl(name);
   AppendStringImpl(type);
   AppendStringImpl(metadata);
@@ -241,7 +241,7 @@ void DataLog::Finish(int entry, int64_t timestamp) {
   }
   uint8_t* buf = StartRecord(0, timestamp, 5, 5);
   *buf++ = impl::kControlFinish;
-  wpi::support::endian::write32le(buf, entry);
+  wpi::util::support::endian::write32le(buf, entry);
 }
 
 void DataLog::SetMetadata(int entry, std::string_view metadata,
@@ -256,7 +256,7 @@ void DataLog::SetMetadata(int entry, std::string_view metadata,
   }
   uint8_t* buf = StartRecord(0, timestamp, 5 + 4 + metadata.size(), 5);
   *buf++ = impl::kControlSetMetadata;
-  wpi::support::endian::write32le(buf, entry);
+  wpi::util::support::endian::write32le(buf, entry);
   AppendStringImpl(metadata);
 }
 
@@ -305,7 +305,7 @@ void DataLog::AppendImpl(std::span<const uint8_t> data) {
 
 void DataLog::AppendStringImpl(std::string_view str) {
   uint8_t* buf = Reserve(4);
-  wpi::support::endian::write32le(buf, str.size());
+  wpi::util::support::endian::write32le(buf, str.size());
   AppendImpl({reinterpret_cast<const uint8_t*>(str.data()), str.size()});
 }
 
@@ -363,7 +363,7 @@ void DataLog::AppendInteger(int entry, int64_t value, int64_t timestamp) {
     [[unlikely]] return;
   }
   uint8_t* buf = StartRecord(entry, timestamp, 8, 8);
-  wpi::support::endian::write64le(buf, value);
+  wpi::util::support::endian::write64le(buf, value);
 }
 
 void DataLog::AppendFloat(int entry, float value, int64_t timestamp) {
@@ -378,7 +378,7 @@ void DataLog::AppendFloat(int entry, float value, int64_t timestamp) {
   if constexpr (std::endian::native == std::endian::little) {
     std::memcpy(buf, &value, 4);
   } else {
-    wpi::support::endian::write32le(buf, std::bit_cast<uint32_t>(value));
+    wpi::util::support::endian::write32le(buf, std::bit_cast<uint32_t>(value));
   }
 }
 
@@ -394,7 +394,7 @@ void DataLog::AppendDouble(int entry, double value, int64_t timestamp) {
   if constexpr (std::endian::native == std::endian::little) {
     std::memcpy(buf, &value, 8);
   } else {
-    wpi::support::endian::write64le(buf, std::bit_cast<uint64_t>(value));
+    wpi::util::support::endian::write64le(buf, std::bit_cast<uint64_t>(value));
   }
 }
 
@@ -477,14 +477,14 @@ void DataLog::AppendIntegerArray(int entry, std::span<const int64_t> arr,
     while ((arr.size() * 8) > kBlockSize) {
       buf = Reserve(kBlockSize);
       for (auto val : arr.subspan(0, kBlockSize / 8)) {
-        wpi::support::endian::write64le(buf, val);
+        wpi::util::support::endian::write64le(buf, val);
         buf += 8;
       }
       arr = arr.subspan(kBlockSize / 8);
     }
     buf = Reserve(arr.size() * 8);
     for (auto val : arr) {
-      wpi::support::endian::write64le(buf, val);
+      wpi::util::support::endian::write64le(buf, val);
       buf += 8;
     }
   }
@@ -509,14 +509,14 @@ void DataLog::AppendFloatArray(int entry, std::span<const float> arr,
     while ((arr.size() * 4) > kBlockSize) {
       buf = Reserve(kBlockSize);
       for (auto val : arr.subspan(0, kBlockSize / 4)) {
-        wpi::support::endian::write32le(buf, std::bit_cast<uint32_t>(val));
+        wpi::util::support::endian::write32le(buf, std::bit_cast<uint32_t>(val));
         buf += 4;
       }
       arr = arr.subspan(kBlockSize / 4);
     }
     buf = Reserve(arr.size() * 4);
     for (auto val : arr) {
-      wpi::support::endian::write32le(buf, std::bit_cast<uint32_t>(val));
+      wpi::util::support::endian::write32le(buf, std::bit_cast<uint32_t>(val));
       buf += 4;
     }
   }
@@ -541,14 +541,14 @@ void DataLog::AppendDoubleArray(int entry, std::span<const double> arr,
     while ((arr.size() * 8) > kBlockSize) {
       buf = Reserve(kBlockSize);
       for (auto val : arr.subspan(0, kBlockSize / 8)) {
-        wpi::support::endian::write64le(buf, std::bit_cast<uint64_t>(val));
+        wpi::util::support::endian::write64le(buf, std::bit_cast<uint64_t>(val));
         buf += 8;
       }
       arr = arr.subspan(kBlockSize / 8);
     }
     buf = Reserve(arr.size() * 8);
     for (auto val : arr) {
-      wpi::support::endian::write64le(buf, std::bit_cast<uint64_t>(val));
+      wpi::util::support::endian::write64le(buf, std::bit_cast<uint64_t>(val));
       buf += 8;
     }
   }
@@ -570,7 +570,7 @@ void DataLog::AppendStringArray(int entry, std::span<const std::string> arr,
     [[unlikely]] return;
   }
   uint8_t* buf = StartRecord(entry, timestamp, size, 4);
-  wpi::support::endian::write32le(buf, arr.size());
+  wpi::util::support::endian::write32le(buf, arr.size());
   for (auto&& str : arr) {
     AppendStringImpl(str);
   }
@@ -593,7 +593,7 @@ void DataLog::AppendStringArray(int entry,
     [[unlikely]] return;
   }
   uint8_t* buf = StartRecord(entry, timestamp, size, 4);
-  wpi::support::endian::write32le(buf, arr.size());
+  wpi::util::support::endian::write32le(buf, arr.size());
   for (auto&& sv : arr) {
     AppendStringImpl(sv);
   }
@@ -616,7 +616,7 @@ void DataLog::AppendStringArray(int entry,
     [[unlikely]] return;
   }
   uint8_t* buf = StartRecord(entry, timestamp, size, 4);
-  wpi::support::endian::write32le(buf, arr.size());
+  wpi::util::support::endian::write32le(buf, arr.size());
   for (auto&& sv : arr) {
     AppendStringImpl(sv.str);
   }
@@ -750,8 +750,8 @@ int WPI_DataLog_Start(struct WPI_DataLog* datalog,
                       const struct WPI_String* type,
                       const struct WPI_String* metadata, int64_t timestamp) {
   return reinterpret_cast<DataLog*>(datalog)->Start(
-      wpi::to_string_view(name), wpi::to_string_view(type),
-      wpi::to_string_view(metadata), timestamp);
+      wpi::util::to_string_view(name), wpi::util::to_string_view(type),
+      wpi::util::to_string_view(metadata), timestamp);
 }
 
 void WPI_DataLog_Finish(struct WPI_DataLog* datalog, int entry,
@@ -763,7 +763,7 @@ void WPI_DataLog_SetMetadata(struct WPI_DataLog* datalog, int entry,
                              const struct WPI_String* metadata,
                              int64_t timestamp) {
   reinterpret_cast<DataLog*>(datalog)->SetMetadata(
-      entry, wpi::to_string_view(metadata), timestamp);
+      entry, wpi::util::to_string_view(metadata), timestamp);
 }
 
 void WPI_DataLog_AppendRaw(struct WPI_DataLog* datalog, int entry,
@@ -846,8 +846,8 @@ void WPI_DataLog_AddSchemaString(struct WPI_DataLog* datalog,
                                  const struct WPI_String* schema,
                                  int64_t timestamp) {
   reinterpret_cast<DataLog*>(datalog)->AddSchema(
-      wpi::to_string_view(name), wpi::to_string_view(type),
-      wpi::to_string_view(schema), timestamp);
+      wpi::util::to_string_view(name), wpi::util::to_string_view(type),
+      wpi::util::to_string_view(schema), timestamp);
 }
 
 void WPI_DataLog_AddSchema(struct WPI_DataLog* datalog,
@@ -855,7 +855,7 @@ void WPI_DataLog_AddSchema(struct WPI_DataLog* datalog,
                            const struct WPI_String* type, const uint8_t* schema,
                            size_t schema_len, int64_t timestamp) {
   reinterpret_cast<DataLog*>(datalog)->AddSchema(
-      wpi::to_string_view(name), wpi::to_string_view(type),
+      wpi::util::to_string_view(name), wpi::util::to_string_view(type),
       std::span<const uint8_t>{schema, schema_len}, timestamp);
 }
 
diff --git a/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp b/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
index 9181954754..45e9a1c59f 100644
--- a/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
+++ b/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
@@ -53,7 +53,7 @@ DataLogBackgroundWriter::DataLogBackgroundWriter(std::string_view dir,
     : DataLogBackgroundWriter{s_defaultMessageLog, dir, filename, period,
                               extraHeader} {}
 
-DataLogBackgroundWriter::DataLogBackgroundWriter(wpi::Logger& msglog,
+DataLogBackgroundWriter::DataLogBackgroundWriter(wpi::util::Logger& msglog,
                                                  std::string_view dir,
                                                  std::string_view filename,
                                                  double period,
@@ -70,7 +70,7 @@ DataLogBackgroundWriter::DataLogBackgroundWriter(
                               extraHeader} {}
 
 DataLogBackgroundWriter::DataLogBackgroundWriter(
-    wpi::Logger& msglog,
+    wpi::util::Logger& msglog,
     std::function<void(std::span<const uint8_t> data)> write, double period,
     std::string_view extraHeader)
     : DataLog{msglog, extraHeader},
@@ -132,7 +132,7 @@ void DataLogBackgroundWriter::Stop() {
 }
 
 static void WriteToFile(fs::file_t f, std::span<const uint8_t> data,
-                        std::string_view filename, wpi::Logger& msglog) {
+                        std::string_view filename, wpi::util::Logger& msglog) {
   do {
 #ifdef _WIN32
     DWORD ret;
@@ -469,8 +469,8 @@ struct WPI_DataLog* WPI_DataLog_CreateBackgroundWriter(
     const struct WPI_String* dir, const struct WPI_String* filename,
     double period, const struct WPI_String* extraHeader) {
   return reinterpret_cast<WPI_DataLog*>(new DataLogBackgroundWriter{
-      wpi::to_string_view(dir), wpi::to_string_view(filename), period,
-      wpi::to_string_view(extraHeader)});
+      wpi::util::to_string_view(dir), wpi::util::to_string_view(filename), period,
+      wpi::util::to_string_view(extraHeader)});
 }
 
 struct WPI_DataLog* WPI_DataLog_CreateBackgroundWriter_Func(
@@ -478,13 +478,13 @@ struct WPI_DataLog* WPI_DataLog_CreateBackgroundWriter_Func(
     double period, const struct WPI_String* extraHeader) {
   return reinterpret_cast<WPI_DataLog*>(new DataLogBackgroundWriter{
       [=](auto data) { write(ptr, data.data(), data.size()); }, period,
-      wpi::to_string_view(extraHeader)});
+      wpi::util::to_string_view(extraHeader)});
 }
 
 void WPI_DataLog_SetBackgroundWriterFilename(
     struct WPI_DataLog* datalog, const struct WPI_String* filename) {
   reinterpret_cast<DataLogBackgroundWriter*>(datalog)->SetFilename(
-      wpi::to_string_view(filename));
+      wpi::util::to_string_view(filename));
 }
 
 }  // extern "C"
diff --git a/datalog/src/main/native/cpp/DataLogReader.cpp b/datalog/src/main/native/cpp/DataLogReader.cpp
index c33346a67c..590a0f5976 100644
--- a/datalog/src/main/native/cpp/DataLogReader.cpp
+++ b/datalog/src/main/native/cpp/DataLogReader.cpp
@@ -17,7 +17,7 @@ static bool ReadString(std::span<const uint8_t>* buf, std::string_view* str) {
     *str = {};
     return false;
   }
-  uint32_t len = wpi::support::endian::read32le(buf->data());
+  uint32_t len = wpi::util::support::endian::read32le(buf->data());
   if (len > (buf->size() - 4)) {
     *str = {};
     return false;
@@ -46,7 +46,7 @@ bool DataLogRecord::GetStartData(StartRecordData* out) const {
   if (!IsStart()) {
     return false;
   }
-  out->entry = wpi::support::endian::read32le(&m_data[1]);
+  out->entry = wpi::util::support::endian::read32le(&m_data[1]);
   auto buf = m_data.subspan(5);
   if (!ReadString(&buf, &out->name)) {
     return false;
@@ -64,7 +64,7 @@ bool DataLogRecord::GetFinishEntry(int* out) const {
   if (!IsFinish()) {
     return false;
   }
-  *out = wpi::support::endian::read32le(&m_data[1]);
+  *out = wpi::util::support::endian::read32le(&m_data[1]);
   return true;
 }
 
@@ -72,7 +72,7 @@ bool DataLogRecord::GetSetMetadataData(MetadataRecordData* out) const {
   if (!IsSetMetadata()) {
     return false;
   }
-  out->entry = wpi::support::endian::read32le(&m_data[1]);
+  out->entry = wpi::util::support::endian::read32le(&m_data[1]);
   auto buf = m_data.subspan(5);
   return ReadString(&buf, &out->metadata);
 }
@@ -89,7 +89,7 @@ bool DataLogRecord::GetInteger(int64_t* value) const {
   if (m_data.size() != 8) {
     return false;
   }
-  *value = wpi::support::endian::read64le(m_data.data());
+  *value = wpi::util::support::endian::read64le(m_data.data());
   return true;
 }
 
@@ -97,7 +97,7 @@ bool DataLogRecord::GetFloat(float* value) const {
   if (m_data.size() != 4) {
     return false;
   }
-  *value = std::bit_cast<float>(wpi::support::endian::read32le(m_data.data()));
+  *value = std::bit_cast<float>(wpi::util::support::endian::read32le(m_data.data()));
   return true;
 }
 
@@ -105,7 +105,7 @@ bool DataLogRecord::GetDouble(double* value) const {
   if (m_data.size() != 8) {
     return false;
   }
-  *value = std::bit_cast<double>(wpi::support::endian::read64le(m_data.data()));
+  *value = std::bit_cast<double>(wpi::util::support::endian::read64le(m_data.data()));
   return true;
 }
 
@@ -130,7 +130,7 @@ bool DataLogRecord::GetIntegerArray(std::vector<int64_t>* arr) const {
   }
   arr->reserve(m_data.size() / 8);
   for (size_t pos = 0; pos < m_data.size(); pos += 8) {
-    arr->push_back(wpi::support::endian::read64le(&m_data[pos]));
+    arr->push_back(wpi::util::support::endian::read64le(&m_data[pos]));
   }
   return true;
 }
@@ -143,7 +143,7 @@ bool DataLogRecord::GetFloatArray(std::vector<float>* arr) const {
   arr->reserve(m_data.size() / 4);
   for (size_t pos = 0; pos < m_data.size(); pos += 4) {
     arr->push_back(
-        std::bit_cast<float>(wpi::support::endian::read32le(&m_data[pos])));
+        std::bit_cast<float>(wpi::util::support::endian::read32le(&m_data[pos])));
   }
   return true;
 }
@@ -156,7 +156,7 @@ bool DataLogRecord::GetDoubleArray(std::vector<double>* arr) const {
   arr->reserve(m_data.size() / 8);
   for (size_t pos = 0; pos < m_data.size(); pos += 8) {
     arr->push_back(
-        std::bit_cast<double>(wpi::support::endian::read64le(&m_data[pos])));
+        std::bit_cast<double>(wpi::util::support::endian::read64le(&m_data[pos])));
   }
   return true;
 }
@@ -166,7 +166,7 @@ bool DataLogRecord::GetStringArray(std::vector<std::string_view>* arr) const {
   if (m_data.size() < 4) {
     return false;
   }
-  uint32_t size = wpi::support::endian::read32le(m_data.data());
+  uint32_t size = wpi::util::support::endian::read32le(m_data.data());
   // sanity check size
   if (size > ((m_data.size() - 4) / 4)) {
     return false;
@@ -189,7 +189,7 @@ bool DataLogRecord::GetStringArray(std::vector<std::string_view>* arr) const {
   return true;
 }
 
-DataLogReader::DataLogReader(std::unique_ptr<MemoryBuffer> buffer)
+DataLogReader::DataLogReader(std::unique_ptr<wpi::util::MemoryBuffer> buffer)
     : m_buf{std::move(buffer)} {}
 
 bool DataLogReader::IsValid() const {
@@ -200,7 +200,7 @@ bool DataLogReader::IsValid() const {
   return buf.size() >= 12 &&
          std::string_view{reinterpret_cast<const char*>(buf.data()), 6} ==
              "WPILOG" &&
-         wpi::support::endian::read16le(&buf[6]) >= 0x0100;
+         wpi::util::support::endian::read16le(&buf[6]) >= 0x0100;
 }
 
 uint16_t DataLogReader::GetVersion() const {
@@ -211,7 +211,7 @@ uint16_t DataLogReader::GetVersion() const {
   if (buf.size() < 12) {
     return 0;
   }
-  return wpi::support::endian::read16le(&buf[6]);
+  return wpi::util::support::endian::read16le(&buf[6]);
 }
 
 std::string_view DataLogReader::GetExtraHeader() const {
@@ -236,7 +236,7 @@ DataLogReader::iterator DataLogReader::begin() const {
   if (buf.size() < 12) {
     return end();
   }
-  uint32_t size = wpi::support::endian::read32le(&buf[8]);
+  uint32_t size = wpi::util::support::endian::read32le(&buf[8]);
   if (buf.size() < (12 + size)) {
     return end();
   }
diff --git a/datalog/src/main/native/cpp/DataLogReaderThread.cpp b/datalog/src/main/native/cpp/DataLogReaderThread.cpp
index f6aa0c3e99..e17aa16461 100644
--- a/datalog/src/main/native/cpp/DataLogReaderThread.cpp
+++ b/datalog/src/main/native/cpp/DataLogReaderThread.cpp
@@ -20,7 +20,7 @@ DataLogReaderThread::~DataLogReaderThread() {
 }
 
 void DataLogReaderThread::ReadMain() {
-  wpi::SmallDenseMap<
+  wpi::util::SmallDenseMap<
       int, std::pair<DataLogReaderEntry*, std::span<const uint8_t>>, 8>
       schemaEntries;
 
@@ -37,7 +37,7 @@ void DataLogReaderThread::ReadMain() {
         std::scoped_lock lock{m_mutex};
         auto& entryPtr = m_entriesById[data.entry];
         if (entryPtr) {
-          wpi::print("...DUPLICATE entry ID, overriding\n");
+          wpi::util::print("...DUPLICATE entry ID, overriding\n");
         }
         auto [it, isNew] = m_entriesByName.emplace(data.name, data);
         if (isNew) {
@@ -51,7 +51,7 @@ void DataLogReaderThread::ReadMain() {
         }
         sigEntryAdded(data);
       } else {
-        wpi::print("Start(INVALID)\n");
+        wpi::util::print("Start(INVALID)\n");
       }
     } else if (record.IsFinish()) {
       int entry;
@@ -59,13 +59,13 @@ void DataLogReaderThread::ReadMain() {
         std::scoped_lock lock{m_mutex};
         auto it = m_entriesById.find(entry);
         if (it == m_entriesById.end()) {
-          wpi::print("...ID not found\n");
+          wpi::util::print("...ID not found\n");
         } else {
           it->second->ranges.back().m_end = recordIt;
           m_entriesById.erase(it);
         }
       } else {
-        wpi::print("Finish(INVALID)\n");
+        wpi::util::print("Finish(INVALID)\n");
       }
     } else if (record.IsSetMetadata()) {
       wpi::log::MetadataRecordData data;
@@ -73,15 +73,15 @@ void DataLogReaderThread::ReadMain() {
         std::scoped_lock lock{m_mutex};
         auto it = m_entriesById.find(data.entry);
         if (it == m_entriesById.end()) {
-          wpi::print("...ID not found\n");
+          wpi::util::print("...ID not found\n");
         } else {
           it->second->metadata = data.metadata;
         }
       } else {
-        wpi::print("SetMetadata(INVALID)\n");
+        wpi::util::print("SetMetadata(INVALID)\n");
       }
     } else if (record.IsControl()) {
-      wpi::print("Unrecognized control record\n");
+      wpi::util::print("Unrecognized control record\n");
     } else {
       auto it = schemaEntries.find(record.GetEntry());
       if (it != schemaEntries.end()) {
@@ -97,19 +97,19 @@ void DataLogReaderThread::ReadMain() {
     if (data.empty()) {
       continue;
     }
-    if (auto strippedName = wpi::remove_prefix(name, "NT:")) {
+    if (auto strippedName = wpi::util::remove_prefix(name, "NT:")) {
       name = *strippedName;
     }
-    if (auto typeStr = wpi::remove_prefix(name, "/.schema/struct:")) {
+    if (auto typeStr = wpi::util::remove_prefix(name, "/.schema/struct:")) {
       std::string_view schema{reinterpret_cast<const char*>(data.data()),
                               data.size()};
       std::string err;
       auto desc = m_structDb.Add(*typeStr, schema, &err);
       if (!desc) {
-        wpi::print("could not decode struct '{}' schema '{}': {}\n", name,
+        wpi::util::print("could not decode struct '{}' schema '{}': {}\n", name,
                    schema, err);
       }
-    } else if (auto filename = wpi::remove_prefix(name, "/.schema/proto:")) {
+    } else if (auto filename = wpi::util::remove_prefix(name, "/.schema/proto:")) {
       // protobuf descriptor handling
       upb_Status status;
       status.ok = true;
@@ -119,7 +119,7 @@ void DataLogReaderThread::ReadMain() {
               reinterpret_cast<const char*>(data.data()), data.size(), m_arena),
           &status);
       if (!status.ok) {
-        wpi::print("could not decode protobuf '{}' filename '{}'\n", name,
+        wpi::util::print("could not decode protobuf '{}' filename '{}'\n", name,
                    *filename);
       }
     }
diff --git a/datalog/src/main/native/cpp/DataLogWriter.cpp b/datalog/src/main/native/cpp/DataLogWriter.cpp
index d5359fa063..ed688ac189 100644
--- a/datalog/src/main/native/cpp/DataLogWriter.cpp
+++ b/datalog/src/main/native/cpp/DataLogWriter.cpp
@@ -12,9 +12,9 @@
 
 using namespace wpi::log;
 
-static std::unique_ptr<wpi::raw_ostream> CheckOpen(std::string_view filename,
+static std::unique_ptr<wpi::util::raw_ostream> CheckOpen(std::string_view filename,
                                                    std::error_code& ec) {
-  auto rv = std::make_unique<wpi::raw_fd_ostream>(filename, ec);
+  auto rv = std::make_unique<wpi::util::raw_fd_ostream>(filename, ec);
   if (ec) {
     return nullptr;
   }
@@ -25,7 +25,7 @@ DataLogWriter::DataLogWriter(std::string_view filename, std::error_code& ec,
                              std::string_view extraHeader)
     : DataLogWriter{s_defaultMessageLog, filename, ec, extraHeader} {}
 
-DataLogWriter::DataLogWriter(wpi::Logger& msglog, std::string_view filename,
+DataLogWriter::DataLogWriter(wpi::util::Logger& msglog, std::string_view filename,
                              std::error_code& ec, std::string_view extraHeader)
     : DataLogWriter{msglog, CheckOpen(filename, ec), extraHeader} {
   if (ec) {
@@ -33,12 +33,12 @@ DataLogWriter::DataLogWriter(wpi::Logger& msglog, std::string_view filename,
   }
 }
 
-DataLogWriter::DataLogWriter(std::unique_ptr<wpi::raw_ostream> os,
+DataLogWriter::DataLogWriter(std::unique_ptr<wpi::util::raw_ostream> os,
                              std::string_view extraHeader)
     : DataLogWriter{s_defaultMessageLog, std::move(os), extraHeader} {}
 
-DataLogWriter::DataLogWriter(wpi::Logger& msglog,
-                             std::unique_ptr<wpi::raw_ostream> os,
+DataLogWriter::DataLogWriter(wpi::util::Logger& msglog,
+                             std::unique_ptr<wpi::util::raw_ostream> os,
                              std::string_view extraHeader)
     : DataLog{msglog, extraHeader}, m_os{std::move(os)} {
   StartFile();
@@ -80,7 +80,7 @@ struct WPI_DataLog* WPI_DataLog_CreateWriter(
     const struct WPI_String* extraHeader) {
   std::error_code ec;
   auto rv = reinterpret_cast<WPI_DataLog*>(new DataLogWriter{
-      wpi::to_string_view(filename), ec, wpi::to_string_view(extraHeader)});
+      wpi::util::to_string_view(filename), ec, wpi::util::to_string_view(extraHeader)});
   *errorCode = ec.value();
   return rv;
 }
diff --git a/datalog/src/main/native/cpp/FileLogger.cpp b/datalog/src/main/native/cpp/FileLogger.cpp
index 67af422dcb..5f5cf834e3 100644
--- a/datalog/src/main/native/cpp/FileLogger.cpp
+++ b/datalog/src/main/native/cpp/FileLogger.cpp
@@ -88,12 +88,12 @@ FileLogger::~FileLogger() {
 std::function<void(std::string_view)> FileLogger::Buffer(
     std::function<void(std::string_view)> callback) {
   return [callback,
-          buf = wpi::SmallVector<char, 64>{}](std::string_view data) mutable {
+          buf = wpi::util::SmallVector<char, 64>{}](std::string_view data) mutable {
     buf.append(data.begin(), data.end());
-    if (!wpi::contains({data.data(), data.size()}, "\n")) {
+    if (!wpi::util::contains({data.data(), data.size()}, "\n")) {
       return;
     }
-    auto [wholeData, extra] = wpi::rsplit({buf.data(), buf.size()}, "\n");
+    auto [wholeData, extra] = wpi::util::rsplit({buf.data(), buf.size()}, "\n");
     std::string leftover{extra};
 
     callback(wholeData);
diff --git a/datalog/src/main/native/cpp/jni/DataLogJNI.cpp b/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
index f3f11dbfa2..f03880739f 100644
--- a/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
+++ b/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
@@ -19,7 +19,7 @@
 #include "wpi/datalog/FileLogger.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 using namespace wpi::log;
 
 static bool mockTimeEnabled = false;
@@ -53,12 +53,12 @@ void wpi::ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
 }
 
 namespace {
-class buf_ostream : public wpi::raw_uvector_ostream {
+class buf_ostream : public wpi::util::raw_uvector_ostream {
  private:
   std::vector<uint8_t> data;
 
  public:
-  buf_ostream() : raw_uvector_ostream{data} {}
+  buf_ostream() : wpi::util::raw_uvector_ostream{data} {}
 
   void clear() { data.clear(); }
 };
@@ -181,7 +181,7 @@ Java_org_wpilib_util_WPIUtilJNI_now
   if (mockTimeEnabled) {
     return mockNow;
   } else {
-    return wpi::Now();
+    return wpi::util::Now();
   }
 }
 
@@ -599,7 +599,7 @@ Java_org_wpilib_datalog_DataLogJNI_appendIntegerArray
         entry, {reinterpret_cast<const int64_t*>(jarr.data()), jarr.size()},
         timestamp);
   } else {
-    wpi::SmallVector<int64_t, 16> arr;
+    wpi::util::SmallVector<int64_t, 16> arr;
     arr.reserve(jarr.size());
     for (auto v : jarr) {
       arr.push_back(v);
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
index 98c30ef356..da823809a7 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
@@ -29,7 +29,7 @@
 #include "wpi/util/struct/Struct.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
@@ -158,8 +158,8 @@ class DataLog {
    * @param msg protobuf message
    * @param timestamp Time stamp (0 to indicate now)
    */
-  template <ProtobufSerializable T>
-  void AddProtobufSchema(ProtobufMessage<T>& msg, int64_t timestamp = 0) {
+  template <wpi::util::ProtobufSerializable T>
+  void AddProtobufSchema(wpi::util::ProtobufMessage<T>& msg, int64_t timestamp = 0) {
     if (timestamp == 0) {
       timestamp = Now();
     }
@@ -179,12 +179,12 @@ class DataLog {
    * @param timestamp Time stamp (0 to indicate now)
    */
   template <typename T, typename... I>
-    requires StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   void AddStructSchema(const I&... info, int64_t timestamp = 0) {
     if (timestamp == 0) {
       timestamp = Now();
     }
-    ForEachStructSchema<T>(
+    wpi::util::ForEachStructSchema<T>(
         [this, timestamp](auto typeString, auto schema) {
           this->AddSchema(typeString, "structschema", schema, timestamp);
         },
@@ -381,7 +381,7 @@ class DataLog {
 
  protected:
   static constexpr size_t kBlockSize = 16 * 1024;
-  static wpi::Logger s_defaultMessageLog;
+  static wpi::util::Logger s_defaultMessageLog;
 
   class Buffer {
    public:
@@ -441,7 +441,7 @@ class DataLog {
    * @param msglog message logger (will be called from separate thread)
    * @param extraHeader extra header metadata
    */
-  explicit DataLog(wpi::Logger& msglog, std::string_view extraHeader = "")
+  explicit DataLog(wpi::util::Logger& msglog, std::string_view extraHeader = "")
       : m_msglog{msglog}, m_extraHeader{extraHeader} {}
 
   /**
@@ -503,10 +503,10 @@ class DataLog {
   void DoReleaseBufs(std::vector<Buffer>* bufs);
 
  protected:
-  wpi::Logger& m_msglog;
+  wpi::util::Logger& m_msglog;
 
  private:
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   bool m_active = false;
   bool m_paused = false;
   std::string m_extraHeader;
@@ -516,17 +516,17 @@ class DataLog {
     std::string type;
     int id{0};
   };
-  wpi::StringMap<EntryInfo> m_entries;
+  wpi::util::StringMap<EntryInfo> m_entries;
   struct SchemaInfo {
     std::vector<uint8_t> data;
     int id{0};
   };
-  wpi::StringMap<SchemaInfo> m_schemas;
+  wpi::util::StringMap<SchemaInfo> m_schemas;
   struct EntryInfo2 {
     std::string metadata;
     unsigned int count;
   };
-  wpi::DenseMap<int, EntryInfo2> m_entryIds;
+  wpi::util::DenseMap<int, EntryInfo2> m_entryIds;
   int m_lastId = 0;
 };
 
@@ -627,7 +627,7 @@ class DataLogValueEntryImpl : public DataLogEntry {
   }
 
  protected:
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::optional<T> m_lastValue;
 };
 
@@ -1299,9 +1299,9 @@ class StringArrayLogEntry
  * Log raw struct serializable objects.
  */
 template <typename T, typename... I>
-  requires StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructLogEntry : public DataLogEntry {
-  using S = Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   StructLogEntry() = default;
@@ -1314,7 +1314,7 @@ class StructLogEntry : public DataLogEntry {
     m_log = &log;
     log.AddStructSchema<T, I...>(info..., timestamp);
     m_entry =
-        log.Start(name, GetStructTypeString<T>(info...), metadata, timestamp);
+        log.Start(name, wpi::util::GetStructTypeString<T>(info...), metadata, timestamp);
   }
 
   StructLogEntry(StructLogEntry&& rhs)
@@ -1338,14 +1338,14 @@ class StructLogEntry : public DataLogEntry {
    */
   void Append(const T& data, int64_t timestamp = 0) {
     if constexpr (sizeof...(I) == 0) {
-      if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      if constexpr (wpi::util::is_constexpr([] { S::GetSize(); })) {
         uint8_t buf[S::GetSize()];
         S::Pack(buf, data);
         m_log->AppendRaw(m_entry, buf, timestamp);
         return;
       }
     }
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     buf.resize_for_overwrite(std::apply(S::GetSize, m_info));
     std::apply([&](const I&... info) { S::Pack(buf, data, info...); }, m_info);
     m_log->AppendRaw(m_entry, buf, timestamp);
@@ -1363,7 +1363,7 @@ class StructLogEntry : public DataLogEntry {
    */
   void Update(const T& data, int64_t timestamp = 0) {
     if constexpr (sizeof...(I) == 0) {
-      if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      if constexpr (wpi::util::is_constexpr([] { S::GetSize(); })) {
         uint8_t buf[S::GetSize()];
         S::Pack(buf, data);
         std::scoped_lock lock{m_mutex};
@@ -1376,7 +1376,7 @@ class StructLogEntry : public DataLogEntry {
         return;
       }
     }
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     buf.resize_for_overwrite(std::apply(S::GetSize, m_info));
     std::apply([&](const I&... info) { S::Pack(buf, data, info...); }, m_info);
     std::scoped_lock lock{m_mutex};
@@ -1417,7 +1417,7 @@ class StructLogEntry : public DataLogEntry {
   }
 
  private:
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::vector<uint8_t> m_lastValue;
   [[no_unique_address]]
   std::tuple<I...> m_info;
@@ -1427,9 +1427,9 @@ class StructLogEntry : public DataLogEntry {
  * Log raw struct serializable array of objects.
  */
 template <typename T, typename... I>
-  requires StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayLogEntry : public DataLogEntry {
-  using S = Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   StructArrayLogEntry() = default;
@@ -1443,7 +1443,7 @@ class StructArrayLogEntry : public DataLogEntry {
     m_log = &log;
     log.AddStructSchema<T, I...>(info..., timestamp);
     m_entry = log.Start(
-        name, MakeStructArrayTypeString<T, std::dynamic_extent>(info...),
+        name, wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(info...),
         metadata, timestamp);
   }
 
@@ -1574,8 +1574,8 @@ class StructArrayLogEntry : public DataLogEntry {
   }
 
  private:
-  mutable wpi::mutex m_mutex;
-  StructArrayBuffer<T, I...> m_buf;
+  mutable wpi::util::mutex m_mutex;
+  wpi::util::StructArrayBuffer<T, I...> m_buf;
   std::optional<std::vector<uint8_t>> m_lastValue;
   [[no_unique_address]]
   std::tuple<I...> m_info;
@@ -1584,9 +1584,9 @@ class StructArrayLogEntry : public DataLogEntry {
 /**
  * Log protobuf serializable objects.
  */
-template <ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufLogEntry : public DataLogEntry {
-  using P = Protobuf<T>;
+  using P = wpi::util::Protobuf<T>;
 
  public:
   ProtobufLogEntry() = default;
@@ -1606,7 +1606,7 @@ class ProtobufLogEntry : public DataLogEntry {
    * @param timestamp Time stamp (may be 0 to indicate now)
    */
   void Append(const T& data, int64_t timestamp = 0) {
-    SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     {
       std::scoped_lock lock{m_mutex};
       m_msg.Pack(buf, data);
@@ -1626,7 +1626,7 @@ class ProtobufLogEntry : public DataLogEntry {
    */
   void Update(const T& data, int64_t timestamp = 0) {
     std::scoped_lock lock{m_mutex};
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     m_msg.Pack(buf, data);
     if (!m_lastValue.has_value()) {
       m_lastValue = std::vector(buf.begin(), buf.end());
@@ -1665,8 +1665,8 @@ class ProtobufLogEntry : public DataLogEntry {
   }
 
  private:
-  mutable wpi::mutex m_mutex;
-  ProtobufMessage<T> m_msg;
+  mutable wpi::util::mutex m_mutex;
+  wpi::util::ProtobufMessage<T> m_msg;
   std::optional<std::vector<uint8_t>> m_lastValue;
 };
 
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
index 2effef25e6..abdac8166f 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
@@ -65,7 +65,7 @@ class DataLogBackgroundWriter final : public DataLog {
    *               this is a time/storage tradeoff
    * @param extraHeader extra header data
    */
-  explicit DataLogBackgroundWriter(wpi::Logger& msglog,
+  explicit DataLogBackgroundWriter(wpi::util::Logger& msglog,
                                    std::string_view dir = "",
                                    std::string_view filename = "",
                                    double period = 0.25,
@@ -99,7 +99,7 @@ class DataLogBackgroundWriter final : public DataLog {
    * @param extraHeader extra header data
    */
   explicit DataLogBackgroundWriter(
-      wpi::Logger& msglog,
+      wpi::util::Logger& msglog,
       std::function<void(std::span<const uint8_t> data)> write,
       double period = 0.25, std::string_view extraHeader = "");
 
@@ -152,8 +152,8 @@ class DataLogBackgroundWriter final : public DataLog {
   void WriterThreadMain(
       std::function<void(std::span<const uint8_t> data)> write);
 
-  mutable wpi::mutex m_mutex;
-  wpi::condition_variable m_cond;
+  mutable wpi::util::mutex m_mutex;
+  wpi::util::condition_variable m_cond;
   bool m_doFlush{false};
   bool m_shutdown{false};
   enum State {
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
index d9b29578db..120843889b 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
@@ -303,7 +303,7 @@ class DataLogReader {
   using iterator = DataLogIterator;
 
   /** Constructs from a memory buffer. */
-  explicit DataLogReader(std::unique_ptr<MemoryBuffer> buffer);
+  explicit DataLogReader(std::unique_ptr<wpi::util::MemoryBuffer> buffer);
 
   /** Returns true if the data log is valid (e.g. has a valid header). */
   explicit operator bool() const { return IsValid(); }
@@ -342,7 +342,7 @@ class DataLogReader {
   iterator end() const { return DataLogIterator{this, SIZE_MAX}; }
 
  private:
-  std::unique_ptr<MemoryBuffer> m_buf;
+  std::unique_ptr<wpi::util::MemoryBuffer> m_buf;
 
   bool GetRecord(size_t* pos, DataLogRecord* out) const;
   bool GetNextRecord(size_t* pos) const;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
index f3ae461b23..1651389412 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
@@ -85,27 +85,27 @@ class DataLogReaderThread {
     return it->second;
   }
 
-  wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+  wpi::util::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
   upb_DefPool* GetProtobufDatabase() { return m_protoPool; }
   upb_Arena* GetProtobufArena() { return m_arena; }
 
   const wpi::log::DataLogReader& GetReader() const { return m_reader; }
 
   // note: these are called on separate thread
-  wpi::sig::Signal_mt<const DataLogReaderEntry&> sigEntryAdded;
-  wpi::sig::Signal_mt<> sigDone;
+  wpi::util::sig::Signal_mt<const DataLogReaderEntry&> sigEntryAdded;
+  wpi::util::sig::Signal_mt<> sigDone;
 
  private:
   void ReadMain();
 
   wpi::log::DataLogReader m_reader;
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::atomic_bool m_active{true};
   std::atomic_bool m_done{false};
   std::atomic<unsigned int> m_numRecords{0};
   std::map<std::string, DataLogReaderEntry, std::less<>> m_entriesByName;
-  wpi::DenseMap<int, DataLogReaderEntry*> m_entriesById;
-  wpi::StructDescriptorDatabase m_structDb;
+  wpi::util::DenseMap<int, DataLogReaderEntry*> m_entriesById;
+  wpi::util::StructDescriptorDatabase m_structDb;
   upb_DefPool* m_protoPool = upb_DefPool_New();
   upb_Arena* m_arena = upb_Arena_New();
   std::thread m_thread;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
index 60813ef165..fdf4f075ac 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/datalog/DataLog.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 class Logger;
 }  // namespace wpi
@@ -43,7 +43,7 @@ class DataLogWriter final : public DataLog {
    * @param ec error code if failed to open file (output)
    * @param extraHeader extra header data
    */
-  DataLogWriter(wpi::Logger& msglog, std::string_view filename,
+  DataLogWriter(wpi::util::Logger& msglog, std::string_view filename,
                 std::error_code& ec, std::string_view extraHeader = "");
 
   /**
@@ -52,7 +52,7 @@ class DataLogWriter final : public DataLog {
    * @param os output stream
    * @param extraHeader extra header data
    */
-  explicit DataLogWriter(std::unique_ptr<wpi::raw_ostream> os,
+  explicit DataLogWriter(std::unique_ptr<wpi::util::raw_ostream> os,
                          std::string_view extraHeader = "");
 
   /**
@@ -62,7 +62,7 @@ class DataLogWriter final : public DataLog {
    * @param os output stream
    * @param extraHeader extra header data
    */
-  DataLogWriter(wpi::Logger& msglog, std::unique_ptr<wpi::raw_ostream> os,
+  DataLogWriter(wpi::util::Logger& msglog, std::unique_ptr<wpi::util::raw_ostream> os,
                 std::string_view extraHeader = "");
 
   ~DataLogWriter() final;
@@ -86,12 +86,12 @@ class DataLogWriter final : public DataLog {
    *
    * @return output stream
    */
-  wpi::raw_ostream& GetStream() { return *m_os; }
+  wpi::util::raw_ostream& GetStream() { return *m_os; }
 
  private:
   bool BufferFull() final;
 
-  std::unique_ptr<wpi::raw_ostream> m_os;
+  std::unique_ptr<wpi::util::raw_ostream> m_os;
 };
 
 }  // namespace wpi::log
diff --git a/datalog/src/main/python/semiwrap/DataLogBackgroundWriter.yml b/datalog/src/main/python/semiwrap/DataLogBackgroundWriter.yml
index 72aea6bb50..97fded96e8 100644
--- a/datalog/src/main/python/semiwrap/DataLogBackgroundWriter.yml
+++ b/datalog/src/main/python/semiwrap/DataLogBackgroundWriter.yml
@@ -4,10 +4,10 @@ classes:
       DataLogBackgroundWriter:
         overloads:
           std::string_view, std::string_view, double, std::string_view:
-          wpi::Logger&, std::string_view, std::string_view, double, std::string_view:
+          wpi::util::Logger&, std::string_view, std::string_view, double, std::string_view:
             ignore: true
           std::function<void (std::span<const uint8_t> data)>, double, std::string_view:
-          wpi::Logger&, std::function<void (std::span<const uint8_t> data)>, double, std::string_view:
+          wpi::util::Logger&, std::function<void (std::span<const uint8_t> data)>, double, std::string_view:
             ignore: true
       SetFilename:
       Flush:
diff --git a/datalog/src/main/python/semiwrap/DataLogReader.yml b/datalog/src/main/python/semiwrap/DataLogReader.yml
index 558f7abc82..4a4af4153f 100644
--- a/datalog/src/main/python/semiwrap/DataLogReader.yml
+++ b/datalog/src/main/python/semiwrap/DataLogReader.yml
@@ -263,7 +263,7 @@ classes:
     ignore: true
   wpi::log::DataLogReader:
     typealias:
-    - wpi::MemoryBuffer
+    - wpi::util::MemoryBuffer
     methods:
       DataLogReader:
         ignore: true
@@ -294,7 +294,7 @@ inline_code: |
 
   cls_DataLogReader
     .def(py::init([](const std::string &filename) {
-      auto mbuf = wpi::MemoryBuffer::GetFile(filename);
+      auto mbuf = wpi::util::MemoryBuffer::GetFile(filename);
       if (!mbuf) {
         py::gil_scoped_acquire gil;
         #ifdef _WIN32
@@ -318,7 +318,7 @@ inline_code: |
         throw py::value_error("buffer must only have a single dimension");
       }
 
-      auto mbuf = wpi::MemoryBuffer::GetMemBuffer(std::span((uint8_t*)req.ptr, req.size), name);
+      auto mbuf = wpi::util::MemoryBuffer::GetMemBuffer(std::span((uint8_t*)req.ptr, req.size), name);
 
       {
         py::gil_scoped_release gil;
diff --git a/datalog/src/main/python/semiwrap/DataLogWriter.yml b/datalog/src/main/python/semiwrap/DataLogWriter.yml
index 716cc81df3..95a9e30ac2 100644
--- a/datalog/src/main/python/semiwrap/DataLogWriter.yml
+++ b/datalog/src/main/python/semiwrap/DataLogWriter.yml
@@ -16,11 +16,11 @@ classes:
             param_override:
               ec:
                 ignore: true
-          wpi::Logger&, std::string_view, std::error_code&, std::string_view:
+          wpi::util::Logger&, std::string_view, std::error_code&, std::string_view:
             ignore: true
-          std::unique_ptr<wpi::raw_ostream>, std::string_view:
+          std::unique_ptr<wpi::util::raw_ostream>, std::string_view:
             ignore: true
-          wpi::Logger&, std::unique_ptr<wpi::raw_ostream>, std::string_view:
+          wpi::util::Logger&, std::unique_ptr<wpi::util::raw_ostream>, std::string_view:
             ignore: true
       Flush:
       Stop:
diff --git a/datalog/src/test/native/cpp/DataLogTest.cpp b/datalog/src/test/native/cpp/DataLogTest.cpp
index eb92dea619..b02a920be5 100644
--- a/datalog/src/test/native/cpp/DataLogTest.cpp
+++ b/datalog/src/test/native/cpp/DataLogTest.cpp
@@ -40,7 +40,7 @@ struct Info2 {
 }  // namespace
 
 template <>
-struct wpi::Struct<ThingA> {
+struct wpi::util::Struct<ThingA> {
   static constexpr std::string_view GetTypeName() { return "ThingA"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
@@ -53,7 +53,7 @@ struct wpi::Struct<ThingA> {
 };
 
 template <>
-struct wpi::Struct<ThingB, Info1> {
+struct wpi::util::Struct<ThingB, Info1> {
   static constexpr std::string_view GetTypeName(const Info1&) {
     return "ThingB";
   }
@@ -70,7 +70,7 @@ struct wpi::Struct<ThingB, Info1> {
 };
 
 template <>
-struct wpi::Struct<ThingC> {
+struct wpi::util::Struct<ThingC> {
   static constexpr std::string_view GetTypeName() { return "ThingC"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
@@ -83,7 +83,7 @@ struct wpi::Struct<ThingC> {
 };
 
 template <>
-struct wpi::Struct<ThingC, Info1> {
+struct wpi::util::Struct<ThingC, Info1> {
   static constexpr std::string_view GetTypeName(const Info1&) {
     return "ThingC";
   }
@@ -100,7 +100,7 @@ struct wpi::Struct<ThingC, Info1> {
 };
 
 template <>
-struct wpi::Struct<ThingC, Info2> {
+struct wpi::util::Struct<ThingC, Info2> {
   static constexpr std::string_view GetTypeName(const Info2&) {
     return "ThingC";
   }
@@ -116,23 +116,23 @@ struct wpi::Struct<ThingC, Info2> {
   }
 };
 
-static_assert(wpi::StructSerializable<ThingA>);
-static_assert(!wpi::StructSerializable<ThingA, Info1>);
+static_assert(wpi::util::StructSerializable<ThingA>);
+static_assert(!wpi::util::StructSerializable<ThingA, Info1>);
 
-static_assert(!wpi::StructSerializable<ThingB>);
-static_assert(wpi::StructSerializable<ThingB, Info1>);
-static_assert(!wpi::StructSerializable<ThingB, Info2>);
+static_assert(!wpi::util::StructSerializable<ThingB>);
+static_assert(wpi::util::StructSerializable<ThingB, Info1>);
+static_assert(!wpi::util::StructSerializable<ThingB, Info2>);
 
-static_assert(wpi::StructSerializable<ThingC>);
-static_assert(wpi::StructSerializable<ThingC, Info1>);
-static_assert(wpi::StructSerializable<ThingC, Info2>);
+static_assert(wpi::util::StructSerializable<ThingC>);
+static_assert(wpi::util::StructSerializable<ThingC, Info1>);
+static_assert(wpi::util::StructSerializable<ThingC, Info2>);
 
 class DataLogTest : public ::testing::Test {
  public:
-  wpi::Logger msglog;
+  wpi::util::Logger msglog;
   std::vector<uint8_t> data;
   wpi::log::DataLogWriter log{msglog,
-                              std::make_unique<wpi::raw_uvector_ostream>(data)};
+                              std::make_unique<wpi::util::raw_uvector_ostream>(data)};
 };
 
 TEST_F(DataLogTest, SimpleInt) {
diff --git a/developerRobot/src/main/native/cpp/Robot.cpp b/developerRobot/src/main/native/cpp/Robot.cpp
index 04aa000469..02be50714f 100644
--- a/developerRobot/src/main/native/cpp/Robot.cpp
+++ b/developerRobot/src/main/native/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/opmode/TimedRobot.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   /**
    * This function is run when the robot is first started up and should be
@@ -44,5 +44,5 @@ class Robot : public frc::TimedRobot {
 };
 
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
diff --git a/fields/src/main/native/cpp/fields.cpp b/fields/src/main/native/cpp/fields.cpp
index 71207daf0c..84f91cc468 100644
--- a/fields/src/main/native/cpp/fields.cpp
+++ b/fields/src/main/native/cpp/fields.cpp
@@ -18,7 +18,7 @@
 #include "wpi/fields/2024-crescendo.hpp"
 #include "wpi/fields/2025-reefscape.hpp"
 
-using namespace fields;
+using namespace wpi::fields;
 
 static const Field kFields[] = {
     {"2025 Reefscape", GetResource_2025_reefscape_json,
@@ -49,6 +49,6 @@ static const Field kFields[] = {
      GetResource_2018_field_jpg},
 };
 
-std::span<const Field> fields::GetFields() {
+std::span<const Field> wpi::fields::GetFields() {
   return kFields;
 }
diff --git a/fields/src/main/native/include/wpi/fields/2018-powerup.hpp b/fields/src/main/native/include/wpi/fields/2018-powerup.hpp
index 1f5b316c13..d909ad34e1 100644
--- a/fields/src/main/native/include/wpi/fields/2018-powerup.hpp
+++ b/fields/src/main/native/include/wpi/fields/2018-powerup.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2018_powerup_json();
 std::string_view GetResource_2018_field_jpg();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2019-deepspace.hpp b/fields/src/main/native/include/wpi/fields/2019-deepspace.hpp
index 8d008d024d..b21b8c9f52 100644
--- a/fields/src/main/native/include/wpi/fields/2019-deepspace.hpp
+++ b/fields/src/main/native/include/wpi/fields/2019-deepspace.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2019_deepspace_json();
 std::string_view GetResource_2019_field_jpg();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2020-infiniterecharge.hpp b/fields/src/main/native/include/wpi/fields/2020-infiniterecharge.hpp
index 7d9a30cfb7..622a27f7c2 100644
--- a/fields/src/main/native/include/wpi/fields/2020-infiniterecharge.hpp
+++ b/fields/src/main/native/include/wpi/fields/2020-infiniterecharge.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2020_infiniterecharge_json();
 std::string_view GetResource_2020_field_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-barrel.hpp b/fields/src/main/native/include/wpi/fields/2021-barrel.hpp
index 8f5ba1c6f1..bb8e0b2e90 100644
--- a/fields/src/main/native/include/wpi/fields/2021-barrel.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-barrel.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_barrelracingpath_json();
 std::string_view GetResource_2021_barrel_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-bounce.hpp b/fields/src/main/native/include/wpi/fields/2021-bounce.hpp
index 66207fd8ce..1d2fc19141 100644
--- a/fields/src/main/native/include/wpi/fields/2021-bounce.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-bounce.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_bouncepath_json();
 std::string_view GetResource_2021_bounce_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-galacticsearcha.hpp b/fields/src/main/native/include/wpi/fields/2021-galacticsearcha.hpp
index df74800ec2..813f8145ba 100644
--- a/fields/src/main/native/include/wpi/fields/2021-galacticsearcha.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-galacticsearcha.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_galacticsearcha_json();
 std::string_view GetResource_2021_galacticsearcha_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-galacticsearchb.hpp b/fields/src/main/native/include/wpi/fields/2021-galacticsearchb.hpp
index cbf62311a5..61943184cd 100644
--- a/fields/src/main/native/include/wpi/fields/2021-galacticsearchb.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-galacticsearchb.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_galacticsearchb_json();
 std::string_view GetResource_2021_galacticsearchb_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-infiniterecharge.hpp b/fields/src/main/native/include/wpi/fields/2021-infiniterecharge.hpp
index 10ca6585f1..62651a8ae8 100644
--- a/fields/src/main/native/include/wpi/fields/2021-infiniterecharge.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-infiniterecharge.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_field_png();
 std::string_view GetResource_2021_infiniterecharge_json();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2021-slalom.hpp b/fields/src/main/native/include/wpi/fields/2021-slalom.hpp
index a660f1bbeb..704072883e 100644
--- a/fields/src/main/native/include/wpi/fields/2021-slalom.hpp
+++ b/fields/src/main/native/include/wpi/fields/2021-slalom.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2021_slalompath_json();
 std::string_view GetResource_2021_slalom_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2022-rapidreact.hpp b/fields/src/main/native/include/wpi/fields/2022-rapidreact.hpp
index aa4995ce91..6bfe12c9ce 100644
--- a/fields/src/main/native/include/wpi/fields/2022-rapidreact.hpp
+++ b/fields/src/main/native/include/wpi/fields/2022-rapidreact.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2022_field_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2023-chargedup.hpp b/fields/src/main/native/include/wpi/fields/2023-chargedup.hpp
index 54663c5046..674480a794 100644
--- a/fields/src/main/native/include/wpi/fields/2023-chargedup.hpp
+++ b/fields/src/main/native/include/wpi/fields/2023-chargedup.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2023_field_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2024-crescendo.hpp b/fields/src/main/native/include/wpi/fields/2024-crescendo.hpp
index 11947efa5e..2b3f8c487b 100644
--- a/fields/src/main/native/include/wpi/fields/2024-crescendo.hpp
+++ b/fields/src/main/native/include/wpi/fields/2024-crescendo.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2024_field_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/2025-reefscape.hpp b/fields/src/main/native/include/wpi/fields/2025-reefscape.hpp
index ada49b88a6..f73e0924f9 100644
--- a/fields/src/main/native/include/wpi/fields/2025-reefscape.hpp
+++ b/fields/src/main/native/include/wpi/fields/2025-reefscape.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 std::string_view GetResource_2025_reefscape_json();
 std::string_view GetResource_2025_field_png();
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/fields/src/main/native/include/wpi/fields/fields.hpp b/fields/src/main/native/include/wpi/fields/fields.hpp
index ea6b23e6f6..b09b485744 100644
--- a/fields/src/main/native/include/wpi/fields/fields.hpp
+++ b/fields/src/main/native/include/wpi/fields/fields.hpp
@@ -7,7 +7,7 @@
 #include <span>
 #include <string_view>
 
-namespace fields {
+namespace wpi::fields {
 
 struct Field {
   const char* name;
@@ -17,4 +17,4 @@ struct Field {
 
 std::span<const Field> GetFields();
 
-}  // namespace fields
+}  // namespace wpi::fields
diff --git a/glass/src/app/native/cpp/camerasupport.cpp b/glass/src/app/native/cpp/camerasupport.cpp
index 397d51e7af..1c284a1438 100644
--- a/glass/src/app/native/cpp/camerasupport.cpp
+++ b/glass/src/app/native/cpp/camerasupport.cpp
@@ -30,7 +30,7 @@ static bool TryDelayLoadAllImports(LPCSTR szDll) {
   }
   return true;
 }
-namespace glass {
+namespace wpi::glass {
 bool HasCameraSupport() {
   bool hasCameraSupport = false;
   hasCameraSupport = TryDelayLoadAllImports("MF.dll");
@@ -42,11 +42,11 @@ bool HasCameraSupport() {
   }
   return hasCameraSupport;
 }
-}  // namespace glass
+}  // namespace wpi::glass
 #else
-namespace glass {
+namespace wpi::glass {
 bool HasCameraSupport() {
   return true;
 }
-}  // namespace glass
+}  // namespace wpi::glass
 #endif
diff --git a/glass/src/app/native/cpp/camerasupport.hpp b/glass/src/app/native/cpp/camerasupport.hpp
index 0be62c73ba..007412f121 100644
--- a/glass/src/app/native/cpp/camerasupport.hpp
+++ b/glass/src/app/native/cpp/camerasupport.hpp
@@ -4,6 +4,6 @@
 
 #pragma once
 
-namespace glass {
+namespace wpi::glass {
 bool HasCameraSupport();
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/app/native/cpp/main.cpp b/glass/src/app/native/cpp/main.cpp
index 03a439b3bb..aceaa81b6a 100644
--- a/glass/src/app/native/cpp/main.cpp
+++ b/glass/src/app/native/cpp/main.cpp
@@ -27,7 +27,7 @@ namespace gui = wpi::gui;
 
 const char* GetWPILibVersion();
 
-namespace glass {
+namespace wpi::glass {
 std::string_view GetResource_glass_16_png();
 std::string_view GetResource_glass_32_png();
 std::string_view GetResource_glass_48_png();
@@ -35,20 +35,20 @@ std::string_view GetResource_glass_64_png();
 std::string_view GetResource_glass_128_png();
 std::string_view GetResource_glass_256_png();
 std::string_view GetResource_glass_512_png();
-}  // namespace glass
+}  // namespace wpi::glass
 
-static std::unique_ptr<glass::PlotProvider> gPlotProvider;
-static std::unique_ptr<glass::NetworkTablesProvider> gNtProvider;
+static std::unique_ptr<wpi::glass::PlotProvider> gPlotProvider;
+static std::unique_ptr<wpi::glass::NetworkTablesProvider> gNtProvider;
 
-static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
-static std::unique_ptr<glass::NetworkTablesSettings> gNetworkTablesSettings;
-static glass::LogData gNetworkTablesLog;
-static std::unique_ptr<glass::Window> gNetworkTablesWindow;
-static std::unique_ptr<glass::Window> gNetworkTablesInfoWindow;
-static std::unique_ptr<glass::Window> gNetworkTablesSettingsWindow;
-static std::unique_ptr<glass::Window> gNetworkTablesLogWindow;
+static std::unique_ptr<wpi::glass::NetworkTablesModel> gNetworkTablesModel;
+static std::unique_ptr<wpi::glass::NetworkTablesSettings> gNetworkTablesSettings;
+static wpi::glass::LogData gNetworkTablesLog;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesInfoWindow;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesSettingsWindow;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesLogWindow;
 
-static glass::MainMenuBar gMainMenu;
+static wpi::glass::MainMenuBar gMainMenu;
 static bool gAbout = false;
 static bool gSetEnterKey = false;
 static bool gKeyEdit = false;
@@ -77,10 +77,10 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
  * Generates the proper title bar title based on current instance state and
  * event.
  */
-static std::string MakeTitle(NT_Inst inst, nt::Event event) {
-  auto mode = nt::GetNetworkMode(inst);
+static std::string MakeTitle(NT_Inst inst, wpi::nt::Event event) {
+  auto mode = wpi::nt::GetNetworkMode(inst);
   if (mode & NT_NET_MODE_SERVER) {
-    auto numClients = nt::GetConnections(inst).size();
+    auto numClients = wpi::nt::GetConnections(inst).size();
     return fmt::format("Glass - {} Client{} Connected", numClients,
                        (numClients == 1 ? "" : "s"));
   } else if (mode & NT_NET_MODE_CLIENT) {
@@ -93,23 +93,23 @@ static std::string MakeTitle(NT_Inst inst, nt::Event event) {
 }
 
 static void NtInitialize() {
-  auto inst = nt::GetDefaultInstance();
-  auto poller = nt::CreateListenerPoller(inst);
-  nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
-  nt::AddPolledLogger(poller, NT_LOG_INFO, 100);
+  auto inst = wpi::nt::GetDefaultInstance();
+  auto poller = wpi::nt::CreateListenerPoller(inst);
+  wpi::nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
+  wpi::nt::AddPolledLogger(poller, NT_LOG_INFO, 100);
   gui::AddEarlyExecute([inst, poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
     bool updateTitle = false;
-    nt::Event connectionEvent;
-    if (nt::GetNetworkMode(inst) != gPrevMode) {
-      gPrevMode = nt::GetNetworkMode(inst);
+    wpi::nt::Event connectionEvent;
+    if (wpi::nt::GetNetworkMode(inst) != gPrevMode) {
+      gPrevMode = wpi::nt::GetNetworkMode(inst);
       updateTitle = true;
     }
 
-    for (auto&& event : nt::ReadListenerQueue(poller)) {
+    for (auto&& event : wpi::nt::ReadListenerQueue(poller)) {
       if (event.Is(NT_EVENT_CONNECTION)) {
         updateTitle = true;
         connectionEvent = event;
@@ -134,51 +134,51 @@ static void NtInitialize() {
     }
   });
 
-  gNetworkTablesLogWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables Log"),
-      "NetworkTables Log", glass::Window::kHide);
+  gNetworkTablesLogWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Log"),
+      "NetworkTables Log", wpi::glass::Window::kHide);
   gNetworkTablesLogWindow->SetView(
-      std::make_unique<glass::LogView>(&gNetworkTablesLog));
+      std::make_unique<wpi::glass::LogView>(&gNetworkTablesLog));
   gNetworkTablesLogWindow->SetDefaultPos(250, 615);
   gNetworkTablesLogWindow->SetDefaultSize(600, 130);
   gNetworkTablesLogWindow->DisableRenamePopup();
   gui::AddLateExecute([] { gNetworkTablesLogWindow->Display(); });
 
   // NetworkTables table window
-  gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
+  gNetworkTablesModel = std::make_unique<wpi::glass::NetworkTablesModel>();
   gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
 
-  gNetworkTablesWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
+  gNetworkTablesWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
   gNetworkTablesWindow->SetView(
-      std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get()));
+      std::make_unique<wpi::glass::NetworkTablesView>(gNetworkTablesModel.get()));
   gNetworkTablesWindow->SetDefaultPos(250, 277);
   gNetworkTablesWindow->SetDefaultSize(750, 185);
   gNetworkTablesWindow->DisableRenamePopup();
   gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
 
   // NetworkTables info window
-  gNetworkTablesInfoWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables Info"),
+  gNetworkTablesInfoWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Info"),
       "NetworkTables Info");
-  gNetworkTablesInfoWindow->SetView(glass::MakeFunctionView(
-      [&] { glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
+  gNetworkTablesInfoWindow->SetView(wpi::glass::MakeFunctionView(
+      [&] { wpi::glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
   gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
   gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
-  gNetworkTablesInfoWindow->SetDefaultVisibility(glass::Window::kHide);
+  gNetworkTablesInfoWindow->SetDefaultVisibility(wpi::glass::Window::kHide);
   gNetworkTablesInfoWindow->DisableRenamePopup();
   gui::AddLateExecute([] { gNetworkTablesInfoWindow->Display(); });
 
   // NetworkTables settings window
-  gNetworkTablesSettings = std::make_unique<glass::NetworkTablesSettings>(
-      "glass", glass::GetStorageRoot().GetChild("NetworkTables Settings"));
+  gNetworkTablesSettings = std::make_unique<wpi::glass::NetworkTablesSettings>(
+      "glass", wpi::glass::GetStorageRoot().GetChild("NetworkTables Settings"));
   gui::AddEarlyExecute([] { gNetworkTablesSettings->Update(); });
 
-  gNetworkTablesSettingsWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables Settings"),
+  gNetworkTablesSettingsWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Settings"),
       "NetworkTables Settings");
   gNetworkTablesSettingsWindow->SetView(
-      glass::MakeFunctionView([] { gNetworkTablesSettings->Display(); }));
+      wpi::glass::MakeFunctionView([] { gNetworkTablesSettings->Display(); }));
   gNetworkTablesSettingsWindow->SetDefaultPos(30, 30);
   gNetworkTablesSettingsWindow->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
   gNetworkTablesSettingsWindow->DisableRenamePopup();
@@ -206,35 +206,35 @@ int main(int argc, char** argv) {
   }
 
   gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();
 
-  gui::AddIcon(glass::GetResource_glass_16_png());
-  gui::AddIcon(glass::GetResource_glass_32_png());
-  gui::AddIcon(glass::GetResource_glass_48_png());
-  gui::AddIcon(glass::GetResource_glass_64_png());
-  gui::AddIcon(glass::GetResource_glass_128_png());
-  gui::AddIcon(glass::GetResource_glass_256_png());
-  gui::AddIcon(glass::GetResource_glass_512_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_16_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_32_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_48_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_64_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_128_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_256_png());
+  gui::AddIcon(wpi::glass::GetResource_glass_512_png());
 
   gui::AddEarlyExecute(
       [] { ImGui::DockSpaceOverViewport(ImGui::GetMainViewport()); });
 
   gui::AddInit([] { ImGui::GetIO().ConfigDockingWithShift = true; });
 
-  gPlotProvider = std::make_unique<glass::PlotProvider>(
-      glass::GetStorageRoot().GetChild("Plots"));
-  gNtProvider = std::make_unique<glass::NetworkTablesProvider>(
-      glass::GetStorageRoot().GetChild("NetworkTables"));
+  gPlotProvider = std::make_unique<wpi::glass::PlotProvider>(
+      wpi::glass::GetStorageRoot().GetChild("Plots"));
+  gNtProvider = std::make_unique<wpi::glass::NetworkTablesProvider>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables"));
 
-  glass::SetStorageName("glass");
-  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+  wpi::glass::SetStorageName("glass");
+  wpi::glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
                                        : saveDir);
   gPlotProvider->GlobalInit();
-  gui::AddInit([] { glass::ResetTime(); });
+  gui::AddInit([] { wpi::glass::ResetTime(); });
   gNtProvider->GlobalInit();
   NtInitialize();
 
-  glass::AddStandardNetworkTablesViews(*gNtProvider);
+  wpi::glass::AddStandardNetworkTablesViews(*gNtProvider);
 
   gui::AddLateExecute([] { gMainMenu.Display(); });
 
@@ -244,7 +244,7 @@ int main(int argc, char** argv) {
         gSetEnterKey = true;
       }
       if (ImGui::MenuItem("Reset Time")) {
-        glass::ResetTime();
+        wpi::glass::ResetTime();
       }
       ImGui::EndMenu();
     }
@@ -304,7 +304,7 @@ int main(int argc, char** argv) {
       ImGui::Separator();
       ImGui::Text("v%s", GetWPILibVersion());
       ImGui::Separator();
-      ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+      ImGui::Text("Save location: %s", wpi::glass::GetStorageDir().c_str());
       ImGui::Text("%.3f ms/frame (%.1f FPS)",
                   1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
       if (ImGui::Button("Close")) {
@@ -328,11 +328,11 @@ int main(int argc, char** argv) {
       char nameBuf[32];
       const char* name = glfwGetKeyName(*gEnterKey, 0);
       if (!name) {
-        wpi::format_to_n_c_str(nameBuf, sizeof(nameBuf), "{}", *gEnterKey);
+        wpi::util::format_to_n_c_str(nameBuf, sizeof(nameBuf), "{}", *gEnterKey);
 
         name = nameBuf;
       }
-      wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
+      wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
                              gKeyEdit ? "(press key)" : name);
 
       if (ImGui::SmallButton(editLabel)) {
@@ -353,7 +353,7 @@ int main(int argc, char** argv) {
 
   gui::Initialize("Glass - DISCONNECTED", 1024, 768,
                   ImGuiConfigFlags_DockingEnable);
-  gEnterKey = &glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
+  gEnterKey = &wpi::glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
   if (auto win = gui::GetSystemWindow()) {
     gPrevKeyCallback = glfwSetKeyCallback(win, RemapEnterKeyCallback);
   }
@@ -366,7 +366,7 @@ int main(int argc, char** argv) {
   gNtProvider.reset();
   gPlotProvider.reset();
 
-  glass::DestroyContext();
+  wpi::glass::DestroyContext();
   gui::DestroyContext();
 
   return 0;
diff --git a/glass/src/lib/native/cpp/Context.cpp b/glass/src/lib/native/cpp/Context.cpp
index 60c8545617..dcfa9dc345 100644
--- a/glass/src/lib/native/cpp/Context.cpp
+++ b/glass/src/lib/native/cpp/Context.cpp
@@ -24,9 +24,9 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace glass;
+using namespace wpi::glass;
 
-Context* glass::gContext;
+Context* wpi::glass::gContext;
 
 static void WorkspaceResetImpl() {
   // call reset functions
@@ -57,7 +57,7 @@ static void WorkspaceInit() {
   }
 }
 
-static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
+static bool JsonToWindow(const wpi::util::json& jfile, const char* filename) {
   if (!jfile.is_object()) {
     ImGui::LogText("%s top level is not object", filename);
     return false;
@@ -65,7 +65,7 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
 
   // loop over JSON and generate ini format
   std::string iniStr;
-  wpi::raw_string_ostream ini{iniStr};
+  wpi::util::raw_string_ostream ini{iniStr};
 
   for (auto&& jsection : jfile.items()) {
     if (jsection.key() == "Docking") {
@@ -87,7 +87,7 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
         try {
           auto& value = jkv.value().get_ref<const std::string&>();
           ini << jkv.key() << '=' << value << "\n";
-        } catch (wpi::json::exception&) {
+        } catch (wpi::util::json::exception&) {
           ImGui::LogText("%s section %s subsection %s value %s is not string",
                          filename, jsection.key().c_str(),
                          jsubsection.key().c_str(), jkv.key().c_str());
@@ -112,7 +112,7 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
         try {
           auto& value = jv.get_ref<const std::string&>();
           ini << value << "\n";
-        } catch (wpi::json::exception&) {
+        } catch (wpi::util::json::exception&) {
           ImGui::LogText("%s section %s subsection %s value is not string",
                          filename, "Docking", jsubsection.key().c_str());
           return false;
@@ -129,16 +129,16 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
 }
 
 static bool LoadWindowStorageImpl(const std::string& filename) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(filename);
   if (!fileBuffer) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    fileBuffer.error().message().c_str());
     return false;
   }
   try {
-    return JsonToWindow(wpi::json::parse(fileBuffer.value()->GetCharBuffer()),
+    return JsonToWindow(wpi::util::json::parse(fileBuffer.value()->GetCharBuffer()),
                         filename.c_str());
-  } catch (wpi::json::parse_error& e) {
+  } catch (wpi::util::json::parse_error& e) {
     ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
     return false;
   }
@@ -146,7 +146,7 @@ static bool LoadWindowStorageImpl(const std::string& filename) {
 
 static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
                                 std::string_view rootName) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(filename);
   if (!fileBuffer) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    fileBuffer.error().message().c_str());
@@ -154,9 +154,9 @@ static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
   }
   auto [it, createdStorage] = ctx->storageRoots.try_emplace(rootName);
   try {
-    it->second.FromJson(wpi::json::parse(fileBuffer.value()->GetCharBuffer()),
+    it->second.FromJson(wpi::util::json::parse(fileBuffer.value()->GetCharBuffer()),
                         filename.c_str());
-  } catch (wpi::json::parse_error& e) {
+  } catch (wpi::util::json::parse_error& e) {
     ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
     if (createdStorage) {
       ctx->storageRoots.erase(it);
@@ -187,7 +187,7 @@ static bool LoadStorageImpl(Context* ctx, std::string_view dir,
   return rv;
 }
 
-static wpi::json WindowToJson() {
+static wpi::util::json WindowToJson() {
   size_t iniLen;
   const char* iniData = ImGui::SaveIniSettingsToMemory(&iniLen);
   std::string_view ini{iniData, iniLen};
@@ -202,30 +202,30 @@ static wpi::json WindowToJson() {
   //   }
   // }
 
-  wpi::json out = wpi::json::object();
-  wpi::json* curSection = nullptr;
+  wpi::util::json out = wpi::util::json::object();
+  wpi::util::json* curSection = nullptr;
   while (!ini.empty()) {
     std::string_view line;
-    std::tie(line, ini) = wpi::split(ini, '\n');
-    line = wpi::trim(line);
+    std::tie(line, ini) = wpi::util::split(ini, '\n');
+    line = wpi::util::trim(line);
     if (line.empty()) {
       continue;
     }
     if (line[0] == '[') {
       // new section
-      auto [section, subsection] = wpi::split(line, ']');
-      section = wpi::drop_front(section);  // drop '['; ']' was dropped by split
-      subsection = wpi::drop_back(wpi::drop_front(subsection));  // drop []
+      auto [section, subsection] = wpi::util::split(line, ']');
+      section = wpi::util::drop_front(section);  // drop '['; ']' was dropped by split
+      subsection = wpi::util::drop_back(wpi::util::drop_front(subsection));  // drop []
       auto& jsection = out[section];
       if (jsection.is_null()) {
-        jsection = wpi::json::object();
+        jsection = wpi::util::json::object();
       }
       curSection = &jsection[subsection];
       if (curSection->is_null()) {
         if (section == "Docking") {
-          *curSection = wpi::json::array();
+          *curSection = wpi::util::json::array();
         } else {
-          *curSection = wpi::json::object();
+          *curSection = wpi::util::json::object();
         }
       }
     } else {
@@ -233,7 +233,7 @@ static wpi::json WindowToJson() {
       if (!curSection) {
         continue;  // shouldn't happen, but just in case
       }
-      auto [name, value] = wpi::split(line, '=');
+      auto [name, value] = wpi::util::split(line, '=');
       if (curSection->is_object()) {
         (*curSection)[name] = value;
       } else if (curSection->is_array()) {
@@ -247,7 +247,7 @@ static wpi::json WindowToJson() {
 
 bool SaveWindowStorageImpl(const std::string& filename) {
   std::error_code ec;
-  wpi::raw_fd_ostream os{filename, ec};
+  wpi::util::raw_fd_ostream os{filename, ec};
   if (ec) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    ec.message().c_str());
@@ -261,7 +261,7 @@ bool SaveWindowStorageImpl(const std::string& filename) {
 static bool SaveStorageRootImpl(Context* ctx, const std::string& filename,
                                 const Storage& storage) {
   std::error_code ec;
-  wpi::raw_fd_ostream os{filename, ec};
+  wpi::util::raw_fd_ostream os{filename, ec};
   if (ec) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    ec.message().c_str());
@@ -335,7 +335,7 @@ Context::~Context() {
   wpi::gui::ConfigureCustomSaveSettings(nullptr, nullptr, nullptr);
 }
 
-Context* glass::CreateContext() {
+Context* wpi::glass::CreateContext() {
   Context* ctx = new Context;
   if (!gContext) {
     SetCurrentContext(ctx);
@@ -343,7 +343,7 @@ Context* glass::CreateContext() {
   return ctx;
 }
 
-void glass::DestroyContext(Context* ctx) {
+void wpi::glass::DestroyContext(Context* ctx) {
   if (!ctx) {
     ctx = gContext;
   }
@@ -353,44 +353,44 @@ void glass::DestroyContext(Context* ctx) {
   delete ctx;
 }
 
-Context* glass::GetCurrentContext() {
+Context* wpi::glass::GetCurrentContext() {
   return gContext;
 }
 
-void glass::SetCurrentContext(Context* ctx) {
+void wpi::glass::SetCurrentContext(Context* ctx) {
   gContext = ctx;
 }
 
-void glass::ResetTime() {
-  gContext->zeroTime = wpi::Now();
+void wpi::glass::ResetTime() {
+  gContext->zeroTime = wpi::util::Now();
 }
 
-uint64_t glass::GetZeroTime() {
+uint64_t wpi::glass::GetZeroTime() {
   return gContext->zeroTime;
 }
 
-void glass::WorkspaceReset() {
+void wpi::glass::WorkspaceReset() {
   WorkspaceResetImpl();
   WorkspaceInit();
 }
 
-void glass::AddWorkspaceInit(std::function<void()> init) {
+void wpi::glass::AddWorkspaceInit(std::function<void()> init) {
   if (init) {
     gContext->workspaceInit.emplace_back(std::move(init));
   }
 }
 
-void glass::AddWorkspaceReset(std::function<void()> reset) {
+void wpi::glass::AddWorkspaceReset(std::function<void()> reset) {
   if (reset) {
     gContext->workspaceReset.emplace_back(std::move(reset));
   }
 }
 
-void glass::SetStorageName(std::string_view name) {
+void wpi::glass::SetStorageName(std::string_view name) {
   gContext->storageName = name;
 }
 
-void glass::SetStorageDir(std::string_view dir) {
+void wpi::glass::SetStorageDir(std::string_view dir) {
   if (dir.empty()) {
     gContext->storageLoadDir = ".";
     gContext->storageAutoSaveDir = ".";
@@ -401,11 +401,11 @@ void glass::SetStorageDir(std::string_view dir) {
   }
 }
 
-std::string glass::GetStorageDir() {
+std::string wpi::glass::GetStorageDir() {
   return gContext->storageAutoSaveDir;
 }
 
-bool glass::LoadStorage(std::string_view dir) {
+bool wpi::glass::LoadStorage(std::string_view dir) {
   SaveStorage();
   SetStorageDir(dir);
   WorkspaceResetImpl();
@@ -415,24 +415,24 @@ bool glass::LoadStorage(std::string_view dir) {
   return LoadStorageImpl(gContext, dir, gContext->storageName);
 }
 
-bool glass::SaveStorage() {
+bool wpi::glass::SaveStorage() {
   return SaveStorageImpl(gContext, gContext->storageAutoSaveDir,
                          gContext->storageName, false);
 }
 
-bool glass::SaveStorage(std::string_view dir) {
+bool wpi::glass::SaveStorage(std::string_view dir) {
   return SaveStorageImpl(gContext, dir, gContext->storageName, false);
 }
 
-Storage& glass::GetCurStorageRoot() {
+Storage& wpi::glass::GetCurStorageRoot() {
   return *gContext->storageStack.front();
 }
 
-Storage& glass::GetStorageRoot(std::string_view rootName) {
+Storage& wpi::glass::GetStorageRoot(std::string_view rootName) {
   return gContext->storageRoots[rootName];
 }
 
-void glass::ResetStorageStack(std::string_view rootName) {
+void wpi::glass::ResetStorageStack(std::string_view rootName) {
   if (gContext->storageStack.size() != 1) {
     ImGui::LogText("resetting non-empty storage stack");
   }
@@ -440,20 +440,20 @@ void glass::ResetStorageStack(std::string_view rootName) {
   gContext->storageStack.emplace_back(&GetStorageRoot(rootName));
 }
 
-Storage& glass::GetStorage() {
+Storage& wpi::glass::GetStorage() {
   return *gContext->storageStack.back();
 }
 
-void glass::PushStorageStack(std::string_view label_id) {
+void wpi::glass::PushStorageStack(std::string_view label_id) {
   gContext->storageStack.emplace_back(
       &gContext->storageStack.back()->GetChild(label_id));
 }
 
-void glass::PushStorageStack(Storage& storage) {
+void wpi::glass::PushStorageStack(Storage& storage) {
   gContext->storageStack.emplace_back(&storage);
 }
 
-void glass::PopStorageStack() {
+void wpi::glass::PopStorageStack() {
   if (gContext->storageStack.size() <= 1) {
     ImGui::LogText("attempted to pop empty storage stack, mismatch push/pop?");
     return;  // ignore
@@ -461,28 +461,28 @@ void glass::PopStorageStack() {
   gContext->storageStack.pop_back();
 }
 
-bool glass::Begin(const char* name, bool* p_open, ImGuiWindowFlags flags) {
+bool wpi::glass::Begin(const char* name, bool* p_open, ImGuiWindowFlags flags) {
   PushStorageStack(name);
   return ImGui::Begin(name, p_open, flags);
 }
 
-void glass::End() {
+void wpi::glass::End() {
   ImGui::End();
   PopStorageStack();
 }
 
-bool glass::BeginChild(const char* str_id, const ImVec2& size, bool border,
+bool wpi::glass::BeginChild(const char* str_id, const ImVec2& size, bool border,
                        ImGuiWindowFlags flags) {
   PushStorageStack(str_id);
   return ImGui::BeginChild(str_id, size, border, flags);
 }
 
-void glass::EndChild() {
+void wpi::glass::EndChild() {
   ImGui::EndChild();
   PopStorageStack();
 }
 
-bool glass::CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags) {
+bool wpi::glass::CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags) {
   bool& open = GetStorage().GetChild(label).GetBool(
       "open", (flags & ImGuiTreeNodeFlags_DefaultOpen) != 0);
   ImGui::SetNextItemOpen(open);
@@ -490,7 +490,7 @@ bool glass::CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags) {
   return open;
 }
 
-bool glass::TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags) {
+bool wpi::glass::TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags) {
   PushStorageStack(label);
   bool& open = GetStorage().GetBool(
       "open", (flags & ImGuiTreeNodeFlags_DefaultOpen) != 0);
@@ -502,35 +502,35 @@ bool glass::TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags) {
   return open;
 }
 
-void glass::TreePop() {
+void wpi::glass::TreePop() {
   ImGui::TreePop();
   PopStorageStack();
 }
 
-void glass::PushID(const char* str_id) {
+void wpi::glass::PushID(const char* str_id) {
   PushStorageStack(str_id);
   ImGui::PushID(str_id);
 }
 
-void glass::PushID(const char* str_id_begin, const char* str_id_end) {
+void wpi::glass::PushID(const char* str_id_begin, const char* str_id_end) {
   PushStorageStack(std::string_view(str_id_begin, str_id_end - str_id_begin));
   ImGui::PushID(str_id_begin, str_id_end);
 }
 
-void glass::PushID(int int_id) {
+void wpi::glass::PushID(int int_id) {
   char buf[16];
-  wpi::format_to_n_c_str(buf, sizeof(buf), "{}", int_id);
+  wpi::util::format_to_n_c_str(buf, sizeof(buf), "{}", int_id);
 
   PushStorageStack(buf);
   ImGui::PushID(int_id);
 }
 
-void glass::PopID() {
+void wpi::glass::PopID() {
   ImGui::PopID();
   PopStorageStack();
 }
 
-bool glass::PopupEditName(const char* label, std::string* name) {
+bool wpi::glass::PopupEditName(const char* label, std::string* name) {
   bool rv = false;
   if (ImGui::BeginPopupContextItem(label)) {
     rv = ItemEditName(name);
@@ -540,7 +540,7 @@ bool glass::PopupEditName(const char* label, std::string* name) {
   return rv;
 }
 
-bool glass::ItemEditName(std::string* name) {
+bool wpi::glass::ItemEditName(std::string* name) {
   bool rv = false;
 
   ImGui::Text("Edit name:");
diff --git a/glass/src/lib/native/cpp/DataSource.cpp b/glass/src/lib/native/cpp/DataSource.cpp
index 42dab210a0..133daa72e6 100644
--- a/glass/src/lib/native/cpp/DataSource.cpp
+++ b/glass/src/lib/native/cpp/DataSource.cpp
@@ -12,15 +12,15 @@
 
 #include "wpi/glass/ContextInternal.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-wpi::sig::Signal<const char*, DataSource*> DataSource::sourceCreated;
+wpi::util::sig::Signal<const char*, DataSource*> DataSource::sourceCreated;
 
-std::string glass::MakeSourceId(std::string_view id, int index) {
+std::string wpi::glass::MakeSourceId(std::string_view id, int index) {
   return fmt::format("{}[{}]", id, index);
 }
 
-std::string glass::MakeSourceId(std::string_view id, int index, int index2) {
+std::string wpi::glass::MakeSourceId(std::string_view id, int index, int index2) {
   return fmt::format("{}[{},{}]", id, index, index2);
 }
 
diff --git a/glass/src/lib/native/cpp/MainMenuBar.cpp b/glass/src/lib/native/cpp/MainMenuBar.cpp
index 3ca982414a..ae870e8bdc 100644
--- a/glass/src/lib/native/cpp/MainMenuBar.cpp
+++ b/glass/src/lib/native/cpp/MainMenuBar.cpp
@@ -14,7 +14,7 @@
 #include "wpi/gui/wpigui.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 void MainMenuBar::AddMainMenu(std::function<void()> menu) {
   if (menu) {
@@ -54,7 +54,7 @@ void MainMenuBar::Display() {
 
 #if 0
   char str[64];
-  wpi::format_to_n_c_str(str, sizeof(str), "{:.3f} ms/frame ({:.1f} FPS)",
+  wpi::util::format_to_n_c_str(str, sizeof(str), "{:.3f} ms/frame ({:.1f} FPS)",
                          1000.0f / ImGui::GetIO().Framerate,
                          ImGui::GetIO().Framerate);
 
diff --git a/glass/src/lib/native/cpp/Model.cpp b/glass/src/lib/native/cpp/Model.cpp
index 28b57dd5e1..20f34c074d 100644
--- a/glass/src/lib/native/cpp/Model.cpp
+++ b/glass/src/lib/native/cpp/Model.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 bool Model::IsReadOnly() {
   return false;
diff --git a/glass/src/lib/native/cpp/Storage.cpp b/glass/src/lib/native/cpp/Storage.cpp
index d37657622c..078db7bddb 100644
--- a/glass/src/lib/native/cpp/Storage.cpp
+++ b/glass/src/lib/native/cpp/Storage.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 template <typename To>
 bool ConvertFromString(To* out, std::string_view str) {
@@ -24,19 +24,19 @@ bool ConvertFromString(To* out, std::string_view str) {
       *out = true;
     } else if (str == "false") {
       *out = false;
-    } else if (auto val = wpi::parse_integer<int>(str, 10)) {
+    } else if (auto val = wpi::util::parse_integer<int>(str, 10)) {
       *out = val.value() != 0;
     } else {
       return false;
     }
   } else if constexpr (std::floating_point<To>) {
-    if (auto val = wpi::parse_float<To>(str)) {
+    if (auto val = wpi::util::parse_float<To>(str)) {
       *out = val.value();
     } else {
       return false;
     }
   } else {
-    if (auto val = wpi::parse_integer<To>(str, 10)) {
+    if (auto val = wpi::util::parse_integer<To>(str, 10)) {
       *out = val.value();
     } else {
       return false;
@@ -300,7 +300,7 @@ DEFUN(Double, double, double, double, double)
 DEFUN(String, string, std::string, std::string_view, std::string)
 
 Storage& Storage::GetChild(std::string_view label_id) {
-  auto [label, id] = wpi::split(label_id, "###");
+  auto [label, id] = wpi::util::split(label_id, "###");
   if (id.empty()) {
     id = label;
   }
@@ -345,9 +345,9 @@ void Storage::EraseChildren() {
   });
 }
 
-static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
+static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::util::json& jarr,
                                const char* filename) {
-  auto& arr = jarr.get_ref<const wpi::json::array_t&>();
+  auto& arr = jarr.get_ref<const wpi::util::json::array_t&>();
   if (arr.empty()) {
     ImGui::LogText("empty array in %s, ignoring", filename);
     return false;
@@ -355,42 +355,42 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
 
   // guess array type from first element
   switch (arr[0].type()) {
-    case wpi::json::value_t::boolean:
+    case wpi::util::json::value_t::boolean:
       if (valuePtr->type != Storage::Value::kBoolArray) {
         valuePtr->Reset(Storage::Value::kBoolArray);
         valuePtr->boolArray = new std::vector<int>();
         valuePtr->boolArrayDefault = nullptr;
       }
       break;
-    case wpi::json::value_t::number_float:
+    case wpi::util::json::value_t::number_float:
       if (valuePtr->type != Storage::Value::kDoubleArray) {
         valuePtr->Reset(Storage::Value::kDoubleArray);
         valuePtr->doubleArray = new std::vector<double>();
         valuePtr->doubleArrayDefault = nullptr;
       }
       break;
-    case wpi::json::value_t::number_integer:
-    case wpi::json::value_t::number_unsigned:
+    case wpi::util::json::value_t::number_integer:
+    case wpi::util::json::value_t::number_unsigned:
       if (valuePtr->type != Storage::Value::kInt64Array) {
         valuePtr->Reset(Storage::Value::kInt64Array);
         valuePtr->int64Array = new std::vector<int64_t>();
         valuePtr->int64ArrayDefault = nullptr;
       }
       break;
-    case wpi::json::value_t::string:
+    case wpi::util::json::value_t::string:
       if (valuePtr->type != Storage::Value::kStringArray) {
         valuePtr->Reset(Storage::Value::kStringArray);
         valuePtr->stringArray = new std::vector<std::string>();
         valuePtr->stringArrayDefault = nullptr;
       }
       break;
-    case wpi::json::value_t::object:
+    case wpi::util::json::value_t::object:
       if (valuePtr->type != Storage::Value::kChildArray) {
         valuePtr->Reset(Storage::Value::kChildArray);
         valuePtr->childArray = new std::vector<std::unique_ptr<Storage>>();
       }
       break;
-    case wpi::json::value_t::array:
+    case wpi::util::json::value_t::array:
       ImGui::LogText("nested array in %s, ignoring", filename);
       return false;
     default:
@@ -401,21 +401,21 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
   // loop over array to store elements
   for (auto jvalue : arr) {
     switch (jvalue.type()) {
-      case wpi::json::value_t::boolean:
+      case wpi::util::json::value_t::boolean:
         if (valuePtr->type == Storage::Value::kBoolArray) {
           valuePtr->boolArray->push_back(jvalue.get<bool>());
         } else {
           goto error;
         }
         break;
-      case wpi::json::value_t::number_float:
+      case wpi::util::json::value_t::number_float:
         if (valuePtr->type == Storage::Value::kDoubleArray) {
           valuePtr->doubleArray->push_back(jvalue.get<double>());
         } else {
           goto error;
         }
         break;
-      case wpi::json::value_t::number_integer:
+      case wpi::util::json::value_t::number_integer:
         if (valuePtr->type == Storage::Value::kInt64Array) {
           valuePtr->int64Array->push_back(jvalue.get<int64_t>());
         } else if (valuePtr->type == Storage::Value::kDoubleArray) {
@@ -424,7 +424,7 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
           goto error;
         }
         break;
-      case wpi::json::value_t::number_unsigned:
+      case wpi::util::json::value_t::number_unsigned:
         if (valuePtr->type == Storage::Value::kInt64Array) {
           valuePtr->int64Array->push_back(jvalue.get<uint64_t>());
         } else if (valuePtr->type == Storage::Value::kDoubleArray) {
@@ -433,7 +433,7 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
           goto error;
         }
         break;
-      case wpi::json::value_t::string:
+      case wpi::util::json::value_t::string:
         if (valuePtr->type == Storage::Value::kStringArray) {
           valuePtr->stringArray->emplace_back(
               jvalue.get_ref<const std::string&>());
@@ -441,7 +441,7 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
           goto error;
         }
         break;
-      case wpi::json::value_t::object:
+      case wpi::util::json::value_t::object:
         if (valuePtr->type == Storage::Value::kChildArray) {
           valuePtr->childArray->emplace_back(std::make_unique<Storage>());
           valuePtr->childArray->back()->FromJson(jvalue, filename);
@@ -449,7 +449,7 @@ static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
           goto error;
         }
         break;
-      case wpi::json::value_t::array:
+      case wpi::util::json::value_t::array:
         ImGui::LogText("nested array in %s, ignoring", filename);
         return false;
       default:
@@ -464,7 +464,7 @@ error:
   return false;
 }
 
-bool Storage::FromJson(const wpi::json& json, const char* filename) {
+bool Storage::FromJson(const wpi::util::json& json, const char* filename) {
   if (m_fromJson) {
     return m_fromJson(json, filename);
   }
@@ -482,34 +482,34 @@ bool Storage::FromJson(const wpi::json& json, const char* filename) {
     }
     auto& jvalue = jkv.value();
     switch (jvalue.type()) {
-      case wpi::json::value_t::boolean:
+      case wpi::util::json::value_t::boolean:
         valuePtr->Reset(Value::kBool);
         valuePtr->boolVal = jvalue.get<bool>();
         break;
-      case wpi::json::value_t::number_float:
+      case wpi::util::json::value_t::number_float:
         valuePtr->Reset(Value::kDouble);
         valuePtr->doubleVal = jvalue.get<double>();
         break;
-      case wpi::json::value_t::number_integer:
+      case wpi::util::json::value_t::number_integer:
         valuePtr->Reset(Value::kInt64);
         valuePtr->int64Val = jvalue.get<int64_t>();
         break;
-      case wpi::json::value_t::number_unsigned:
+      case wpi::util::json::value_t::number_unsigned:
         valuePtr->Reset(Value::kInt64);
         valuePtr->int64Val = jvalue.get<uint64_t>();
         break;
-      case wpi::json::value_t::string:
+      case wpi::util::json::value_t::string:
         valuePtr->Reset(Value::kString);
         valuePtr->stringVal = jvalue.get_ref<const std::string&>();
         break;
-      case wpi::json::value_t::object:
+      case wpi::util::json::value_t::object:
         if (valuePtr->type != Value::kChild) {
           valuePtr->Reset(Value::kChild);
           valuePtr->child = new Storage;
         }
         valuePtr->child->FromJson(jvalue, filename);  // recurse
         break;
-      case wpi::json::value_t::array:
+      case wpi::util::json::value_t::array:
         if (!JsonArrayToStorage(valuePtr.get(), jvalue, filename)) {
           if (created) {
             m_values.erase(jkv.key());
@@ -528,8 +528,8 @@ bool Storage::FromJson(const wpi::json& json, const char* filename) {
 }
 
 template <typename T>
-static wpi::json StorageToJsonArray(const std::vector<T>& arr) {
-  wpi::json jarr = wpi::json::array();
+static wpi::util::json StorageToJsonArray(const std::vector<T>& arr) {
+  wpi::util::json jarr = wpi::util::json::array();
   for (auto&& v : arr) {
     jarr.emplace_back(v);
   }
@@ -537,27 +537,27 @@ static wpi::json StorageToJsonArray(const std::vector<T>& arr) {
 }
 
 template <>
-wpi::json StorageToJsonArray<std::unique_ptr<Storage>>(
+wpi::util::json StorageToJsonArray<std::unique_ptr<Storage>>(
     const std::vector<std::unique_ptr<Storage>>& arr) {
-  wpi::json jarr = wpi::json::array();
+  wpi::util::json jarr = wpi::util::json::array();
   for (auto&& v : arr) {
     jarr.emplace_back(v->ToJson());
   }
   // remove any trailing empty items
   while (!jarr.empty() && jarr.back().empty()) {
-    jarr.get_ref<wpi::json::array_t&>().pop_back();
+    jarr.get_ref<wpi::util::json::array_t&>().pop_back();
   }
   return jarr;
 }
 
-wpi::json Storage::ToJson() const {
+wpi::util::json Storage::ToJson() const {
   if (m_toJson) {
     return m_toJson();
   }
 
-  wpi::json j = wpi::json::object();
+  wpi::util::json j = wpi::util::json::object();
   for (auto&& kv : m_values) {
-    wpi::json jelem;
+    wpi::util::json jelem;
     auto& value = *kv.second;
     switch (value.type) {
 #define CASE(CapsName, LowerName)                                        \
diff --git a/glass/src/lib/native/cpp/View.cpp b/glass/src/lib/native/cpp/View.cpp
index 5fa45686b5..c6d1029f53 100644
--- a/glass/src/lib/native/cpp/View.cpp
+++ b/glass/src/lib/native/cpp/View.cpp
@@ -7,23 +7,23 @@
 #include <memory>
 #include <utility>
 
-using namespace glass;
+using namespace wpi::glass;
 
 namespace {
 class FunctionView : public View {
  public:
-  explicit FunctionView(wpi::unique_function<void()> display)
+  explicit FunctionView(wpi::util::unique_function<void()> display)
       : m_display(std::move(display)) {}
 
   void Display() override { m_display(); }
 
  private:
-  wpi::unique_function<void()> m_display;
+  wpi::util::unique_function<void()> m_display;
 };
 }  // namespace
 
-std::unique_ptr<View> glass::MakeFunctionView(
-    wpi::unique_function<void()> display) {
+std::unique_ptr<View> wpi::glass::MakeFunctionView(
+    wpi::util::unique_function<void()> display) {
   return std::make_unique<FunctionView>(std::move(display));
 }
 
diff --git a/glass/src/lib/native/cpp/Window.cpp b/glass/src/lib/native/cpp/Window.cpp
index 7e79bc297c..fe23b6bdef 100644
--- a/glass/src/lib/native/cpp/Window.cpp
+++ b/glass/src/lib/native/cpp/Window.cpp
@@ -14,7 +14,7 @@
 #include "wpi/glass/Storage.hpp"
 #include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 Window::Window(Storage& storage, std::string_view id,
                Visibility defaultVisibility)
diff --git a/glass/src/lib/native/cpp/WindowManager.cpp b/glass/src/lib/native/cpp/WindowManager.cpp
index b301477561..5f05251f6b 100644
--- a/glass/src/lib/native/cpp/WindowManager.cpp
+++ b/glass/src/lib/native/cpp/WindowManager.cpp
@@ -16,7 +16,7 @@
 #include "wpi/gui/wpigui.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 WindowManager::WindowManager(Storage& storage) : m_storage{storage} {
   storage.SetCustomApply([this] {
@@ -27,14 +27,14 @@ WindowManager::WindowManager(Storage& storage) : m_storage{storage} {
 }
 
 Window* WindowManager::AddWindow(std::string_view id,
-                                 wpi::unique_function<void()> display,
+                                 wpi::util::unique_function<void()> display,
                                  Window::Visibility defaultVisibility) {
   auto win = GetOrAddWindow(id, false, defaultVisibility);
   if (!win) {
     return nullptr;
   }
   if (win->HasView()) {
-    wpi::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
+    wpi::util::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
     return nullptr;
   }
   win->SetView(MakeFunctionView(std::move(display)));
@@ -49,7 +49,7 @@ Window* WindowManager::AddWindow(std::string_view id,
     return nullptr;
   }
   if (win->HasView()) {
-    wpi::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
+    wpi::util::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
     return nullptr;
   }
   win->SetView(std::move(view));
@@ -64,7 +64,7 @@ Window* WindowManager::GetOrAddWindow(std::string_view id, bool duplicateOk,
       [](const auto& elem, std::string_view s) { return elem->GetId() < s; });
   if (it != m_windows.end() && (*it)->GetId() == id) {
     if (!duplicateOk) {
-      wpi::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
+      wpi::util::print(stderr, "GUI: ignoring duplicate window '{}'\n", id);
       return nullptr;
     }
     return it->get();
diff --git a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
index 7920de1f5c..54d2bfd289 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
@@ -13,9 +13,9 @@
 #include "wpi/glass/Storage.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
+void wpi::glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
   auto voltageData = model->GetVoltageData();
   if (!voltageData) {
     return;
@@ -25,9 +25,9 @@ void glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "In[{}]###name", index);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "In[{}]###name", index);
   }
 
   if (auto simDevice = model->GetSimDevice()) {
@@ -47,7 +47,7 @@ void glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
   }
 }
 
-void glass::DisplayAnalogInputs(AnalogInputsModel* model,
+void wpi::glass::DisplayAnalogInputs(AnalogInputsModel* model,
                                 std::string_view noneMsg) {
   ImGui::Text("(Use Ctrl+Click to edit value)");
   bool hasAny = false;
diff --git a/glass/src/lib/native/cpp/hardware/DIO.cpp b/glass/src/lib/native/cpp/hardware/DIO.cpp
index 1cb8818e8e..bf271fb8c3 100644
--- a/glass/src/lib/native/cpp/hardware/DIO.cpp
+++ b/glass/src/lib/native/cpp/hardware/DIO.cpp
@@ -10,7 +10,7 @@
 #include "wpi/glass/hardware/Encoder.hpp"
 #include "wpi/glass/support/NameSetting.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 static void LabelSimDevice(const char* name, const char* simDeviceName) {
   ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
@@ -99,13 +99,13 @@ void DisplayDIOImpl(DIOModel* model, int index, bool outputsEnabled) {
   }
 }
 
-void glass::DisplayDIO(DIOModel* model, int index, bool outputsEnabled) {
+void wpi::glass::DisplayDIO(DIOModel* model, int index, bool outputsEnabled) {
   ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
   DisplayDIOImpl(model, index, outputsEnabled);
   ImGui::PopItemWidth();
 }
 
-void glass::DisplayDIOs(DIOsModel* model, bool outputsEnabled,
+void wpi::glass::DisplayDIOs(DIOsModel* model, bool outputsEnabled,
                         std::string_view noneMsg) {
   bool hasAny = false;
 
diff --git a/glass/src/lib/native/cpp/hardware/Encoder.cpp b/glass/src/lib/native/cpp/hardware/Encoder.cpp
index 092f451009..f5c21f9d14 100644
--- a/glass/src/lib/native/cpp/hardware/Encoder.cpp
+++ b/glass/src/lib/native/cpp/hardware/Encoder.cpp
@@ -14,7 +14,7 @@
 #include "wpi/glass/Storage.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 void EncoderModel::SetName(std::string_view name) {
   if (name.empty()) {
@@ -58,7 +58,7 @@ void EncoderModel::SetName(std::string_view name) {
   }
 }
 
-void glass::DisplayEncoder(EncoderModel* model) {
+void wpi::glass::DisplayEncoder(EncoderModel* model) {
   if (auto simDevice = model->GetSimDevice()) {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
     ImGui::TextUnformatted(simDevice);
@@ -73,10 +73,10 @@ void glass::DisplayEncoder(EncoderModel* model) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    wpi::format_to_n_c_str(label, sizeof(label), "{} [{},{}]###header", name,
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{} [{},{}]###header", name,
                            chA, chB);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "Encoder[{},{}]###header", chA,
+    wpi::util::format_to_n_c_str(label, sizeof(label), "Encoder[{},{}]###header", chA,
                            chB);
   }
 
@@ -159,7 +159,7 @@ void glass::DisplayEncoder(EncoderModel* model) {
   ImGui::PopItemWidth();
 }
 
-void glass::DisplayEncoders(EncodersModel* model, std::string_view noneMsg) {
+void wpi::glass::DisplayEncoders(EncodersModel* model, std::string_view noneMsg) {
   bool hasAny = false;
   model->ForEachEncoder([&](EncoderModel& encoder, int i) {
     hasAny = true;
diff --git a/glass/src/lib/native/cpp/hardware/Gyro.cpp b/glass/src/lib/native/cpp/hardware/Gyro.cpp
index 654b3c98fd..4993fa0eec 100644
--- a/glass/src/lib/native/cpp/hardware/Gyro.cpp
+++ b/glass/src/lib/native/cpp/hardware/Gyro.cpp
@@ -14,9 +14,9 @@
 #include "wpi/glass/DataSource.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayGyro(GyroModel* m) {
+void wpi::glass::DisplayGyro(GyroModel* m) {
   ImColor primaryColor = ImGui::GetStyle().Colors[ImGuiCol_Text];
   ImColor disabledColor = ImGui::GetStyle().Colors[ImGuiCol_TextDisabled];
   ImColor secondaryColor = ImGui::GetStyle().Colors[ImGuiCol_Header];
@@ -64,7 +64,7 @@ void glass::DisplayGyro(GyroModel* m) {
                   color, 1.2f);
     if (major) {
       char txt[16];
-      wpi::format_to_n_c_str(txt, sizeof(txt), "{}°", i);
+      wpi::util::format_to_n_c_str(txt, sizeof(txt), "{}°", i);
 
       draw->AddText(
           center + (direction * radius * 1.25) - ImGui::CalcTextSize(txt) * 0.5,
diff --git a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
index fe23b716a3..3f537540f6 100644
--- a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
+++ b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
@@ -11,7 +11,7 @@
 #include "wpi/glass/support/ExtraGuiWidgets.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 namespace {
 struct IndicatorData {
@@ -20,8 +20,8 @@ struct IndicatorData {
 };
 }  // namespace
 
-void glass::DisplayLEDDisplay(LEDDisplayModel* model, int index) {
-  wpi::SmallVector<LEDDisplayModel::Data, 64> dataBuf;
+void wpi::glass::DisplayLEDDisplay(LEDDisplayModel* model, int index) {
+  wpi::util::SmallVector<LEDDisplayModel::Data, 64> dataBuf;
   auto data = model->GetData(dataBuf);
   int length = data.size();
   auto& storage = GetStorage();
@@ -75,7 +75,7 @@ void glass::DisplayLEDDisplay(LEDDisplayModel* model, int index) {
            config);
 }
 
-void glass::DisplayLEDDisplays(LEDDisplaysModel* model) {
+void wpi::glass::DisplayLEDDisplays(LEDDisplaysModel* model) {
   bool hasAny = false;
 
   model->ForEachLEDDisplay([&](LEDDisplayModel& display, int i) {
diff --git a/glass/src/lib/native/cpp/hardware/MotorController.cpp b/glass/src/lib/native/cpp/hardware/MotorController.cpp
index 9219d3f66b..ab3c91a4f1 100644
--- a/glass/src/lib/native/cpp/hardware/MotorController.cpp
+++ b/glass/src/lib/native/cpp/hardware/MotorController.cpp
@@ -9,9 +9,9 @@
 
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayMotorController(MotorControllerModel* m) {
+void wpi::glass::DisplayMotorController(MotorControllerModel* m) {
   // Get duty cycle data from the model and do not display anything if the data
   // is null.
   auto dc = m->GetPercentData();
diff --git a/glass/src/lib/native/cpp/hardware/PWM.cpp b/glass/src/lib/native/cpp/hardware/PWM.cpp
index 20c71ec25e..09fc4bf3b6 100644
--- a/glass/src/lib/native/cpp/hardware/PWM.cpp
+++ b/glass/src/lib/native/cpp/hardware/PWM.cpp
@@ -13,9 +13,9 @@
 #include "wpi/glass/Storage.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
+void wpi::glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
   auto data = model->GetSpeedData();
   if (!data) {
     return;
@@ -25,9 +25,9 @@ void glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "PWM[{}]###name", index);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "PWM[{}]###name", index);
   }
 
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
@@ -38,7 +38,7 @@ void glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
   }
 }
 
-void glass::DisplayPWMs(PWMsModel* model, bool outputsEnabled,
+void wpi::glass::DisplayPWMs(PWMsModel* model, bool outputsEnabled,
                         std::string_view noneMsg) {
   bool hasAny = false;
   bool first = true;
diff --git a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
index fe97d8d008..4c5329be72 100644
--- a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
+++ b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
@@ -19,11 +19,11 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
+bool wpi::glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
                                              int index, bool outputsEnabled) {
-  wpi::SmallVector<int, 16> channels;
+  wpi::util::SmallVector<int, 16> channels;
   model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
     if (auto data = solenoid.GetOutputData()) {
       if (j >= static_cast<int>(channels.size())) {
@@ -48,10 +48,10 @@ bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
                            index);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
                            model->GetName(), index);
   }
 
@@ -87,7 +87,7 @@ bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
   return true;
 }
 
-void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
+void wpi::glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
                                               bool outputsEnabled,
                                               std::string_view noneMsg) {
   bool hasAny = false;
@@ -105,13 +105,13 @@ void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
   }
 }
 
-void glass::DisplayCompressorDevice(CompressorModel* model, int index,
+void wpi::glass::DisplayCompressorDevice(CompressorModel* model, int index,
                                     bool outputsEnabled) {
   if (!model || !model->Exists()) {
     return;
   }
   char name[32];
-  wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
+  wpi::util::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
 
   if (BeginDevice(name)) {
     // output enabled
@@ -154,7 +154,7 @@ void glass::DisplayCompressorDevice(CompressorModel* model, int index,
   }
 }
 
-void glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
+void wpi::glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
                                      bool outputsEnabled) {
   model->ForEachPneumaticControl(
       [&](PneumaticControlModel& pneumaticControl, int i) {
diff --git a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
index 9b6635bb68..8a474e273a 100644
--- a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
+++ b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
@@ -13,7 +13,7 @@
 #include "wpi/glass/support/NameSetting.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 static float DisplayChannel(PowerDistributionModel& pdp, int channel) {
   float width = 0;
@@ -34,9 +34,9 @@ static float DisplayChannel(PowerDistributionModel& pdp, int channel) {
   return width;
 }
 
-void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
+void wpi::glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
   char name[128];
-  wpi::format_to_n_c_str(name, sizeof(name), "PowerDistribution[{}]", index);
+  wpi::util::format_to_n_c_str(name, sizeof(name), "PowerDistribution[{}]", index);
 
   if (CollapsingHeader(name)) {
     // temperature
@@ -80,7 +80,7 @@ void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
   }
 }
 
-void glass::DisplayPowerDistributions(PowerDistributionsModel* model,
+void wpi::glass::DisplayPowerDistributions(PowerDistributionsModel* model,
                                       std::string_view noneMsg) {
   bool hasAny = false;
   model->ForEachPowerDistribution([&](PowerDistributionModel& pdp, int i) {
diff --git a/glass/src/lib/native/cpp/hardware/RoboRio.cpp b/glass/src/lib/native/cpp/hardware/RoboRio.cpp
index c08e1bb2fa..28b928bbb3 100644
--- a/glass/src/lib/native/cpp/hardware/RoboRio.cpp
+++ b/glass/src/lib/native/cpp/hardware/RoboRio.cpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Context.hpp"
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 static void DisplayRail(RoboRioRailModel& rail, const char* name) {
   if (CollapsingHeader(name)) {
@@ -46,7 +46,7 @@ static void DisplayRail(RoboRioRailModel& rail, const char* name) {
   }
 }
 
-void glass::DisplayRoboRio(RoboRioModel* model) {
+void wpi::glass::DisplayRoboRio(RoboRioModel* model) {
   ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
 
   if (CollapsingHeader("RoboRIO Input")) {
diff --git a/glass/src/lib/native/cpp/other/Alerts.cpp b/glass/src/lib/native/cpp/other/Alerts.cpp
index ee9d591431..fe33b2067b 100644
--- a/glass/src/lib/native/cpp/other/Alerts.cpp
+++ b/glass/src/lib/native/cpp/other/Alerts.cpp
@@ -7,9 +7,9 @@
 #include <IconsFontAwesome6.h>
 #include <imgui.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayAlerts(AlertsModel* model) {
+void wpi::glass::DisplayAlerts(AlertsModel* model) {
   auto& infos = model->GetInfos();
   auto& warnings = model->GetWarnings();
   auto& errors = model->GetErrors();
diff --git a/glass/src/lib/native/cpp/other/CommandScheduler.cpp b/glass/src/lib/native/cpp/other/CommandScheduler.cpp
index f41cf1bba2..da5434ad8d 100644
--- a/glass/src/lib/native/cpp/other/CommandScheduler.cpp
+++ b/glass/src/lib/native/cpp/other/CommandScheduler.cpp
@@ -9,9 +9,9 @@
 #include "wpi/glass/Context.hpp"
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayCommandScheduler(CommandSchedulerModel* m) {
+void wpi::glass::DisplayCommandScheduler(CommandSchedulerModel* m) {
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 20);
   ImGui::Text("Scheduled Commands: ");
   ImGui::Separator();
diff --git a/glass/src/lib/native/cpp/other/CommandSelector.cpp b/glass/src/lib/native/cpp/other/CommandSelector.cpp
index c0f357f43d..61e0509b8a 100644
--- a/glass/src/lib/native/cpp/other/CommandSelector.cpp
+++ b/glass/src/lib/native/cpp/other/CommandSelector.cpp
@@ -8,9 +8,9 @@
 
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayCommandSelector(CommandSelectorModel* m) {
+void wpi::glass::DisplayCommandSelector(CommandSelectorModel* m) {
   if (auto name = m->GetName()) {
     ImGui::Text("%s", name);
   }
diff --git a/glass/src/lib/native/cpp/other/DeviceTree.cpp b/glass/src/lib/native/cpp/other/DeviceTree.cpp
index 776cd76145..4e57218ca3 100644
--- a/glass/src/lib/native/cpp/other/DeviceTree.cpp
+++ b/glass/src/lib/native/cpp/other/DeviceTree.cpp
@@ -14,7 +14,7 @@
 #include "wpi/glass/DataSource.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 void DeviceTreeModel::Update() {
   for (auto&& display : m_displays) {
@@ -41,11 +41,11 @@ void DeviceTreeModel::Display() {
   }
 }
 
-void glass::HideDevice(const char* id) {
+void wpi::glass::HideDevice(const char* id) {
   gContext->deviceHidden[id] = true;
 }
 
-bool glass::BeginDevice(const char* id, ImGuiTreeNodeFlags flags) {
+bool wpi::glass::BeginDevice(const char* id, ImGuiTreeNodeFlags flags) {
   if (gContext->deviceHidden[id]) {
     return false;
   }
@@ -56,9 +56,9 @@ bool glass::BeginDevice(const char* id, ImGuiTreeNodeFlags flags) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (name.empty()) {
-    wpi::format_to_n_c_str(label, sizeof(label), "{}###header", id);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{}###header", id);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "{}###header", name);
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{}###header", name);
   }
 
   bool open = CollapsingHeader(label, flags);
@@ -70,7 +70,7 @@ bool glass::BeginDevice(const char* id, ImGuiTreeNodeFlags flags) {
   return open;
 }
 
-void glass::EndDevice() {
+void wpi::glass::EndDevice() {
   PopID();
 }
 
@@ -150,29 +150,29 @@ static inline bool DeviceValueImpl(const char* name, bool readonly,
   }
 }
 
-bool glass::DeviceBoolean(const char* name, bool readonly, bool* value,
+bool wpi::glass::DeviceBoolean(const char* name, bool readonly, bool* value,
                           const DataSource* source) {
   return DeviceValueImpl(name, readonly, source, DeviceBooleanImpl, value);
 }
 
-bool glass::DeviceDouble(const char* name, bool readonly, double* value,
+bool wpi::glass::DeviceDouble(const char* name, bool readonly, double* value,
                          const DataSource* source) {
   return DeviceValueImpl(name, readonly, source, DeviceDoubleImpl, value);
 }
 
-bool glass::DeviceEnum(const char* name, bool readonly, int* value,
+bool wpi::glass::DeviceEnum(const char* name, bool readonly, int* value,
                        const char** options, int32_t numOptions,
                        const DataSource* source) {
   return DeviceValueImpl(name, readonly, source, DeviceEnumImpl, value, options,
                          numOptions);
 }
 
-bool glass::DeviceInt(const char* name, bool readonly, int32_t* value,
+bool wpi::glass::DeviceInt(const char* name, bool readonly, int32_t* value,
                       const DataSource* source) {
   return DeviceValueImpl(name, readonly, source, DeviceIntImpl, value);
 }
 
-bool glass::DeviceLong(const char* name, bool readonly, int64_t* value,
+bool wpi::glass::DeviceLong(const char* name, bool readonly, int64_t* value,
                        const DataSource* source) {
   return DeviceValueImpl(name, readonly, source, DeviceLongImpl, value);
 }
diff --git a/glass/src/lib/native/cpp/other/Drive.cpp b/glass/src/lib/native/cpp/other/Drive.cpp
index 0c722d9b35..76b5e63c2a 100644
--- a/glass/src/lib/native/cpp/other/Drive.cpp
+++ b/glass/src/lib/native/cpp/other/Drive.cpp
@@ -13,9 +13,9 @@
 
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayDrive(DriveModel* m) {
+void wpi::glass::DisplayDrive(DriveModel* m) {
   // Check if the model exists.
   if (!m->Exists()) {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
diff --git a/glass/src/lib/native/cpp/other/FMS.cpp b/glass/src/lib/native/cpp/other/FMS.cpp
index 8d379ebc11..90583d3363 100644
--- a/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/glass/src/lib/native/cpp/other/FMS.cpp
@@ -12,12 +12,12 @@
 #include "wpi/glass/DataSource.hpp"
 #include "wpi/util/SmallString.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 static const char* stations[] = {"Invalid", "Red 1",  "Red 2", "Red 3",
                                  "Blue 1",  "Blue 2", "Blue 3"};
 
-void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
+void wpi::glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
   if (!model->Exists() || model->IsReadOnly()) {
     return DisplayFMSReadOnly(model);
   }
@@ -89,7 +89,7 @@ void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
   }
 }
 
-void glass::DisplayFMSReadOnly(FMSModel* model) {
+void wpi::glass::DisplayFMSReadOnly(FMSModel* model) {
   bool exists = model->Exists();
   if (!exists) {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
@@ -150,7 +150,7 @@ void glass::DisplayFMSReadOnly(FMSModel* model) {
   }
   if (auto data = model->GetGameSpecificMessageData()) {
     if (exists) {
-      wpi::SmallString<64> gsmBuf;
+      wpi::util::SmallString<64> gsmBuf;
       std::string_view gsm = data->GetValue(gsmBuf);
       ImGui::Text("Game Specific: %.*s", static_cast<int>(gsm.size()),
                   gsm.data());
diff --git a/glass/src/lib/native/cpp/other/Field2D.cpp b/glass/src/lib/native/cpp/other/Field2D.cpp
index 85b4456d27..1bcf1b5913 100644
--- a/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/glass/src/lib/native/cpp/other/Field2D.cpp
@@ -37,7 +37,7 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 namespace gui = wpi::gui;
 
@@ -47,12 +47,12 @@ enum DisplayUnits { kDisplayMeters = 0, kDisplayFeet, kDisplayInches };
 
 // Per-frame field data (not persistent)
 struct FieldFrameData {
-  frc::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
+  wpi::math::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
     return {
-        units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
-        units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
+        wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
+        wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
   }
-  ImVec2 GetScreenFromPos(const frc::Translation2d& pos) const {
+  ImVec2 GetScreenFromPos(const wpi::math::Translation2d& pos) const {
     return {min.x + scale * pos.X().to<float>(),
             max.y - scale * pos.Y().to<float>()};
   }
@@ -71,7 +71,7 @@ struct SelectedTargetInfo {
   FieldObjectModel* objModel = nullptr;
   std::string name;
   size_t index;
-  units::radian_t rot;
+  wpi::units::radian_t rot;
   ImVec2 poseCenter;  // center of the pose (screen coordinates)
   ImVec2 center;      // center of the target (screen coordinates)
   float radius;       // target radius
@@ -83,18 +83,18 @@ struct SelectedTargetInfo {
 struct PoseDragState {
   SelectedTargetInfo target;
   ImVec2 initialOffset;
-  units::radian_t initialAngle = 0_rad;
+  wpi::units::radian_t initialAngle = 0_rad;
 };
 
 // Popup edit state
 class PopupState {
  public:
-  void Open(SelectedTargetInfo* target, const frc::Translation2d& pos);
+  void Open(SelectedTargetInfo* target, const wpi::math::Translation2d& pos);
   void Close();
 
   SelectedTargetInfo* GetTarget() { return &m_target; }
   FieldObjectModel* GetInsertModel() { return m_insertModel; }
-  std::span<const frc::Pose2d> GetInsertPoses() const { return m_insertPoses; }
+  std::span<const wpi::math::Pose2d> GetInsertPoses() const { return m_insertPoses; }
 
   void Display(Field2DModel* model, const FieldFrameData& ffd);
 
@@ -106,7 +106,7 @@ class PopupState {
 
   // for insert
   FieldObjectModel* m_insertModel;
-  std::vector<frc::Pose2d> m_insertPoses;
+  std::vector<wpi::math::Pose2d> m_insertPoses;
   std::string m_insertName;
   int m_insertIndex;
 };
@@ -133,8 +133,8 @@ struct DisplayOptions {
   float weight = kDefaultWeight;
   int color = kDefaultColor;
 
-  units::meter_t width = kDefaultWidth;
-  units::meter_t length = kDefaultLength;
+  wpi::units::meter_t width = kDefaultWidth;
+  wpi::units::meter_t length = kDefaultLength;
 
   bool arrows = kDefaultArrows;
   int arrowSize = kDefaultArrowSize;
@@ -149,13 +149,13 @@ struct DisplayOptions {
 // Per-frame pose data (not persistent)
 class PoseFrameData {
  public:
-  explicit PoseFrameData(const frc::Pose2d& pose, FieldObjectModel& model,
+  explicit PoseFrameData(const wpi::math::Pose2d& pose, FieldObjectModel& model,
                          size_t index, const FieldFrameData& ffd,
                          const DisplayOptions& displayOptions);
-  void SetPosition(const frc::Translation2d& pos);
-  void SetRotation(units::radian_t rot);
-  const frc::Rotation2d& GetRotation() const { return m_pose.Rotation(); }
-  const frc::Pose2d& GetPose() const { return m_pose; }
+  void SetPosition(const wpi::math::Translation2d& pos);
+  void SetRotation(wpi::units::radian_t rot);
+  const wpi::math::Rotation2d& GetRotation() const { return m_pose.Rotation(); }
+  const wpi::math::Pose2d& GetPose() const { return m_pose; }
   float GetHitRadius() const { return m_hitRadius; }
   void UpdateFrameData();
   std::pair<int, float> IsHovered(const ImVec2& cursor) const;
@@ -181,7 +181,7 @@ class PoseFrameData {
 
   float m_hitRadius;
 
-  frc::Pose2d m_pose;
+  wpi::math::Pose2d m_pose;
 };
 
 class ObjectInfo {
@@ -233,7 +233,7 @@ class FieldInfo {
   FieldFrameData GetFrameData(ImVec2 min, ImVec2 max) const;
   void Draw(ImDrawList* drawList, const FieldFrameData& frameData) const;
 
-  wpi::StringMap<ObjectInfo> m_objects;
+  wpi::util::StringMap<ObjectInfo> m_objects;
 
  private:
   void Reset();
@@ -266,37 +266,37 @@ static PoseDragState gDragState;
 static PopupState gPopupState;
 static DisplayUnits gDisplayUnits = kDisplayMeters;
 
-static double ConvertDisplayLength(units::meter_t v) {
+static double ConvertDisplayLength(wpi::units::meter_t v) {
   switch (gDisplayUnits) {
     case kDisplayFeet:
-      return v.convert<units::feet>().value();
+      return v.convert<wpi::units::feet>().value();
     case kDisplayInches:
-      return v.convert<units::inches>().value();
+      return v.convert<wpi::units::inches>().value();
     case kDisplayMeters:
     default:
       return v.value();
   }
 }
 
-static double ConvertDisplayAngle(units::degree_t v) {
+static double ConvertDisplayAngle(wpi::units::degree_t v) {
   return v.value();
 }
 
-static bool InputLength(const char* label, units::meter_t* v, double step = 0.0,
+static bool InputLength(const char* label, wpi::units::meter_t* v, double step = 0.0,
                         double step_fast = 0.0, const char* format = "%.6f",
                         ImGuiInputTextFlags flags = 0) {
   double dv = ConvertDisplayLength(*v);
   if (ImGui::InputDouble(label, &dv, step, step_fast, format, flags)) {
     switch (gDisplayUnits) {
       case kDisplayFeet:
-        *v = units::foot_t{dv};
+        *v = wpi::units::foot_t{dv};
         break;
       case kDisplayInches:
-        *v = units::inch_t{dv};
+        *v = wpi::units::inch_t{dv};
         break;
       case kDisplayMeters:
       default:
-        *v = units::meter_t{dv};
+        *v = wpi::units::meter_t{dv};
         break;
     }
     return true;
@@ -308,7 +308,7 @@ static bool InputFloatLength(const char* label, float* v, double step = 0.0,
                              double step_fast = 0.0,
                              const char* format = "%.3f",
                              ImGuiInputTextFlags flags = 0) {
-  units::meter_t uv{*v};
+  wpi::units::meter_t uv{*v};
   if (InputLength(label, &uv, step, step_fast, format, flags)) {
     *v = uv.to<float>();
     return true;
@@ -316,18 +316,18 @@ static bool InputFloatLength(const char* label, float* v, double step = 0.0,
   return false;
 }
 
-static bool InputAngle(const char* label, units::degree_t* v, double step = 0.0,
+static bool InputAngle(const char* label, wpi::units::degree_t* v, double step = 0.0,
                        double step_fast = 0.0, const char* format = "%.6f",
                        ImGuiInputTextFlags flags = 0) {
   double dv = ConvertDisplayAngle(*v);
   if (ImGui::InputDouble(label, &dv, step, step_fast, format, flags)) {
-    *v = units::degree_t{dv};
+    *v = wpi::units::degree_t{dv};
     return true;
   }
   return false;
 }
 
-static bool InputPose(frc::Pose2d* pose) {
+static bool InputPose(wpi::math::Pose2d* pose) {
   auto x = pose->X();
   auto y = pose->Y();
   auto rot = pose->Rotation().Degrees();
@@ -337,7 +337,7 @@ static bool InputPose(frc::Pose2d* pose) {
   changed = InputLength("y", &y) || changed;
   changed = InputAngle("rot", &rot) || changed;
   if (changed) {
-    *pose = frc::Pose2d{x, y, rot};
+    *pose = wpi::math::Pose2d{x, y, rot};
   }
   return changed;
 }
@@ -359,7 +359,7 @@ void FieldInfo::DisplaySettings() {
     if (ImGui::Selectable("Custom", m_builtin.empty())) {
       Reset();
     }
-    for (auto&& field : fields::GetFields()) {
+    for (auto&& field : wpi::fields::GetFields()) {
       bool selected = field.name == m_builtin;
       if (ImGui::Selectable(field.name, selected)) {
         Reset();
@@ -406,7 +406,7 @@ void FieldInfo::LoadImage() {
   if (m_fileOpener && m_fileOpener->ready(0)) {
     auto result = m_fileOpener->result();
     if (!result.empty()) {
-      if (wpi::ends_with(result[0], ".json")) {
+      if (wpi::util::ends_with(result[0], ".json")) {
         LoadJsonFile(result[0]);
       } else {
         LoadImageImpl(result[0].c_str());
@@ -420,7 +420,7 @@ void FieldInfo::LoadImage() {
   }
   if (!m_texture) {
     if (!m_builtin.empty()) {
-      for (auto&& field : fields::GetFields()) {
+      for (auto&& field : wpi::fields::GetFields()) {
         if (field.name == m_builtin) {
           auto jsonstr = field.getJson();
           auto imagedata = field.getImage();
@@ -446,11 +446,11 @@ void FieldInfo::LoadImage() {
 
 bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   // parse file
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(is);
-  } catch (const wpi::json::parse_error& e) {
-    wpi::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
+    j = wpi::util::json::parse(is);
+  } catch (const wpi::util::json::parse_error& e) {
+    wpi::util::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
     return false;
   }
 
@@ -464,8 +464,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   std::string image;
   try {
     image = j.at("field-image").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
     return false;
   }
 
@@ -476,8 +476,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
     left = j.at("field-corners").at("top-left").at(0).get<int>();
     bottom = j.at("field-corners").at("bottom-right").at(1).get<int>();
     right = j.at("field-corners").at("bottom-right").at(0).get<int>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
                e.what());
     return false;
   }
@@ -488,8 +488,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   try {
     width = j.at("field-size").at(0).get<float>();
     height = j.at("field-size").at(1).get<float>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
     return false;
   }
 
@@ -497,22 +497,22 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   std::string unit;
   try {
     unit = j.at("field-unit").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
     return false;
   }
 
   // convert size units to meters
   if (unit == "foot" || unit == "feet") {
-    width = units::convert<units::feet, units::meters>(width);
-    height = units::convert<units::feet, units::meters>(height);
+    width = wpi::units::convert<wpi::units::feet, wpi::units::meters>(width);
+    height = wpi::units::convert<wpi::units::feet, wpi::units::meters>(height);
   }
 
   // check scaling
   int fieldWidth = m_right - m_left;
   int fieldHeight = m_bottom - m_top;
   if (std::abs((fieldWidth / width) - (fieldHeight / height)) > 0.3) {
-    wpi::print(stderr,
+    wpi::util::print(stderr,
                "GUI: Field X and Y scaling substantially different: "
                "xscale={} yscale={}\n",
                (fieldWidth / width), (fieldHeight / height));
@@ -540,7 +540,7 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
 }
 
 void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(jsonfile);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(jsonfile);
   if (!fileBuffer) {
     std::fputs("GUI: could not open field JSON file\n", stderr);
     return;
@@ -551,7 +551,7 @@ void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
 }
 
 bool FieldInfo::LoadImageImpl(const std::string& fn) {
-  wpi::print("GUI: loading field image '{}'\n", fn);
+  wpi::util::print("GUI: loading field image '{}'\n", fn);
   auto texture = gui::Texture::CreateFromFile(fn.c_str());
   if (!texture) {
     std::puts("GUI: could not read field image");
@@ -651,8 +651,8 @@ DisplayOptions ObjectInfo::GetDisplayOptions() const {
   rv.style = static_cast<DisplayOptions::Style>(m_style.GetValue());
   rv.weight = m_weight;
   rv.color = ImGui::ColorConvertFloat4ToU32(m_color.GetColor());
-  rv.width = units::meter_t{m_width};
-  rv.length = units::meter_t{m_length};
+  rv.width = wpi::units::meter_t{m_width};
+  rv.length = wpi::units::meter_t{m_length};
   rv.arrows = m_arrows;
   rv.arrowSize = m_arrowSize;
   rv.arrowWeight = m_arrowWeight;
@@ -761,7 +761,7 @@ void ObjectInfo::LoadImage() {
 }
 
 bool ObjectInfo::LoadImageImpl(const std::string& fn) {
-  wpi::print("GUI: loading object image '{}'\n", fn);
+  wpi::util::print("GUI: loading object image '{}'\n", fn);
   auto texture = gui::Texture::CreateFromFile(fn.c_str());
   if (!texture) {
     std::fputs("GUI: could not read object image\n", stderr);
@@ -772,7 +772,7 @@ bool ObjectInfo::LoadImageImpl(const std::string& fn) {
   return true;
 }
 
-PoseFrameData::PoseFrameData(const frc::Pose2d& pose, FieldObjectModel& model,
+PoseFrameData::PoseFrameData(const wpi::math::Pose2d& pose, FieldObjectModel& model,
                              size_t index, const FieldFrameData& ffd,
                              const DisplayOptions& displayOptions)
     : m_model{model},
@@ -786,13 +786,13 @@ PoseFrameData::PoseFrameData(const frc::Pose2d& pose, FieldObjectModel& model,
   UpdateFrameData();
 }
 
-void PoseFrameData::SetPosition(const frc::Translation2d& pos) {
-  m_pose = frc::Pose2d{pos, m_pose.Rotation()};
+void PoseFrameData::SetPosition(const wpi::math::Translation2d& pos) {
+  m_pose = wpi::math::Pose2d{pos, m_pose.Rotation()};
   m_model.SetPose(m_index, m_pose);
 }
 
-void PoseFrameData::SetRotation(units::radian_t rot) {
-  m_pose = frc::Pose2d{m_pose.Translation(), rot};
+void PoseFrameData::SetRotation(wpi::units::radian_t rot) {
+  m_pose = wpi::math::Pose2d{m_pose.Translation(), rot};
   m_model.SetPose(m_index, m_pose);
 }
 
@@ -896,7 +896,7 @@ void PoseFrameData::HandleDrag(const ImVec2& cursor) {
   } else {
     ImVec2 off = cursor - m_center;
     SetRotation(gDragState.initialAngle -
-                units::radian_t{std::atan2(off.y, off.x)});
+                wpi::units::radian_t{std::atan2(off.y, off.x)});
     gDragState.target.center = m_corners[gDragState.target.corner - 2];
     gDragState.target.rot = GetRotation().Radians();
   }
@@ -935,7 +935,7 @@ void PoseFrameData::Draw(ImDrawList* drawList, std::vector<ImVec2>* center,
   }
 }
 
-void glass::DisplayField2DSettings(Field2DModel* model) {
+void wpi::glass::DisplayField2DSettings(Field2DModel* model) {
   auto& storage = GetStorage();
   auto field = storage.GetData<FieldInfo>();
   if (!field) {
@@ -963,7 +963,7 @@ void glass::DisplayField2DSettings(Field2DModel* model) {
     }
     PushID(name);
 
-    wpi::SmallString<64> nameBuf{name};
+    wpi::util::SmallString<64> nameBuf{name};
     if (ImGui::CollapsingHeader(nameBuf.c_str())) {
       auto& obj =
           field->m_objects.try_emplace(name, GetStorage()).first->second;
@@ -1085,7 +1085,7 @@ void FieldDisplay::Display(FieldInfo* field, Field2DModel* model,
       gDragState.initialOffset = m_mousePos - target->poseCenter;
       if (target->corner != 1) {
         gDragState.initialAngle =
-            units::radian_t{std::atan2(gDragState.initialOffset.y,
+            wpi::units::radian_t{std::atan2(gDragState.initialOffset.y,
                                        gDragState.initialOffset.x)} +
             target->rot;
       }
@@ -1152,7 +1152,7 @@ void FieldDisplay::DisplayObject(FieldObjectModel& model,
 }
 
 void PopupState::Open(SelectedTargetInfo* target,
-                      const frc::Translation2d& pos) {
+                      const wpi::math::Translation2d& pos) {
   if (target) {
     m_target = *target;
   } else {
@@ -1182,7 +1182,7 @@ void PopupState::Display(Field2DModel* model, const FieldFrameData& ffd) {
 void PopupState::DisplayTarget(Field2DModel* model, const FieldFrameData& ffd) {
   ImGui::Text("%s[%d]", m_target.name.c_str(),
               static_cast<int>(m_target.index));
-  frc::Pose2d pose{ffd.GetPosFromScreen(m_target.poseCenter), m_target.rot};
+  wpi::math::Pose2d pose{ffd.GetPosFromScreen(m_target.poseCenter), m_target.rot};
   if (InputPose(&pose)) {
     m_target.poseCenter = ffd.GetScreenFromPos(pose.Translation());
     m_target.rot = pose.Rotation().Radians();
@@ -1190,7 +1190,7 @@ void PopupState::DisplayTarget(Field2DModel* model, const FieldFrameData& ffd) {
   }
   if (ImGui::Button("Delete Pose")) {
     auto posesRef = m_target.objModel->GetPoses();
-    std::vector<frc::Pose2d> poses{posesRef.begin(), posesRef.end()};
+    std::vector<wpi::math::Pose2d> poses{posesRef.begin(), posesRef.end()};
     if (m_target.index < poses.size()) {
       poses.erase(poses.begin() + m_target.index);
       m_target.objModel->SetPoses(poses);
@@ -1277,7 +1277,7 @@ void PopupState::DisplayInsert(Field2DModel* model) {
   }
 }
 
-void glass::DisplayField2D(Field2DModel* model, const ImVec2& contentSize) {
+void wpi::glass::DisplayField2D(Field2DModel* model, const ImVec2& contentSize) {
   auto& storage = GetStorage();
   auto field = storage.GetData<FieldInfo>();
   if (!field) {
diff --git a/glass/src/lib/native/cpp/other/Log.cpp b/glass/src/lib/native/cpp/other/Log.cpp
index 253328bdf5..d5191e27d8 100644
--- a/glass/src/lib/native/cpp/other/Log.cpp
+++ b/glass/src/lib/native/cpp/other/Log.cpp
@@ -8,7 +8,7 @@
 
 #include <imgui.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
 LogData::LogData(size_t maxLines) : m_maxLines{maxLines} {}
 
@@ -36,7 +36,7 @@ const std::string& LogData::GetBuffer() {
   return m_buf;
 }
 
-void glass::DisplayLog(LogData* data, bool autoScroll) {
+void wpi::glass::DisplayLog(LogData* data, bool autoScroll) {
   if (data->m_buf.empty()) {
     return;
   }
diff --git a/glass/src/lib/native/cpp/other/Mechanism2D.cpp b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
index 81e9d2f737..464b0e3222 100644
--- a/glass/src/lib/native/cpp/other/Mechanism2D.cpp
+++ b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
@@ -29,7 +29,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 namespace gui = wpi::gui;
 
@@ -37,19 +37,19 @@ namespace {
 
 // Per-frame data (not persistent)
 struct FrameData {
-  frc::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
+  wpi::math::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
     return {
-        units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
-        units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
+        wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
+        wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
   }
-  ImVec2 GetScreenFromPos(const frc::Translation2d& pos) const {
+  ImVec2 GetScreenFromPos(const wpi::math::Translation2d& pos) const {
     return {min.x + scale * pos.X().to<float>(),
             max.y - scale * pos.Y().to<float>()};
   }
   void DrawObject(ImDrawList* drawList, MechanismObjectModel& objModel,
-                  const frc::Pose2d& pose) const;
+                  const wpi::math::Pose2d& pose) const;
   void DrawGroup(ImDrawList* drawList, MechanismObjectGroup& group,
-                 const frc::Pose2d& pose) const;
+                 const wpi::math::Pose2d& pose) const;
 
   // in screen coordinates
   ImVec2 imageMin;
@@ -67,7 +67,7 @@ class BackgroundInfo {
   void DisplaySettings();
 
   void LoadImage();
-  FrameData GetFrameData(ImVec2 min, ImVec2 max, frc::Translation2d dims) const;
+  FrameData GetFrameData(ImVec2 min, ImVec2 max, wpi::math::Translation2d dims) const;
   void Draw(ImDrawList* drawList, const FrameData& frameData,
             ImU32 bgColor) const;
 
@@ -126,7 +126,7 @@ void BackgroundInfo::LoadImage() {
 }
 
 bool BackgroundInfo::LoadImageImpl(const std::string& fn) {
-  wpi::print("GUI: loading background image '{}'\n", fn);
+  wpi::util::print("GUI: loading background image '{}'\n", fn);
   auto texture = gui::Texture::CreateFromFile(fn.c_str());
   if (!texture) {
     std::puts("GUI: could not read background image");
@@ -140,7 +140,7 @@ bool BackgroundInfo::LoadImageImpl(const std::string& fn) {
 }
 
 FrameData BackgroundInfo::GetFrameData(ImVec2 min, ImVec2 max,
-                                       frc::Translation2d dims) const {
+                                       wpi::math::Translation2d dims) const {
   // fit the image into the window
   if (m_texture && m_imageHeight != 0 && m_imageWidth != 0) {
     gui::MaxFit(&min, &max, m_imageWidth, m_imageHeight);
@@ -170,7 +170,7 @@ void BackgroundInfo::Draw(ImDrawList* drawList, const FrameData& frameData,
   }
 }
 
-void glass::DisplayMechanism2DSettings(Mechanism2DModel* model) {
+void wpi::glass::DisplayMechanism2DSettings(Mechanism2DModel* model) {
   auto& storage = GetStorage();
   auto bg = storage.GetData<BackgroundInfo>();
   if (!bg) {
@@ -181,14 +181,14 @@ void glass::DisplayMechanism2DSettings(Mechanism2DModel* model) {
 }
 
 void FrameData::DrawObject(ImDrawList* drawList, MechanismObjectModel& objModel,
-                           const frc::Pose2d& pose) const {
+                           const wpi::math::Pose2d& pose) const {
   const char* type = objModel.GetType();
   if (std::string_view{type} == "line") {
     auto startPose =
-        pose + frc::Transform2d{frc::Translation2d{}, objModel.GetAngle()};
+        pose + wpi::math::Transform2d{wpi::math::Translation2d{}, objModel.GetAngle()};
     auto endPose =
         startPose +
-        frc::Transform2d{frc::Translation2d{objModel.GetLength(), 0_m}, 0_deg};
+        wpi::math::Transform2d{wpi::math::Translation2d{objModel.GetLength(), 0_m}, 0_deg};
     drawList->AddLine(GetScreenFromPos(startPose.Translation()),
                       GetScreenFromPos(endPose.Translation()),
                       objModel.GetColor(), objModel.GetWeight());
@@ -197,12 +197,12 @@ void FrameData::DrawObject(ImDrawList* drawList, MechanismObjectModel& objModel,
 }
 
 void FrameData::DrawGroup(ImDrawList* drawList, MechanismObjectGroup& group,
-                          const frc::Pose2d& pose) const {
+                          const wpi::math::Pose2d& pose) const {
   group.ForEachObject(
       [&](auto& objModel) { DrawObject(drawList, objModel, pose); });
 }
 
-void glass::DisplayMechanism2D(Mechanism2DModel* model,
+void wpi::glass::DisplayMechanism2D(Mechanism2DModel* model,
                                const ImVec2& contentSize) {
   auto& storage = GetStorage();
   auto bg = storage.GetData<BackgroundInfo>();
@@ -233,7 +233,7 @@ void glass::DisplayMechanism2D(Mechanism2DModel* model,
   // elements
   model->ForEachRoot([&](auto& rootModel) {
     frameData.DrawGroup(drawList, rootModel,
-                        frc::Pose2d{rootModel.GetPosition(), 0_deg});
+                        wpi::math::Pose2d{rootModel.GetPosition(), 0_deg});
   });
 
 #if 0
diff --git a/glass/src/lib/native/cpp/other/PIDController.cpp b/glass/src/lib/native/cpp/other/PIDController.cpp
index b9b6471dcc..57ade141d8 100644
--- a/glass/src/lib/native/cpp/other/PIDController.cpp
+++ b/glass/src/lib/native/cpp/other/PIDController.cpp
@@ -8,9 +8,9 @@
 
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayPIDController(PIDControllerModel* m) {
+void wpi::glass::DisplayPIDController(PIDControllerModel* m) {
   if (auto name = m->GetName()) {
     ImGui::Text("%s", name);
     ImGui::Separator();
diff --git a/glass/src/lib/native/cpp/other/Plot.cpp b/glass/src/lib/native/cpp/other/Plot.cpp
index 79226daa2a..7f9b116f87 100644
--- a/glass/src/lib/native/cpp/other/Plot.cpp
+++ b/glass/src/lib/native/cpp/other/Plot.cpp
@@ -39,7 +39,7 @@
 #include "wpi/glass/support/EnumSetting.hpp"
 #include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 static constexpr int kAxisCount = 3;
 
@@ -89,8 +89,8 @@ class PlotSeries {
   // source linkage
   DataSource* m_source = nullptr;
   bool m_digitalSource = false;
-  wpi::sig::ScopedConnection m_sourceCreatedConn;
-  wpi::sig::ScopedConnection m_newValueConn;
+  wpi::util::sig::ScopedConnection m_sourceCreatedConn;
+  wpi::util::sig::ScopedConnection m_newValueConn;
   std::string& m_id;
 
   // user settings
@@ -292,7 +292,7 @@ void PlotSeries::SetSource(DataSource* source) {
 }
 
 void PlotSeries::AppendValue(double value, int64_t timeUs) {
-  double time = (timeUs != 0 ? timeUs : wpi::Now()) * 1.0e-6;
+  double time = (timeUs != 0 ? timeUs : wpi::util::Now()) * 1.0e-6;
   if (IsDigital()) {
     if (m_size < kMaxSize) {
       m_data[m_size] = ImPlotPoint{time, value};
@@ -350,7 +350,7 @@ PlotSeries::Action PlotSeries::EmitPlot(PlotView& view, double now, size_t i,
   CheckSource();
 
   char label[128];
-  wpi::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}", GetName(),
+  wpi::util::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}", GetName(),
                          static_cast<int>(i), static_cast<int>(plotIndex));
 
   int size = m_size;
@@ -618,7 +618,7 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
   }
 
   char label[128];
-  wpi::format_to_n_c_str(label, sizeof(label), "{}###plot{}", m_name,
+  wpi::util::format_to_n_c_str(label, sizeof(label), "{}###plot{}", m_name,
                          static_cast<int>(i));
 
   ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
@@ -865,7 +865,7 @@ void PlotView::Display() {
     }
   }
 
-  double now = wpi::Now() * 1.0e-6;
+  double now = wpi::util::Now() * 1.0e-6;
   for (size_t i = 0; i < m_plots.size(); ++i) {
     ImGui::PushID(i);
     m_plots[i]->EmitPlot(*this, now, m_provider->IsPaused(), i);
@@ -976,14 +976,14 @@ void PlotView::Settings() {
 
     char name[64];
     if (!plot->GetName().empty()) {
-      wpi::format_to_n_c_str(name, sizeof(name), "{}", plot->GetName().c_str());
+      wpi::util::format_to_n_c_str(name, sizeof(name), "{}", plot->GetName().c_str());
     } else {
-      wpi::format_to_n_c_str(name, sizeof(name), "Plot {}",
+      wpi::util::format_to_n_c_str(name, sizeof(name), "Plot {}",
                              static_cast<int>(i));
     }
 
     char label[90];
-    wpi::format_to_n_c_str(label, sizeof(label), "{}###header{}", name,
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{}###header{}", name,
                            static_cast<int>(i));
 
     bool open = ImGui::CollapsingHeader(label);
@@ -1053,7 +1053,7 @@ void PlotProvider::DisplayMenu() {
     char id[32];
     size_t numWindows = m_windows.size();
     for (size_t i = 0; i <= numWindows; ++i) {
-      wpi::format_to_n_c_str(id, sizeof(id), "Plot <{}>", static_cast<int>(i));
+      wpi::util::format_to_n_c_str(id, sizeof(id), "Plot <{}>", static_cast<int>(i));
 
       bool match = false;
       for (size_t j = 0; j < numWindows; ++j) {
diff --git a/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp b/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
index 391e893650..e7d7f38d07 100644
--- a/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
+++ b/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
@@ -8,9 +8,9 @@
 
 #include "wpi/glass/DataSource.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
+void wpi::glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
   if (auto name = m->GetName()) {
     ImGui::Text("%s", name);
     ImGui::Separator();
diff --git a/glass/src/lib/native/cpp/other/StringChooser.cpp b/glass/src/lib/native/cpp/other/StringChooser.cpp
index 00664ec5ee..418c997fca 100644
--- a/glass/src/lib/native/cpp/other/StringChooser.cpp
+++ b/glass/src/lib/native/cpp/other/StringChooser.cpp
@@ -6,9 +6,9 @@
 
 #include <imgui.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplayStringChooser(StringChooserModel* model) {
+void wpi::glass::DisplayStringChooser(StringChooserModel* model) {
   auto& defaultValue = model->GetDefault();
   auto& selected = model->GetSelected();
   auto& active = model->GetActive();
diff --git a/glass/src/lib/native/cpp/other/Subsystem.cpp b/glass/src/lib/native/cpp/other/Subsystem.cpp
index da03b60e99..e8a4ffaaa8 100644
--- a/glass/src/lib/native/cpp/other/Subsystem.cpp
+++ b/glass/src/lib/native/cpp/other/Subsystem.cpp
@@ -8,9 +8,9 @@
 
 #include <imgui.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::DisplaySubsystem(SubsystemModel* m) {
+void wpi::glass::DisplaySubsystem(SubsystemModel* m) {
   if (auto name = m->GetName()) {
     ImGui::Text("%s", name);
     ImGui::Separator();
diff --git a/glass/src/lib/native/cpp/support/ColorSetting.cpp b/glass/src/lib/native/cpp/support/ColorSetting.cpp
index 640c68f603..e76ec57ab9 100644
--- a/glass/src/lib/native/cpp/support/ColorSetting.cpp
+++ b/glass/src/lib/native/cpp/support/ColorSetting.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/glass/support/ColorSetting.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 ColorSetting::ColorSetting(std::vector<float>& color) : m_color{color} {
   m_color.resize(4);
diff --git a/glass/src/lib/native/cpp/support/EnumSetting.cpp b/glass/src/lib/native/cpp/support/EnumSetting.cpp
index 8e48603cdd..a98493ee00 100644
--- a/glass/src/lib/native/cpp/support/EnumSetting.cpp
+++ b/glass/src/lib/native/cpp/support/EnumSetting.cpp
@@ -8,7 +8,7 @@
 
 #include <imgui.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
 EnumSetting::EnumSetting(std::string& str, int defaultValue,
                          std::initializer_list<const char*> choices)
diff --git a/glass/src/lib/native/cpp/support/ExpressionParser.cpp b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
index 26dbf6eb60..dd2b0bb723 100644
--- a/glass/src/lib/native/cpp/support/ExpressionParser.cpp
+++ b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
@@ -12,7 +12,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/expected"
 
-namespace glass::expression {
+namespace wpi::glass::expression {
 
 enum class TokenType {
   Number,
@@ -74,7 +74,7 @@ class Lexer {
         return Token(TokenType::CloseParen);
       default:
         currentIdx--;
-        if (wpi::isDigit(c) || c == '.') {
+        if (wpi::util::isDigit(c) || c == '.') {
           return nextNumber();
         }
         return Token(TokenType::Error, &input[currentIdx], 1);
@@ -92,7 +92,7 @@ class Lexer {
   Token nextNumber() {
     // Read whole part
     bool hasDigitsBeforeDecimal = false;
-    while (wpi::isDigit(input[currentIdx])) {
+    while (wpi::util::isDigit(input[currentIdx])) {
       currentIdx++;
       hasDigitsBeforeDecimal = true;
     }
@@ -106,12 +106,12 @@ class Lexer {
 
       currentIdx++;
       // Report a single '.' with no digits as an error
-      if (!hasDigitsBeforeDecimal && !wpi::isDigit(input[currentIdx])) {
+      if (!hasDigitsBeforeDecimal && !wpi::util::isDigit(input[currentIdx])) {
         // Report the decimal as the unexpected char
         return Token(TokenType::Error, &input[currentIdx - 1], 1);
       }
 
-      while (wpi::isDigit(input[currentIdx])) {
+      while (wpi::util::isDigit(input[currentIdx])) {
         currentIdx++;
       }
 
@@ -205,31 +205,31 @@ std::optional<V> ValueFromString(std::string_view str);
 
 template <>
 std::optional<int64_t> ValueFromString(std::string_view str) {
-  return wpi::parse_integer<int64_t>(str, 10);
+  return wpi::util::parse_integer<int64_t>(str, 10);
 }
 
 template <>
 std::optional<float> ValueFromString(std::string_view str) {
-  return wpi::parse_float<float>(str);
+  return wpi::util::parse_float<float>(str);
 }
 
 template <>
 std::optional<double> ValueFromString(std::string_view str) {
-  return wpi::parse_float<double>(str);
+  return wpi::util::parse_float<double>(str);
 }
 
 template <typename V>
-wpi::expected<V, std::string> EvalAll(std::stack<Operator>& operStack,
+wpi::util::expected<V, std::string> EvalAll(std::stack<Operator>& operStack,
                                       std::stack<V>& valStack) {
   while (!operStack.empty()) {
     if (valStack.size() < 2) {
-      return wpi::unexpected("Missing operand");
+      return wpi::util::unexpected("Missing operand");
     }
     ApplyOperator<V>(valStack, operStack.top());
     operStack.pop();
   }
   if (valStack.empty()) {
-    return wpi::unexpected("No value");
+    return wpi::util::unexpected("No value");
   }
 
   // Intentionally leaves the result value on top of valStack so unmatched
@@ -238,7 +238,7 @@ wpi::expected<V, std::string> EvalAll(std::stack<Operator>& operStack,
 }
 
 template <typename V>
-wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
+wpi::util::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
   std::stack<Operator> operStack;
   std::stack<V> valStack;
 
@@ -257,7 +257,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
         // is probably not what the user intended in this case, so give them an
         // error.
         if (prevType == TokenType::Number) {
-          return wpi::unexpected("Missing operator");
+          return wpi::util::unexpected("Missing operator");
         }
 
         // Implicit multiplication. Ex: "2(4 + 5)"
@@ -270,7 +270,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
         if (value) {
           valStack.push(value.value());
         } else {
-          return wpi::unexpected("Invalid number");
+          return wpi::util::unexpected("Invalid number");
         }
 
         break;
@@ -282,7 +282,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
           operStack.push(Operator::Multiply);
         }
 
-        wpi::expected<V, std::string> result = ParseExpr<V>(lexer, true);
+        wpi::util::expected<V, std::string> result = ParseExpr<V>(lexer, true);
         if (!result) {
           return result;
         }
@@ -293,7 +293,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
           if (nextType == TokenType::End) {
             goto end;  // Act as if closed at end of expression
           }
-          return wpi::unexpected("Expected )");
+          return wpi::util::unexpected("Expected )");
         }
         break;
       }
@@ -307,7 +307,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
         // Acts as if there was open paren at start of expression. EvalAll will
         // clear both stacks, and leave the result value on top of valStack.
         // This makes sure everything inside the parentheses is evaluated first
-        wpi::expected<V, std::string> result = EvalAll<V>(operStack, valStack);
+        wpi::util::expected<V, std::string> result = EvalAll<V>(operStack, valStack);
         if (!result) {
           return result;
         }
@@ -315,7 +315,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
       }
 
       case TokenType::Error:
-        return wpi::unexpected(std::string("Unexpected character: ")
+        return wpi::util::unexpected(std::string("Unexpected character: ")
                                    .append(token.str, token.strLen));
 
       default:
@@ -342,7 +342,7 @@ wpi::expected<V, std::string> ParseExpr(Lexer& lexer, bool insideParen) {
               precedence < prevPrecedence) {
             operStack.pop();
             if (valStack.size() < 2) {
-              return wpi::unexpected("Missing operand");
+              return wpi::util::unexpected("Missing operand");
             }
             ApplyOperator<V>(valStack, prevOp);
           } else {
@@ -363,13 +363,13 @@ end:
 
 // expr is null-terminated string, as ImGui::inputText() uses
 template <typename V>
-wpi::expected<V, std::string> TryParseExpr(const char* expr) {
+wpi::util::expected<V, std::string> TryParseExpr(const char* expr) {
   Lexer lexer(expr, std::is_integral_v<V>);
   return ParseExpr<V>(lexer, false);
 }
 
-template wpi::expected<double, std::string> TryParseExpr(const char*);
-template wpi::expected<float, std::string> TryParseExpr(const char*);
-template wpi::expected<int64_t, std::string> TryParseExpr(const char*);
+template wpi::util::expected<double, std::string> TryParseExpr(const char*);
+template wpi::util::expected<float, std::string> TryParseExpr(const char*);
+template wpi::util::expected<int64_t, std::string> TryParseExpr(const char*);
 
-}  // namespace glass::expression
+}  // namespace wpi::glass::expression
diff --git a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
index 98f45dbbfb..0950b1529a 100644
--- a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
+++ b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
@@ -15,7 +15,7 @@
 #include "wpi/glass/support/ExpressionParser.hpp"
 #include "wpi/util/DenseMap.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 void DrawLEDSources(const int* values, BooleanSource** sources, int numValues,
                     int cols, const ImU32* colors, float size, float spacing,
@@ -228,7 +228,7 @@ struct InputExprState {
   char inputBuffer[kBufferSize];
 };
 
-static wpi::DenseMap<int, InputExprState> exprStates;
+static wpi::util::DenseMap<int, InputExprState> exprStates;
 // Shared string buffer for inactive inputs
 static char previewBuffer[kBufferSize];
 
@@ -267,7 +267,7 @@ bool InputExpr(const char* label, V* v, const char* format,
     }
 
     // Attempt to parse current value
-    auto result = glass::expression::TryParseExpr<V>(state.inputBuffer);
+    auto result = wpi::glass::expression::TryParseExpr<V>(state.inputBuffer);
     if (result) {
       *v = result.value();
     } else if (active) {
@@ -289,4 +289,4 @@ template bool InputExpr(const char*, int64_t*, const char*,
 template bool InputExpr(const char*, float*, const char*, ImGuiInputTextFlags);
 template bool InputExpr(const char*, double*, const char*, ImGuiInputTextFlags);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/cpp/support/NameSetting.cpp b/glass/src/lib/native/cpp/support/NameSetting.cpp
index 4321b43432..8abfaf0d1d 100644
--- a/glass/src/lib/native/cpp/support/NameSetting.cpp
+++ b/glass/src/lib/native/cpp/support/NameSetting.cpp
@@ -9,50 +9,50 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 void NameSetting::GetName(char* buf, size_t size,
                           const char* defaultName) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{}", m_name);
+    wpi::util::format_to_n_c_str(buf, size, "{}", m_name);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}", defaultName);
+    wpi::util::format_to_n_c_str(buf, size, "{}", defaultName);
   }
 }
 
 void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
                           int index) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{} [{}]", m_name, index);
+    wpi::util::format_to_n_c_str(buf, size, "{} [{}]", m_name, index);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}[{}]", defaultName, index);
+    wpi::util::format_to_n_c_str(buf, size, "{}[{}]", defaultName, index);
   }
 }
 
 void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
                           int index, int index2) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{} [{},{}]", m_name, index, index2);
+    wpi::util::format_to_n_c_str(buf, size, "{} [{},{}]", m_name, index, index2);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}[{},{}]", defaultName, index, index2);
+    wpi::util::format_to_n_c_str(buf, size, "{}[{},{}]", defaultName, index, index2);
   }
 }
 
 void NameSetting::GetLabel(char* buf, size_t size,
                            const char* defaultName) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{}###Name{}", m_name, defaultName);
+    wpi::util::format_to_n_c_str(buf, size, "{}###Name{}", m_name, defaultName);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}###Name{}", defaultName, defaultName);
+    wpi::util::format_to_n_c_str(buf, size, "{}###Name{}", defaultName, defaultName);
   }
 }
 
 void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
                            int index) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{} [{}]###Name{}", m_name, index, index);
+    wpi::util::format_to_n_c_str(buf, size, "{} [{}]###Name{}", m_name, index, index);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}[{}]###Name{}", defaultName, index,
+    wpi::util::format_to_n_c_str(buf, size, "{}[{}]###Name{}", defaultName, index,
                            index);
   }
 }
@@ -60,24 +60,24 @@ void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
 void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
                            int index, int index2) const {
   if (!m_name.empty()) {
-    wpi::format_to_n_c_str(buf, size, "{} [{},{}]###Name{}", m_name, index,
+    wpi::util::format_to_n_c_str(buf, size, "{} [{},{}]###Name{}", m_name, index,
                            index2, index);
   } else {
-    wpi::format_to_n_c_str(buf, size, "{}[{},{}]###Name{}", defaultName, index,
+    wpi::util::format_to_n_c_str(buf, size, "{}[{},{}]###Name{}", defaultName, index,
                            index2, index);
   }
 }
 
 void NameSetting::PushEditNameId(int index) {
   char id[64];
-  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+  wpi::util::format_to_n_c_str(id, sizeof(id), "Name{}", index);
 
   ImGui::PushID(id);
 }
 
 void NameSetting::PushEditNameId(const char* name) {
   char id[128];
-  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+  wpi::util::format_to_n_c_str(id, sizeof(id), "Name{}", name);
 
   ImGui::PushID(id);
 }
@@ -86,7 +86,7 @@ bool NameSetting::PopupEditName(int index) {
   bool rv = false;
 
   char id[64];
-  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+  wpi::util::format_to_n_c_str(id, sizeof(id), "Name{}", index);
 
   if (ImGui::BeginPopupContextItem(id)) {
     ImGui::Text("Edit name:");
@@ -106,7 +106,7 @@ bool NameSetting::PopupEditName(const char* name) {
   bool rv = false;
 
   char id[128];
-  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+  wpi::util::format_to_n_c_str(id, sizeof(id), "Name{}", name);
 
   if (ImGui::BeginPopupContextItem(id)) {
     ImGui::Text("Edit name:");
diff --git a/glass/src/lib/native/include/wpi/glass/Context.hpp b/glass/src/lib/native/include/wpi/glass/Context.hpp
index f343d33582..d7f764c7ea 100644
--- a/glass/src/lib/native/include/wpi/glass/Context.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Context.hpp
@@ -12,7 +12,7 @@
 
 #include <imgui.h>
 
-namespace glass {
+namespace wpi::glass {
 
 class Context;
 class Storage;
@@ -205,4 +205,4 @@ bool PopupEditName(const char* label, std::string* name);
 
 bool ItemEditName(std::string* name);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp b/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
index 972dfd8b19..b5003382f7 100644
--- a/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
+++ b/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/StringMap.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DataSource;
 
@@ -31,10 +31,10 @@ class Context {
   std::string storageLoadDir = ".";
   std::string storageAutoSaveDir = ".";
   std::string storageName = "imgui";
-  wpi::SmallVector<Storage*, 32> storageStack;
-  wpi::StringMap<Storage> storageRoots;
-  wpi::StringMap<bool> deviceHidden;
-  wpi::StringMap<DataSource*> sources;
+  wpi::util::SmallVector<Storage*, 32> storageStack;
+  wpi::util::StringMap<Storage> storageRoots;
+  wpi::util::StringMap<bool> deviceHidden;
+  wpi::util::StringMap<DataSource*> sources;
   Storage& sourceNameStorage;
   uint64_t zeroTime = 0;
   bool isPlatformSaveDir = false;
@@ -42,4 +42,4 @@ class Context {
 
 extern Context* gContext;
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/DataSource.hpp b/glass/src/lib/native/include/wpi/glass/DataSource.hpp
index 9801d9ae67..a7f1a16397 100644
--- a/glass/src/lib/native/include/wpi/glass/DataSource.hpp
+++ b/glass/src/lib/native/include/wpi/glass/DataSource.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/spinlock.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 /**
  * A data source for numeric/boolean data.
@@ -62,7 +62,7 @@ class DataSource {
 
   static DataSource* Find(std::string_view id);
 
-  static wpi::sig::Signal<const char*, DataSource*> sourceCreated;
+  static wpi::util::sig::Signal<const char*, DataSource*> sourceCreated;
 
  private:
   std::string m_id;
@@ -78,7 +78,7 @@ class DataSource {
 
   virtual void DragDropTooltip() const;
 
-  mutable wpi::spinlock m_valueMutex;
+  mutable wpi::util::spinlock m_valueMutex;
   int64_t m_valueTime = 0;
 };
 
@@ -113,7 +113,7 @@ class ValueSource : public DataSource {
     return m_value;
   }
 
-  wpi::sig::SignalBase<wpi::spinlock, T, int64_t> valueChanged;
+  wpi::util::sig::SignalBase<wpi::util::spinlock, T, int64_t> valueChanged;
 
  private:
   T m_value = 0;
@@ -202,16 +202,16 @@ class StringSource : public DataSource {
     return m_value;
   }
 
-  std::string_view GetValue(wpi::SmallVectorImpl<char>& buf) const {
+  std::string_view GetValue(wpi::util::SmallVectorImpl<char>& buf) const {
     std::scoped_lock lock{m_valueMutex};
     buf.assign(m_value.begin(), m_value.end());
     return {buf.begin(), buf.end()};
   }
 
-  wpi::sig::SignalBase<wpi::spinlock, std::string_view, int64_t> valueChanged;
+  wpi::util::sig::SignalBase<wpi::util::spinlock, std::string_view, int64_t> valueChanged;
 
  private:
   std::string m_value;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp b/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
index cfcd4db6aa..513e88118d 100644
--- a/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
+++ b/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/gui/portable-file-dialogs.h"
 
-namespace glass {
+namespace wpi::glass {
 
 /**
  * GUI main menu bar.
@@ -53,4 +53,4 @@ class MainMenuBar {
   std::unique_ptr<pfd::select_folder> m_saveFolder;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/Model.hpp b/glass/src/lib/native/include/wpi/glass/Model.hpp
index 28f546fe20..a67888b507 100644
--- a/glass/src/lib/native/include/wpi/glass/Model.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Model.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace glass {
+namespace wpi::glass {
 
 class Model {
  public:
@@ -19,4 +19,4 @@ class Model {
   virtual bool IsReadOnly();
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/Provider.hpp b/glass/src/lib/native/include/wpi/glass/Provider.hpp
index 8857f3300b..69164fddaf 100644
--- a/glass/src/lib/native/include/wpi/glass/Provider.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Provider.hpp
@@ -16,7 +16,7 @@
 #include "wpi/glass/WindowManager.hpp"
 #include "wpi/gui/wpigui.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class Storage;
 
@@ -221,4 +221,4 @@ class Provider : public WindowManager {
   virtual void Show(ViewEntry* entry, Window* window) = 0;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/Storage.hpp b/glass/src/lib/native/include/wpi/glass/Storage.hpp
index c4e3aced33..ea611ffdce 100644
--- a/glass/src/lib/native/include/wpi/glass/Storage.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Storage.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/iterator_range.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 namespace detail {
 template <typename IteratorType>
@@ -103,7 +103,7 @@ class Storage {
     void Reset(Type newType);
   };
 
-  using ValueMap = wpi::StringMap<std::unique_ptr<Value>>;
+  using ValueMap = wpi::util::StringMap<std::unique_ptr<Value>>;
   template <typename Iterator>
   using ChildIterator = detail::ChildIterator<Iterator>;
 
@@ -173,15 +173,15 @@ class Storage {
   ValueMap& GetValues() { return m_values; }
   const ValueMap& GetValues() const { return m_values; }
 
-  wpi::iterator_range<ChildIterator<ValueMap::iterator>> GetChildren();
+  wpi::util::iterator_range<ChildIterator<ValueMap::iterator>> GetChildren();
 
   /**
    * Erases all children (at top level).
    */
   void EraseChildren();
 
-  bool FromJson(const wpi::json& json, const char* filename);
-  wpi::json ToJson() const;
+  bool FromJson(const wpi::util::json& json, const char* filename);
+  wpi::util::json ToJson() const;
 
   /**
    * Clear settings (set to default).  Calls custom clear function (if set),
@@ -213,8 +213,8 @@ class Storage {
    * @param toJson replacement for ToJson()
    */
   void SetCustomJson(
-      std::function<bool(const wpi::json& json, const char* filename)> fromJson,
-      std::function<wpi::json()> toJson) {
+      std::function<bool(const wpi::util::json& json, const char* filename)> fromJson,
+      std::function<wpi::util::json()> toJson) {
     m_fromJson = std::move(fromJson);
     m_toJson = std::move(toJson);
   }
@@ -230,8 +230,8 @@ class Storage {
  private:
   mutable ValueMap m_values;
   std::shared_ptr<void> m_data;
-  std::function<bool(const wpi::json& json, const char* filename)> m_fromJson;
-  std::function<wpi::json()> m_toJson;
+  std::function<bool(const wpi::util::json& json, const char* filename)> m_fromJson;
+  std::function<wpi::util::json()> m_toJson;
   std::function<void()> m_clear;
   std::function<void()> m_apply;
 };
@@ -281,8 +281,8 @@ class ChildIterator {
 }  // namespace detail
 
 inline auto Storage::GetChildren()
-    -> wpi::iterator_range<ChildIterator<ValueMap::iterator>> {
+    -> wpi::util::iterator_range<ChildIterator<ValueMap::iterator>> {
   return {{m_values.begin(), m_values.end()}, {m_values.end(), m_values.end()}};
 }
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/View.hpp b/glass/src/lib/native/include/wpi/glass/View.hpp
index 8453a01dfb..c81c64a360 100644
--- a/glass/src/lib/native/include/wpi/glass/View.hpp
+++ b/glass/src/lib/native/include/wpi/glass/View.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 /**
  * A view is the contents of a window (1:1 mapping).
@@ -54,6 +54,6 @@ class View {
  * @param display Display function
  * @return unique_ptr to View
  */
-std::unique_ptr<View> MakeFunctionView(wpi::unique_function<void()> display);
+std::unique_ptr<View> MakeFunctionView(wpi::util::unique_function<void()> display);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/Window.hpp b/glass/src/lib/native/include/wpi/glass/Window.hpp
index 77bab71454..f8bf482221 100644
--- a/glass/src/lib/native/include/wpi/glass/Window.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Window.hpp
@@ -13,7 +13,7 @@
 
 #include "wpi/glass/View.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class Storage;
 
@@ -137,4 +137,4 @@ class Window {
   ImVec2 m_padding;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/WindowManager.hpp b/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
index 5e60759420..c7dfdf311c 100644
--- a/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
+++ b/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
@@ -11,7 +11,7 @@
 #include "wpi/glass/Window.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class Storage;
 
@@ -64,7 +64,7 @@ class WindowManager {
    * @param display window contents display function
    * @param defaultVisibility default window visibility
    */
-  Window* AddWindow(std::string_view id, wpi::unique_function<void()> display,
+  Window* AddWindow(std::string_view id, wpi::util::unique_function<void()> display,
                     Window::Visibility defaultVisibility = Window::kShow);
 
   /**
@@ -142,4 +142,4 @@ class WindowManager {
   void DisplayWindows();
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp b/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
index c5e48160da..b331e91983 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DoubleSource;
 
@@ -25,11 +25,11 @@ class AnalogInputModel : public Model {
 class AnalogInputsModel : public Model {
  public:
   virtual void ForEachAnalogInput(
-      wpi::function_ref<void(AnalogInputModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(AnalogInputModel& model, int index)> func) = 0;
 };
 
 void DisplayAnalogInput(AnalogInputModel* model, int index);
 void DisplayAnalogInputs(AnalogInputsModel* model,
                          std::string_view noneMsg = "No analog inputs");
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp b/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
index 57474ddc2c..878344ece3 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class EncoderModel;
 class BooleanSource;
@@ -53,11 +53,11 @@ class DIOModel : public Model {
 class DIOsModel : public Model {
  public:
   virtual void ForEachDIO(
-      wpi::function_ref<void(DIOModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(DIOModel& model, int index)> func) = 0;
 };
 
 void DisplayDIO(DIOModel* model, int index, bool outputsEnabled);
 void DisplayDIOs(DIOsModel* model, bool outputsEnabled,
                  std::string_view noneMsg = "No Digital I/O");
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
index 99ffdecbb4..ebf1eccc5f 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class BooleanSource;
 class DoubleSource;
@@ -48,11 +48,11 @@ class EncoderModel : public Model {
 class EncodersModel : public Model {
  public:
   virtual void ForEachEncoder(
-      wpi::function_ref<void(EncoderModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(EncoderModel& model, int index)> func) = 0;
 };
 
 void DisplayEncoder(EncoderModel* model);
 void DisplayEncoders(EncodersModel* model,
                      std::string_view noneMsg = "No encoders");
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
index 9d8e601940..d2ed977168 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DoubleSource;
 class GyroModel : public Model {
  public:
@@ -17,4 +17,4 @@ class GyroModel : public Model {
   virtual void SetAngle(double angle) = 0;
 };
 void DisplayGyro(GyroModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp b/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
index 004d3dfeef..d8367b2623 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
@@ -9,14 +9,14 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace glass {
+namespace wpi::glass {
 
-class LEDDisplayModel : public glass::Model {
+class LEDDisplayModel : public wpi::glass::Model {
  public:
   struct Data {
     uint8_t r;
@@ -24,18 +24,18 @@ class LEDDisplayModel : public glass::Model {
     uint8_t b;
   };
 
-  virtual std::span<const Data> GetData(wpi::SmallVectorImpl<Data>& buf) = 0;
+  virtual std::span<const Data> GetData(wpi::util::SmallVectorImpl<Data>& buf) = 0;
 };
 
-class LEDDisplaysModel : public glass::Model {
+class LEDDisplaysModel : public wpi::glass::Model {
  public:
   virtual size_t GetNumLEDDisplays() = 0;
 
   virtual void ForEachLEDDisplay(
-      wpi::function_ref<void(LEDDisplayModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(LEDDisplayModel& model, int index)> func) = 0;
 };
 
 void DisplayLEDDisplay(LEDDisplayModel* model, int index);
 void DisplayLEDDisplays(LEDDisplaysModel* model);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp b/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
index 232305de3e..524c1d4547 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DoubleSource;
 class MotorControllerModel : public Model {
  public:
@@ -16,4 +16,4 @@ class MotorControllerModel : public Model {
   virtual void SetPercent(double value) = 0;
 };
 void DisplayMotorController(MotorControllerModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp b/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
index 4833078912..997458f59c 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DoubleSource;
 
@@ -23,11 +23,11 @@ class PWMModel : public Model {
 class PWMsModel : public Model {
  public:
   virtual void ForEachPWM(
-      wpi::function_ref<void(PWMModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(PWMModel& model, int index)> func) = 0;
 };
 
 void DisplayPWM(PWMModel* model, int index, bool outputsEnabled);
 void DisplayPWMs(PWMsModel* model, bool outputsEnabled,
                  std::string_view noneMsg = "No PWM outputs");
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
index 53be6bc1b5..486a5f6b7d 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
@@ -11,7 +11,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class BooleanSource;
 class DoubleSource;
@@ -41,7 +41,7 @@ class PneumaticControlModel : public Model {
   virtual CompressorModel* GetCompressor() = 0;
 
   virtual void ForEachSolenoid(
-      wpi::function_ref<void(SolenoidModel& model, int index)> func) = 0;
+      wpi::util::function_ref<void(SolenoidModel& model, int index)> func) = 0;
 
   virtual std::string_view GetName() = 0;
 };
@@ -49,7 +49,7 @@ class PneumaticControlModel : public Model {
 class PneumaticControlsModel : public Model {
  public:
   virtual void ForEachPneumaticControl(
-      wpi::function_ref<void(PneumaticControlModel& model, int index)>
+      wpi::util::function_ref<void(PneumaticControlModel& model, int index)>
           func) = 0;
 };
 
@@ -77,4 +77,4 @@ void DisplayCompressorDevice(CompressorModel* model, int index,
 void DisplayCompressorsDevice(PneumaticControlsModel* model,
                               bool outputsEnabled);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp b/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
index 011e4b3a34..13802f32eb 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
@@ -9,7 +9,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DoubleSource;
 
@@ -29,7 +29,7 @@ class PowerDistributionModel : public Model {
 class PowerDistributionsModel : public Model {
  public:
   virtual void ForEachPowerDistribution(
-      wpi::function_ref<void(PowerDistributionModel& model, int index)>
+      wpi::util::function_ref<void(PowerDistributionModel& model, int index)>
           func) = 0;
 };
 
@@ -38,4 +38,4 @@ void DisplayPowerDistributions(
     PowerDistributionsModel* model,
     std::string_view noneMsg = "No Power Distributions");
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp b/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
index 7bc899eca1..61241b63d6 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class BooleanSource;
 class DoubleSource;
@@ -38,4 +38,4 @@ class RoboRioModel : public Model {
 
 void DisplayRoboRio(RoboRioModel* model);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp b/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
index df4013c2c7..3be03da10a 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class AlertsModel : public Model {
  public:
@@ -20,4 +20,4 @@ class AlertsModel : public Model {
 
 void DisplayAlerts(AlertsModel* model);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp b/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
index 475336f9ff..d320f928d5 100644
--- a/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DataSource;
 class CommandSchedulerModel : public Model {
  public:
@@ -18,4 +18,4 @@ class CommandSchedulerModel : public Model {
   virtual void CancelCommand(size_t index) = 0;
 };
 void DisplayCommandScheduler(CommandSchedulerModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp b/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
index b7caf19a8a..3f1662e94f 100644
--- a/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class BooleanSource;
 class CommandSelectorModel : public Model {
  public:
@@ -15,4 +15,4 @@ class CommandSelectorModel : public Model {
   virtual void SetRunning(bool run) = 0;
 };
 void DisplayCommandSelector(CommandSelectorModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp b/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
index 72be8d25c0..dcc6648734 100644
--- a/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
@@ -13,7 +13,7 @@
 #include "wpi/glass/Model.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DataSource;
 
@@ -22,7 +22,7 @@ class DataSource;
  */
 class DeviceTreeModel : public Model {
  public:
-  using DisplayFunc = wpi::unique_function<void(Model*)>;
+  using DisplayFunc = wpi::util::unique_function<void(Model*)>;
 
   /**
    * Add a display to the device tree.
@@ -137,4 +137,4 @@ bool DeviceInt(const char* name, bool readonly, int32_t* value,
 bool DeviceLong(const char* name, bool readonly, int64_t* value,
                 const DataSource* source = nullptr);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Drive.hpp b/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
index a1f6ef4cbf..39835c9a4f 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
@@ -14,7 +14,7 @@
 
 struct ImVec2;
 
-namespace glass {
+namespace wpi::glass {
 class DoubleSource;
 class DriveModel : public Model {
  public:
@@ -37,4 +37,4 @@ class DriveModel : public Model {
   virtual double GetRotation() const = 0;
 };
 void DisplayDrive(DriveModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/FMS.hpp b/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
index 05e4d399b9..bcdef5c087 100644
--- a/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
@@ -8,12 +8,12 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace glass {
+namespace wpi::glass {
 
 class BooleanSource;
 class DoubleSource;
@@ -53,4 +53,4 @@ class FMSModel : public Model {
 void DisplayFMS(FMSModel* model, bool editableDsAttached);
 void DisplayFMSReadOnly(FMSModel* model);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp b/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
index 51416f0635..5bcfa70ab4 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
@@ -16,17 +16,17 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class FieldObjectModel : public Model {
  public:
   virtual const char* GetName() const = 0;
 
-  virtual std::span<const frc::Pose2d> GetPoses() = 0;
-  virtual void SetPoses(std::span<const frc::Pose2d> poses) = 0;
-  virtual void SetPose(size_t i, frc::Pose2d pose) = 0;
-  virtual void SetPosition(size_t i, frc::Translation2d pos) = 0;
-  virtual void SetRotation(size_t i, frc::Rotation2d rot) = 0;
+  virtual std::span<const wpi::math::Pose2d> GetPoses() = 0;
+  virtual void SetPoses(std::span<const wpi::math::Pose2d> poses) = 0;
+  virtual void SetPose(size_t i, wpi::math::Pose2d pose) = 0;
+  virtual void SetPosition(size_t i, wpi::math::Translation2d pos) = 0;
+  virtual void SetRotation(size_t i, wpi::math::Rotation2d rot) = 0;
 };
 
 class Field2DModel : public Model {
@@ -34,7 +34,7 @@ class Field2DModel : public Model {
   virtual FieldObjectModel* AddFieldObject(std::string_view name) = 0;
   virtual void RemoveFieldObject(std::string_view name) = 0;
   virtual void ForEachFieldObject(
-      wpi::function_ref<void(FieldObjectModel& model, std::string_view name)>
+      wpi::util::function_ref<void(FieldObjectModel& model, std::string_view name)>
           func) = 0;
 };
 
@@ -53,4 +53,4 @@ class Field2DView : public View {
   Field2DModel* m_model;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Log.hpp b/glass/src/lib/native/include/wpi/glass/other/Log.hpp
index f595a175e8..ea400c6cc9 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Log.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Log.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/glass/View.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class LogData {
   friend void DisplayLog(LogData*, bool);
@@ -43,4 +43,4 @@ class LogView : public View {
   bool m_autoScroll{true};
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp b/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
index 093a1ba939..025c3e1f43 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
@@ -12,7 +12,7 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class MechanismObjectModel;
 
@@ -20,7 +20,7 @@ class MechanismObjectGroup {
  public:
   virtual const char* GetName() const = 0;
   virtual void ForEachObject(
-      wpi::function_ref<void(MechanismObjectModel& model)> func) = 0;
+      wpi::util::function_ref<void(MechanismObjectModel& model)> func) = 0;
 };
 
 class MechanismObjectModel : public MechanismObjectGroup {
@@ -30,21 +30,21 @@ class MechanismObjectModel : public MechanismObjectGroup {
 
   // line accessors
   virtual double GetWeight() const = 0;
-  virtual frc::Rotation2d GetAngle() const = 0;
-  virtual units::meter_t GetLength() const = 0;
+  virtual wpi::math::Rotation2d GetAngle() const = 0;
+  virtual wpi::units::meter_t GetLength() const = 0;
 };
 
 class MechanismRootModel : public MechanismObjectGroup {
  public:
-  virtual frc::Translation2d GetPosition() const = 0;
+  virtual wpi::math::Translation2d GetPosition() const = 0;
 };
 
 class Mechanism2DModel : public Model {
  public:
-  virtual frc::Translation2d GetDimensions() const = 0;
+  virtual wpi::math::Translation2d GetDimensions() const = 0;
   virtual ImU32 GetBackgroundColor() const = 0;
   virtual void ForEachRoot(
-      wpi::function_ref<void(MechanismRootModel& model)> func) = 0;
+      wpi::util::function_ref<void(MechanismRootModel& model)> func) = 0;
 };
 
 void DisplayMechanism2D(Mechanism2DModel* model, const ImVec2& contentSize);
@@ -62,4 +62,4 @@ class Mechanism2DView : public View {
   Mechanism2DModel* m_model;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp b/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
index 5b9b5874bd..45c67e2a21 100644
--- a/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DoubleSource;
 class PIDControllerModel : public Model {
  public:
@@ -25,4 +25,4 @@ class PIDControllerModel : public Model {
   virtual void SetIZone(double value) = 0;
 };
 void DisplayPIDController(PIDControllerModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Plot.hpp b/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
index a427238b78..c2c6fb13ae 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/WindowManager.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class PlotProvider : private WindowManager {
  public:
@@ -33,4 +33,4 @@ class PlotProvider : private WindowManager {
   bool m_paused = false;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp b/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
index cea2ea54f0..d495fce762 100644
--- a/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DoubleSource;
 class ProfiledPIDControllerModel : public Model {
  public:
@@ -29,4 +29,4 @@ class ProfiledPIDControllerModel : public Model {
   virtual void SetGoal(double value) = 0;
 };
 void DisplayProfiledPIDController(ProfiledPIDControllerModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp b/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
index a6d3230fce..9a9dfb4819 100644
--- a/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class StringChooserModel : public Model {
  public:
@@ -24,4 +24,4 @@ class StringChooserModel : public Model {
 
 void DisplayStringChooser(StringChooserModel* model);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp b/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
index 9ef5f34e4a..4487edafbf 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/glass/Model.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class DataSource;
 class SubsystemModel : public Model {
  public:
@@ -15,4 +15,4 @@ class SubsystemModel : public Model {
   virtual const char* GetCurrentCommand() const = 0;
 };
 void DisplaySubsystem(SubsystemModel* m);
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/support/ColorSetting.hpp b/glass/src/lib/native/include/wpi/glass/support/ColorSetting.hpp
index a6604dd747..199bfc96d1 100644
--- a/glass/src/lib/native/include/wpi/glass/support/ColorSetting.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/ColorSetting.hpp
@@ -8,7 +8,7 @@
 
 #include <imgui.h>
 
-namespace glass {
+namespace wpi::glass {
 
 class ColorSetting {
  public:
@@ -50,4 +50,4 @@ class ColorSetting {
   std::vector<float>& m_color;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp b/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
index ab5b307764..3ead1f62b8 100644
--- a/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/SmallVector.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class EnumSetting {
  public:
@@ -26,9 +26,9 @@ class EnumSetting {
   void UpdateValue() const;
 
   std::string& m_str;
-  wpi::SmallVector<const char*, 8> m_choices;
+  wpi::util::SmallVector<const char*, 8> m_choices;
   int m_defaultValue;
   mutable int m_value = -1;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp b/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
index 0815b56b88..d35a1957cb 100644
--- a/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
@@ -10,13 +10,13 @@
 
 #include "wpi/util/expected"
 
-namespace glass::expression {
+namespace wpi::glass::expression {
 
 template <typename V>
-wpi::expected<V, std::string> TryParseExpr(const char* expr);
+wpi::util::expected<V, std::string> TryParseExpr(const char* expr);
 
-extern template wpi::expected<double, std::string> TryParseExpr(const char*);
-extern template wpi::expected<float, std::string> TryParseExpr(const char*);
-extern template wpi::expected<int64_t, std::string> TryParseExpr(const char*);
+extern template wpi::util::expected<double, std::string> TryParseExpr(const char*);
+extern template wpi::util::expected<float, std::string> TryParseExpr(const char*);
+extern template wpi::util::expected<int64_t, std::string> TryParseExpr(const char*);
 
-}  // namespace glass::expression
+}  // namespace wpi::glass::expression
diff --git a/glass/src/lib/native/include/wpi/glass/support/ExtraGuiWidgets.hpp b/glass/src/lib/native/include/wpi/glass/support/ExtraGuiWidgets.hpp
index dcf0223445..437e679cff 100644
--- a/glass/src/lib/native/include/wpi/glass/support/ExtraGuiWidgets.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/ExtraGuiWidgets.hpp
@@ -8,7 +8,7 @@
 
 #include <imgui.h>
 
-namespace glass {
+namespace wpi::glass {
 
 class BooleanSource;
 
@@ -113,4 +113,4 @@ extern template bool InputExpr(const char*, float*, const char*,
 extern template bool InputExpr(const char*, double*, const char*,
                                ImGuiInputTextFlags);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/lib/native/include/wpi/glass/support/NameSetting.hpp b/glass/src/lib/native/include/wpi/glass/support/NameSetting.hpp
index e1444e302c..be1f5d6bc7 100644
--- a/glass/src/lib/native/include/wpi/glass/support/NameSetting.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/NameSetting.hpp
@@ -9,7 +9,7 @@
 
 #include <imgui.h>
 
-namespace glass {
+namespace wpi::glass {
 
 class NameSetting {
  public:
@@ -40,4 +40,4 @@ class NameSetting {
   std::string& m_name;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/cpp/NTAlerts.cpp b/glass/src/libnt/native/cpp/NTAlerts.cpp
index f4bfcf0888..330546d8a8 100644
--- a/glass/src/libnt/native/cpp/NTAlerts.cpp
+++ b/glass/src/libnt/native/cpp/NTAlerts.cpp
@@ -8,12 +8,12 @@
 
 #include <fmt/format.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTAlertsModel::NTAlertsModel(std::string_view path)
-    : NTAlertsModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTAlertsModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTAlertsModel::NTAlertsModel(nt::NetworkTableInstance inst,
+NTAlertsModel::NTAlertsModel(wpi::nt::NetworkTableInstance inst,
                              std::string_view path)
     : m_inst{inst},
       m_infos{m_inst.GetStringArrayTopic(fmt::format("{}/infos", path))
diff --git a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
index 7dc2406dde..d23a1bd088 100644
--- a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
@@ -10,12 +10,12 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTCommandSchedulerModel::NTCommandSchedulerModel(std::string_view path)
-    : NTCommandSchedulerModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTCommandSchedulerModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTCommandSchedulerModel::NTCommandSchedulerModel(nt::NetworkTableInstance inst,
+NTCommandSchedulerModel::NTCommandSchedulerModel(wpi::nt::NetworkTableInstance inst,
                                                  std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
@@ -25,7 +25,7 @@ NTCommandSchedulerModel::NTCommandSchedulerModel(nt::NetworkTableInstance inst,
           inst.GetIntegerArrayTopic(fmt::format("{}/Ids", path)).Subscribe({})},
       m_cancel{
           inst.GetIntegerArrayTopic(fmt::format("{}/Cancel", path)).Publish()},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTCommandSchedulerModel::CancelCommand(size_t index) {
   if (index < m_idsValue.size()) {
diff --git a/glass/src/libnt/native/cpp/NTCommandSelector.cpp b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
index c6b9fa3805..3084e7265e 100644
--- a/glass/src/libnt/native/cpp/NTCommandSelector.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
@@ -10,19 +10,19 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTCommandSelectorModel::NTCommandSelectorModel(std::string_view path)
-    : NTCommandSelectorModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTCommandSelectorModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTCommandSelectorModel::NTCommandSelectorModel(nt::NetworkTableInstance inst,
+NTCommandSelectorModel::NTCommandSelectorModel(wpi::nt::NetworkTableInstance inst,
                                                std::string_view path)
     : m_inst{inst},
       m_running{inst.GetBooleanTopic(fmt::format("{}/running", path))
                     .GetEntry(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_runningData{fmt::format("NTCmd:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTCommandSelectorModel::SetRunning(bool run) {
   m_running.Set(run);
diff --git a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
index 7959303e9a..2ca21c421f 100644
--- a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
@@ -12,13 +12,13 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTDifferentialDriveModel::NTDifferentialDriveModel(std::string_view path)
-    : NTDifferentialDriveModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTDifferentialDriveModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
 NTDifferentialDriveModel::NTDifferentialDriveModel(
-    nt::NetworkTableInstance inst, std::string_view path)
+    wpi::nt::NetworkTableInstance inst, std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
@@ -27,7 +27,7 @@ NTDifferentialDriveModel::NTDifferentialDriveModel(
                      .GetEntry(0)},
       m_rPercent{inst.GetDoubleTopic(fmt::format("{}/Right Motor Speed", path))
                      .GetEntry(0)},
-      m_nameValue{wpi::rsplit(path, '/').second},
+      m_nameValue{wpi::util::rsplit(path, '/').second},
       m_lPercentData{fmt::format("NTDiffDriveL:{}", path)},
       m_rPercentData{fmt::format("NTDiffDriveR:{}", path)} {
   m_wheels.emplace_back("L % Output", &m_lPercentData,
diff --git a/glass/src/libnt/native/cpp/NTDigitalInput.cpp b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
index f5de2402a7..67bc8d2938 100644
--- a/glass/src/libnt/native/cpp/NTDigitalInput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
@@ -10,19 +10,19 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTDigitalInputModel::NTDigitalInputModel(std::string_view path)
-    : NTDigitalInputModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTDigitalInputModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTDigitalInputModel::NTDigitalInputModel(nt::NetworkTableInstance inst,
+NTDigitalInputModel::NTDigitalInputModel(wpi::nt::NetworkTableInstance inst,
                                          std::string_view path)
     : m_inst{inst},
       m_value{
           inst.GetBooleanTopic(fmt::format("{}/Value", path)).Subscribe(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_valueData{fmt::format("NT_DIn:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTDigitalInputModel::Update() {
   for (auto&& v : m_value.ReadQueue()) {
diff --git a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
index 05cdbdddb6..3671d8fbca 100644
--- a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
@@ -8,12 +8,12 @@
 
 #include <fmt/format.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTDigitalOutputModel::NTDigitalOutputModel(std::string_view path)
-    : NTDigitalOutputModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTDigitalOutputModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
+NTDigitalOutputModel::NTDigitalOutputModel(wpi::nt::NetworkTableInstance inst,
                                            std::string_view path)
     : m_inst{inst},
       m_value{
diff --git a/glass/src/libnt/native/cpp/NTFMS.cpp b/glass/src/libnt/native/cpp/NTFMS.cpp
index e534af9f7c..e6c134b61f 100644
--- a/glass/src/libnt/native/cpp/NTFMS.cpp
+++ b/glass/src/libnt/native/cpp/NTFMS.cpp
@@ -13,12 +13,12 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTFMSModel::NTFMSModel(std::string_view path)
-    : NTFMSModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTFMSModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
+NTFMSModel::NTFMSModel(wpi::nt::NetworkTableInstance inst, std::string_view path)
     : m_inst{inst},
       m_gameSpecificMessage{
           inst.GetStringTopic(fmt::format("{}/GameSpecificMessage", path))
diff --git a/glass/src/libnt/native/cpp/NTField2D.cpp b/glass/src/libnt/native/cpp/NTField2D.cpp
index 08a4aca06d..439fc1db48 100644
--- a/glass/src/libnt/native/cpp/NTField2D.cpp
+++ b/glass/src/libnt/native/cpp/NTField2D.cpp
@@ -20,39 +20,39 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 class NTField2DModel::ObjectModel : public FieldObjectModel {
  public:
-  ObjectModel(std::string_view name, nt::DoubleArrayTopic topic)
+  ObjectModel(std::string_view name, wpi::nt::DoubleArrayTopic topic)
       : m_name{name}, m_topic{topic} {}
 
   const char* GetName() const override { return m_name.c_str(); }
-  nt::DoubleArrayTopic GetTopic() const { return m_topic; }
+  wpi::nt::DoubleArrayTopic GetTopic() const { return m_topic; }
 
-  void NTUpdate(const nt::Value& value);
+  void NTUpdate(const wpi::nt::Value& value);
 
   void Update() override {}
   bool Exists() override { return m_topic.Exists(); }
   bool IsReadOnly() override { return false; }
 
-  std::span<const frc::Pose2d> GetPoses() override { return m_poses; }
-  void SetPoses(std::span<const frc::Pose2d> poses) override;
-  void SetPose(size_t i, frc::Pose2d pose) override;
-  void SetPosition(size_t i, frc::Translation2d pos) override;
-  void SetRotation(size_t i, frc::Rotation2d rot) override;
+  std::span<const wpi::math::Pose2d> GetPoses() override { return m_poses; }
+  void SetPoses(std::span<const wpi::math::Pose2d> poses) override;
+  void SetPose(size_t i, wpi::math::Pose2d pose) override;
+  void SetPosition(size_t i, wpi::math::Translation2d pos) override;
+  void SetRotation(size_t i, wpi::math::Rotation2d rot) override;
 
  private:
   void UpdateNT();
 
   std::string m_name;
-  nt::DoubleArrayTopic m_topic;
-  nt::DoubleArrayPublisher m_pub;
+  wpi::nt::DoubleArrayTopic m_topic;
+  wpi::nt::DoubleArrayPublisher m_pub;
 
-  std::vector<frc::Pose2d> m_poses;
+  std::vector<wpi::math::Pose2d> m_poses;
 };
 
-void NTField2DModel::ObjectModel::NTUpdate(const nt::Value& value) {
+void NTField2DModel::ObjectModel::NTUpdate(const wpi::nt::Value& value) {
   if (value.IsDoubleArray()) {
     auto arr = value.GetDoubleArray();
     auto size = arr.size();
@@ -61,15 +61,15 @@ void NTField2DModel::ObjectModel::NTUpdate(const nt::Value& value) {
     }
     m_poses.resize(size / 3);
     for (size_t i = 0; i < size / 3; ++i) {
-      m_poses[i] = frc::Pose2d{
-          units::meter_t{arr[i * 3 + 0]}, units::meter_t{arr[i * 3 + 1]},
-          frc::Rotation2d{units::degree_t{arr[i * 3 + 2]}}};
+      m_poses[i] = wpi::math::Pose2d{
+          wpi::units::meter_t{arr[i * 3 + 0]}, wpi::units::meter_t{arr[i * 3 + 1]},
+          wpi::math::Rotation2d{wpi::units::degree_t{arr[i * 3 + 2]}}};
     }
   }
 }
 
 void NTField2DModel::ObjectModel::UpdateNT() {
-  wpi::SmallVector<double, 9> arr;
+  wpi::util::SmallVector<double, 9> arr;
   for (auto&& pose : m_poses) {
     auto& translation = pose.Translation();
     arr.push_back(translation.X().value());
@@ -82,12 +82,12 @@ void NTField2DModel::ObjectModel::UpdateNT() {
   m_pub.Set(arr);
 }
 
-void NTField2DModel::ObjectModel::SetPoses(std::span<const frc::Pose2d> poses) {
+void NTField2DModel::ObjectModel::SetPoses(std::span<const wpi::math::Pose2d> poses) {
   m_poses.assign(poses.begin(), poses.end());
   UpdateNT();
 }
 
-void NTField2DModel::ObjectModel::SetPose(size_t i, frc::Pose2d pose) {
+void NTField2DModel::ObjectModel::SetPose(size_t i, wpi::math::Pose2d pose) {
   if (i < m_poses.size()) {
     m_poses[i] = pose;
     UpdateNT();
@@ -95,33 +95,33 @@ void NTField2DModel::ObjectModel::SetPose(size_t i, frc::Pose2d pose) {
 }
 
 void NTField2DModel::ObjectModel::SetPosition(size_t i,
-                                              frc::Translation2d pos) {
+                                              wpi::math::Translation2d pos) {
   if (i < m_poses.size()) {
-    m_poses[i] = frc::Pose2d{pos, m_poses[i].Rotation()};
+    m_poses[i] = wpi::math::Pose2d{pos, m_poses[i].Rotation()};
     UpdateNT();
   }
 }
 
-void NTField2DModel::ObjectModel::SetRotation(size_t i, frc::Rotation2d rot) {
+void NTField2DModel::ObjectModel::SetRotation(size_t i, wpi::math::Rotation2d rot) {
   if (i < m_poses.size()) {
-    m_poses[i] = frc::Pose2d{m_poses[i].Translation(), rot};
+    m_poses[i] = wpi::math::Pose2d{m_poses[i].Translation(), rot};
     UpdateNT();
   }
 }
 
 NTField2DModel::NTField2DModel(std::string_view path)
-    : NTField2DModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTField2DModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
+NTField2DModel::NTField2DModel(wpi::nt::NetworkTableInstance inst,
                                std::string_view path)
     : m_path{fmt::format("{}/", path)},
       m_inst{inst},
       m_tableSub{inst, {{m_path}}, {.periodic = 0.05, .sendAll = true}},
       m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
       m_poller{inst} {
-  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
-                                       nt::EventFlags::kValueAll |
-                                       nt::EventFlags::kImmediate);
+  m_poller.AddListener(m_tableSub, wpi::nt::EventFlags::kTopic |
+                                       wpi::nt::EventFlags::kValueAll |
+                                       wpi::nt::EventFlags::kImmediate);
 }
 
 NTField2DModel::~NTField2DModel() = default;
@@ -130,21 +130,21 @@ void NTField2DModel::Update() {
   for (auto&& event : m_poller.ReadQueue()) {
     if (auto info = event.GetTopicInfo()) {
       // handle publish/unpublish
-      auto name = wpi::remove_prefix(info->name, m_path).value_or("");
+      auto name = wpi::util::remove_prefix(info->name, m_path).value_or("");
       if (name.empty() || name[0] == '.') {
         continue;
       }
       auto [it, match] = Find(info->name);
-      if (event.flags & nt::EventFlags::kUnpublish) {
+      if (event.flags & wpi::nt::EventFlags::kUnpublish) {
         if (match) {
           m_objects.erase(it);
         }
         continue;
-      } else if (event.flags & nt::EventFlags::kPublish) {
+      } else if (event.flags & wpi::nt::EventFlags::kPublish) {
         if (!match) {
           it = m_objects.emplace(
               it, std::make_unique<ObjectModel>(
-                      info->name, nt::DoubleArrayTopic{info->topic}));
+                      info->name, wpi::nt::DoubleArrayTopic{info->topic}));
         }
       } else if (!match) {
         continue;
@@ -198,11 +198,11 @@ void NTField2DModel::RemoveFieldObject(std::string_view name) {
 }
 
 void NTField2DModel::ForEachFieldObject(
-    wpi::function_ref<void(FieldObjectModel& model, std::string_view name)>
+    wpi::util::function_ref<void(FieldObjectModel& model, std::string_view name)>
         func) {
   for (auto&& obj : m_objects) {
     if (obj->Exists()) {
-      if (auto name = wpi::remove_prefix(obj->GetName(), m_path)) {
+      if (auto name = wpi::util::remove_prefix(obj->GetName(), m_path)) {
         func(*obj, *name);
       }
     }
diff --git a/glass/src/libnt/native/cpp/NTGyro.cpp b/glass/src/libnt/native/cpp/NTGyro.cpp
index ef26c89e02..c7e07ebfc0 100644
--- a/glass/src/libnt/native/cpp/NTGyro.cpp
+++ b/glass/src/libnt/native/cpp/NTGyro.cpp
@@ -10,17 +10,17 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTGyroModel::NTGyroModel(std::string_view path)
-    : NTGyroModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTGyroModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTGyroModel::NTGyroModel(nt::NetworkTableInstance inst, std::string_view path)
+NTGyroModel::NTGyroModel(wpi::nt::NetworkTableInstance inst, std::string_view path)
     : m_inst{inst},
       m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path)).Subscribe(0)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe({})},
       m_angleData{fmt::format("NT_Gyro:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTGyroModel::Update() {
   for (auto&& v : m_name.ReadQueue()) {
diff --git a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
index b7f5fd7769..12115da787 100644
--- a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
@@ -12,12 +12,12 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTMecanumDriveModel::NTMecanumDriveModel(std::string_view path)
-    : NTMecanumDriveModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTMecanumDriveModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTMecanumDriveModel::NTMecanumDriveModel(nt::NetworkTableInstance inst,
+NTMecanumDriveModel::NTMecanumDriveModel(wpi::nt::NetworkTableInstance inst,
                                          std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
@@ -35,7 +35,7 @@ NTMecanumDriveModel::NTMecanumDriveModel(nt::NetworkTableInstance inst,
       m_rrPercent{
           inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Speed", path))
               .GetEntry(0)},
-      m_nameValue{wpi::rsplit(path, '/').second},
+      m_nameValue{wpi::util::rsplit(path, '/').second},
       m_flPercentData{fmt::format("NTMcnmDriveFL:{}", path)},
       m_frPercentData{fmt::format("NTMcnmDriveFR:{}", path)},
       m_rlPercentData{fmt::format("NTMcnmDriveRL:{}", path)},
diff --git a/glass/src/libnt/native/cpp/NTMechanism2D.cpp b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
index 70dd92283f..012d865c33 100644
--- a/glass/src/libnt/native/cpp/NTMechanism2D.cpp
+++ b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
@@ -17,33 +17,33 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 // Convert "#RRGGBB" hex color to ImU32 color
 static void ConvertColor(std::string_view in, ImU32* out) {
   if (in.size() != 7 || in[0] != '#') {
     return;
   }
-  if (auto v = wpi::parse_integer<ImU32>(wpi::drop_front(in), 16)) {
+  if (auto v = wpi::util::parse_integer<ImU32>(wpi::util::drop_front(in), 16)) {
     ImU32 val = v.value();
     *out = IM_COL32((val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff, 255);
   }
 }
 
 void NTMechanism2DModel::NTMechanismGroupImpl::ForEachObject(
-    wpi::function_ref<void(MechanismObjectModel& model)> func) {
+    wpi::util::function_ref<void(MechanismObjectModel& model)> func) {
   for (auto&& obj : m_objects) {
     func(*obj);
   }
 }
 
-void NTMechanism2DModel::NTMechanismGroupImpl::NTUpdate(const nt::Event& event,
+void NTMechanism2DModel::NTMechanismGroupImpl::NTUpdate(const wpi::nt::Event& event,
                                                         std::string_view name) {
   if (name.empty()) {
     return;
   }
   std::string_view childName;
-  std::tie(name, childName) = wpi::split(name, '/');
+  std::tie(name, childName) = wpi::util::split(name, '/');
   if (childName.empty()) {
     return;
   }
@@ -54,7 +54,7 @@ void NTMechanism2DModel::NTMechanismGroupImpl::NTUpdate(const nt::Event& event,
   bool match = it != m_objects.end() && (*it)->GetName() == name;
 
   if (event.GetTopicInfo()) {
-    if (event.flags & nt::EventFlags::kPublish) {
+    if (event.flags & wpi::nt::EventFlags::kPublish) {
       if (!match) {
         it = m_objects.emplace(
             it, std::make_unique<NTMechanismObjectModel>(
@@ -76,10 +76,10 @@ void NTMechanism2DModel::NTMechanismGroupImpl::NTUpdate(const nt::Event& event,
 }
 
 bool NTMechanism2DModel::NTMechanismObjectModel::NTUpdate(
-    const nt::Event& event, std::string_view childName) {
+    const wpi::nt::Event& event, std::string_view childName) {
   if (auto info = event.GetTopicInfo()) {
     if (info->topic == m_typeTopic.GetHandle()) {
-      if (event.flags & nt::EventFlags::kUnpublish) {
+      if (event.flags & wpi::nt::EventFlags::kUnpublish) {
         return true;
       }
     } else if (info->topic != m_colorTopic.GetHandle() &&
@@ -103,11 +103,11 @@ bool NTMechanism2DModel::NTMechanismObjectModel::NTUpdate(
       }
     } else if (valueData->topic == m_angleTopic.GetHandle()) {
       if (valueData->value && valueData->value.IsDouble()) {
-        m_angleValue = units::degree_t{valueData->value.GetDouble()};
+        m_angleValue = wpi::units::degree_t{valueData->value.GetDouble()};
       }
     } else if (valueData->topic == m_lengthTopic.GetHandle()) {
       if (valueData->value && valueData->value.IsDouble()) {
-        m_lengthValue = units::meter_t{valueData->value.GetDouble()};
+        m_lengthValue = wpi::units::meter_t{valueData->value.GetDouble()};
       }
     } else {
       m_group.NTUpdate(event, childName);
@@ -116,12 +116,12 @@ bool NTMechanism2DModel::NTMechanismObjectModel::NTUpdate(
   return false;
 }
 
-bool NTMechanism2DModel::RootModel::NTUpdate(const nt::Event& event,
+bool NTMechanism2DModel::RootModel::NTUpdate(const wpi::nt::Event& event,
                                              std::string_view childName) {
   if (auto info = event.GetTopicInfo()) {
     if (info->topic == m_xTopic.GetHandle() ||
         info->topic == m_yTopic.GetHandle()) {
-      if (event.flags & nt::EventFlags::kUnpublish) {
+      if (event.flags & wpi::nt::EventFlags::kUnpublish) {
         return true;
       }
     } else {
@@ -130,13 +130,13 @@ bool NTMechanism2DModel::RootModel::NTUpdate(const nt::Event& event,
   } else if (auto valueData = event.GetValueEventData()) {
     if (valueData->topic == m_xTopic.GetHandle()) {
       if (valueData->value && valueData->value.IsDouble()) {
-        m_pos = frc::Translation2d{units::meter_t{valueData->value.GetDouble()},
+        m_pos = wpi::math::Translation2d{wpi::units::meter_t{valueData->value.GetDouble()},
                                    m_pos.Y()};
       }
     } else if (valueData->topic == m_yTopic.GetHandle()) {
       if (valueData->value && valueData->value.IsDouble()) {
-        m_pos = frc::Translation2d{
-            m_pos.X(), units::meter_t{valueData->value.GetDouble()}};
+        m_pos = wpi::math::Translation2d{
+            m_pos.X(), wpi::units::meter_t{valueData->value.GetDouble()}};
       }
     } else {
       m_group.NTUpdate(event, childName);
@@ -146,9 +146,9 @@ bool NTMechanism2DModel::RootModel::NTUpdate(const nt::Event& event,
 }
 
 NTMechanism2DModel::NTMechanism2DModel(std::string_view path)
-    : NTMechanism2DModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTMechanism2DModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTMechanism2DModel::NTMechanism2DModel(nt::NetworkTableInstance inst,
+NTMechanism2DModel::NTMechanism2DModel(wpi::nt::NetworkTableInstance inst,
                                        std::string_view path)
     : m_inst{inst},
       m_path{fmt::format("{}/", path)},
@@ -158,9 +158,9 @@ NTMechanism2DModel::NTMechanism2DModel(nt::NetworkTableInstance inst,
       m_bgColorTopic{m_inst.GetTopic(fmt::format("{}/backgroundColor", path))},
       m_poller{m_inst},
       m_dimensionsValue{1_m, 1_m} {
-  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
-                                       nt::EventFlags::kValueAll |
-                                       nt::EventFlags::kImmediate);
+  m_poller.AddListener(m_tableSub, wpi::nt::EventFlags::kTopic |
+                                       wpi::nt::EventFlags::kValueAll |
+                                       wpi::nt::EventFlags::kImmediate);
 }
 
 NTMechanism2DModel::~NTMechanism2DModel() = default;
@@ -168,12 +168,12 @@ NTMechanism2DModel::~NTMechanism2DModel() = default;
 void NTMechanism2DModel::Update() {
   for (auto&& event : m_poller.ReadQueue()) {
     if (auto info = event.GetTopicInfo()) {
-      auto name = wpi::remove_prefix(info->name, m_path).value_or("");
+      auto name = wpi::util::remove_prefix(info->name, m_path).value_or("");
       if (name.empty() || name[0] == '.') {
         continue;
       }
       std::string_view childName;
-      std::tie(name, childName) = wpi::split(name, '/');
+      std::tie(name, childName) = wpi::util::split(name, '/');
       if (childName.empty()) {
         continue;
       }
@@ -184,7 +184,7 @@ void NTMechanism2DModel::Update() {
                                  });
       bool match = it != m_roots.end() && (*it)->GetName() == name;
 
-      if (event.flags & nt::EventFlags::kPublish) {
+      if (event.flags & wpi::nt::EventFlags::kPublish) {
         if (!match) {
           it = m_roots.emplace(
               it, std::make_unique<RootModel>(
@@ -208,8 +208,8 @@ void NTMechanism2DModel::Update() {
         if (valueData->value && valueData->value.IsDoubleArray()) {
           auto arr = valueData->value.GetDoubleArray();
           if (arr.size() == 2) {
-            m_dimensionsValue = frc::Translation2d{units::meter_t{arr[0]},
-                                                   units::meter_t{arr[1]}};
+            m_dimensionsValue = wpi::math::Translation2d{wpi::units::meter_t{arr[0]},
+                                                   wpi::units::meter_t{arr[1]}};
           }
         }
       } else if (valueData->topic == m_bgColorTopic.GetHandle()) {
@@ -218,13 +218,13 @@ void NTMechanism2DModel::Update() {
           ConvertColor(valueData->value.GetString(), &m_bgColorValue);
         }
       } else {
-        auto fullName = nt::Topic{valueData->topic}.GetName();
-        auto name = wpi::remove_prefix(fullName, m_path).value_or("");
+        auto fullName = wpi::nt::Topic{valueData->topic}.GetName();
+        auto name = wpi::util::remove_prefix(fullName, m_path).value_or("");
         if (name.empty() || name[0] == '.') {
           continue;
         }
         std::string_view childName;
-        std::tie(name, childName) = wpi::split(name, '/');
+        std::tie(name, childName) = wpi::util::split(name, '/');
         if (childName.empty()) {
           continue;
         }
@@ -252,7 +252,7 @@ bool NTMechanism2DModel::IsReadOnly() {
 }
 
 void NTMechanism2DModel::ForEachRoot(
-    wpi::function_ref<void(MechanismRootModel& model)> func) {
+    wpi::util::function_ref<void(MechanismRootModel& model)> func) {
   for (auto&& obj : m_roots) {
     func(*obj);
   }
diff --git a/glass/src/libnt/native/cpp/NTMotorController.cpp b/glass/src/libnt/native/cpp/NTMotorController.cpp
index 6a799639a8..537e2d7b51 100644
--- a/glass/src/libnt/native/cpp/NTMotorController.cpp
+++ b/glass/src/libnt/native/cpp/NTMotorController.cpp
@@ -10,12 +10,12 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTMotorControllerModel::NTMotorControllerModel(std::string_view path)
-    : NTMotorControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTMotorControllerModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
+NTMotorControllerModel::NTMotorControllerModel(wpi::nt::NetworkTableInstance inst,
                                                std::string_view path)
     : m_inst{inst},
       m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path)).GetEntry(0)},
@@ -23,7 +23,7 @@ NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},
       m_valueData{fmt::format("NT_SpdCtrl:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTMotorControllerModel::SetPercent(double value) {
   m_value.Set(value);
diff --git a/glass/src/libnt/native/cpp/NTPIDController.cpp b/glass/src/libnt/native/cpp/NTPIDController.cpp
index 184374db36..dbd32787c9 100644
--- a/glass/src/libnt/native/cpp/NTPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTPIDController.cpp
@@ -10,12 +10,12 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTPIDControllerModel::NTPIDControllerModel(std::string_view path)
-    : NTPIDControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTPIDControllerModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance inst,
+NTPIDControllerModel::NTPIDControllerModel(wpi::nt::NetworkTableInstance inst,
                                            std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
@@ -32,7 +32,7 @@ NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance inst,
       m_dData{fmt::format("NTPIDCtrlD:{}", path)},
       m_setpointData{fmt::format("NTPIDCtrlStpt:{}", path)},
       m_iZoneData{fmt::format("NTPIDCtrlIZone:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTPIDControllerModel::SetP(double value) {
   m_p.Set(value);
diff --git a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
index e521975597..d5184bb38e 100644
--- a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
@@ -10,15 +10,15 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTProfiledPIDControllerModel::NTProfiledPIDControllerModel(
     std::string_view path)
-    : NTProfiledPIDControllerModel(nt::NetworkTableInstance::GetDefault(),
+    : NTProfiledPIDControllerModel(wpi::nt::NetworkTableInstance::GetDefault(),
                                    path) {}
 
 NTProfiledPIDControllerModel::NTProfiledPIDControllerModel(
-    nt::NetworkTableInstance inst, std::string_view path)
+    wpi::nt::NetworkTableInstance inst, std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
@@ -40,7 +40,7 @@ NTProfiledPIDControllerModel::NTProfiledPIDControllerModel(
       m_maxVelocityData{fmt::format("NTPIDCtrlMaxVelo:{}", path)},
       m_maxAccelerationData{fmt::format("NTPIDCtrlMaxAccel:{}", path)},
       m_goalData{fmt::format("NTPIDCtrlGoal:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {}
+      m_nameValue{wpi::util::rsplit(path, '/').second} {}
 
 void NTProfiledPIDControllerModel::SetP(double value) {
   m_p.Set(value);
diff --git a/glass/src/libnt/native/cpp/NTStringChooser.cpp b/glass/src/libnt/native/cpp/NTStringChooser.cpp
index 313f5e8888..710a54a769 100644
--- a/glass/src/libnt/native/cpp/NTStringChooser.cpp
+++ b/glass/src/libnt/native/cpp/NTStringChooser.cpp
@@ -10,12 +10,12 @@
 
 #include "wpi/util/json.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTStringChooserModel::NTStringChooserModel(std::string_view path)
-    : NTStringChooserModel{nt::NetworkTableInstance::GetDefault(), path} {}
+    : NTStringChooserModel{wpi::nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTStringChooserModel::NTStringChooserModel(nt::NetworkTableInstance inst,
+NTStringChooserModel::NTStringChooserModel(wpi::nt::NetworkTableInstance inst,
                                            std::string_view path)
     : m_inst{inst},
       m_default{
@@ -24,7 +24,7 @@ NTStringChooserModel::NTStringChooserModel(nt::NetworkTableInstance inst,
                      .Subscribe("")},
       m_selectedPub{
           m_inst.GetStringTopic(fmt::format("{}/selected", path))
-              .PublishEx(nt::StringTopic::kTypeString, {{"retained", true}})},
+              .PublishEx(wpi::nt::StringTopic::kTypeString, {{"retained", true}})},
       m_active{
           m_inst.GetStringTopic(fmt::format("{}/active", path)).Subscribe("")},
       m_options{m_inst.GetStringArrayTopic(fmt::format("{}/options", path))
diff --git a/glass/src/libnt/native/cpp/NTSubsystem.cpp b/glass/src/libnt/native/cpp/NTSubsystem.cpp
index 5b07d068e8..4b9d63456a 100644
--- a/glass/src/libnt/native/cpp/NTSubsystem.cpp
+++ b/glass/src/libnt/native/cpp/NTSubsystem.cpp
@@ -8,12 +8,12 @@
 
 #include <fmt/format.h>
 
-using namespace glass;
+using namespace wpi::glass;
 
 NTSubsystemModel::NTSubsystemModel(std::string_view path)
-    : NTSubsystemModel(nt::NetworkTableInstance::GetDefault(), path) {}
+    : NTSubsystemModel(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTSubsystemModel::NTSubsystemModel(nt::NetworkTableInstance inst,
+NTSubsystemModel::NTSubsystemModel(wpi::nt::NetworkTableInstance inst,
                                    std::string_view path)
     : m_inst{inst},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
diff --git a/glass/src/libnt/native/cpp/NetworkTables.cpp b/glass/src/libnt/native/cpp/NetworkTables.cpp
index 6201aef30b..74c5532f04 100644
--- a/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -44,7 +44,7 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 using namespace mpack;
 
 namespace {
@@ -73,7 +73,7 @@ static bool IsVisible(ShowCategory category, bool persistent, bool retained) {
 
 static std::string StringArrayToString(std::span<const std::string> in) {
   std::string rv;
-  wpi::raw_string_ostream os{rv};
+  wpi::util::raw_string_ostream os{rv};
   os << '[';
   bool first = true;
   for (auto&& v : in) {
@@ -90,22 +90,22 @@ static std::string StringArrayToString(std::span<const std::string> in) {
 }
 
 NetworkTablesModel::NetworkTablesModel()
-    : NetworkTablesModel{nt::NetworkTableInstance::GetDefault()} {}
+    : NetworkTablesModel{wpi::nt::NetworkTableInstance::GetDefault()} {}
 
-NetworkTablesModel::NetworkTablesModel(nt::NetworkTableInstance inst)
+NetworkTablesModel::NetworkTablesModel(wpi::nt::NetworkTableInstance inst)
     : m_inst{inst}, m_poller{inst} {
-  m_poller.AddListener({{"", "$"}}, nt::EventFlags::kTopic |
-                                        nt::EventFlags::kValueAll |
-                                        nt::EventFlags::kImmediate);
+  m_poller.AddListener({{"", "$"}}, wpi::nt::EventFlags::kTopic |
+                                        wpi::nt::EventFlags::kValueAll |
+                                        wpi::nt::EventFlags::kImmediate);
 }
 
 NetworkTablesModel::Entry::~Entry() {
   if (publisher != 0) {
-    nt::Unpublish(publisher);
+    wpi::nt::Unpublish(publisher);
   }
 }
 
-void NetworkTablesModel::Entry::UpdateInfo(nt::TopicInfo&& info_) {
+void NetworkTablesModel::Entry::UpdateInfo(wpi::nt::TopicInfo&& info_) {
   info = std::move(info_);
   properties = info.GetProperties();
 
@@ -133,29 +133,29 @@ static void UpdateMsgpackValueSource(NetworkTablesModel& model,
   mpack_tag_t tag = mpack_read_tag(&r);
   switch (mpack_tag_type(&tag)) {
     case mpack::mpack_type_bool:
-      out->value = nt::Value::MakeBoolean(mpack_tag_bool_value(&tag), time);
+      out->value = wpi::nt::Value::MakeBoolean(mpack_tag_bool_value(&tag), time);
       out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_int:
-      out->value = nt::Value::MakeInteger(mpack_tag_int_value(&tag), time);
+      out->value = wpi::nt::Value::MakeInteger(mpack_tag_int_value(&tag), time);
       out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_uint:
-      out->value = nt::Value::MakeInteger(mpack_tag_uint_value(&tag), time);
+      out->value = wpi::nt::Value::MakeInteger(mpack_tag_uint_value(&tag), time);
       out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_float:
-      out->value = nt::Value::MakeFloat(mpack_tag_float_value(&tag), time);
+      out->value = wpi::nt::Value::MakeFloat(mpack_tag_float_value(&tag), time);
       out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_double:
-      out->value = nt::Value::MakeDouble(mpack_tag_double_value(&tag), time);
+      out->value = wpi::nt::Value::MakeDouble(mpack_tag_double_value(&tag), time);
       out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_str: {
       std::string str;
       mpack_read_str(&r, &tag, &str);
-      out->value = nt::Value::MakeString(std::move(str), time);
+      out->value = wpi::nt::Value::MakeString(std::move(str), time);
       out->UpdateFromValue(model, name, "");
       break;
     }
@@ -188,7 +188,7 @@ static void UpdateMsgpackValueSource(NetworkTablesModel& model,
         out->valueChildren.clear();
         out->valueChildrenMap = true;
       }
-      wpi::StringMap<size_t> elems;
+      wpi::util::StringMap<size_t> elems;
       for (size_t i = 0, size = out->valueChildren.size(); i < size; ++i) {
         elems[out->valueChildren[i].name] = i;
       }
@@ -233,7 +233,7 @@ static void UpdateMsgpackValueSource(NetworkTablesModel& model,
   }
 }
 
-static std::string GetEnumValue(const wpi::StructFieldDescriptor& field,
+static std::string GetEnumValue(const wpi::util::StructFieldDescriptor& field,
                                 int64_t val) {
   auto& enumValues = field.GetEnumValues();
   for (auto&& ev : enumValues) {
@@ -246,7 +246,7 @@ static std::string GetEnumValue(const wpi::StructFieldDescriptor& field,
 
 static void UpdateStructValueSource(NetworkTablesModel& model,
                                     NetworkTablesModel::ValueSource* out,
-                                    const wpi::DynamicStruct& s,
+                                    const wpi::util::DynamicStruct& s,
                                     std::string_view name, int64_t time) {
   auto desc = s.GetDescriptor();
   out->typeStr = "struct:" + desc->GetName();
@@ -266,31 +266,31 @@ static void UpdateStructValueSource(NetworkTablesModel& model,
   for (auto&& field : fields) {
     auto& child = *outIt++;
     switch (field.GetType()) {
-      case wpi::StructFieldType::kBool:
+      case wpi::util::StructFieldType::kBool:
         if (field.IsArray()) {
           std::vector<int> v;
           v.reserve(field.GetArraySize());
           for (size_t i = 0; i < field.GetArraySize(); ++i) {
             v.emplace_back(s.GetBoolField(&field, i));
           }
-          child.value = nt::Value::MakeBooleanArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeBooleanArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeBoolean(s.GetBoolField(&field), time);
+          child.value = wpi::nt::Value::MakeBoolean(s.GetBoolField(&field), time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
-      case wpi::StructFieldType::kChar:
-        child.value = nt::Value::MakeString(s.GetStringField(&field), time);
+      case wpi::util::StructFieldType::kChar:
+        child.value = wpi::nt::Value::MakeString(s.GetStringField(&field), time);
         child.UpdateFromValue(model, child.path, "");
         break;
-      case wpi::StructFieldType::kInt8:
-      case wpi::StructFieldType::kInt16:
-      case wpi::StructFieldType::kInt32:
-      case wpi::StructFieldType::kInt64:
-      case wpi::StructFieldType::kUint8:
-      case wpi::StructFieldType::kUint16:
-      case wpi::StructFieldType::kUint32:
-      case wpi::StructFieldType::kUint64: {
+      case wpi::util::StructFieldType::kInt8:
+      case wpi::util::StructFieldType::kInt16:
+      case wpi::util::StructFieldType::kInt32:
+      case wpi::util::StructFieldType::kInt64:
+      case wpi::util::StructFieldType::kUint8:
+      case wpi::util::StructFieldType::kUint16:
+      case wpi::util::StructFieldType::kUint32:
+      case wpi::util::StructFieldType::kUint64: {
         bool isUint = field.IsUint();
         if (field.HasEnum()) {
           if (field.IsArray()) {
@@ -326,44 +326,44 @@ static void UpdateStructValueSource(NetworkTablesModel& model,
               v.emplace_back(s.GetIntField(&field, i));
             }
           }
-          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeIntegerArray(std::move(v), time);
         } else {
           if (isUint) {
-            child.value = nt::Value::MakeInteger(s.GetUintField(&field), time);
+            child.value = wpi::nt::Value::MakeInteger(s.GetUintField(&field), time);
           } else {
-            child.value = nt::Value::MakeInteger(s.GetIntField(&field), time);
+            child.value = wpi::nt::Value::MakeInteger(s.GetIntField(&field), time);
           }
         }
         child.UpdateFromValue(model, child.path, "");
         break;
       }
-      case wpi::StructFieldType::kFloat:
+      case wpi::util::StructFieldType::kFloat:
         if (field.IsArray()) {
           std::vector<float> v;
           v.reserve(field.GetArraySize());
           for (size_t i = 0; i < field.GetArraySize(); ++i) {
             v.emplace_back(s.GetFloatField(&field, i));
           }
-          child.value = nt::Value::MakeFloatArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeFloatArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeFloat(s.GetFloatField(&field), time);
+          child.value = wpi::nt::Value::MakeFloat(s.GetFloatField(&field), time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
-      case wpi::StructFieldType::kDouble:
+      case wpi::util::StructFieldType::kDouble:
         if (field.IsArray()) {
           std::vector<double> v;
           v.reserve(field.GetArraySize());
           for (size_t i = 0; i < field.GetArraySize(); ++i) {
             v.emplace_back(s.GetDoubleField(&field, i));
           }
-          child.value = nt::Value::MakeDoubleArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeDoubleArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeDouble(s.GetDoubleField(&field), time);
+          child.value = wpi::nt::Value::MakeDouble(s.GetDoubleField(&field), time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
-      case wpi::StructFieldType::kStruct:
+      case wpi::util::StructFieldType::kStruct:
         if (field.IsArray()) {
           if (child.valueChildrenMap) {
             child.valueChildren.clear();
@@ -441,9 +441,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).bool_val);
           }
-          child.value = nt::Value::MakeBooleanArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeBooleanArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeBoolean(value.bool_val, time);
+          child.value = wpi::nt::Value::MakeBoolean(value.bool_val, time);
           child.UpdateFromValue(model, child.path, "");
         }
         break;
@@ -458,10 +458,10 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
             upb_StringView sv = upb_Array_Get(arr, i).str_val;
             v.emplace_back(sv.data, sv.size);
           }
-          child.value = nt::Value::MakeStringArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeStringArray(std::move(v), time);
         } else {
           upb_StringView sv = value.str_val;
-          child.value = nt::Value::MakeString({sv.data, sv.size}, time);
+          child.value = wpi::nt::Value::MakeString({sv.data, sv.size}, time);
           child.UpdateFromValue(model, child.path, "");
         }
         break;
@@ -475,9 +475,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).int32_val);
           }
-          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeIntegerArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeInteger(value.int32_val, time);
+          child.value = wpi::nt::Value::MakeInteger(value.int32_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -491,9 +491,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).int64_val);
           }
-          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeIntegerArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeInteger(value.int64_val, time);
+          child.value = wpi::nt::Value::MakeInteger(value.int64_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -507,9 +507,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).uint32_val);
           }
-          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeIntegerArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeInteger(value.uint32_val, time);
+          child.value = wpi::nt::Value::MakeInteger(value.uint32_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -523,9 +523,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).uint64_val);
           }
-          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeIntegerArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeInteger(value.uint64_val, time);
+          child.value = wpi::nt::Value::MakeInteger(value.uint64_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -539,9 +539,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).float_val);
           }
-          child.value = nt::Value::MakeFloatArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeFloatArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeFloat(value.float_val, time);
+          child.value = wpi::nt::Value::MakeFloat(value.float_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -555,9 +555,9 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
           for (size_t i = 0; i < size; ++i) {
             v.emplace_back(upb_Array_Get(arr, i).double_val);
           }
-          child.value = nt::Value::MakeDoubleArray(std::move(v), time);
+          child.value = wpi::nt::Value::MakeDoubleArray(std::move(v), time);
         } else {
-          child.value = nt::Value::MakeDouble(value.double_val, time);
+          child.value = wpi::nt::Value::MakeDouble(value.double_val, time);
         }
         child.UpdateFromValue(model, child.path, "");
         break;
@@ -630,15 +630,15 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
 
 static void UpdateJsonValueSource(NetworkTablesModel& model,
                                   NetworkTablesModel::ValueSource* out,
-                                  const wpi::json& j, std::string_view name,
+                                  const wpi::util::json& j, std::string_view name,
                                   int64_t time) {
   switch (j.type()) {
-    case wpi::json::value_t::object: {
+    case wpi::util::json::value_t::object: {
       if (!out->valueChildrenMap) {
         out->valueChildren.clear();
         out->valueChildrenMap = true;
       }
-      wpi::StringMap<size_t> elems;
+      wpi::util::StringMap<size_t> elems;
       for (size_t i = 0, size = out->valueChildren.size(); i < size; ++i) {
         elems[out->valueChildren[i].name] = i;
       }
@@ -671,7 +671,7 @@ static void UpdateJsonValueSource(NetworkTablesModel& model,
       }
       break;
     }
-    case wpi::json::value_t::array: {
+    case wpi::util::json::value_t::array: {
       if (out->valueChildrenMap) {
         out->valueChildren.clear();
         out->valueChildrenMap = false;
@@ -688,24 +688,24 @@ static void UpdateJsonValueSource(NetworkTablesModel& model,
       }
       break;
     }
-    case wpi::json::value_t::string:
-      out->value = nt::Value::MakeString(j.get_ref<const std::string&>(), time);
+    case wpi::util::json::value_t::string:
+      out->value = wpi::nt::Value::MakeString(j.get_ref<const std::string&>(), time);
       out->UpdateFromValue(model, name, "");
       break;
-    case wpi::json::value_t::boolean:
-      out->value = nt::Value::MakeBoolean(j.get<bool>(), time);
+    case wpi::util::json::value_t::boolean:
+      out->value = wpi::nt::Value::MakeBoolean(j.get<bool>(), time);
       out->UpdateFromValue(model, name, "");
       break;
-    case wpi::json::value_t::number_integer:
-      out->value = nt::Value::MakeInteger(j.get<int64_t>(), time);
+    case wpi::util::json::value_t::number_integer:
+      out->value = wpi::nt::Value::MakeInteger(j.get<int64_t>(), time);
       out->UpdateFromValue(model, name, "");
       break;
-    case wpi::json::value_t::number_unsigned:
-      out->value = nt::Value::MakeInteger(j.get<uint64_t>(), time);
+    case wpi::util::json::value_t::number_unsigned:
+      out->value = wpi::nt::Value::MakeInteger(j.get<uint64_t>(), time);
       out->UpdateFromValue(model, name, "");
       break;
-    case wpi::json::value_t::number_float:
-      out->value = nt::Value::MakeDouble(j.get<double>(), time);
+    case wpi::util::json::value_t::number_float:
+      out->value = wpi::nt::Value::MakeDouble(j.get<double>(), time);
       out->UpdateFromValue(model, name, "");
       break;
     default:
@@ -718,7 +718,7 @@ void NetworkTablesModel::ValueSource::UpdateFromEnum(std::string_view name,
                                                      std::string_view v,
                                                      int64_t time) {
   valueChildren.clear();
-  value = nt::Value::MakeString(v, time);
+  value = wpi::nt::Value::MakeString(v, time);
   valueStr = v;
   auto s = dynamic_cast<StringSource*>(source.get());
   if (!s) {
@@ -743,7 +743,7 @@ void NetworkTablesModel::ValueSource::UpdateFromEnum(
     }
     child.UpdateFromEnum(child.path, arr[i++], time);
   }
-  value = nt::Value::MakeStringArray(std::move(arr), time);
+  value = wpi::nt::Value::MakeStringArray(std::move(arr), time);
 }
 
 void NetworkTablesModel::ValueSource::UpdateDiscreteSource(
@@ -833,19 +833,19 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
       break;
     case NT_BOOLEAN_ARRAY:
       UpdateDiscreteArray<true>(name, value.GetBooleanArray(), value.time(),
-                                nt::Value::MakeBoolean);
+                                wpi::nt::Value::MakeBoolean);
       break;
     case NT_INTEGER_ARRAY:
       UpdateDiscreteArray<false>(name, value.GetIntegerArray(), value.time(),
-                                 nt::Value::MakeInteger);
+                                 wpi::nt::Value::MakeInteger);
       break;
     case NT_FLOAT_ARRAY:
       UpdateDiscreteArray<false>(name, value.GetFloatArray(), value.time(),
-                                 nt::Value::MakeFloat);
+                                 wpi::nt::Value::MakeFloat);
       break;
     case NT_DOUBLE_ARRAY:
       UpdateDiscreteArray<false>(name, value.GetDoubleArray(), value.time(),
-                                 nt::Value::MakeDouble);
+                                 wpi::nt::Value::MakeDouble);
       break;
     case NT_STRING_ARRAY: {
       auto arr = value.GetStringArray();
@@ -860,7 +860,7 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
           child.name = fmt::format("[{}]", i);
           child.path = fmt::format("{}{}", name, child.name);
         }
-        child.value = nt::Value::MakeString(arr[i++], value.time());
+        child.value = wpi::nt::Value::MakeString(arr[i++], value.time());
         child.UpdateFromValue(model, child.path, "");
       }
       break;
@@ -869,15 +869,15 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
       if (typeStr == "json") {
         try {
           UpdateJsonValueSource(model, this,
-                                wpi::json::parse(value.GetString()), name,
+                                wpi::util::json::parse(value.GetString()), name,
                                 value.last_change());
-        } catch (wpi::json::exception&) {
+        } catch (wpi::util::json::exception&) {
           // ignore
         }
       } else {
         valueChildren.clear();
         valueStr.clear();
-        wpi::raw_string_ostream os{valueStr};
+        wpi::util::raw_string_ostream os{valueStr};
         os << '"';
         os.write_escaped(value.GetString());
         os << '"';
@@ -896,9 +896,9 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
         mpack_reader_init_data(&r, value.GetRaw());
         UpdateMsgpackValueSource(model, this, r, name, value.last_change());
         mpack_reader_destroy(&r);
-      } else if (auto structNameOpt = wpi::remove_prefix(typeStr, "struct:")) {
+      } else if (auto structNameOpt = wpi::util::remove_prefix(typeStr, "struct:")) {
         auto structName = *structNameOpt;
-        auto withoutArray = wpi::remove_suffix(structName, "[]");
+        auto withoutArray = wpi::util::remove_suffix(structName, "[]");
         bool isArray = withoutArray.has_value();
         if (isArray) {
           structName = *withoutArray;
@@ -919,20 +919,20 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
                 child.name = fmt::format("[{}]", i);
                 child.path = fmt::format("{}{}", name, child.name);
               }
-              wpi::DynamicStruct s{desc, raw};
+              wpi::util::DynamicStruct s{desc, raw};
               UpdateStructValueSource(model, &child, s, child.path,
                                       value.last_change());
               ++i;
-              raw = wpi::drop_front(raw, desc->GetSize());
+              raw = wpi::util::drop_front(raw, desc->GetSize());
             }
           } else {
-            wpi::DynamicStruct s{desc, value.GetRaw()};
+            wpi::util::DynamicStruct s{desc, value.GetRaw()};
             UpdateStructValueSource(model, this, s, name, value.last_change());
           }
         } else {
           valueChildren.clear();
         }
-      } else if (auto filename = wpi::remove_prefix(typeStr, "proto:")) {
+      } else if (auto filename = wpi::util::remove_prefix(typeStr, "proto:")) {
         const upb_MessageDef* messageDef = upb_DefPool_FindMessageByName(
             model.GetProtobufDatabase(), filename->data());
         if (messageDef) {
@@ -968,16 +968,16 @@ void NetworkTablesModel::Update() {
   for (auto&& event : m_poller.ReadQueue()) {
     if (auto info = event.GetTopicInfo()) {
       auto& entry = m_entries[info->topic];
-      if (event.flags & nt::EventFlags::kPublish) {
+      if (event.flags & wpi::nt::EventFlags::kPublish) {
         if (!entry) {
           entry = std::make_unique<Entry>();
           m_sortedEntries.emplace_back(entry.get());
           updateTree = true;
         }
       }
-      if (event.flags & nt::EventFlags::kUnpublish) {
+      if (event.flags & wpi::nt::EventFlags::kUnpublish) {
         // meta topic handling
-        if (wpi::starts_with(info->name, '$')) {
+        if (wpi::util::starts_with(info->name, '$')) {
           // meta topic handling
           if (info->name == "$clients") {
             m_clients.clear();
@@ -986,13 +986,13 @@ void NetworkTablesModel::Update() {
           } else if (info->name == "$serversub") {
             m_server.subscribers.clear();
           } else if (auto client =
-                         wpi::remove_prefix(info->name, "$clientpub$")) {
+                         wpi::util::remove_prefix(info->name, "$clientpub$")) {
             auto it = m_clients.find(*client);
             if (it != m_clients.end()) {
               it->second.publishers.clear();
             }
           } else if (auto client =
-                         wpi::remove_prefix(info->name, "$clientsub$")) {
+                         wpi::util::remove_prefix(info->name, "$clientsub$")) {
             auto it = m_clients.find(*client);
             if (it != m_clients.end()) {
               it->second.subscribers.clear();
@@ -1009,7 +1009,7 @@ void NetworkTablesModel::Update() {
         updateTree = true;
         continue;
       }
-      if (event.flags & nt::EventFlags::kProperties) {
+      if (event.flags & wpi::nt::EventFlags::kProperties) {
         updateTree = true;
       }
       if (entry) {
@@ -1020,7 +1020,7 @@ void NetworkTablesModel::Update() {
       if (entry) {
         entry->value = std::move(valueData->value);
         entry->UpdateFromValue(*this);
-        if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
+        if (wpi::util::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
             entry->info.type_str == "msgpack") {
           // meta topic handling
           if (entry->info.name == "$clients") {
@@ -1034,20 +1034,20 @@ void NetworkTablesModel::Update() {
           } else if (entry->info.name == "$serversub") {
             m_server.UpdateSubscribers(entry->value.GetRaw());
           } else if (auto client =
-                         wpi::remove_prefix(entry->info.name, "$clientpub$")) {
+                         wpi::util::remove_prefix(entry->info.name, "$clientpub$")) {
             auto it = m_clients.find(*client);
             if (it != m_clients.end()) {
               it->second.UpdatePublishers(entry->value.GetRaw());
             }
           } else if (auto client =
-                         wpi::remove_prefix(entry->info.name, "$clientsub$")) {
+                         wpi::util::remove_prefix(entry->info.name, "$clientsub$")) {
             auto it = m_clients.find(*client);
             if (it != m_clients.end()) {
               it->second.UpdateSubscribers(entry->value.GetRaw());
             }
           }
         } else if (auto typeStr =
-                       wpi::remove_prefix(entry->info.name, "/.schema/struct:");
+                       wpi::util::remove_prefix(entry->info.name, "/.schema/struct:");
                    entry->value.IsRaw() && typeStr &&
                    entry->info.type_str == "structschema") {
           // struct schema handling
@@ -1057,7 +1057,7 @@ void NetworkTablesModel::Update() {
           std::string err;
           auto desc = m_structDb.Add(*typeStr, schema, &err);
           if (!desc) {
-            wpi::print("could not decode struct '{}' schema '{}': {}\n",
+            wpi::util::print("could not decode struct '{}' schema '{}': {}\n",
                        entry->info.name, schema, err);
           } else if (desc->IsValid()) {
             // loop over all entries with this type and update
@@ -1065,17 +1065,17 @@ void NetworkTablesModel::Update() {
               if (!entryPair.second) {
                 continue;
               }
-              if (auto ts = wpi::remove_prefix(entryPair.second->info.type_str,
+              if (auto ts = wpi::util::remove_prefix(entryPair.second->info.type_str,
                                                "struct:")) {
                 if (*ts == *typeStr ||
-                    wpi::remove_suffix(*ts, "[]").value_or(*ts) == *typeStr) {
+                    wpi::util::remove_suffix(*ts, "[]").value_or(*ts) == *typeStr) {
                   entryPair.second->UpdateFromValue(*this);
                 }
               }
             }
           }
         } else if (auto filename =
-                       wpi::remove_prefix(entry->info.name, "/.schema/proto:");
+                       wpi::util::remove_prefix(entry->info.name, "/.schema/proto:");
                    entry->value.IsRaw() && filename &&
                    entry->info.type_str == "proto:FileDescriptorProto") {
           // protobuf descriptor handling
@@ -1089,7 +1089,7 @@ void NetworkTablesModel::Update() {
                   descriptor.size(), m_arena),
               &status);
           if (!status.ok) {
-            wpi::print("could not decode protobuf '{}' filename '{}'\n",
+            wpi::util::print("could not decode protobuf '{}' filename '{}'\n",
                        entry->info.name, *filename);
           } else {
             // loop over all protobuf entries and update (conservatively)
@@ -1098,7 +1098,7 @@ void NetworkTablesModel::Update() {
                 continue;
               }
               std::string_view ts = entryPair.second->info.type_str;
-              if (wpi::starts_with(ts, "proto:")) {
+              if (wpi::util::starts_with(ts, "proto:")) {
                 entryPair.second->UpdateFromValue(*this);
               }
             }
@@ -1134,14 +1134,14 @@ void NetworkTablesModel::RebuildTree() {
 void NetworkTablesModel::RebuildTreeImpl(std::vector<TreeNode>* tree,
                                          int category) {
   tree->clear();
-  wpi::SmallVector<std::string_view, 16> parts;
+  wpi::util::SmallVector<std::string_view, 16> parts;
   for (auto& entry : m_sortedEntries) {
     if (!IsVisible(static_cast<ShowCategory>(category), entry->persistent,
                    entry->retained)) {
       continue;
     }
     parts.clear();
-    wpi::split(entry->info.name, '/', -1, false,
+    wpi::util::split(entry->info.name, '/', -1, false,
                [&](auto part) { parts.emplace_back(part); });
 
     // ignore a raw "/" key
@@ -1151,7 +1151,7 @@ void NetworkTablesModel::RebuildTreeImpl(std::vector<TreeNode>* tree,
 
     // get to leaf
     auto nodes = tree;
-    for (auto part : wpi::drop_back(std::span{parts.begin(), parts.end()})) {
+    for (auto part : wpi::util::drop_back(std::span{parts.begin(), parts.end()})) {
       auto it =
           std::find_if(nodes->begin(), nodes->end(),
                        [&](const auto& node) { return node.name == part; });
@@ -1198,7 +1198,7 @@ NetworkTablesModel::Entry* NetworkTablesModel::AddEntry(NT_Topic topic) {
   auto& entry = m_entries[topic];
   if (!entry) {
     entry = std::make_unique<Entry>();
-    entry->info = nt::GetTopicInfo(topic);
+    entry->info = wpi::nt::GetTopicInfo(topic);
     entry->properties = entry->info.GetProperties();
     m_sortedEntries.emplace_back(entry.get());
   }
@@ -1207,34 +1207,34 @@ NetworkTablesModel::Entry* NetworkTablesModel::AddEntry(NT_Topic topic) {
 }
 
 NetworkTablesModel::Client::Subscriber::Subscriber(
-    nt::meta::ClientSubscriber&& oth)
+    wpi::nt::meta::ClientSubscriber&& oth)
     : ClientSubscriber{std::move(oth)},
       topicsStr{StringArrayToString(topics)} {}
 
 void NetworkTablesModel::Client::UpdatePublishers(
     std::span<const uint8_t> data) {
-  if (auto pubs = nt::meta::DecodeClientPublishers(data)) {
+  if (auto pubs = wpi::nt::meta::DecodeClientPublishers(data)) {
     publishers = std::move(*pubs);
   } else {
-    wpi::print(stderr, "Failed to update publishers\n");
+    wpi::util::print(stderr, "Failed to update publishers\n");
   }
 }
 
 void NetworkTablesModel::Client::UpdateSubscribers(
     std::span<const uint8_t> data) {
-  if (auto subs = nt::meta::DecodeClientSubscribers(data)) {
+  if (auto subs = wpi::nt::meta::DecodeClientSubscribers(data)) {
     subscribers.clear();
     subscribers.reserve(subs->size());
     for (auto&& sub : *subs) {
       subscribers.emplace_back(std::move(sub));
     }
   } else {
-    wpi::print(stderr, "Failed to update subscribers\n");
+    wpi::util::print(stderr, "Failed to update subscribers\n");
   }
 }
 
 void NetworkTablesModel::UpdateClients(std::span<const uint8_t> data) {
-  auto clientsArr = nt::meta::DecodeClients(data);
+  auto clientsArr = wpi::nt::meta::DecodeClients(data);
   if (!clientsArr) {
     return;
   }
@@ -1269,17 +1269,17 @@ void NetworkTablesModel::UpdateClients(std::span<const uint8_t> data) {
 }
 
 static bool GetHeadingTypeString(std::string_view* ts) {
-  if (auto withoutProto = wpi::remove_prefix(*ts, "proto:")) {
+  if (auto withoutProto = wpi::util::remove_prefix(*ts, "proto:")) {
     *ts = *withoutProto;
     auto lastdot = ts->rfind('.');
     if (lastdot != std::string_view::npos) {
-      *ts = wpi::substr(*ts, lastdot + 1);
+      *ts = wpi::util::substr(*ts, lastdot + 1);
     }
-    if (auto withoutProtobuf = wpi::remove_prefix(*ts, "Protobuf")) {
+    if (auto withoutProtobuf = wpi::util::remove_prefix(*ts, "Protobuf")) {
       *ts = *withoutProtobuf;
     }
     return true;
-  } else if (auto withoutStruct = wpi::remove_prefix(*ts, "struct:")) {
+  } else if (auto withoutStruct = wpi::util::remove_prefix(*ts, "struct:")) {
     *ts = *withoutStruct;
     return true;
   }
@@ -1287,9 +1287,9 @@ static bool GetHeadingTypeString(std::string_view* ts) {
 }
 
 static const char* GetShortTypeString(std::string_view ts) {
-  if (wpi::starts_with(ts, "proto:")) {
+  if (wpi::util::starts_with(ts, "proto:")) {
     return "protobuf";
-  } else if (wpi::starts_with(ts, "struct:")) {
+  } else if (wpi::util::starts_with(ts, "struct:")) {
     return "struct";
   } else {
     return ts.data();
@@ -1449,7 +1449,7 @@ bool ArrayEditorImpl<NTType, T>::Emit() {
         ImGui::TableNextColumn();
         ImGui::PushID(row);
         char label[16];
-        wpi::format_to_n_c_str(label, sizeof(label), "[{}]", row);
+        wpi::util::format_to_n_c_str(label, sizeof(label), "[{}]", row);
         if constexpr (NTType == NT_BOOLEAN_ARRAY) {
           static const char* boolOptions[] = {"false", "true"};
           ImGui::Combo(label, &m_arr[row], boolOptions, 2);
@@ -1502,38 +1502,38 @@ bool ArrayEditorImpl<NTType, T>::Emit() {
     auto* entry = m_model.GetEntry(m_name);
     if (!entry) {
       entry = m_model.AddEntry(
-          nt::GetTopic(m_model.GetInstance().GetHandle(), m_name));
+          wpi::nt::GetTopic(m_model.GetInstance().GetHandle(), m_name));
     }
     if constexpr (NTType == NT_BOOLEAN_ARRAY) {
       if (entry->publisher == 0) {
         entry->publisher =
-            nt::Publish(entry->info.topic, NT_BOOLEAN_ARRAY, "boolean[]");
+            wpi::nt::Publish(entry->info.topic, NT_BOOLEAN_ARRAY, "boolean[]");
       }
-      nt::SetBooleanArray(entry->publisher, m_arr);
+      wpi::nt::SetBooleanArray(entry->publisher, m_arr);
     } else if constexpr (NTType == NT_FLOAT_ARRAY) {
       if (entry->publisher == 0) {
         entry->publisher =
-            nt::Publish(entry->info.topic, NT_FLOAT_ARRAY, "float[]");
+            wpi::nt::Publish(entry->info.topic, NT_FLOAT_ARRAY, "float[]");
       }
-      nt::SetFloatArray(entry->publisher, m_arr);
+      wpi::nt::SetFloatArray(entry->publisher, m_arr);
     } else if constexpr (NTType == NT_DOUBLE_ARRAY) {
       if (entry->publisher == 0) {
         entry->publisher =
-            nt::Publish(entry->info.topic, NT_DOUBLE_ARRAY, "double[]");
+            wpi::nt::Publish(entry->info.topic, NT_DOUBLE_ARRAY, "double[]");
       }
-      nt::SetDoubleArray(entry->publisher, m_arr);
+      wpi::nt::SetDoubleArray(entry->publisher, m_arr);
     } else if constexpr (NTType == NT_INTEGER_ARRAY) {
       if (entry->publisher == 0) {
         entry->publisher =
-            nt::Publish(entry->info.topic, NT_INTEGER_ARRAY, "int[]");
+            wpi::nt::Publish(entry->info.topic, NT_INTEGER_ARRAY, "int[]");
       }
-      nt::SetIntegerArray(entry->publisher, m_arr);
+      wpi::nt::SetIntegerArray(entry->publisher, m_arr);
     } else if constexpr (NTType == NT_STRING_ARRAY) {
       if (entry->publisher == 0) {
         entry->publisher =
-            nt::Publish(entry->info.topic, NT_STRING_ARRAY, "string[]");
+            wpi::nt::Publish(entry->info.topic, NT_STRING_ARRAY, "string[]");
       }
-      nt::SetStringArray(entry->publisher, m_arr);
+      wpi::nt::SetStringArray(entry->publisher, m_arr);
     }
     return true;
   }
@@ -1566,9 +1566,9 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       if (ImGui::Combo(typeStr, &v, boolOptions, 2)) {
         if (entry.publisher == 0) {
           entry.publisher =
-              nt::Publish(entry.info.topic, NT_BOOLEAN, "boolean");
+              wpi::nt::Publish(entry.info.topic, NT_BOOLEAN, "boolean");
         }
-        nt::SetBoolean(entry.publisher, v);
+        wpi::nt::SetBoolean(entry.publisher, v);
       }
       break;
     }
@@ -1577,9 +1577,9 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       if (InputExpr<int64_t>(typeStr, &v, "%" PRId64,
                              ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
-          entry.publisher = nt::Publish(entry.info.topic, NT_INTEGER, "int");
+          entry.publisher = wpi::nt::Publish(entry.info.topic, NT_INTEGER, "int");
         }
-        nt::SetInteger(entry.publisher, v);
+        wpi::nt::SetInteger(entry.publisher, v);
       }
       break;
     }
@@ -1588,9 +1588,9 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       if (InputExpr<float>(typeStr, &v, "%.6f",
                            ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
-          entry.publisher = nt::Publish(entry.info.topic, NT_FLOAT, "float");
+          entry.publisher = wpi::nt::Publish(entry.info.topic, NT_FLOAT, "float");
         }
-        nt::SetFloat(entry.publisher, v);
+        wpi::nt::SetFloat(entry.publisher, v);
       }
       break;
     }
@@ -1606,9 +1606,9 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
                             fmt::format("%.{}f", precision).c_str(),
                             ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
-          entry.publisher = nt::Publish(entry.info.topic, NT_DOUBLE, "double");
+          entry.publisher = wpi::nt::Publish(entry.info.topic, NT_DOUBLE, "double");
         }
-        nt::SetDouble(entry.publisher, v);
+        wpi::nt::SetDouble(entry.publisher, v);
       }
 #ifdef __GNUC__
 #pragma GCC diagnostic pop
@@ -1623,11 +1623,11 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
         if (v[0] == '"') {
           if (entry.publisher == 0) {
             entry.publisher =
-                nt::Publish(entry.info.topic, NT_STRING, "string");
+                wpi::nt::Publish(entry.info.topic, NT_STRING, "string");
           }
-          wpi::SmallString<128> buf;
-          nt::SetString(entry.publisher,
-                        wpi::UnescapeCString(v + 1, buf).first);
+          wpi::util::SmallString<128> buf;
+          wpi::nt::SetString(entry.publisher,
+                        wpi::util::UnescapeCString(v + 1, buf).first);
         }
       }
       break;
@@ -1722,40 +1722,40 @@ static void CreateTopicMenuItem(NetworkTablesModel* model,
                                 const char* typeStr, bool enabled) {
   if (ImGui::MenuItem(typeStr, nullptr, false, enabled)) {
     auto entry =
-        model->AddEntry(nt::GetTopic(model->GetInstance().GetHandle(), path));
+        model->AddEntry(wpi::nt::GetTopic(model->GetInstance().GetHandle(), path));
     if (entry->publisher == 0) {
-      entry->publisher = nt::Publish(entry->info.topic, type, typeStr);
+      entry->publisher = wpi::nt::Publish(entry->info.topic, type, typeStr);
       // publish a default value so it's editable
       switch (type) {
         case NT_BOOLEAN:
-          nt::SetDefaultBoolean(entry->publisher, false);
+          wpi::nt::SetDefaultBoolean(entry->publisher, false);
           break;
         case NT_INTEGER:
-          nt::SetDefaultInteger(entry->publisher, 0);
+          wpi::nt::SetDefaultInteger(entry->publisher, 0);
           break;
         case NT_FLOAT:
-          nt::SetDefaultFloat(entry->publisher, 0.0);
+          wpi::nt::SetDefaultFloat(entry->publisher, 0.0);
           break;
         case NT_DOUBLE:
-          nt::SetDefaultDouble(entry->publisher, 0.0);
+          wpi::nt::SetDefaultDouble(entry->publisher, 0.0);
           break;
         case NT_STRING:
-          nt::SetDefaultString(entry->publisher, "");
+          wpi::nt::SetDefaultString(entry->publisher, "");
           break;
         case NT_BOOLEAN_ARRAY:
-          nt::SetDefaultBooleanArray(entry->publisher, {});
+          wpi::nt::SetDefaultBooleanArray(entry->publisher, {});
           break;
         case NT_INTEGER_ARRAY:
-          nt::SetDefaultIntegerArray(entry->publisher, {});
+          wpi::nt::SetDefaultIntegerArray(entry->publisher, {});
           break;
         case NT_FLOAT_ARRAY:
-          nt::SetDefaultFloatArray(entry->publisher, {});
+          wpi::nt::SetDefaultFloatArray(entry->publisher, {});
           break;
         case NT_DOUBLE_ARRAY:
-          nt::SetDefaultDoubleArray(entry->publisher, {});
+          wpi::nt::SetDefaultDoubleArray(entry->publisher, {});
           break;
         case NT_STRING_ARRAY:
-          nt::SetDefaultStringArray(entry->publisher, {});
+          wpi::nt::SetDefaultStringArray(entry->publisher, {});
           break;
         default:
           break;
@@ -1764,7 +1764,7 @@ static void CreateTopicMenuItem(NetworkTablesModel* model,
   }
 }
 
-void glass::DisplayNetworkTablesAddMenu(NetworkTablesModel* model,
+void wpi::glass::DisplayNetworkTablesAddMenu(NetworkTablesModel* model,
                                         std::string_view path,
                                         NetworkTablesFlags flags) {
   static char nameBuffer[kTextBufferSize];
@@ -1849,7 +1849,7 @@ static void EmitValueTree(
       char label[128];
       std::string_view ts = child.typeStr;
       bool havePopup = GetHeadingTypeString(&ts);
-      wpi::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
+      wpi::util::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
                              child.name.c_str());
       bool valueChildrenOpen =
           TreeNodeEx(label, ImGuiTreeNodeFlags_SpanFullWidth);
@@ -1891,7 +1891,7 @@ static void EmitEntry(NetworkTablesModel* model,
     char label[128];
     std::string_view ts = entry.info.type_str;
     bool havePopup = GetHeadingTypeString(&ts);
-    wpi::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
+    wpi::util::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
                            entry.info.name.c_str());
     valueChildrenOpen =
         TreeNodeEx(label, ImGuiTreeNodeFlags_SpanFullWidth |
@@ -1957,13 +1957,13 @@ static void EmitEntry(NetworkTablesModel* model,
     ImGui::Text("%s", entry.info.properties.c_str());
     if (ImGui::BeginPopupContextItem(entry.info.name.c_str())) {
       if (ImGui::Checkbox("persistent", &entry.persistent)) {
-        nt::SetTopicPersistent(entry.info.topic, entry.persistent);
+        wpi::nt::SetTopicPersistent(entry.info.topic, entry.persistent);
       }
       if (ImGui::Checkbox("retained", &entry.retained)) {
         if (entry.retained) {
-          nt::SetTopicProperty(entry.info.topic, "retained", true);
+          wpi::nt::SetTopicProperty(entry.info.topic, "retained", true);
         } else {
-          nt::DeleteTopicProperty(entry.info.topic, "retained");
+          wpi::nt::DeleteTopicProperty(entry.info.topic, "retained");
         }
       }
       ImGui::EndPopup();
@@ -2005,7 +2005,7 @@ static void EmitTree(NetworkTablesModel* model,
                      bool root) {
   for (auto&& node : tree) {
     if (root && (flags & NetworkTablesFlags_ShowSpecial) == 0 &&
-        wpi::starts_with(node.name, '$')) {
+        wpi::util::starts_with(node.name, '$')) {
       continue;
     }
     if (node.entry) {
@@ -2080,7 +2080,7 @@ static void DisplayTable(NetworkTablesModel* model,
   } else {
     for (auto entry : model->GetEntries()) {
       if ((flags & NetworkTablesFlags_ShowSpecial) != 0 ||
-          !wpi::starts_with(entry->info.name, '$')) {
+          !wpi::util::starts_with(entry->info.name, '$')) {
         EmitEntry(model, *entry, entry->info.name.c_str(), flags, category);
       }
     }
@@ -2139,7 +2139,7 @@ static void DisplayClient(const NetworkTablesModel::Client& client) {
   }
 }
 
-void glass::DisplayNetworkTablesInfo(NetworkTablesModel* model) {
+void wpi::glass::DisplayNetworkTablesInfo(NetworkTablesModel* model) {
   auto inst = model->GetInstance();
 
   if (CollapsingHeader("Connections")) {
@@ -2193,7 +2193,7 @@ void glass::DisplayNetworkTablesInfo(NetworkTablesModel* model) {
   }
 }
 
-void glass::DisplayNetworkTables(NetworkTablesModel* model,
+void wpi::glass::DisplayNetworkTables(NetworkTablesModel* model,
                                  NetworkTablesFlags flags) {
   gArrayEditorID = ImGui::GetID("Array Editor");
   if (ImGui::BeginPopupModal("Array Editor", nullptr,
diff --git a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
index dd7f6792a5..51cfb678e5 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
@@ -16,20 +16,20 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 NetworkTablesProvider::NetworkTablesProvider(Storage& storage)
-    : NetworkTablesProvider{storage, nt::NetworkTableInstance::GetDefault()} {}
+    : NetworkTablesProvider{storage, wpi::nt::NetworkTableInstance::GetDefault()} {}
 
 NetworkTablesProvider::NetworkTablesProvider(Storage& storage,
-                                             nt::NetworkTableInstance inst)
+                                             wpi::nt::NetworkTableInstance inst)
     : Provider{storage.GetChild("windows")},
       m_inst{inst},
       m_poller{inst},
       m_typeCache{storage.GetChild("types")} {
   storage.SetCustomApply([this] {
     m_listener = m_poller.AddListener(
-        {{""}}, nt::EventFlags::kImmediate | nt::EventFlags::kTopic);
+        {{""}}, wpi::nt::EventFlags::kImmediate | wpi::nt::EventFlags::kTopic);
     for (auto&& childIt : m_storage.GetChildren()) {
       auto id = childIt.key();
       auto typePtr = m_typeCache.FindValue(id);
@@ -64,11 +64,11 @@ NetworkTablesProvider::NetworkTablesProvider(Storage& storage,
 }
 
 void NetworkTablesProvider::DisplayMenu() {
-  wpi::SmallVector<std::string_view, 6> path;
-  wpi::SmallString<64> name;
+  wpi::util::SmallVector<std::string_view, 6> path;
+  wpi::util::SmallString<64> name;
   for (auto&& entry : m_viewEntries) {
     path.clear();
-    wpi::split(entry->name, '/', -1, false,
+    wpi::util::split(entry->name, '/', -1, false,
                [&](auto name) { path.emplace_back(name); });
 
     bool fullDepth = true;
@@ -88,7 +88,7 @@ void NetworkTablesProvider::DisplayMenu() {
       // data is the last item, so is guaranteed to be null-terminated
       ImGui::MenuItem(path.back().data(), nullptr, &visible, true);
       // Add type label to smartdashboard sendables
-      if (wpi::starts_with(entry->name, "/SmartDashboard/")) {
+      if (wpi::util::starts_with(entry->name, "/SmartDashboard/")) {
         auto typeEntry = m_typeCache.FindValue(entry->name);
         if (typeEntry) {
           ImGui::SameLine();
@@ -119,12 +119,12 @@ void NetworkTablesProvider::Update() {
     if (auto info = event.GetTopicInfo()) {
       // add/remove entries from NT changes
       // look for .type fields
-      if (!wpi::ends_with(info->name, "/.type") || info->type != NT_STRING ||
+      if (!wpi::util::ends_with(info->name, "/.type") || info->type != NT_STRING ||
           info->type_str != "string") {
         continue;
       }
 
-      if (event.flags & nt::EventFlags::kUnpublish) {
+      if (event.flags & wpi::nt::EventFlags::kUnpublish) {
         auto it = m_topicMap.find(info->topic);
         if (it != m_topicMap.end()) {
           m_poller.RemoveListener(it->second.listener);
@@ -139,13 +139,13 @@ void NetworkTablesProvider::Update() {
         if (it2 != m_viewEntries.end()) {
           m_viewEntries.erase(it2);
         }
-      } else if (event.flags & nt::EventFlags::kPublish) {
+      } else if (event.flags & wpi::nt::EventFlags::kPublish) {
         // subscribe to it; use a subscriber so we only get string values
         SubListener sublistener;
-        sublistener.subscriber = nt::StringTopic{info->topic}.Subscribe("");
+        sublistener.subscriber = wpi::nt::StringTopic{info->topic}.Subscribe("");
         sublistener.listener = m_poller.AddListener(
             sublistener.subscriber,
-            nt::EventFlags::kValueAll | nt::EventFlags::kImmediate);
+            wpi::nt::EventFlags::kValueAll | wpi::nt::EventFlags::kImmediate);
         m_topicMap.try_emplace(info->topic, std::move(sublistener));
       }
     } else if (auto valueData = event.GetValueEventData()) {
@@ -160,11 +160,11 @@ void NetworkTablesProvider::Update() {
         continue;
       }
 
-      auto topicName = nt::GetTopicName(valueData->topic);
+      auto topicName = wpi::nt::GetTopicName(valueData->topic);
       auto tableName =
-          wpi::remove_suffix(topicName, "/.type").value_or(topicName);
+          wpi::util::remove_suffix(topicName, "/.type").value_or(topicName);
 
-      GetOrCreateView(builderIt->second, nt::Topic{valueData->topic},
+      GetOrCreateView(builderIt->second, wpi::nt::Topic{valueData->topic},
                       tableName);
       // cache the type
       m_typeCache.SetString(tableName, valueData->value.GetString());
@@ -201,7 +201,7 @@ void NetworkTablesProvider::Show(ViewEntry* entry, Window* window) {
   if (!window) {
     return;
   }
-  if (auto name = wpi::remove_prefix(entry->name, "/SmartDashboard/")) {
+  if (auto name = wpi::util::remove_prefix(entry->name, "/SmartDashboard/")) {
     window->SetDefaultName(fmt::format("{} (SmartDashboard)", *name));
   }
   entry->window = window;
@@ -218,7 +218,7 @@ void NetworkTablesProvider::Show(ViewEntry* entry, Window* window) {
 }
 
 NetworkTablesProvider::ViewEntry* NetworkTablesProvider::GetOrCreateView(
-    const Builder& builder, nt::Topic typeTopic, std::string_view name) {
+    const Builder& builder, wpi::nt::Topic typeTopic, std::string_view name) {
   // get view entry if it already exists
   auto viewIt = FindViewEntry(name);
   if (viewIt != m_viewEntries.end() && (*viewIt)->name == name) {
diff --git a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
index 62dd13a2e3..f9ccc4be00 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
@@ -17,7 +17,7 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
 void NetworkTablesSettings::Thread::Main() {
   while (m_active) {
@@ -42,16 +42,16 @@ void NetworkTablesSettings::Thread::Main() {
       lock.unlock();
 
       // if just changing servers in client mode, no need to stop and restart
-      unsigned int curMode = nt::GetNetworkMode(m_inst);
+      unsigned int curMode = wpi::nt::GetNetworkMode(m_inst);
       if ((mode == 0 || mode == 2) ||
           (mode == 1 && (curMode & NT_NET_MODE_CLIENT) == 0)) {
-        nt::StopClient(m_inst);
-        nt::StopServer(m_inst);
-        nt::StopLocal(m_inst);
+        wpi::nt::StopClient(m_inst);
+        wpi::nt::StopServer(m_inst);
+        wpi::nt::StopLocal(m_inst);
       }
 
       if ((m_mode == 0 || m_mode == 2) || !dsClient) {
-        nt::StopDSClient(m_inst);
+        wpi::nt::StopDSClient(m_inst);
       }
 
       lock.lock();
@@ -61,25 +61,25 @@ void NetworkTablesSettings::Thread::Main() {
       std::string_view serverTeam{m_serverTeam};
       std::optional<unsigned int> team;
       if (m_mode == 1) {
-        nt::StartClient(m_inst, m_clientName);
+        wpi::nt::StartClient(m_inst, m_clientName);
       }
 
-      if (!wpi::contains(serverTeam, '.') &&
-          (team = wpi::parse_integer<unsigned int>(serverTeam, 10))) {
-        nt::SetServerTeam(m_inst, team.value(), m_port);
+      if (!wpi::util::contains(serverTeam, '.') &&
+          (team = wpi::util::parse_integer<unsigned int>(serverTeam, 10))) {
+        wpi::nt::SetServerTeam(m_inst, team.value(), m_port);
       } else {
         std::vector<std::pair<std::string_view, unsigned int>> servers;
-        wpi::split(serverTeam, ',', -1, false, [&](auto serverName) {
+        wpi::util::split(serverTeam, ',', -1, false, [&](auto serverName) {
           servers.emplace_back(serverName, m_port);
         });
-        nt::SetServer(m_inst, servers);
+        wpi::nt::SetServer(m_inst, servers);
       }
 
       if (m_dsClient) {
-        nt::StartDSClient(m_inst, m_port);
+        wpi::nt::StartDSClient(m_inst, m_port);
       }
     } else if (m_mode == 3) {
-      nt::StartServer(m_inst, m_iniName.c_str(), m_listenAddress.c_str(),
+      wpi::nt::StartServer(m_inst, m_iniName.c_str(), m_listenAddress.c_str(),
                       m_port);
     }
   }
diff --git a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp b/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
index 695bab053b..1fd1306ed6 100644
--- a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
@@ -22,12 +22,12 @@
 #include "wpi/glass/networktables/NTSubsystem.hpp"
 #include "wpi/glass/networktables/NetworkTablesProvider.hpp"
 
-using namespace glass;
+using namespace wpi::glass;
 
-void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
+void wpi::glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
   provider.Register(
       NTAlertsModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTAlertsModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -37,7 +37,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTCommandSchedulerModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTCommandSchedulerModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -48,7 +48,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTCommandSelectorModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTCommandSelectorModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -59,7 +59,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTDifferentialDriveModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTDifferentialDriveModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -70,7 +70,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTFMSModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTFMSModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -80,7 +80,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTDigitalInputModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTDigitalInputModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -91,7 +91,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTDigitalOutputModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTDigitalOutputModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -102,7 +102,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTField2DModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTField2DModel>(inst, path);
       },
       [=](Window* win, Model* model, const char* path) {
@@ -114,7 +114,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTGyroModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTGyroModel>(inst, path);
       },
       [](Window* win, Model* model, const char* path) {
@@ -124,7 +124,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTMecanumDriveModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTMecanumDriveModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -134,7 +134,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTMechanism2DModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTMechanism2DModel>(inst, path);
       },
       [=](Window* win, Model* model, const char* path) {
@@ -146,7 +146,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTPIDControllerModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTPIDControllerModel>(inst, path);
       },
       [](Window* win, Model* model, const char* path) {
@@ -157,7 +157,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTProfiledPIDControllerModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTProfiledPIDControllerModel>(inst, path);
       },
       [](Window* win, Model* model, const char* path) {
@@ -169,7 +169,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTMotorControllerModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTMotorControllerModel>(inst, path);
       },
       [](Window* win, Model* model, const char* path) {
@@ -180,7 +180,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTStringChooserModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTStringChooserModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
@@ -191,7 +191,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
       });
   provider.Register(
       NTSubsystemModel::kType,
-      [](nt::NetworkTableInstance inst, const char* path) {
+      [](wpi::nt::NetworkTableInstance inst, const char* path) {
         return std::make_unique<NTSubsystemModel>(inst, path);
       },
       [](Window* win, Model* model, const char*) {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
index f6ad5c0b06..37bfd2a655 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringArrayTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTAlertsModel : public AlertsModel {
  public:
@@ -20,7 +20,7 @@ class NTAlertsModel : public AlertsModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTAlertsModel(std::string_view path);
-  NTAlertsModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTAlertsModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const std::vector<std::string>& GetInfos() override { return m_infosValue; }
 
@@ -35,14 +35,14 @@ class NTAlertsModel : public AlertsModel {
   bool IsReadOnly() override { return false; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringArraySubscriber m_infos;
-  nt::StringArraySubscriber m_warnings;
-  nt::StringArraySubscriber m_errors;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringArraySubscriber m_infos;
+  wpi::nt::StringArraySubscriber m_warnings;
+  wpi::nt::StringArraySubscriber m_errors;
 
   std::vector<std::string> m_infosValue;
   std::vector<std::string> m_warningsValue;
   std::vector<std::string> m_errorsValue;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
index 2e8a2ae15e..83a8075c28 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
@@ -17,13 +17,13 @@
 #include "wpi/nt/StringArrayTopic.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTCommandSchedulerModel : public CommandSchedulerModel {
  public:
   static constexpr const char* kType = "Scheduler";
 
   explicit NTCommandSchedulerModel(std::string_view path);
-  NTCommandSchedulerModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTCommandSchedulerModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const std::vector<std::string>& GetCurrentCommands() override {
@@ -37,14 +37,14 @@ class NTCommandSchedulerModel : public CommandSchedulerModel {
   bool IsReadOnly() override { return false; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::StringArraySubscriber m_commands;
-  nt::IntegerArraySubscriber m_ids;
-  nt::IntegerArrayPublisher m_cancel;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::StringArraySubscriber m_commands;
+  wpi::nt::IntegerArraySubscriber m_ids;
+  wpi::nt::IntegerArrayPublisher m_cancel;
 
   std::string m_nameValue;
   std::vector<std::string> m_commandsValue;
   std::vector<int64_t> m_idsValue;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
index 86b89c3bfa..3e4782527f 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
@@ -13,13 +13,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTCommandSelectorModel : public CommandSelectorModel {
  public:
   static constexpr const char* kType = "Command";
 
   explicit NTCommandSelectorModel(std::string_view path);
-  NTCommandSelectorModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTCommandSelectorModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   BooleanSource* GetRunningData() override { return &m_runningData; }
@@ -30,11 +30,11 @@ class NTCommandSelectorModel : public CommandSelectorModel {
   bool IsReadOnly() override { return false; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::BooleanEntry m_running;
-  nt::StringSubscriber m_name;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::BooleanEntry m_running;
+  wpi::nt::StringSubscriber m_name;
 
   BooleanSource m_runningData;
   std::string m_nameValue;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
index 8826135a9d..a9acb251f9 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
@@ -15,13 +15,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTDifferentialDriveModel : public DriveModel {
  public:
   static constexpr const char* kType = "DifferentialDrive";
 
   explicit NTDifferentialDriveModel(std::string_view path);
-  NTDifferentialDriveModel(nt::NetworkTableInstance instance,
+  NTDifferentialDriveModel(wpi::nt::NetworkTableInstance instance,
                            std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
@@ -37,11 +37,11 @@ class NTDifferentialDriveModel : public DriveModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
-  nt::DoubleEntry m_lPercent;
-  nt::DoubleEntry m_rPercent;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
+  wpi::nt::DoubleEntry m_lPercent;
+  wpi::nt::DoubleEntry m_rPercent;
 
   std::string m_nameValue;
   bool m_controllableValue = false;
@@ -52,4 +52,4 @@ class NTDifferentialDriveModel : public DriveModel {
   ImVec2 m_speedVector;
   double m_rotation;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
index 3847581439..4e96e052e8 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
@@ -13,7 +13,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTDigitalInputModel : public DIOModel {
  public:
@@ -21,7 +21,7 @@ class NTDigitalInputModel : public DIOModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTDigitalInputModel(std::string_view path);
-  NTDigitalInputModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTDigitalInputModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
 
@@ -42,12 +42,12 @@ class NTDigitalInputModel : public DIOModel {
   bool IsReadOnly() override { return true; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::BooleanSubscriber m_value;
-  nt::StringSubscriber m_name;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::BooleanSubscriber m_value;
+  wpi::nt::StringSubscriber m_name;
 
   BooleanSource m_valueData;
   std::string m_nameValue;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
index 84bdb6e2f8..768cdb8978 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
@@ -13,7 +13,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTDigitalOutputModel : public DIOModel {
  public:
@@ -21,7 +21,7 @@ class NTDigitalOutputModel : public DIOModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTDigitalOutputModel(std::string_view path);
-  NTDigitalOutputModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTDigitalOutputModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
 
@@ -42,14 +42,14 @@ class NTDigitalOutputModel : public DIOModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::BooleanEntry m_value;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::BooleanEntry m_value;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
 
   BooleanSource m_valueData;
   std::string m_nameValue;
   bool m_controllableValue = false;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
index f519b94544..e0a9d3778e 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
@@ -13,7 +13,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTFMSModel : public FMSModel {
  public:
@@ -21,7 +21,7 @@ class NTFMSModel : public FMSModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTFMSModel(std::string_view path);
-  NTFMSModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTFMSModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
   BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
@@ -54,11 +54,11 @@ class NTFMSModel : public FMSModel {
   bool IsReadOnly() override { return true; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_gameSpecificMessage;
-  nt::BooleanSubscriber m_alliance;
-  nt::IntegerSubscriber m_station;
-  nt::IntegerSubscriber m_controlWord;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_gameSpecificMessage;
+  wpi::nt::BooleanSubscriber m_alliance;
+  wpi::nt::IntegerSubscriber m_station;
+  wpi::nt::IntegerSubscriber m_controlWord;
 
   BooleanSource m_fmsAttached;
   BooleanSource m_dsAttached;
@@ -70,4 +70,4 @@ class NTFMSModel : public FMSModel {
   StringSource m_gameSpecificMessageData;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
index 8863bebf83..006ba5f783 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
@@ -17,7 +17,7 @@
 #include "wpi/nt/StringTopic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTField2DModel : public Field2DModel {
  public:
@@ -25,7 +25,7 @@ class NTField2DModel : public Field2DModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTField2DModel(std::string_view path);
-  NTField2DModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTField2DModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
   ~NTField2DModel() override;
 
   const char* GetPath() const { return m_path.c_str(); }
@@ -38,15 +38,15 @@ class NTField2DModel : public Field2DModel {
   FieldObjectModel* AddFieldObject(std::string_view name) override;
   void RemoveFieldObject(std::string_view name) override;
   void ForEachFieldObject(
-      wpi::function_ref<void(FieldObjectModel& model, std::string_view name)>
+      wpi::util::function_ref<void(FieldObjectModel& model, std::string_view name)>
           func) override;
 
  private:
   std::string m_path;
-  nt::NetworkTableInstance m_inst;
-  nt::MultiSubscriber m_tableSub;
-  nt::StringTopic m_nameTopic;
-  nt::NetworkTableListenerPoller m_poller;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::MultiSubscriber m_tableSub;
+  wpi::nt::StringTopic m_nameTopic;
+  wpi::nt::NetworkTableListenerPoller m_poller;
   std::string m_nameValue;
 
   class ObjectModel;
@@ -56,4 +56,4 @@ class NTField2DModel : public Field2DModel {
   std::pair<Objects::iterator, bool> Find(std::string_view fullName);
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
index 335fdd28ad..c29cce4d45 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
@@ -13,13 +13,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTGyroModel : public GyroModel {
  public:
   static constexpr const char* kType = "Gyro";
 
   explicit NTGyroModel(std::string_view path);
-  NTGyroModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTGyroModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const char* GetSimDevice() const override { return nullptr; }
@@ -32,11 +32,11 @@ class NTGyroModel : public GyroModel {
   bool IsReadOnly() override { return true; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::DoubleSubscriber m_angle;
-  nt::StringSubscriber m_name;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::DoubleSubscriber m_angle;
+  wpi::nt::StringSubscriber m_name;
 
   DoubleSource m_angleData;
   std::string m_nameValue;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
index 883c30e9c8..b5d5774e1b 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
@@ -15,13 +15,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTMecanumDriveModel : public DriveModel {
  public:
   static constexpr const char* kType = "MecanumDrive";
 
   explicit NTMecanumDriveModel(std::string_view path);
-  NTMecanumDriveModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTMecanumDriveModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const std::vector<DriveModel::WheelInfo>& GetWheels() const override {
@@ -36,13 +36,13 @@ class NTMecanumDriveModel : public DriveModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
-  nt::DoubleEntry m_flPercent;
-  nt::DoubleEntry m_frPercent;
-  nt::DoubleEntry m_rlPercent;
-  nt::DoubleEntry m_rrPercent;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
+  wpi::nt::DoubleEntry m_flPercent;
+  wpi::nt::DoubleEntry m_frPercent;
+  wpi::nt::DoubleEntry m_rlPercent;
+  wpi::nt::DoubleEntry m_rrPercent;
 
   std::string m_nameValue;
   bool m_controllableValue = false;
@@ -55,4 +55,4 @@ class NTMecanumDriveModel : public DriveModel {
   ImVec2 m_speedVector;
   double m_rotation;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
index 2ab5bf5241..ce2cf958d6 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
@@ -16,7 +16,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/NetworkTableListener.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTMechanism2DModel : public Mechanism2DModel {
  public:
@@ -24,7 +24,7 @@ class NTMechanism2DModel : public Mechanism2DModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTMechanism2DModel(std::string_view path);
-  NTMechanism2DModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTMechanism2DModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
   ~NTMechanism2DModel() override;
 
   const char* GetPath() const { return m_path.c_str(); }
@@ -34,41 +34,41 @@ class NTMechanism2DModel : public Mechanism2DModel {
   bool Exists() override;
   bool IsReadOnly() override;
 
-  frc::Translation2d GetDimensions() const override {
+  wpi::math::Translation2d GetDimensions() const override {
     return m_dimensionsValue;
   }
   ImU32 GetBackgroundColor() const override { return m_bgColorValue; }
   void ForEachRoot(
-      wpi::function_ref<void(MechanismRootModel& model)> func) override;
+      wpi::util::function_ref<void(MechanismRootModel& model)> func) override;
 
  private:
-  nt::NetworkTableInstance m_inst;
+  wpi::nt::NetworkTableInstance m_inst;
   std::string m_path;
-  nt::MultiSubscriber m_tableSub;
-  nt::Topic m_nameTopic;
-  nt::Topic m_dimensionsTopic;
-  nt::Topic m_bgColorTopic;
-  nt::NetworkTableListenerPoller m_poller;
+  wpi::nt::MultiSubscriber m_tableSub;
+  wpi::nt::Topic m_nameTopic;
+  wpi::nt::Topic m_dimensionsTopic;
+  wpi::nt::Topic m_bgColorTopic;
+  wpi::nt::NetworkTableListenerPoller m_poller;
 
   std::string m_nameValue;
-  frc::Translation2d m_dimensionsValue;
+  wpi::math::Translation2d m_dimensionsValue;
   ImU32 m_bgColorValue = 0;
 
   class NTMechanismObjectModel;
   class NTMechanismGroupImpl final {
    public:
-    NTMechanismGroupImpl(nt::NetworkTableInstance inst, std::string_view path,
+    NTMechanismGroupImpl(wpi::nt::NetworkTableInstance inst, std::string_view path,
                          std::string_view name)
         : m_inst{inst}, m_path{path}, m_name{name} {}
 
     const char* GetName() const { return m_name.c_str(); }
     void ForEachObject(
-        wpi::function_ref<void(MechanismObjectModel& model)> func);
+        wpi::util::function_ref<void(MechanismObjectModel& model)> func);
 
-    void NTUpdate(const nt::Event& event, std::string_view name);
+    void NTUpdate(const wpi::nt::Event& event, std::string_view name);
 
    protected:
-    nt::NetworkTableInstance m_inst;
+    wpi::nt::NetworkTableInstance m_inst;
     std::string m_path;
     std::string m_name;
     std::vector<std::unique_ptr<NTMechanismObjectModel>> m_objects;
@@ -76,7 +76,7 @@ class NTMechanism2DModel : public Mechanism2DModel {
 
   class NTMechanismObjectModel final : public MechanismObjectModel {
    public:
-    NTMechanismObjectModel(nt::NetworkTableInstance inst, std::string_view path,
+    NTMechanismObjectModel(wpi::nt::NetworkTableInstance inst, std::string_view path,
                            std::string_view name)
         : m_group{inst, path, name},
           m_typeTopic{inst.GetTopic(fmt::format("{}/.type", path))},
@@ -87,37 +87,37 @@ class NTMechanism2DModel : public Mechanism2DModel {
 
     const char* GetName() const final { return m_group.GetName(); }
     void ForEachObject(
-        wpi::function_ref<void(MechanismObjectModel& model)> func) final {
+        wpi::util::function_ref<void(MechanismObjectModel& model)> func) final {
       m_group.ForEachObject(func);
     }
 
     const char* GetType() const final { return m_typeValue.c_str(); }
     ImU32 GetColor() const final { return m_colorValue; }
     double GetWeight() const final { return m_weightValue; }
-    frc::Rotation2d GetAngle() const final { return m_angleValue; }
-    units::meter_t GetLength() const final { return m_lengthValue; }
+    wpi::math::Rotation2d GetAngle() const final { return m_angleValue; }
+    wpi::units::meter_t GetLength() const final { return m_lengthValue; }
 
-    bool NTUpdate(const nt::Event& event, std::string_view name);
+    bool NTUpdate(const wpi::nt::Event& event, std::string_view name);
 
    private:
     NTMechanismGroupImpl m_group;
 
-    nt::Topic m_typeTopic;
-    nt::Topic m_colorTopic;
-    nt::Topic m_weightTopic;
-    nt::Topic m_angleTopic;
-    nt::Topic m_lengthTopic;
+    wpi::nt::Topic m_typeTopic;
+    wpi::nt::Topic m_colorTopic;
+    wpi::nt::Topic m_weightTopic;
+    wpi::nt::Topic m_angleTopic;
+    wpi::nt::Topic m_lengthTopic;
 
     std::string m_typeValue;
     ImU32 m_colorValue = IM_COL32_WHITE;
     double m_weightValue = 1.0;
-    frc::Rotation2d m_angleValue;
-    units::meter_t m_lengthValue = 0.0_m;
+    wpi::math::Rotation2d m_angleValue;
+    wpi::units::meter_t m_lengthValue = 0.0_m;
   };
 
   class RootModel final : public MechanismRootModel {
    public:
-    RootModel(nt::NetworkTableInstance inst, std::string_view path,
+    RootModel(wpi::nt::NetworkTableInstance inst, std::string_view path,
               std::string_view name)
         : m_group{inst, path, name},
           m_xTopic{inst.GetTopic(fmt::format("{}/x", path))},
@@ -125,22 +125,22 @@ class NTMechanism2DModel : public Mechanism2DModel {
 
     const char* GetName() const final { return m_group.GetName(); }
     void ForEachObject(
-        wpi::function_ref<void(MechanismObjectModel& model)> func) final {
+        wpi::util::function_ref<void(MechanismObjectModel& model)> func) final {
       m_group.ForEachObject(func);
     }
 
-    bool NTUpdate(const nt::Event& event, std::string_view childName);
+    bool NTUpdate(const wpi::nt::Event& event, std::string_view childName);
 
-    frc::Translation2d GetPosition() const override { return m_pos; };
+    wpi::math::Translation2d GetPosition() const override { return m_pos; };
 
    private:
     NTMechanismGroupImpl m_group;
-    nt::Topic m_xTopic;
-    nt::Topic m_yTopic;
-    frc::Translation2d m_pos;
+    wpi::nt::Topic m_xTopic;
+    wpi::nt::Topic m_yTopic;
+    wpi::math::Translation2d m_pos;
   };
 
   std::vector<std::unique_ptr<RootModel>> m_roots;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
index 30045fbe5e..e7d7460759 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
@@ -14,13 +14,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTMotorControllerModel : public MotorControllerModel {
  public:
   static constexpr const char* kType = "Motor Controller";
 
   explicit NTMotorControllerModel(std::string_view path);
-  NTMotorControllerModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTMotorControllerModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const char* GetSimDevice() const override { return nullptr; }
@@ -33,13 +33,13 @@ class NTMotorControllerModel : public MotorControllerModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::DoubleEntry m_value;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::DoubleEntry m_value;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
 
   DoubleSource m_valueData;
   std::string m_nameValue;
   bool m_controllableValue = false;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
index 9bcd5ce26e..c991751e30 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
@@ -14,13 +14,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTPIDControllerModel : public PIDControllerModel {
  public:
   static constexpr const char* kType = "PIDController";
 
   explicit NTPIDControllerModel(std::string_view path);
-  NTPIDControllerModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTPIDControllerModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
 
@@ -41,14 +41,14 @@ class NTPIDControllerModel : public PIDControllerModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
-  nt::DoubleEntry m_p;
-  nt::DoubleEntry m_i;
-  nt::DoubleEntry m_d;
-  nt::DoubleEntry m_setpoint;
-  nt::DoubleEntry m_iZone;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
+  wpi::nt::DoubleEntry m_p;
+  wpi::nt::DoubleEntry m_i;
+  wpi::nt::DoubleEntry m_d;
+  wpi::nt::DoubleEntry m_setpoint;
+  wpi::nt::DoubleEntry m_iZone;
 
   DoubleSource m_pData;
   DoubleSource m_iData;
@@ -59,4 +59,4 @@ class NTPIDControllerModel : public PIDControllerModel {
   std::string m_nameValue;
   bool m_controllableValue = false;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
index 4e32af616e..4b847c0767 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
@@ -14,13 +14,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTProfiledPIDControllerModel : public ProfiledPIDControllerModel {
  public:
   static constexpr const char* kType = "ProfiledPIDController";
 
   explicit NTProfiledPIDControllerModel(std::string_view path);
-  NTProfiledPIDControllerModel(nt::NetworkTableInstance inst,
+  NTProfiledPIDControllerModel(wpi::nt::NetworkTableInstance inst,
                                std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
@@ -48,16 +48,16 @@ class NTProfiledPIDControllerModel : public ProfiledPIDControllerModel {
   bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::BooleanSubscriber m_controllable;
-  nt::DoubleEntry m_p;
-  nt::DoubleEntry m_i;
-  nt::DoubleEntry m_d;
-  nt::DoubleEntry m_iZone;
-  nt::DoubleEntry m_maxVelocity;
-  nt::DoubleEntry m_maxAcceleration;
-  nt::DoubleEntry m_goal;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::BooleanSubscriber m_controllable;
+  wpi::nt::DoubleEntry m_p;
+  wpi::nt::DoubleEntry m_i;
+  wpi::nt::DoubleEntry m_d;
+  wpi::nt::DoubleEntry m_iZone;
+  wpi::nt::DoubleEntry m_maxVelocity;
+  wpi::nt::DoubleEntry m_maxAcceleration;
+  wpi::nt::DoubleEntry m_goal;
 
   DoubleSource m_pData;
   DoubleSource m_iData;
@@ -70,4 +70,4 @@ class NTProfiledPIDControllerModel : public ProfiledPIDControllerModel {
   std::string m_nameValue;
   bool m_controllableValue = false;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
index 1178415f6d..92702c8a2c 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/StringArrayTopic.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class NTStringChooserModel : public StringChooserModel {
  public:
@@ -20,7 +20,7 @@ class NTStringChooserModel : public StringChooserModel {
 
   // path is to the table containing ".type", excluding the trailing /
   explicit NTStringChooserModel(std::string_view path);
-  NTStringChooserModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTStringChooserModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const std::string& GetDefault() override { return m_defaultValue; }
   const std::string& GetSelected() override { return m_selectedValue; }
@@ -36,12 +36,12 @@ class NTStringChooserModel : public StringChooserModel {
   bool IsReadOnly() override { return false; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_default;
-  nt::StringSubscriber m_selected;
-  nt::StringPublisher m_selectedPub;
-  nt::StringSubscriber m_active;
-  nt::StringArraySubscriber m_options;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_default;
+  wpi::nt::StringSubscriber m_selected;
+  wpi::nt::StringPublisher m_selectedPub;
+  wpi::nt::StringSubscriber m_active;
+  wpi::nt::StringArraySubscriber m_options;
 
   std::string m_defaultValue;
   std::string m_selectedValue;
@@ -49,4 +49,4 @@ class NTStringChooserModel : public StringChooserModel {
   std::vector<std::string> m_optionsValue;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
index 904dfb9c1d..3f8f094923 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
@@ -12,13 +12,13 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class NTSubsystemModel : public SubsystemModel {
  public:
   static constexpr const char* kType = "Subsystem";
 
   explicit NTSubsystemModel(std::string_view path);
-  NTSubsystemModel(nt::NetworkTableInstance inst, std::string_view path);
+  NTSubsystemModel(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   const char* GetName() const override { return m_nameValue.c_str(); }
   const char* GetDefaultCommand() const override {
@@ -33,13 +33,13 @@ class NTSubsystemModel : public SubsystemModel {
   bool IsReadOnly() override { return true; }
 
  private:
-  nt::NetworkTableInstance m_inst;
-  nt::StringSubscriber m_name;
-  nt::StringSubscriber m_defaultCommand;
-  nt::StringSubscriber m_currentCommand;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::StringSubscriber m_name;
+  wpi::nt::StringSubscriber m_defaultCommand;
+  wpi::nt::StringSubscriber m_currentCommand;
 
   std::string m_nameValue;
   std::string m_defaultCommandValue;
   std::string m_currentCommandValue;
 };
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
index d63c32d394..29d9a3926d 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
@@ -25,7 +25,7 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/struct/DynamicStruct.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class DataSource;
 
@@ -43,7 +43,7 @@ class NetworkTablesModel : public Model {
                         int64_t time);
 
     /** The latest value. */
-    nt::Value value;
+    wpi::nt::Value value;
 
     /** String representation of the value (for arrays / complex values). */
     std::string valueStr;
@@ -91,18 +91,18 @@ class NetworkTablesModel : public Model {
       ValueSource::UpdateFromValue(model, info.name, info.type_str);
     }
 
-    void UpdateTopic(nt::Event&& event) {
-      if (std::holds_alternative<nt::TopicInfo>(event.data)) {
-        UpdateInfo(std::get<nt::TopicInfo>(std::move(event.data)));
+    void UpdateTopic(wpi::nt::Event&& event) {
+      if (std::holds_alternative<wpi::nt::TopicInfo>(event.data)) {
+        UpdateInfo(std::get<wpi::nt::TopicInfo>(std::move(event.data)));
       }
     }
-    void UpdateInfo(nt::TopicInfo&& info_);
+    void UpdateInfo(wpi::nt::TopicInfo&& info_);
 
     /** Topic information. */
-    nt::TopicInfo info;
+    wpi::nt::TopicInfo info;
 
     /** JSON representation of the topic properties. */
-    wpi::json properties;
+    wpi::util::json properties;
 
     /** Specific common property flags. */
     bool persistent{false};
@@ -111,8 +111,8 @@ class NetworkTablesModel : public Model {
     /** Publisher (created when the value changes). */
     NT_Publisher publisher{0};
 
-    std::vector<nt::meta::TopicPublisher> publishers;
-    std::vector<nt::meta::TopicSubscriber> subscribers;
+    std::vector<wpi::nt::meta::TopicPublisher> publishers;
+    std::vector<wpi::nt::meta::TopicSubscriber> subscribers;
   };
 
   struct TreeNode {
@@ -134,17 +134,17 @@ class NetworkTablesModel : public Model {
     std::vector<TreeNode> children;
   };
 
-  struct Client : public nt::meta::Client {
+  struct Client : public wpi::nt::meta::Client {
     Client() = default;
-    /*implicit*/ Client(nt::meta::Client&& oth)  // NOLINT
-        : nt::meta::Client{std::move(oth)} {}
+    /*implicit*/ Client(wpi::nt::meta::Client&& oth)  // NOLINT
+        : wpi::nt::meta::Client{std::move(oth)} {}
 
-    struct Subscriber : public nt::meta::ClientSubscriber {
-      /*implicit*/ Subscriber(nt::meta::ClientSubscriber&& oth);  // NOLINT
+    struct Subscriber : public wpi::nt::meta::ClientSubscriber {
+      /*implicit*/ Subscriber(wpi::nt::meta::ClientSubscriber&& oth);  // NOLINT
       std::string topicsStr;
     };
 
-    std::vector<nt::meta::ClientPublisher> publishers;
+    std::vector<wpi::nt::meta::ClientPublisher> publishers;
     std::vector<Subscriber> subscribers;
 
     void UpdatePublishers(std::span<const uint8_t> data);
@@ -152,12 +152,12 @@ class NetworkTablesModel : public Model {
   };
 
   NetworkTablesModel();
-  explicit NetworkTablesModel(nt::NetworkTableInstance inst);
+  explicit NetworkTablesModel(wpi::nt::NetworkTableInstance inst);
 
   void Update() override;
   bool Exists() override;
 
-  nt::NetworkTableInstance GetInstance() { return m_inst; }
+  wpi::nt::NetworkTableInstance GetInstance() { return m_inst; }
   const std::vector<Entry*>& GetEntries() const { return m_sortedEntries; }
   const std::vector<TreeNode>& GetTreeRoot() const { return m_root; }
   const std::vector<TreeNode>& GetPersistentTreeRoot() const {
@@ -176,7 +176,7 @@ class NetworkTablesModel : public Model {
   Entry* GetEntry(std::string_view name);
   Entry* AddEntry(NT_Topic topic);
 
-  wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+  wpi::util::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
   upb_DefPool* GetProtobufDatabase() { return m_protoPool; }
   upb_Arena* GetProtobufArena() { return m_arena; }
 
@@ -185,9 +185,9 @@ class NetworkTablesModel : public Model {
   void RebuildTreeImpl(std::vector<TreeNode>* tree, int category);
   void UpdateClients(std::span<const uint8_t> data);
 
-  nt::NetworkTableInstance m_inst;
-  nt::NetworkTableListenerPoller m_poller;
-  wpi::DenseMap<NT_Topic, std::unique_ptr<Entry>> m_entries;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::NetworkTableListenerPoller m_poller;
+  wpi::util::DenseMap<NT_Topic, std::unique_ptr<Entry>> m_entries;
 
   // sorted by name
   std::vector<Entry*> m_sortedEntries;
@@ -200,7 +200,7 @@ class NetworkTablesModel : public Model {
   std::map<std::string, Client, std::less<>> m_clients;
   Client m_server;
 
-  wpi::StructDescriptorDatabase m_structDb;
+  wpi::util::StructDescriptorDatabase m_structDb;
   upb_DefPool* m_protoPool = upb_DefPool_New();
   upb_Arena* m_arena = upb_Arena_New();
 };
@@ -273,4 +273,4 @@ class NetworkTablesView : public View {
   NetworkTablesFlagsSettings m_flags;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
index f88e43f6b1..26933c3b43 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
@@ -18,16 +18,16 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/StringMap.hpp"
 
-namespace glass {
+namespace wpi::glass {
 
 class Window;
 
 namespace detail {
 struct NTProviderFunctions {
   using Exists =
-      std::function<bool(nt::NetworkTableInstance inst, const char* path)>;
+      std::function<bool(wpi::nt::NetworkTableInstance inst, const char* path)>;
   using CreateModel = std::function<std::unique_ptr<Model>(
-      nt::NetworkTableInstance inst, const char* path)>;
+      wpi::nt::NetworkTableInstance inst, const char* path)>;
   using ViewExists = std::function<bool(Model*, const char* path)>;
   using CreateView =
       std::function<std::unique_ptr<View>(Window*, Model*, const char* path)>;
@@ -43,14 +43,14 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
   using Provider::CreateViewFunc;
 
   explicit NetworkTablesProvider(Storage& storage);
-  NetworkTablesProvider(Storage& storage, nt::NetworkTableInstance inst);
+  NetworkTablesProvider(Storage& storage, wpi::nt::NetworkTableInstance inst);
 
   /**
    * Get the NetworkTables instance being used for this provider.
    *
    * @return NetworkTables instance
    */
-  nt::NetworkTableInstance GetInstance() const { return m_inst; }
+  wpi::nt::NetworkTableInstance GetInstance() const { return m_inst; }
 
   /**
    * Perform global initialization.  This should be called prior to
@@ -76,8 +76,8 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
  private:
   void Update() override;
 
-  nt::NetworkTableInstance m_inst;
-  nt::NetworkTableListenerPoller m_poller;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::NetworkTableListenerPoller m_poller;
   NT_Listener m_listener{0};
 
   // cached mapping from table name to type string
@@ -89,27 +89,27 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
   };
 
   // mapping from .type string to model/view creators
-  wpi::StringMap<Builder> m_typeMap;
+  wpi::util::StringMap<Builder> m_typeMap;
 
   struct SubListener {
-    nt::StringSubscriber subscriber;
+    wpi::nt::StringSubscriber subscriber;
     NT_Listener listener;
   };
 
   // mapping from .type topic to subscriber/listener
-  wpi::DenseMap<NT_Topic, SubListener> m_topicMap;
+  wpi::util::DenseMap<NT_Topic, SubListener> m_topicMap;
 
   struct Entry : public ModelEntry {
-    Entry(nt::Topic typeTopic, std::string_view name, const Builder& builder)
+    Entry(wpi::nt::Topic typeTopic, std::string_view name, const Builder& builder)
         : ModelEntry{name, [](auto, const char*) { return true; },
                      builder.createModel},
           typeTopic{typeTopic} {}
-    nt::Topic typeTopic;
+    wpi::nt::Topic typeTopic;
   };
 
   void Show(ViewEntry* entry, Window* window) override;
 
-  ViewEntry* GetOrCreateView(const Builder& builder, nt::Topic typeTopic,
+  ViewEntry* GetOrCreateView(const Builder& builder, wpi::nt::Topic typeTopic,
                              std::string_view name);
 };
 
@@ -120,4 +120,4 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
  */
 void AddStandardNetworkTablesViews(NetworkTablesProvider& provider);
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
index 465a4163ce..8f434d6326 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
@@ -10,19 +10,19 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/SafeThread.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace glass {
+namespace wpi::glass {
 
 class Storage;
 
 class NetworkTablesSettings {
  public:
   explicit NetworkTablesSettings(std::string_view clientName, Storage& storage,
-                                 NT_Inst inst = nt::GetDefaultInstance());
+                                 NT_Inst inst = wpi::nt::GetDefaultInstance());
 
   /**
    * Enables or disables the server option.  Default is enabled.
@@ -43,7 +43,7 @@ class NetworkTablesSettings {
   int& m_port;
   bool& m_dsClient;
 
-  class Thread : public wpi::SafeThread {
+  class Thread : public wpi::util::SafeThread {
    public:
     explicit Thread(NT_Inst inst) : m_inst{inst} {}
 
@@ -59,7 +59,7 @@ class NetworkTablesSettings {
     int m_port;
     bool m_dsClient;
   };
-  wpi::SafeThreadOwner<Thread> m_thread;
+  wpi::util::SafeThreadOwner<Thread> m_thread;
 };
 
-}  // namespace glass
+}  // namespace wpi::glass
diff --git a/hal/src/dev/native/cpp/main.cpp b/hal/src/dev/native/cpp/main.cpp
index 68974e3429..348a3ef4db 100644
--- a/hal/src/dev/native/cpp/main.cpp
+++ b/hal/src/dev/native/cpp/main.cpp
@@ -6,6 +6,6 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::print("Hello World\n");
-  wpi::print("{}\n", static_cast<int32_t>(HAL_GetRuntimeType()));
+  wpi::util::print("Hello World\n");
+  wpi::util::print("{}\n", static_cast<int32_t>(HAL_GetRuntimeType()));
 }
diff --git a/hal/src/main/native/cpp/ErrorHandling.cpp b/hal/src/main/native/cpp/ErrorHandling.cpp
index ed88a96273..6a0bfd03b9 100644
--- a/hal/src/main/native/cpp/ErrorHandling.cpp
+++ b/hal/src/main/native/cpp/ErrorHandling.cpp
@@ -11,7 +11,7 @@
 namespace {
 struct LastErrorStorage {
   int32_t status;
-  wpi::SmallString<512> message;
+  wpi::util::SmallString<512> message;
 };
 }  // namespace
 
@@ -20,7 +20,7 @@ static LastErrorStorage& GetThreadLastError() {
   return lastError;
 }
 
-namespace hal {
+namespace wpi::hal {
 void SetLastError(int32_t* status, std::string_view value) {
   LastErrorStorage& lastError = GetThreadLastError();
   lastError.message = value;
@@ -40,13 +40,13 @@ void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
 void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
                                      int32_t channel,
                                      std::string_view previousAllocation) {
-  hal::SetLastError(status,
+  wpi::hal::SetLastError(status,
                     fmt::format("{} {} previously allocated.\n"
                                 "Location of the previous allocation:\n{}\n"
                                 "Location of the current allocation:",
                                 message, channel, previousAllocation));
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 extern "C" {
 const char* HAL_GetLastError(int32_t* status) {
diff --git a/hal/src/main/native/cpp/Main.cpp b/hal/src/main/native/cpp/Main.cpp
index 30b3e2b5da..c54e000646 100644
--- a/hal/src/main/native/cpp/Main.cpp
+++ b/hal/src/main/native/cpp/Main.cpp
@@ -16,8 +16,8 @@ static void (*gMainFunc)(void*) = DefaultMain;
 static void (*gExitFunc)(void*) = DefaultExit;
 static bool gExited = false;
 struct MainObj {
-  wpi::mutex gExitMutex;
-  wpi::condition_variable gExitCv;
+  wpi::util::mutex gExitMutex;
+  wpi::util::condition_variable gExitCv;
 };
 
 static MainObj* mainObj;
@@ -33,12 +33,12 @@ static void DefaultExit(void*) {
   mainObj->gExitCv.notify_all();
 }
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeMain() {
   static MainObj mO;
   mainObj = &mO;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/cpp/fpga_clock.cpp b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
index 5dccf4b12e..be2819e4ad 100644
--- a/hal/src/main/native/cpp/cpp/fpga_clock.cpp
+++ b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/HALBase.h"
 #include "wpi/util/print.hpp"
 
-namespace hal {
+namespace wpi::hal {
 const fpga_clock::time_point fpga_clock::min_time =
     fpga_clock::time_point(fpga_clock::duration(
         std::numeric_limits<fpga_clock::duration::rep>::min()));
@@ -19,7 +19,7 @@ fpga_clock::time_point fpga_clock::now() noexcept {
   int32_t status = 0;
   uint64_t currentTime = HAL_GetFPGATime(&status);
   if (status != 0) {
-    wpi::print(
+    wpi::util::print(
         stderr,
         "Call to HAL_GetFPGATime failed in fpga_clock::now() with status {}. "
         "Initialization might have failed. Time will not be correct\n",
@@ -29,4 +29,4 @@ fpga_clock::time_point fpga_clock::now() noexcept {
   }
   return time_point(std::chrono::microseconds(currentTime));
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/cpp/handles/HandlesInternal.cpp b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
index 204bb24580..a88f2bfcac 100644
--- a/hal/src/main/native/cpp/handles/HandlesInternal.cpp
+++ b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
@@ -9,11 +9,11 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
-static wpi::SmallVector<HandleBase*, 32>* globalHandles = nullptr;
-static wpi::mutex globalHandleMutex;
+namespace wpi::hal {
+static wpi::util::SmallVector<HandleBase*, 32>* globalHandles = nullptr;
+static wpi::util::mutex globalHandleMutex;
 HandleBase::HandleBase() {
-  static wpi::SmallVector<HandleBase*, 32> gH;
+  static wpi::util::SmallVector<HandleBase*, 32> gH;
   std::scoped_lock lock(globalHandleMutex);
   if (!globalHandles) {
     globalHandles = &gH;
@@ -67,4 +67,4 @@ HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
   handle += index;
   return handle;
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
index 5d36ab71c0..fae53ad3dc 100644
--- a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/AddressableLED.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 static_assert(sizeof(jbyte) * 3 == sizeof(HAL_AddressableLEDData));
 
@@ -38,7 +38,7 @@ Java_org_wpilib_hardware_hal_AddressableLEDJNI_initialize
   (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto ret = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return ret;
diff --git a/hal/src/main/native/cpp/jni/AnalogJNI.cpp b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
index 78ce48cb98..41d93aa8fb 100644
--- a/hal/src/main/native/cpp/jni/AnalogJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
@@ -13,7 +13,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -27,7 +27,7 @@ Java_org_wpilib_hardware_hal_AnalogJNI_initializeAnalogInputPort
   (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto analog = HAL_InitializeAnalogInputPort(channel, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)analog;
diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index b5d4c4e522..d9a3e604eb 100644
--- a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -13,8 +13,8 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
index 4d1e67afc1..c4d8518802 100644
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -12,8 +12,8 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -180,7 +180,7 @@ Java_org_wpilib_hardware_hal_can_CANJNI_readCANStreamSession
   uint32_t handle = static_cast<uint32_t>(sessionHandle);
   uint32_t messagesRead = 0;
 
-  wpi::SmallVector<HAL_CANStreamMessage, 16> messageBuffer;
+  wpi::util::SmallVector<HAL_CANStreamMessage, 16> messageBuffer;
   messageBuffer.resize_for_overwrite(messagesToRead);
 
   int32_t status = 0;
diff --git a/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
index 1e4940b6a4..bd15963e36 100644
--- a/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -25,7 +25,7 @@ Java_org_wpilib_hardware_hal_CTREPCMJNI_initialize
   (JNIEnv* env, jclass, jint busId, jint module)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto handle = HAL_InitializeCTREPCM(busId, module, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return handle;
diff --git a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
index 38e49dbbdd..d204f02a27 100644
--- a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
@@ -10,7 +10,7 @@
 #include "org_wpilib_hardware_hal_ConstantsJNI.h"
 #include "wpi/hal/Constants.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 /*
diff --git a/hal/src/main/native/cpp/jni/CounterJNI.cpp b/hal/src/main/native/cpp/jni/CounterJNI.cpp
index 4a005e4114..c2c622856c 100644
--- a/hal/src/main/native/cpp/jni/CounterJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CounterJNI.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -26,7 +26,7 @@ Java_org_wpilib_hardware_hal_CounterJNI_initializeCounter
   (JNIEnv* env, jclass, jint channel, jboolean risingEdge)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto counter =
       HAL_InitializeCounter(channel, risingEdge, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
diff --git a/hal/src/main/native/cpp/jni/DIOJNI.cpp b/hal/src/main/native/cpp/jni/DIOJNI.cpp
index b3f803548a..eba3d05b7e 100644
--- a/hal/src/main/native/cpp/jni/DIOJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DIOJNI.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -28,7 +28,7 @@ Java_org_wpilib_hardware_hal_DIOJNI_initializeDIOPort
   (JNIEnv* env, jclass, jint channel, jboolean input)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto dio = HAL_InitializeDIOPort(channel, static_cast<uint8_t>(input),
                                    stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
diff --git a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
index 716dee492c..bd3dac3624 100644
--- a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
@@ -37,8 +37,8 @@ static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickPOVs ==
 static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoysticks ==
               HAL_kMaxJoysticks);
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -216,7 +216,7 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_getJoystickName
 {
   WPI_String joystickName;
   HAL_GetJoystickName(&joystickName, port);
-  jstring str = MakeJString(env, wpi::to_string_view(&joystickName));
+  jstring str = MakeJString(env, wpi::util::to_string_view(&joystickName));
   WPI_FreeString(&joystickName);
   return str;
 }
diff --git a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
index a745244048..f7a1c874dc 100644
--- a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/DutyCycle.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 /*
@@ -22,7 +22,7 @@ Java_org_wpilib_hardware_hal_DutyCycleJNI_initialize
   (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto handle = HAL_InitializeDutyCycle(channel, stack.c_str(), &status);
   CheckStatus(env, status);
   return handle;
diff --git a/hal/src/main/native/cpp/jni/EncoderJNI.cpp b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
index 7c591e4168..313b618734 100644
--- a/hal/src/main/native/cpp/jni/EncoderJNI.cpp
+++ b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/Encoder.h"
 #include "wpi/hal/Errors.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp
index 5d0a706cad..cd829796e7 100644
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -21,8 +21,8 @@
 #include "wpi/hal/Main.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/HALUtil.cpp b/hal/src/main/native/cpp/jni/HALUtil.cpp
index 7f54386c4f..60b3e30b56 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -21,7 +21,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 #define kRioStatusOffset -63000
 #define kRioStatusSuccess 0
@@ -78,7 +78,7 @@ static const JExceptionInit exceptions[] = {
      &uncleanStatusExCls},
     {"java/lang/NullPointerException", &nullPointerEx}};
 
-namespace hal {
+namespace wpi::hal {
 
 void ThrowUncleanStatusException(JNIEnv* env, std::string_view msg,
                                  int32_t status) {
@@ -312,9 +312,9 @@ jint SimOnLoad(JavaVM* vm, void* reserved);
 void SimOnUnload(JavaVM* vm, void* reserved);
 }  // namespace sim
 
-}  // namespace hal
+}  // namespace wpi::hal
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -375,7 +375,7 @@ Java_org_wpilib_hardware_hal_HALUtil_getSerialNumber
 {
   WPI_String serialNum;
   HAL_GetSerialNumber(&serialNum);
-  jstring ret = MakeJString(env, wpi::to_string_view(&serialNum));
+  jstring ret = MakeJString(env, wpi::util::to_string_view(&serialNum));
   WPI_FreeString(&serialNum);
   return ret;
 }
@@ -391,7 +391,7 @@ Java_org_wpilib_hardware_hal_HALUtil_getComments
 {
   WPI_String comments;
   HAL_GetComments(&comments);
-  jstring ret = MakeJString(env, wpi::to_string_view(&comments));
+  jstring ret = MakeJString(env, wpi::util::to_string_view(&comments));
   WPI_FreeString(&comments);
   return ret;
 }
diff --git a/hal/src/main/native/cpp/jni/HALUtil.h b/hal/src/main/native/cpp/jni/HALUtil.h
index b34a2780cc..88adab4acc 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.h
+++ b/hal/src/main/native/cpp/jni/HALUtil.h
@@ -13,7 +13,7 @@
 struct HAL_MatchInfo;
 struct HAL_Value;
 
-namespace hal {
+namespace wpi::hal {
 
 void ReportError(JNIEnv* env, int32_t status, bool doThrow = true);
 
@@ -84,6 +84,6 @@ jobject CreateCANStreamMessage(JNIEnv* env);
 
 JavaVM* GetJVM();
 
-}  // namespace hal
+}  // namespace wpi::hal
 
 #endif  // HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
diff --git a/hal/src/main/native/cpp/jni/I2CJNI.cpp b/hal/src/main/native/cpp/jni/I2CJNI.cpp
index 35425d0222..341e5a4270 100644
--- a/hal/src/main/native/cpp/jni/I2CJNI.cpp
+++ b/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -11,8 +11,8 @@
 #include "wpi/hal/I2C.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -73,7 +73,7 @@ Java_org_wpilib_hardware_hal_I2CJNI_i2CTransactionB
     return 0;
   }
 
-  wpi::SmallVector<uint8_t, 128> recvBuf;
+  wpi::util::SmallVector<uint8_t, 128> recvBuf;
   recvBuf.resize(receiveSize);
   jint returnValue =
       HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
@@ -156,7 +156,7 @@ Java_org_wpilib_hardware_hal_I2CJNI_i2CReadB
     return 0;
   }
 
-  wpi::SmallVector<uint8_t, 128> recvBuf;
+  wpi::util::SmallVector<uint8_t, 128> recvBuf;
   recvBuf.resize(receiveSize);
   jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address,
                                  recvBuf.data(), receiveSize);
diff --git a/hal/src/main/native/cpp/jni/IMUJNI.cpp b/hal/src/main/native/cpp/jni/IMUJNI.cpp
index 369cf639e9..a8adfa03a3 100644
--- a/hal/src/main/native/cpp/jni/IMUJNI.cpp
+++ b/hal/src/main/native/cpp/jni/IMUJNI.cpp
@@ -12,7 +12,7 @@
 #include "org_wpilib_hardware_hal_IMUJNI.h"
 #include "wpi/hal/IMU.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 void assertArraySize(JNIEnv* env, jarray array, int minimumSize,
diff --git a/hal/src/main/native/cpp/jni/NotifierJNI.cpp b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
index 90702d3a24..32fac3d6f0 100644
--- a/hal/src/main/native/cpp/jni/NotifierJNI.cpp
+++ b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/Notifier.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -59,7 +59,7 @@ Java_org_wpilib_hardware_hal_NotifierJNI_setNotifierName
 {
   int32_t status = 0;
   HAL_SetNotifierName((HAL_NotifierHandle)notifierHandle,
-                      wpi::java::JStringRef{env, name}.c_str(), &status);
+                      wpi::util::java::JStringRef{env, name}.c_str(), &status);
   CheckStatus(env, status);
 }
 
diff --git a/hal/src/main/native/cpp/jni/PWMJNI.cpp b/hal/src/main/native/cpp/jni/PWMJNI.cpp
index 6297505ce8..e412cfa4e3 100644
--- a/hal/src/main/native/cpp/jni/PWMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PWMJNI.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -28,7 +28,7 @@ Java_org_wpilib_hardware_hal_PWMJNI_initializePWMPort
   (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto pwm = HAL_InitializePWMPort(channel, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)pwm;
diff --git a/hal/src/main/native/cpp/jni/PortsJNI.cpp b/hal/src/main/native/cpp/jni/PortsJNI.cpp
index 60eff1bf62..34030eefa1 100644
--- a/hal/src/main/native/cpp/jni/PortsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PortsJNI.cpp
@@ -10,7 +10,7 @@
 #include "org_wpilib_hardware_hal_PortsJNI.h"
 #include "wpi/hal/Ports.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 /*
diff --git a/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
index 6b6fc185ef..e956a641a1 100644
--- a/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/PowerDistribution.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static_assert(org_wpilib_hardware_hal_PowerDistributionJNI_AUTOMATIC_TYPE ==
               HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic);
@@ -33,7 +33,7 @@ Java_org_wpilib_hardware_hal_PowerDistributionJNI_initialize
   (JNIEnv* env, jclass, jint busId, jint module, jint type)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto handle = HAL_InitializePowerDistribution(
       busId, module, static_cast<HAL_PowerDistributionType>(type),
       stack.c_str(), &status);
@@ -182,7 +182,7 @@ Java_org_wpilib_hardware_hal_PowerDistributionJNI_getAllCurrents
 {
   int32_t status = 0;
   int32_t size = HAL_GetPowerDistributionNumChannels(handle, &status);
-  wpi::SmallVector<double, 24> storage;
+  wpi::util::SmallVector<double, 24> storage;
   storage.resize_for_overwrite(size);
 
   HAL_GetPowerDistributionAllChannelCurrents(handle, storage.data(), size,
diff --git a/hal/src/main/native/cpp/jni/PowerJNI.cpp b/hal/src/main/native/cpp/jni/PowerJNI.cpp
index b4116c7a1e..9499801139 100644
--- a/hal/src/main/native/cpp/jni/PowerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_PowerJNI.h"
 #include "wpi/hal/Power.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/REVPHJNI.cpp b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
index e2b7e1f04a..6797db8870 100644
--- a/hal/src/main/native/cpp/jni/REVPHJNI.cpp
+++ b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
@@ -24,7 +24,7 @@ static_assert(
     org_wpilib_hardware_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_HYBRID ==
     HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -38,7 +38,7 @@ Java_org_wpilib_hardware_hal_REVPHJNI_initialize
   (JNIEnv* env, jclass, jint busId, jint module)
 {
   int32_t status = 0;
-  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto stack = wpi::util::java::GetJavaStackTrace(env, "edu.wpi.first");
   auto handle = HAL_InitializeREVPH(busId, module, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return handle;
diff --git a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
index fa0fb94d6d..cfe760d0d4 100644
--- a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -11,8 +11,8 @@
 #include "wpi/hal/SerialPort.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -239,7 +239,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_hardware_hal_SerialPortJNI_serialRead
   (JNIEnv* env, jclass, jint handle, jbyteArray dataReceived, jint size)
 {
-  wpi::SmallVector<char, 128> recvBuf;
+  wpi::util::SmallVector<char, 128> recvBuf;
   recvBuf.resize(size);
   int32_t status = 0;
   jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPortHandle>(handle),
diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
index 07bf750161..7e36d5ce87 100644
--- a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 static HAL_Value ValueFromJava(jint type, jlong value1, jdouble value2) {
   HAL_Value value;
@@ -114,7 +114,7 @@ Java_org_wpilib_hardware_hal_SimDeviceJNI_createSimValueEnum
     }
     arr.emplace_back(JStringRef{env, elem}.str());
   }
-  wpi::SmallVector<const char*, 8> carr;
+  wpi::util::SmallVector<const char*, 8> carr;
   for (auto&& val : arr) {
     carr.push_back(val.c_str());
   }
@@ -148,7 +148,7 @@ Java_org_wpilib_hardware_hal_SimDeviceJNI_createSimValueEnumDouble
     arr.emplace_back(JStringRef{env, elem}.str());
   }
 
-  wpi::SmallVector<const char*, 8> carr;
+  wpi::util::SmallVector<const char*, 8> carr;
   for (auto&& val : arr) {
     carr.push_back(val.c_str());
   }
@@ -166,7 +166,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_hardware_hal_SimDeviceJNI_getSimValue
   (JNIEnv* env, jclass, jint handle)
 {
-  return hal::CreateHALValue(env, HAL_GetSimValue(handle));
+  return wpi::hal::CreateHALValue(env, HAL_GetSimValue(handle));
 }
 
 /*
diff --git a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
index 013e277a16..6f611db24f 100644
--- a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
@@ -10,7 +10,7 @@
 #include "org_wpilib_hardware_hal_ThreadsJNI.h"
 #include "wpi/hal/Threads.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 /*
diff --git a/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp b/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
index c57039b853..5d928e05ce 100644
--- a/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
+++ b/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
@@ -11,7 +11,7 @@
 #include "wpi/util/jni_util.hpp"
 #include "wpi/util/string.h"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -26,8 +26,8 @@ Java_org_wpilib_hardware_hal_UsageReportingJNI_report
 {
   JStringRef resourceStr{env, resource};
   JStringRef dataStr{env, data};
-  WPI_String resourceWpiStr = wpi::make_string(resourceStr);
-  WPI_String dataWpiStr = wpi::make_string(dataStr);
+  WPI_String resourceWpiStr = wpi::util::make_string(resourceStr);
+  WPI_String dataWpiStr = wpi::util::make_string(dataStr);
   return HAL_ReportUsage(&resourceWpiStr, &dataWpiStr);
 }
 
diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
index 9027eba3bf..34961b376a 100644
--- a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -13,8 +13,8 @@
 
 static_assert(sizeof(jbyte) * 3 == sizeof(HAL_AddressableLEDData));
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
index 73861d8ae0..da56034524 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_AnalogInDataJNI.h"
 #include "wpi/hal/simulation/AnalogInData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
index b12de5eba6..83b7e5bafc 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
@@ -14,22 +14,22 @@
 #include "wpi/hal/handles/UnlimitedHandleResource.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace hal::sim;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::hal::sim;
+using namespace wpi::util::java;
 
-static hal::UnlimitedHandleResource<SIM_JniHandle, BufferCallbackStore,
-                                    hal::HAL_HandleEnum::SimulationJni>*
+static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, BufferCallbackStore,
+                                    wpi::hal::HAL_HandleEnum::SimulationJni>*
     callbackHandles;
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 void InitializeBufferStore() {
-  static hal::UnlimitedHandleResource<SIM_JniHandle, BufferCallbackStore,
-                                      hal::HAL_HandleEnum::SimulationJni>
+  static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, BufferCallbackStore,
+                                      wpi::hal::HAL_HandleEnum::SimulationJni>
       cb;
   callbackHandles = &cb;
 }
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
 
 void BufferCallbackStore::create(JNIEnv* env, jobject obj) {
   m_call = JGlobal<jobject>(env, obj);
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
index 2a681ffbd7..cee5338a95 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
@@ -13,7 +13,7 @@
 #include "wpi/hal/simulation/NotifyListener.h"
 #include "wpi/util/jni_util.hpp"
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 class BufferCallbackStore {
  public:
   void create(JNIEnv* env, jobject obj);
@@ -23,7 +23,7 @@ class BufferCallbackStore {
   int32_t getCallbackId() { return callbackId; }
 
  private:
-  wpi::java::JGlobal<jobject> m_call;
+  wpi::util::java::JGlobal<jobject> m_call;
   int32_t callbackId;
 };
 
@@ -38,4 +38,4 @@ SIM_JniHandle AllocateBufferCallback(JNIEnv* env, jint index, jobject callback,
                                      RegisterBufferCallbackFunc createCallback);
 void FreeBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
                         FreeBufferCallbackFunc freeCallback);
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
index e58040034e..327d941724 100644
--- a/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_CTREPCMDataJNI.h"
 #include "wpi/hal/simulation/CTREPCMData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
index 2156ee892e..be06d97190 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
@@ -15,22 +15,22 @@
 #include "wpi/hal/handles/UnlimitedHandleResource.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace hal::sim;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::hal::sim;
+using namespace wpi::util::java;
 
-static hal::UnlimitedHandleResource<SIM_JniHandle, CallbackStore,
-                                    hal::HAL_HandleEnum::SimulationJni>*
+static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, CallbackStore,
+                                    wpi::hal::HAL_HandleEnum::SimulationJni>*
     callbackHandles;
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 void InitializeStore() {
-  static hal::UnlimitedHandleResource<SIM_JniHandle, CallbackStore,
-                                      hal::HAL_HandleEnum::SimulationJni>
+  static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, CallbackStore,
+                                      wpi::hal::HAL_HandleEnum::SimulationJni>
       cb;
   callbackHandles = &cb;
 }
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
 
 void CallbackStore::create(JNIEnv* env, jobject obj) {
   m_call = JGlobal<jobject>(env, obj);
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
index 079d2e16cd..5e27b8ff02 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
@@ -13,7 +13,7 @@
 #include "wpi/hal/simulation/NotifyListener.h"
 #include "wpi/util/jni_util.hpp"
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 class CallbackStore {
  public:
   void create(JNIEnv* env, jobject obj);
@@ -23,7 +23,7 @@ class CallbackStore {
   int32_t getCallbackId() { return callbackId; }
 
  private:
-  wpi::java::JGlobal<jobject> m_call;
+  wpi::util::java::JGlobal<jobject> m_call;
   int32_t callbackId;
 };
 
@@ -59,4 +59,4 @@ void FreeChannelCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
                          jint channel, FreeChannelCallbackFunc freeCallback);
 void FreeCallbackNoIndex(JNIEnv* env, SIM_JniHandle handle,
                          FreeCallbackNoIndexFunc freeCallback);
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
index 69a4aeaa45..1376623091 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
@@ -14,22 +14,22 @@
 #include "wpi/hal/handles/UnlimitedHandleResource.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace hal::sim;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::hal::sim;
+using namespace wpi::util::java;
 
-static hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
-                                    hal::HAL_HandleEnum::SimulationJni>*
+static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
+                                    wpi::hal::HAL_HandleEnum::SimulationJni>*
     callbackHandles;
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 void InitializeConstBufferStore() {
-  static hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
-                                      hal::HAL_HandleEnum::SimulationJni>
+  static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
+                                      wpi::hal::HAL_HandleEnum::SimulationJni>
       cb;
   callbackHandles = &cb;
 }
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
 
 void ConstBufferCallbackStore::create(JNIEnv* env, jobject obj) {
   m_call = JGlobal<jobject>(env, obj);
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
index 97f4b4b8d2..3e6d9e0672 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
@@ -13,7 +13,7 @@
 #include "wpi/hal/simulation/NotifyListener.h"
 #include "wpi/util/jni_util.hpp"
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 class ConstBufferCallbackStore {
  public:
   void create(JNIEnv* env, jobject obj);
@@ -24,7 +24,7 @@ class ConstBufferCallbackStore {
   int32_t getCallbackId() { return callbackId; }
 
  private:
-  wpi::java::JGlobal<jobject> m_call;
+  wpi::util::java::JGlobal<jobject> m_call;
   int32_t callbackId;
 };
 
@@ -39,4 +39,4 @@ SIM_JniHandle AllocateConstBufferCallback(
     RegisterConstBufferCallbackFunc createCallback);
 void FreeConstBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
                              FreeConstBufferCallbackFunc freeCallback);
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
index 005800e7cd..3e93ff7127 100644
--- a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_DIODataJNI.h"
 #include "wpi/hal/simulation/DIOData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
index 5ece6ac98f..6346e098e4 100644
--- a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_DigitalPWMDataJNI.h"
 #include "wpi/hal/simulation/DigitalPWMData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
index 4b4737d7a0..13708735bc 100644
--- a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -11,8 +11,8 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -537,9 +537,9 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setMatchInfo
   JStringRef gameSpecificMessageRef{env, gameSpecificMessage};
 
   HAL_MatchInfo halMatchInfo;
-  wpi::format_to_n_c_str(halMatchInfo.eventName, sizeof(halMatchInfo.eventName),
+  wpi::util::format_to_n_c_str(halMatchInfo.eventName, sizeof(halMatchInfo.eventName),
                          "{}", eventNameRef.str());
-  wpi::format_to_n_c_str(
+  wpi::util::format_to_n_c_str(
       reinterpret_cast<char*>(halMatchInfo.gameSpecificMessage),
       sizeof(halMatchInfo.gameSpecificMessage), "{}",
       gameSpecificMessageRef.str());
@@ -732,7 +732,7 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickName
   (JNIEnv* env, jclass, jint stick, jstring name)
 {
   JStringRef nameJString{env, name};
-  auto str = wpi::make_string(nameJString);
+  auto str = wpi::util::make_string(nameJString);
   HALSIM_SetJoystickName(stick, &str);
 }
 
@@ -746,7 +746,7 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setGameSpecificMess
   (JNIEnv* env, jclass, jstring message)
 {
   JStringRef messageJString{env, message};
-  auto str = wpi::make_string(messageJString);
+  auto str = wpi::util::make_string(messageJString);
   HALSIM_SetGameSpecificMessage(&str);
 }
 
@@ -760,7 +760,7 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setEventName
   (JNIEnv* env, jclass, jstring name)
 {
   JStringRef nameJString{env, name};
-  auto str = wpi::make_string(nameJString);
+  auto str = wpi::util::make_string(nameJString);
   HALSIM_SetEventName(&str);
 }
 
diff --git a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
index 62bb0c8f85..3191adff98 100644
--- a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_DutyCycleDataJNI.h"
 #include "wpi/hal/simulation/DutyCycleData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
index c2fbed5337..86cfdb4dd1 100644
--- a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_EncoderDataJNI.h"
 #include "wpi/hal/simulation/EncoderData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
index be46d43fa3..20aca83cfe 100644
--- a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
@@ -10,7 +10,7 @@
 #include "org_wpilib_hardware_hal_simulation_I2CDataJNI.h"
 #include "wpi/hal/simulation/I2CData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
index 177df59e5f..d5de492775 100644
--- a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_PWMDataJNI.h"
 #include "wpi/hal/simulation/PWMData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
index 502d11813a..6fe61be0fe 100644
--- a/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_PowerDistributionDataJNI.h"
 #include "wpi/hal/simulation/PowerDistributionData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
index 9de41c5039..23a6c5e426 100644
--- a/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "org_wpilib_hardware_hal_simulation_REVPHDataJNI.h"
 #include "wpi/hal/simulation/REVPHData.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
index 75485a8870..715b2537ba 100644
--- a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/simulation/RoboRioData.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -430,7 +430,7 @@ Java_org_wpilib_hardware_hal_simulation_RoboRioDataJNI_getSerialNumber
 {
   WPI_String str;
   HALSIM_GetRoboRioSerialNumber(&str);
-  auto jstr = MakeJString(env, wpi::to_string_view(&str));
+  auto jstr = MakeJString(env, wpi::util::to_string_view(&str));
   WPI_FreeString(&str);
   return jstr;
 }
@@ -445,7 +445,7 @@ Java_org_wpilib_hardware_hal_simulation_RoboRioDataJNI_setSerialNumber
   (JNIEnv* env, jclass, jstring serialNumber)
 {
   JStringRef serialNumberJString{env, serialNumber};
-  auto str = wpi::make_string(serialNumberJString);
+  auto str = wpi::util::make_string(serialNumberJString);
   HALSIM_SetRoboRioSerialNumber(&str);
 }
 
@@ -460,7 +460,7 @@ Java_org_wpilib_hardware_hal_simulation_RoboRioDataJNI_getComments
 {
   WPI_String str;
   HALSIM_GetRoboRioComments(&str);
-  auto jstr = MakeJString(env, wpi::to_string_view(&str));
+  auto jstr = MakeJString(env, wpi::util::to_string_view(&str));
   WPI_FreeString(&str);
   return jstr;
 }
@@ -475,7 +475,7 @@ Java_org_wpilib_hardware_hal_simulation_RoboRioDataJNI_setComments
   (JNIEnv* env, jclass, jstring comments)
 {
   JStringRef commentsJString{env, comments};
-  auto str = wpi::make_string(commentsJString);
+  auto str = wpi::util::make_string(commentsJString);
   HALSIM_SetRoboRioComments(&str);
 }
 
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
index 76457b58c3..722ef1abaf 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
@@ -18,8 +18,8 @@
 #include "wpi/hal/simulation/SimDeviceData.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace hal;
-using namespace wpi::java;
+using namespace wpi::hal;
+using namespace wpi::util::java;
 
 static JClass simDeviceInfoCls;
 static JClass simValueInfoCls;
@@ -105,7 +105,7 @@ class DeviceCallbackStore {
   int32_t getCallbackId() { return callbackId; }
 
  private:
-  wpi::java::JGlobal<jobject> m_call;
+  wpi::util::java::JGlobal<jobject> m_call;
   int32_t callbackId;
 };
 
@@ -119,7 +119,7 @@ class ValueCallbackStore {
   int32_t getCallbackId() { return m_callbackId; }
 
  private:
-  wpi::java::JGlobal<jobject> m_call;
+  wpi::util::java::JGlobal<jobject> m_call;
   int32_t m_callbackId;
 };
 
@@ -193,8 +193,8 @@ void ValueCallbackStore::performCallback(const char* name,
   }
 }
 
-static hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
-                                    hal::HAL_HandleEnum::SimulationJni>*
+static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
+                                    wpi::hal::HAL_HandleEnum::SimulationJni>*
     deviceCallbackHandles;
 
 namespace {
@@ -250,8 +250,8 @@ static void FreeDeviceCallback(JNIEnv* env, SIM_JniHandle handle,
   callback->free(env);
 }
 
-static hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
-                                    hal::HAL_HandleEnum::SimulationJni>*
+static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
+                                    wpi::hal::HAL_HandleEnum::SimulationJni>*
     valueCallbackHandles;
 
 namespace {
@@ -307,7 +307,7 @@ static void FreeValueCallback(JNIEnv* env, SIM_JniHandle handle,
   callback->free(env);
 }
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 
 bool InitializeSimDeviceDataJNI(JNIEnv* env) {
   simDeviceInfoCls = JClass(
@@ -346,13 +346,13 @@ bool InitializeSimDeviceDataJNI(JNIEnv* env) {
     return false;
   }
 
-  static hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
-                                      hal::HAL_HandleEnum::SimulationJni>
+  static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
+                                      wpi::hal::HAL_HandleEnum::SimulationJni>
       cbDevice;
   deviceCallbackHandles = &cbDevice;
 
-  static hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
-                                      hal::HAL_HandleEnum::SimulationJni>
+  static wpi::hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
+                                      wpi::hal::HAL_HandleEnum::SimulationJni>
       cbValue;
   valueCallbackHandles = &cbValue;
 
@@ -366,7 +366,7 @@ void FreeSimDeviceDataJNI(JNIEnv* env) {
   simValueCallbackCls.free(env);
 }
 
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
index 08c47b9ed4..83259c5a39 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
@@ -6,7 +6,7 @@
 
 #include <jni.h>
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 bool InitializeSimDeviceDataJNI(JNIEnv* env);
 void FreeSimDeviceDataJNI(JNIEnv* env);
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
index f72381052c..a1fef9f40a 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/simulation/MockHooks.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 static JavaVM* jvm = nullptr;
 static JClass notifyCallbackCls;
@@ -24,7 +24,7 @@ static jmethodID notifyCallbackCallback;
 static jmethodID bufferCallbackCallback;
 static jmethodID constBufferCallbackCallback;
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 jint SimOnLoad(JavaVM* vm, void* reserved) {
   jvm = vm;
 
@@ -108,7 +108,7 @@ jmethodID GetConstBufferCallback() {
   return constBufferCallbackCallback;
 }
 
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
 
 extern "C" {
 /*
@@ -240,6 +240,6 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_hardware_hal_simulation_SimulatorJNI_resetHandles
   (JNIEnv*, jclass)
 {
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
 }
 }  // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
index 2d5181753a..e70a438a69 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
@@ -9,10 +9,10 @@
 
 using SIM_JniHandle = HAL_Handle;  // NOLINT
 
-namespace hal::sim {
+namespace wpi::hal::sim {
 JavaVM* GetJVM();
 
 jmethodID GetNotifyCallback();
 jmethodID GetBufferCallback();
 jmethodID GetConstBufferCallback();
-}  // namespace hal::sim
+}  // namespace wpi::hal::sim
diff --git a/hal/src/main/native/cpp/proto/ControlDataProto.cpp b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
index 3bc22fa0c1..e6a245cc8f 100644
--- a/hal/src/main/native/cpp/proto/ControlDataProto.cpp
+++ b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
@@ -60,9 +60,9 @@ constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
 
 }  // namespace
 
-std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
+std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
+  wpi::util::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
 
   mrc_proto_ProtobufControlData Msg{
       .ControlWord = 0,
@@ -91,10 +91,10 @@ std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
   return ControlData;
 }
 
-bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
+bool wpi::util::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
                                            const mrc::ControlData& Value) {
   std::span<const mrc::Joystick> Sticks = Value.Joysticks();
-  wpi::PackCallback Joysticks{Sticks};
+  wpi::util::PackCallback Joysticks{Sticks};
 
   mrc_proto_ProtobufControlData Msg{
       .ControlWord = FromControlWord(Value.ControlWord),
@@ -106,9 +106,9 @@ bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
   return Stream.Encode(Msg);
 }
 
-std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
+std::optional<mrc::Joystick> wpi::util::Protobuf<mrc::Joystick>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<int16_t, MRC_MAX_NUM_AXES> AxesCb;
+  wpi::util::UnpackCallback<int16_t, MRC_MAX_NUM_AXES> AxesCb;
 
   mrc_proto_ProtobufJoystickData Msg{
       .AvailableButtons = 0,
@@ -148,9 +148,9 @@ std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
   return Joystick;
 }
 
-bool wpi::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
+bool wpi::util::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
                                         const mrc::Joystick& Value) {
-  wpi::PackCallback AxesCb{Value.Axes.Axes()};
+  wpi::util::PackCallback AxesCb{Value.Axes.Axes()};
 
   uint32_t PovsStore = 0;
   for (int i = static_cast<int>(Value.Povs.GetCount()) - 1; i >= 0; i--) {
diff --git a/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp b/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
index f2f3fa9864..85c55d3769 100644
--- a/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
+++ b/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
@@ -8,11 +8,11 @@
 #include "wpi/hal/proto/ErrorInfo.h"
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-std::optional<mrc::ErrorInfo> wpi::Protobuf<mrc::ErrorInfo>::Unpack(
+std::optional<mrc::ErrorInfo> wpi::util::Protobuf<mrc::ErrorInfo>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<std::string> DetailsCb;
-  wpi::UnpackCallback<std::string> LocationCb;
-  wpi::UnpackCallback<std::string> CallStackCb;
+  wpi::util::UnpackCallback<std::string> DetailsCb;
+  wpi::util::UnpackCallback<std::string> LocationCb;
+  wpi::util::UnpackCallback<std::string> CallStackCb;
 
   mrc_proto_ProtobufErrorInfo Msg{
       .IsError = false,
@@ -49,14 +49,14 @@ std::optional<mrc::ErrorInfo> wpi::Protobuf<mrc::ErrorInfo>::Unpack(
   return ToRet;
 }
 
-bool wpi::Protobuf<mrc::ErrorInfo>::Pack(OutputStream& Stream,
+bool wpi::util::Protobuf<mrc::ErrorInfo>::Pack(OutputStream& Stream,
                                          const mrc::ErrorInfo& Value) {
   std::string_view DetailsView = Value.GetDetails();
   std::string_view LocationView = Value.GetLocation();
   std::string_view CallStackView = Value.GetCallStack();
-  wpi::PackCallback DetailsCb{&DetailsView};
-  wpi::PackCallback LocationCb{&LocationView};
-  wpi::PackCallback CallStackCb{&CallStackView};
+  wpi::util::PackCallback DetailsCb{&DetailsView};
+  wpi::util::PackCallback LocationCb{&LocationView};
+  wpi::util::PackCallback CallStackCb{&CallStackView};
 
   mrc_proto_ProtobufErrorInfo Msg{
       .IsError = Value.IsError,
diff --git a/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
index acf5218724..0d3d08ee5d 100644
--- a/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
+++ b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
@@ -9,9 +9,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 std::optional<mrc::JoystickDescriptor>
-wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
-  wpi::UnpackCallback<std::string> JoystickNameCb;
-  wpi::UnpackCallback<uint8_t, MRC_MAX_NUM_AXES> AxisTypesCb;
+wpi::util::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
+  wpi::util::UnpackCallback<std::string> JoystickNameCb;
+  wpi::util::UnpackCallback<uint8_t, MRC_MAX_NUM_AXES> AxisTypesCb;
 
   mrc_proto_ProtobufJoystickDescriptor Msg;
   Msg.JoystickName = JoystickNameCb.Callback();
@@ -47,13 +47,13 @@ wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
   return OutputData;
 }
 
-bool wpi::Protobuf<mrc::JoystickDescriptor>::Pack(
+bool wpi::util::Protobuf<mrc::JoystickDescriptor>::Pack(
     OutputStream& Stream, const mrc::JoystickDescriptor& Value) {
   std::string_view JoystickName = Value.GetName();
-  wpi::PackCallback JoystickNameCb{&JoystickName};
+  wpi::util::PackCallback JoystickNameCb{&JoystickName};
 
   std::span<const uint8_t> AxisTypes = Value.AxesTypes();
-  wpi::PackCallback AxisTypesCb{AxisTypes};
+  wpi::util::PackCallback AxisTypesCb{AxisTypes};
 
   mrc_proto_ProtobufJoystickDescriptor Msg{
       .JoystickName = JoystickNameCb.Callback(),
diff --git a/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp b/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
index ff793f8b0a..6864992536 100644
--- a/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
+++ b/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
@@ -6,8 +6,8 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 std::optional<mrc::JoystickRumbleData>
-wpi::Protobuf<mrc::JoystickRumbleData>::Unpack(InputStream& Stream) {
-  wpi::UnpackCallback<uint16_t, MRC_MAX_NUM_RUMBLE> RumbleCb;
+wpi::util::Protobuf<mrc::JoystickRumbleData>::Unpack(InputStream& Stream) {
+  wpi::util::UnpackCallback<uint16_t, MRC_MAX_NUM_RUMBLE> RumbleCb;
 
   mrc_proto_ProtobufJoystickRumbleData Msg{
       .Value = RumbleCb.Callback(),
@@ -29,9 +29,9 @@ wpi::Protobuf<mrc::JoystickRumbleData>::Unpack(InputStream& Stream) {
   return Rumble;
 }
 
-bool wpi::Protobuf<mrc::JoystickRumbleData>::Pack(
+bool wpi::util::Protobuf<mrc::JoystickRumbleData>::Pack(
     OutputStream& Stream, const mrc::JoystickRumbleData& Value) {
-  wpi::PackCallback RumbleCb{Value.Rumbles()};
+  wpi::util::PackCallback RumbleCb{Value.Rumbles()};
 
   mrc_proto_ProtobufJoystickRumbleData Msg{
       .Value = RumbleCb.Callback(),
diff --git a/hal/src/main/native/cpp/proto/MatchInfoProto.cpp b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
index 0f1c6526d6..27dd5d94ef 100644
--- a/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
+++ b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
@@ -8,9 +8,9 @@
 #include "wpi/hal/proto/MatchInfo.h"
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-std::optional<mrc::MatchInfo> wpi::Protobuf<mrc::MatchInfo>::Unpack(
+std::optional<mrc::MatchInfo> wpi::util::Protobuf<mrc::MatchInfo>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<std::string> NameCb;
+  wpi::util::UnpackCallback<std::string> NameCb;
 
   mrc_proto_ProtobufMatchInfo Msg;
   Msg.EventName = NameCb.Callback();
@@ -35,10 +35,10 @@ std::optional<mrc::MatchInfo> wpi::Protobuf<mrc::MatchInfo>::Unpack(
   return OutputData;
 }
 
-bool wpi::Protobuf<mrc::MatchInfo>::Pack(OutputStream& Stream,
+bool wpi::util::Protobuf<mrc::MatchInfo>::Pack(OutputStream& Stream,
                                          const mrc::MatchInfo& Value) {
   std::string_view EventNameStr = Value.GetEventName();
-  wpi::PackCallback EventName{&EventNameStr};
+  wpi::util::PackCallback EventName{&EventNameStr};
 
   mrc_proto_ProtobufMatchInfo Msg{
       .EventName = EventName.Callback(),
diff --git a/hal/src/main/native/cpp/proto/OpModeProto.cpp b/hal/src/main/native/cpp/proto/OpModeProto.cpp
index 4f8fe862c9..d7bbedb0bf 100644
--- a/hal/src/main/native/cpp/proto/OpModeProto.cpp
+++ b/hal/src/main/native/cpp/proto/OpModeProto.cpp
@@ -9,9 +9,9 @@
 #include "wpi/hal/proto/OpMode.h"
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-std::optional<mrc::OpMode> wpi::Protobuf<mrc::OpMode>::Unpack(
+std::optional<mrc::OpMode> wpi::util::Protobuf<mrc::OpMode>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<std::string> NameCb;
+  wpi::util::UnpackCallback<std::string> NameCb;
 
   mrc_proto_ProtobufOpMode Msg;
   Msg.Name = NameCb.Callback();
@@ -34,10 +34,10 @@ std::optional<mrc::OpMode> wpi::Protobuf<mrc::OpMode>::Unpack(
   return OutputData;
 }
 
-bool wpi::Protobuf<mrc::OpMode>::Pack(OutputStream& Stream,
+bool wpi::util::Protobuf<mrc::OpMode>::Pack(OutputStream& Stream,
                                       const mrc::OpMode& Value) {
   std::string_view EventNameStr = Value.GetName();
-  wpi::PackCallback EventName{&EventNameStr};
+  wpi::util::PackCallback EventName{&EventNameStr};
 
   mrc_proto_ProtobufOpMode Msg{
       .Hash = Value.Hash.ToValue(),
@@ -48,8 +48,8 @@ bool wpi::Protobuf<mrc::OpMode>::Pack(OutputStream& Stream,
 }
 
 std::optional<std::vector<mrc::OpMode>>
-wpi::Protobuf<std::vector<mrc::OpMode>>::Unpack(InputStream& Stream) {
-  wpi::StdVectorUnpackCallback<mrc::OpMode> ModesCb;
+wpi::util::Protobuf<std::vector<mrc::OpMode>>::Unpack(InputStream& Stream) {
+  wpi::util::StdVectorUnpackCallback<mrc::OpMode> ModesCb;
   ModesCb.SetLimits(DecodeLimits::Add);
 
   mrc_proto_ProtobufAvailableOpModes Msg;
@@ -62,10 +62,10 @@ wpi::Protobuf<std::vector<mrc::OpMode>>::Unpack(InputStream& Stream) {
   return ModesCb.Vec();
 }
 
-bool wpi::Protobuf<std::vector<mrc::OpMode>>::Pack(
+bool wpi::util::Protobuf<std::vector<mrc::OpMode>>::Pack(
     OutputStream& Stream, const std::vector<mrc::OpMode>& Value) {
   std::span<const mrc::OpMode> ModesSpan = Value;
-  wpi::PackCallback Modes{ModesSpan};
+  wpi::util::PackCallback Modes{ModesSpan};
 
   mrc_proto_ProtobufAvailableOpModes Msg{
       .Modes = Modes.Callback(),
diff --git a/hal/src/main/native/include/wpi/hal/SimDevice.h b/hal/src/main/native/include/wpi/hal/SimDevice.h
index 93a24bd60c..2aa20ffdb1 100644
--- a/hal/src/main/native/include/wpi/hal/SimDevice.h
+++ b/hal/src/main/native/include/wpi/hal/SimDevice.h
@@ -394,7 +394,7 @@ void HAL_ResetSimValue(HAL_SimValueHandle handle);
 #endif
 
 #ifdef __cplusplus
-namespace hal {
+namespace wpi::hal {
 
 /**
  * C++ wrapper around a HAL simulator value handle.
@@ -944,5 +944,5 @@ class SimDevice {
   HAL_SimDeviceHandle m_handle = HAL_kInvalidHandle;
 };
 
-}  // namespace hal
+}  // namespace wpi::hal
 #endif  // __cplusplus
diff --git a/hal/src/main/native/include/wpi/hal/Types.h b/hal/src/main/native/include/wpi/hal/Types.h
index 2cc2fa3b83..f3c7718ab8 100644
--- a/hal/src/main/native/include/wpi/hal/Types.h
+++ b/hal/src/main/native/include/wpi/hal/Types.h
@@ -88,7 +88,7 @@ typedef int32_t HAL_Bool;
 #define HAL_ENUM(name) HAL_ENUM_WITH_UNDERLYING_TYPE(name, int32_t)
 
 #ifdef __cplusplus
-namespace hal {
+namespace wpi::hal {
 /**
  * A move-only C++ wrapper around a HAL handle.
  * Will free the handle if FreeFunction is provided
@@ -137,6 +137,6 @@ class Handle {
   CType m_handle = CInvalid;
 };
 
-}  // namespace hal
+}  // namespace wpi::hal
 #endif
 /** @} */
diff --git a/hal/src/main/native/include/wpi/hal/UsageReporting.h b/hal/src/main/native/include/wpi/hal/UsageReporting.h
index ae007454ae..b9a24c9fb6 100644
--- a/hal/src/main/native/include/wpi/hal/UsageReporting.h
+++ b/hal/src/main/native/include/wpi/hal/UsageReporting.h
@@ -46,8 +46,8 @@ int32_t HAL_ReportUsage(const struct WPI_String* resource,
  */
 inline int32_t HAL_ReportUsage(std::string_view resource,
                                std::string_view data) {
-  WPI_String resourceStr = wpi::make_string(resource);
-  WPI_String dataStr = wpi::make_string(data);
+  WPI_String resourceStr = wpi::util::make_string(resource);
+  WPI_String dataStr = wpi::util::make_string(data);
   return HAL_ReportUsage(&resourceStr, &dataStr);
 }
 
diff --git a/hal/src/main/native/include/wpi/hal/cpp/fpga_clock.h b/hal/src/main/native/include/wpi/hal/cpp/fpga_clock.h
index 0f7bb75c57..42b2ba3bea 100644
--- a/hal/src/main/native/include/wpi/hal/cpp/fpga_clock.h
+++ b/hal/src/main/native/include/wpi/hal/cpp/fpga_clock.h
@@ -7,7 +7,7 @@
 #include <chrono>
 
 /** WPILib Hardware Abstraction Layer (HAL) namespace */
-namespace hal {
+namespace wpi::hal {
 
 /**
  * A std::chrono compatible wrapper around the FPGA Timer.
@@ -28,4 +28,4 @@ class fpga_clock {
 
   static const time_point min_time;
 };
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
index 1c7384f0ad..c5e9d85788 100644
--- a/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The DigitalHandleResource class is a way to track handles. This version
@@ -48,7 +48,7 @@ class DigitalHandleResource : public HandleBase {
 
  private:
   std::array<std::shared_ptr<TStruct>, size> m_structures;
-  std::array<wpi::mutex, size> m_handleMutexes;
+  std::array<wpi::util::mutex, size> m_handleMutexes;
 };
 
 template <typename THandle, typename TStruct, int16_t size>
@@ -70,7 +70,7 @@ DigitalHandleResource<THandle, TStruct, size>::Allocate(
   }
   m_structures[index] = std::make_shared<TStruct>();
   *handle =
-      static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+      static_cast<THandle>(wpi::hal::createHandle(index, enumValue, m_version));
   *status = HAL_SUCCESS;
   return m_structures[index];
 }
@@ -110,4 +110,4 @@ void DigitalHandleResource<THandle, TStruct, size>::ResetHandles() {
   }
   HandleBase::ResetHandles();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
index 58cc35f3cf..85e5e0c045 100644
--- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
+++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
@@ -19,7 +19,7 @@
  * always reserved for type and error handling.
  */
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * Base for all HAL Handles.
@@ -44,7 +44,7 @@ constexpr int16_t InvalidHandleIndex = -1;
  */
 enum class HAL_HandleEnum {
   Undefined = 0,
-  DIO = wpi::kHandleTypeHALBase,
+  DIO = wpi::util::kHandleTypeHALBase,
   Port = 2,
   Notifier = 3,
   Interrupt = 4,
@@ -165,4 +165,4 @@ inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
  */
 HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
                         int16_t version);
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
index 0666192e06..588484eca5 100644
--- a/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
@@ -15,7 +15,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The IndexedClassedHandleResource class is a way to track handles. This
@@ -52,7 +52,7 @@ class IndexedClassedHandleResource : public HandleBase {
 
  private:
   std::array<std::shared_ptr<TStruct>, size> m_structures;
-  std::array<wpi::mutex, size> m_handleMutexes;
+  std::array<wpi::util::mutex, size> m_handleMutexes;
 };
 
 template <typename THandle, typename TStruct, int16_t size,
@@ -72,7 +72,7 @@ IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
     return HAL_kInvalidHandle;
   }
   m_structures[index] = toSet;
-  return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+  return static_cast<THandle>(wpi::hal::createHandle(index, enumValue, m_version));
 }
 
 template <typename THandle, typename TStruct, int16_t size,
@@ -115,4 +115,4 @@ void IndexedClassedHandleResource<THandle, TStruct, size,
   }
   HandleBase::ResetHandles();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
index 9b201c230d..51d64507a9 100644
--- a/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The IndexedHandleResource class is a way to track handles. This version
@@ -49,7 +49,7 @@ class IndexedHandleResource : public HandleBase {
 
  private:
   std::array<std::shared_ptr<TStruct>, size> m_structures;
-  std::array<wpi::mutex, size> m_handleMutexes;
+  std::array<wpi::util::mutex, size> m_handleMutexes;
 };
 
 template <typename THandle, typename TStruct, int16_t size,
@@ -72,7 +72,7 @@ IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
   }
   m_structures[index] = std::make_shared<TStruct>();
   *handle =
-      static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+      static_cast<THandle>(wpi::hal::createHandle(index, enumValue, m_version));
   *status = HAL_SUCCESS;
   return m_structures[index];
 }
@@ -115,4 +115,4 @@ void IndexedHandleResource<THandle, TStruct, size, enumValue>::ResetHandles() {
   }
   HandleBase::ResetHandles();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
index 3f6003243d..77dd4d2034 100644
--- a/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
@@ -13,7 +13,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The LimitedClassedHandleResource class is a way to track handles. This
@@ -47,8 +47,8 @@ class LimitedClassedHandleResource : public HandleBase {
 
  private:
   std::array<std::shared_ptr<TStruct>, size> m_structures;
-  std::array<wpi::mutex, size> m_handleMutexes;
-  wpi::mutex m_allocateMutex;
+  std::array<wpi::util::mutex, size> m_handleMutexes;
+  wpi::util::mutex m_allocateMutex;
 };
 
 template <typename THandle, typename TStruct, int16_t size,
@@ -114,4 +114,4 @@ void LimitedClassedHandleResource<THandle, TStruct, size,
   }
   HandleBase::ResetHandles();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
index f0b5a17563..b54e355d94 100644
--- a/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
@@ -13,7 +13,7 @@
 #include "wpi/hal/Types.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The LimitedHandleResource class is a way to track handles. This version
@@ -45,8 +45,8 @@ class LimitedHandleResource : public HandleBase {
 
  private:
   std::array<std::shared_ptr<TStruct>, size> m_structures;
-  std::array<wpi::mutex, size> m_handleMutexes;
-  wpi::mutex m_allocateMutex;
+  std::array<wpi::util::mutex, size> m_handleMutexes;
+  wpi::util::mutex m_allocateMutex;
 };
 
 template <typename THandle, typename TStruct, int16_t size,
@@ -108,4 +108,4 @@ void LimitedHandleResource<THandle, TStruct, size, enumValue>::ResetHandles() {
   }
   HandleBase::ResetHandles();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
index c94beae210..ec21662bd5 100644
--- a/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 /**
  * The UnlimitedHandleResource class is a way to track handles. This version
@@ -56,7 +56,7 @@ class UnlimitedHandleResource : public HandleBase {
 
  private:
   std::vector<std::shared_ptr<TStruct>> m_structures;
-  wpi::mutex m_handleMutex;
+  wpi::util::mutex m_handleMutex;
 };
 
 template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
@@ -126,4 +126,4 @@ void UnlimitedHandleResource<THandle, TStruct, enumValue>::ForEach(
   }
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/proto/ControlData.h b/hal/src/main/native/include/wpi/hal/proto/ControlData.h
index 4afd22f2e1..a10e55e458 100644
--- a/hal/src/main/native/include/wpi/hal/proto/ControlData.h
+++ b/hal/src/main/native/include/wpi/hal/proto/ControlData.h
@@ -11,19 +11,19 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::ControlData> {
+struct wpi::util::Protobuf<mrc::ControlData> {
   using MessageStruct = mrc_proto_ProtobufControlData;
-  using InputStream = wpi::ProtoInputStream<mrc::ControlData>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::ControlData>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::ControlData>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::ControlData>;
   static std::optional<mrc::ControlData> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::ControlData& Value);
 };
 
 template <>
-struct wpi::Protobuf<mrc::Joystick> {
+struct wpi::util::Protobuf<mrc::Joystick> {
   using MessageStruct = mrc_proto_ProtobufJoystickData;
-  using InputStream = wpi::ProtoInputStream<mrc::Joystick>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::Joystick>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::Joystick>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::Joystick>;
   static std::optional<mrc::Joystick> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::Joystick& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h b/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
index 59db959785..b65285e137 100644
--- a/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
@@ -11,10 +11,10 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::ErrorInfo> {
+struct wpi::util::Protobuf<mrc::ErrorInfo> {
   using MessageStruct = mrc_proto_ProtobufErrorInfo;
-  using InputStream = wpi::ProtoInputStream<mrc::ErrorInfo>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::ErrorInfo>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::ErrorInfo>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::ErrorInfo>;
   static std::optional<mrc::ErrorInfo> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::ErrorInfo& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h b/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
index 14fc86f238..5ee881cfdc 100644
--- a/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
+++ b/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
@@ -11,10 +11,10 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::JoystickDescriptor> {
+struct wpi::util::Protobuf<mrc::JoystickDescriptor> {
   using MessageStruct = mrc_proto_ProtobufJoystickDescriptor;
-  using InputStream = wpi::ProtoInputStream<mrc::JoystickDescriptor>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::JoystickDescriptor>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::JoystickDescriptor>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::JoystickDescriptor>;
   static std::optional<mrc::JoystickDescriptor> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::JoystickDescriptor& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h b/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
index 4a7b9b1ff1..fa81d7824a 100644
--- a/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
+++ b/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
@@ -11,10 +11,10 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::JoystickRumbleData> {
+struct wpi::util::Protobuf<mrc::JoystickRumbleData> {
   using MessageStruct = mrc_proto_ProtobufJoystickRumbleData;
-  using InputStream = wpi::ProtoInputStream<mrc::JoystickRumbleData>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::JoystickRumbleData>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::JoystickRumbleData>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::JoystickRumbleData>;
   static std::optional<mrc::JoystickRumbleData> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::JoystickRumbleData& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h b/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
index da54907ee0..23c25fd84b 100644
--- a/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
@@ -11,10 +11,10 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::MatchInfo> {
+struct wpi::util::Protobuf<mrc::MatchInfo> {
   using MessageStruct = mrc_proto_ProtobufMatchInfo;
-  using InputStream = wpi::ProtoInputStream<mrc::MatchInfo>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::MatchInfo>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::MatchInfo>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::MatchInfo>;
   static std::optional<mrc::MatchInfo> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::MatchInfo& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/OpMode.h b/hal/src/main/native/include/wpi/hal/proto/OpMode.h
index 477af5c73e..b3b0b8be2f 100644
--- a/hal/src/main/native/include/wpi/hal/proto/OpMode.h
+++ b/hal/src/main/native/include/wpi/hal/proto/OpMode.h
@@ -13,19 +13,19 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::OpMode> {
+struct wpi::util::Protobuf<mrc::OpMode> {
   using MessageStruct = mrc_proto_ProtobufOpMode;
-  using InputStream = wpi::ProtoInputStream<mrc::OpMode>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::OpMode>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::OpMode>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::OpMode>;
   static std::optional<mrc::OpMode> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::OpMode& Value);
 };
 
 template <>
-struct wpi::Protobuf<std::vector<mrc::OpMode>> {
+struct wpi::util::Protobuf<std::vector<mrc::OpMode>> {
   using MessageStruct = mrc_proto_ProtobufAvailableOpModes;
-  using InputStream = wpi::ProtoInputStream<std::vector<mrc::OpMode>>;
-  using OutputStream = wpi::ProtoOutputStream<std::vector<mrc::OpMode>>;
+  using InputStream = wpi::util::ProtoInputStream<std::vector<mrc::OpMode>>;
+  using OutputStream = wpi::util::ProtoOutputStream<std::vector<mrc::OpMode>>;
   static std::optional<std::vector<mrc::OpMode>> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const std::vector<mrc::OpMode>& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h b/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
index 4072c1c08c..afd45bc731 100644
--- a/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
@@ -11,10 +11,10 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 
 template <>
-struct wpi::Protobuf<mrc::VersionInfo> {
+struct wpi::util::Protobuf<mrc::VersionInfo> {
   using MessageStruct = mrc_proto_ProtobufVersionInfo;
-  using InputStream = wpi::ProtoInputStream<mrc::VersionInfo>;
-  using OutputStream = wpi::ProtoOutputStream<mrc::VersionInfo>;
+  using InputStream = wpi::util::ProtoInputStream<mrc::VersionInfo>;
+  using OutputStream = wpi::util::ProtoOutputStream<mrc::VersionInfo>;
   static std::optional<mrc::VersionInfo> Unpack(InputStream& Stream);
   static bool Pack(OutputStream& Stream, const mrc::VersionInfo& Value);
 };
diff --git a/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h b/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
index ca2579234f..a2b3e18ffb 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
@@ -18,7 +18,7 @@ typedef void (*HAL_ConstBufferCallback)(const char* name, void* param,
 
 #ifdef __cplusplus
 
-namespace hal {
+namespace wpi::hal {
 
 template <typename CallbackFunction>
 struct HalCallbackListener {
@@ -32,6 +32,6 @@ struct HalCallbackListener {
   void* param = nullptr;
 };
 
-}  // namespace hal
+}  // namespace wpi::hal
 
 #endif
diff --git a/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h b/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
index b3d9b00e54..867c7caa2c 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
@@ -12,7 +12,7 @@
 #include "wpi/util/UidVector.hpp"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 namespace impl {
 
@@ -21,7 +21,7 @@ class SimCallbackRegistryBase {
   using RawFunctor = void (*)();
 
  protected:
-  using CallbackVector = wpi::UidVector<HalCallbackListener<RawFunctor>, 4>;
+  using CallbackVector = wpi::util::UidVector<HalCallbackListener<RawFunctor>, 4>;
 
  public:
   void Cancel(int32_t uid) {
@@ -36,7 +36,7 @@ class SimCallbackRegistryBase {
     DoReset();
   }
 
-  wpi::recursive_spinlock& GetMutex() { return m_mutex; }
+  wpi::util::recursive_spinlock& GetMutex() { return m_mutex; }
 
  protected:
   int32_t DoRegister(RawFunctor callback, void* param) {
@@ -56,7 +56,7 @@ class SimCallbackRegistryBase {
     }
   }
 
-  mutable wpi::recursive_spinlock m_mutex;
+  mutable wpi::util::recursive_spinlock m_mutex;
   std::unique_ptr<CallbackVector> m_callbacks;
 };
 
@@ -191,4 +191,4 @@ class SimCallbackRegistry : public impl::SimCallbackRegistryBase {
                                                                           \
   void NS##_Cancel##CAPINAME##Callback(int32_t uid) {}
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h b/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
index 9d62f03a2a..85daa674fb 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
@@ -12,7 +12,7 @@
 #include "wpi/util/UidVector.hpp"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 namespace impl {
 template <typename T, HAL_Value (*MakeValue)(T)>
@@ -35,7 +35,7 @@ class SimDataValueBase : protected SimCallbackRegistryBase {
     m_value = value;
   }
 
-  wpi::recursive_spinlock& GetMutex() { return m_mutex; }
+  wpi::util::recursive_spinlock& GetMutex() { return m_mutex; }
 
  protected:
   int32_t DoRegisterCallback(HAL_NotifyCallback callback, void* param,
@@ -333,4 +333,4 @@ class SimDataValue final : public impl::SimDataValueBase<T, MakeValue> {
                                                                           \
   void NS##_Set##CAPINAME(TYPE) {}
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/AddressableLED.cpp b/hal/src/main/native/sim/AddressableLED.cpp
index 8856e7438b..9173d7f1bc 100644
--- a/hal/src/main/native/sim/AddressableLED.cpp
+++ b/hal/src/main/native/sim/AddressableLED.cpp
@@ -15,20 +15,20 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAddressableLED() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
     int32_t channel, const char* allocationLocation, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumAddressableLEDs) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for AddressableLED",
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for AddressableLED",
                                      0, kNumAddressableLEDs, channel);
     return HAL_kInvalidHandle;
   }
@@ -40,10 +40,10 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status,
+      wpi::hal::SetLastErrorIndexOutOfRange(status,
                                        "Invalid Index for AddressableLED", 0,
                                        kNumAddressableLEDs, channel);
     }
@@ -81,7 +81,7 @@ void HAL_SetAddressableLEDStart(HAL_AddressableLEDHandle handle, int32_t start,
   }
   if (start > HAL_kAddressableLEDMaxLength || start < 0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format(
             "LED start must be less than or equal to {}. {} was requested",
@@ -101,7 +101,7 @@ void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
   }
   if (length > HAL_kAddressableLEDMaxLength || length < 0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format(
             "LED length must be less than or equal to {}. {} was requested",
diff --git a/hal/src/main/native/sim/AnalogInput.cpp b/hal/src/main/native/sim/AnalogInput.cpp
index ca4e5ec81d..bb4e4e14f2 100644
--- a/hal/src/main/native/sim/AnalogInput.cpp
+++ b/hal/src/main/native/sim/AnalogInput.cpp
@@ -11,19 +11,19 @@
 #include "mockdata/AnalogInDataInternal.h"
 #include "wpi/hal/handles/HandlesInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAnalogInput() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
     int32_t channel, const char* allocationLocation, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   if (channel < 0 || channel >= kNumAnalogInputs) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
                                      0, kNumAnalogInputs, channel);
     return HAL_kInvalidHandle;
   }
@@ -33,10 +33,10 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
 
   if (*status != 0) {
     if (analog_port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "Analog Input", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "Analog Input", channel,
                                            analog_port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
                                        0, kNumAnalogInputs, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
diff --git a/hal/src/main/native/sim/AnalogInternal.cpp b/hal/src/main/native/sim/AnalogInternal.cpp
index e8d25b147d..7b692a9db5 100644
--- a/hal/src/main/native/sim/AnalogInternal.cpp
+++ b/hal/src/main/native/sim/AnalogInternal.cpp
@@ -7,16 +7,16 @@
 #include "PortsInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-namespace hal {
-IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort, kNumAnalogInputs,
+namespace wpi::hal {
+IndexedHandleResource<HAL_AnalogInputHandle, wpi::hal::AnalogPort, kNumAnalogInputs,
                       HAL_HandleEnum::AnalogInput>* analogInputHandles;
-}  // namespace hal
+}  // namespace wpi::hal
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAnalogInternal() {
-  static IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
+  static IndexedHandleResource<HAL_AnalogInputHandle, wpi::hal::AnalogPort,
                                kNumAnalogInputs, HAL_HandleEnum::AnalogInput>
       aiH;
   analogInputHandles = &aiH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/native/sim/AnalogInternal.h b/hal/src/main/native/sim/AnalogInternal.h
index ed524bd6e7..e110fb174b 100644
--- a/hal/src/main/native/sim/AnalogInternal.h
+++ b/hal/src/main/native/sim/AnalogInternal.h
@@ -12,7 +12,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-namespace hal {
+namespace wpi::hal {
 constexpr int32_t kTimebase = 40000000;  ///< 40 MHz clock
 constexpr int32_t kDefaultOversampleBits = 0;
 constexpr int32_t kDefaultAverageBits = 7;
@@ -25,7 +25,7 @@ struct AnalogPort {
   std::string previousAllocation;
 };
 
-extern IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
+extern IndexedHandleResource<HAL_AnalogInputHandle, wpi::hal::AnalogPort,
                              kNumAnalogInputs, HAL_HandleEnum::AnalogInput>*
     analogInputHandles;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/CAN.cpp b/hal/src/main/native/sim/CAN.cpp
index 880a4feed3..d7ad4c8e02 100644
--- a/hal/src/main/native/sim/CAN.cpp
+++ b/hal/src/main/native/sim/CAN.cpp
@@ -6,11 +6,11 @@
 
 #include "mockdata/CanDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCAN() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 901899e5e2..fb861c3a60 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct CANStorage {
@@ -24,17 +24,17 @@ struct CANStorage {
   HAL_CANDeviceType deviceType;
   int32_t busId;
   uint8_t deviceId;
-  wpi::mutex periodicSendsMutex;
-  wpi::SmallDenseMap<int32_t, int32_t> periodicSends;
-  wpi::mutex receivesMutex;
-  wpi::SmallDenseMap<int32_t, HAL_CANReceiveMessage> receives;
+  wpi::util::mutex periodicSendsMutex;
+  wpi::util::SmallDenseMap<int32_t, int32_t> periodicSends;
+  wpi::util::mutex receivesMutex;
+  wpi::util::SmallDenseMap<int32_t, HAL_CANReceiveMessage> receives;
 };
 }  // namespace
 
 static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>*
     canHandles;
 
-namespace hal {
+namespace wpi::hal {
 namespace init {
 void InitializeCANAPI() {
   static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>
@@ -52,7 +52,7 @@ int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status) {
   return can->deviceId;
 }
 }  // namespace can
-}  // namespace hal
+}  // namespace wpi::hal
 
 static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
   int32_t createdId = 0;
@@ -68,9 +68,9 @@ extern "C" {
 HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
                                 int32_t deviceId, HAL_CANDeviceType deviceType,
                                 int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
-  if (busId < 0 || busId > hal::kNumCanBuses) {
+  if (busId < 0 || busId > wpi::hal::kNumCanBuses) {
     *status = PARAMETER_OUT_OF_RANGE;
     return HAL_kInvalidHandle;
   }
@@ -243,7 +243,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
     auto i = can->receives.find(messageId);
     if (i != can->receives.end()) {
       // Found, check if new enough
-      uint64_t now = wpi::Now();
+      uint64_t now = wpi::util::Now();
       if (now - i->second.timeStamp >
           (static_cast<uint64_t>(timeoutMs) * 1000)) {
         // Timeout, return bad status
diff --git a/hal/src/main/native/sim/CANAPIInternal.h b/hal/src/main/native/sim/CANAPIInternal.h
index fdd6e6ad0c..3e11fea213 100644
--- a/hal/src/main/native/sim/CANAPIInternal.h
+++ b/hal/src/main/native/sim/CANAPIInternal.h
@@ -6,6 +6,6 @@
 
 #include "wpi/hal/Types.h"
 
-namespace hal::can {
+namespace wpi::hal::can {
 int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status);
-}  // namespace hal::can
+}  // namespace wpi::hal::can
diff --git a/hal/src/main/native/sim/CTREPCM.cpp b/hal/src/main/native/sim/CTREPCM.cpp
index 121fc7ce12..2e56b0de99 100644
--- a/hal/src/main/native/sim/CTREPCM.cpp
+++ b/hal/src/main/native/sim/CTREPCM.cpp
@@ -13,12 +13,12 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct PCM {
   int32_t module;
-  wpi::mutex lock;
+  wpi::util::mutex lock;
   std::string previousAllocation;
 };
 }  // namespace
@@ -26,29 +26,29 @@ struct PCM {
 static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
                              HAL_HandleEnum::CTREPCM>* pcmHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCTREPCM() {
   static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
                                HAL_HandleEnum::CTREPCM>
       pH;
   pcmHandles = &pH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t busId, int32_t module,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   HAL_CTREPCMHandle handle;
   auto pcm = pcmHandles->Allocate(module, &handle, status);
 
   if (*status != 0) {
     if (pcm) {
-      hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
                                            pcm->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
                                        kNumCTREPCMModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
diff --git a/hal/src/main/native/sim/Constants.cpp b/hal/src/main/native/sim/Constants.cpp
index d52692612a..795544e637 100644
--- a/hal/src/main/native/sim/Constants.cpp
+++ b/hal/src/main/native/sim/Constants.cpp
@@ -6,11 +6,11 @@
 
 #include "ConstantsInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeConstants() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
diff --git a/hal/src/main/native/sim/ConstantsInternal.h b/hal/src/main/native/sim/ConstantsInternal.h
index f4af049d4f..1afdd66979 100644
--- a/hal/src/main/native/sim/ConstantsInternal.h
+++ b/hal/src/main/native/sim/ConstantsInternal.h
@@ -6,6 +6,6 @@
 
 #include <stdint.h>
 
-namespace hal {
+namespace wpi::hal {
 constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/Counter.cpp b/hal/src/main/native/sim/Counter.cpp
index 96760dd1f6..a146e1859a 100644
--- a/hal/src/main/native/sim/Counter.cpp
+++ b/hal/src/main/native/sim/Counter.cpp
@@ -10,26 +10,26 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-namespace hal {
+namespace wpi::hal {
 
 LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
                       HAL_HandleEnum::Counter>* counterHandles;
-}  // namespace hal
+}  // namespace wpi::hal
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCounter() {
   static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
                                HAL_HandleEnum::Counter>
       cH;
   counterHandles = &cH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   return 0;
 }
 void HAL_FreeCounter(HAL_CounterHandle counterHandle) {}
diff --git a/hal/src/main/native/sim/CounterInternal.h b/hal/src/main/native/sim/CounterInternal.h
index f34bb28c6d..c779483b1f 100644
--- a/hal/src/main/native/sim/CounterInternal.h
+++ b/hal/src/main/native/sim/CounterInternal.h
@@ -8,7 +8,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-namespace hal {
+namespace wpi::hal {
 
 struct Counter {
   uint8_t index;
@@ -17,4 +17,4 @@ struct Counter {
 extern LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
                              HAL_HandleEnum::Counter>* counterHandles;
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index 458f629f7a..9321ef9cc2 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -13,13 +13,13 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
                              kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>*
     digitalPWMHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDIO() {
   static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
                                kNumDigitalPWMOutputs,
@@ -27,18 +27,18 @@ void InitializeDIO() {
       dpH;
   digitalPWMHandles = &dpH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumDigitalChannels) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                      kNumDigitalChannels, channel);
     return HAL_kInvalidHandle;
   }
@@ -50,10 +50,10 @@ HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                        kNumDigitalChannels, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -190,7 +190,7 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
   }
   if (SimDIOData[port->channel].isInput) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, "Cannot set output of an input channel");
+    wpi::hal::SetLastError(status, "Cannot set output of an input channel");
     return;
   }
   SimDIOData[port->channel].value = value;
diff --git a/hal/src/main/native/sim/DigitalInternal.cpp b/hal/src/main/native/sim/DigitalInternal.cpp
index 3f9569a679..5fd9c75390 100644
--- a/hal/src/main/native/sim/DigitalInternal.cpp
+++ b/hal/src/main/native/sim/DigitalInternal.cpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/handles/DigitalHandleResource.h"
 #include "wpi/hal/handles/HandlesInternal.h"
 
-namespace hal {
+namespace wpi::hal {
 
 DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
                       kNumDigitalChannels + kNumPWMHeaders>*
@@ -45,4 +45,4 @@ int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) {
 
   return digital->channel;
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h
index 015f5a5d81..1be867bf96 100644
--- a/hal/src/main/native/sim/DigitalInternal.h
+++ b/hal/src/main/native/sim/DigitalInternal.h
@@ -11,7 +11,7 @@
 #include "PortsInternal.h"
 #include "wpi/hal/handles/DigitalHandleResource.h"
 
-namespace hal {
+namespace wpi::hal {
 /**
  * MXP channels when used as digital output PWM are offset from actual value
  */
@@ -57,4 +57,4 @@ int32_t remapMXPChannel(int32_t channel);
 int32_t remapMXPPWMChannel(int32_t channel);
 
 int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status);
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index e2011d52e3..40b3a7e231 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -25,12 +25,12 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-static wpi::mutex msgMutex;
+static wpi::util::mutex msgMutex;
 static std::atomic<HALSIM_SendErrorHandler> sendErrorHandler{nullptr};
 static std::atomic<HALSIM_SendConsoleLineHandler> sendConsoleLineHandler{
     nullptr};
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr int kJoystickPorts = 6;
 
@@ -53,9 +53,9 @@ static std::atomic_bool gShutdown{false};
 
 struct FRCDriverStation {
   ~FRCDriverStation() { gShutdown = true; }
-  wpi::EventVector newDataEvents;
-  wpi::mutex cacheMutex;
-  wpi::mutex tcpCacheMutex;
+  wpi::util::EventVector newDataEvents;
+  wpi::util::mutex cacheMutex;
+  wpi::util::mutex tcpCacheMutex;
 };
 }  // namespace
 
@@ -116,21 +116,21 @@ void TcpCache::Update() {
 
 static ::FRCDriverStation* driverStation;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDriverStation() {
   static FRCDriverStation ds;
   driverStation = &ds;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-namespace hal {
+namespace wpi::hal {
 static void DefaultPrintErrorImpl(const char* line, size_t size) {
   std::fwrite(line, size, 1, stderr);
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 static std::atomic<void (*)(const char* line, size_t size)> gPrintErrorImpl{
-    hal::DefaultPrintErrorImpl};
+    wpi::hal::DefaultPrintErrorImpl};
 
 extern "C" {
 
@@ -205,7 +205,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
 }
 
 void HAL_SetPrintErrorImpl(void (*func)(const char* line, size_t size)) {
-  gPrintErrorImpl.store(func ? func : hal::DefaultPrintErrorImpl);
+  gPrintErrorImpl.store(func ? func : wpi::hal::DefaultPrintErrorImpl);
 }
 
 int32_t HAL_SendConsoleLine(const char* line) {
@@ -404,7 +404,7 @@ void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
   if (gShutdown) {
     return;
   }
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   driverStation->newDataEvents.Add(handle);
 }
 
@@ -425,7 +425,7 @@ HAL_Bool HAL_GetOutputsEnabled(void) {
 
 }  // extern "C"
 
-namespace hal {
+namespace wpi::hal {
 void NewDriverStationData() {
   if (gShutdown) {
     return;
@@ -451,4 +451,4 @@ void NewDriverStationData() {
 void InitializeDriverStation() {
   SimDriverStationData->ResetData();
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/DutyCycle.cpp b/hal/src/main/native/sim/DutyCycle.cpp
index cff3f145cb..f44ee955fa 100644
--- a/hal/src/main/native/sim/DutyCycle.cpp
+++ b/hal/src/main/native/sim/DutyCycle.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct DutyCycle {
@@ -27,30 +27,30 @@ struct Empty {};
 static IndexedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
                              HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDutyCycle() {
   static IndexedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
                                HAL_HandleEnum::DutyCycle>
       dcH;
   dutyCycleHandles = &dcH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
                                             const char* allocationLocation,
                                             int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   HAL_DutyCycleHandle handle = HAL_kInvalidHandle;
   auto dutyCycle = dutyCycleHandles->Allocate(channel, &handle, status);
 
   if (*status != 0) {
     if (dutyCycle) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            dutyCycle->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Duty Cycle",
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Duty Cycle",
                                        0, kNumDutyCycles, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 45a7ad5d40..41f88704df 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -15,7 +15,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct Encoder {
@@ -36,7 +36,7 @@ static LimitedHandleResource<HAL_EncoderHandle, Encoder,
 static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
                              HAL_HandleEnum::FPGAEncoder>* fpgaEncoderHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeEncoder() {
   static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
                                HAL_HandleEnum::FPGAEncoder>
@@ -48,9 +48,9 @@ void InitializeEncoder() {
       eH;
   encoderHandles = &eH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-namespace hal {
+namespace wpi::hal {
 bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
                           HAL_FPGAEncoderHandle* fpgaHandle,
                           HAL_CounterHandle* counterHandle) {
@@ -63,14 +63,14 @@ bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
   *counterHandle = encoder->counterHandle;
   return true;
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 extern "C" {
 HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
                                         HAL_Bool reverseDirection,
                                         HAL_EncoderEncodingType encodingType,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   HAL_Handle nativeHandle = HAL_kInvalidHandle;
   if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
     // k4x, allocate encoder
@@ -272,7 +272,7 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
 
   if (minRate == 0.0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, "minRate must not be 0");
+    wpi::hal::SetLastError(status, "minRate must not be 0");
     return;
   }
 
@@ -289,7 +289,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
 
   if (distancePerPulse == 0.0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, "distancePerPulse must not be 0");
+    wpi::hal::SetLastError(status, "distancePerPulse must not be 0");
     return;
   }
   encoder->distancePerPulse = distancePerPulse;
diff --git a/hal/src/main/native/sim/Extensions.cpp b/hal/src/main/native/sim/Extensions.cpp
index ffb2ef3c86..5500515896 100644
--- a/hal/src/main/native/sim/Extensions.cpp
+++ b/hal/src/main/native/sim/Extensions.cpp
@@ -38,14 +38,14 @@
 #define DLERROR dlerror()
 #endif
 
-static wpi::recursive_spinlock gExtensionRegistryMutex;
+static wpi::util::recursive_spinlock gExtensionRegistryMutex;
 static std::vector<std::pair<const char*, void*>> gExtensionRegistry;
 static std::vector<std::pair<void*, void (*)(void*, const char*, void*)>>
     gExtensionListeners;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeExtensions() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 static bool& GetShowNotFoundMessage() {
   static bool showMsg = true;
@@ -56,7 +56,7 @@ extern "C" {
 
 int HAL_LoadOneExtension(const char* library) {
   int rc = 1;  // It is expected and reasonable not to find an extra simulation
-  wpi::print("HAL Extensions: Attempting to load: {}\n",
+  wpi::util::print("HAL Extensions: Attempting to load: {}\n",
              fs::path{library}.stem().string());
   std::fflush(stdout);
   HTYPE handle = DLOPEN(library);
@@ -67,14 +67,14 @@ int HAL_LoadOneExtension(const char* library) {
 #else
     auto libraryName = fmt::format("lib{}.so", library);
 #endif
-    wpi::print("HAL Extensions: Load failed: {}\nTrying modified name: {}\n",
+    wpi::util::print("HAL Extensions: Load failed: {}\nTrying modified name: {}\n",
                DLERROR, fs::path{libraryName}.stem().string());
     std::fflush(stdout);
     handle = DLOPEN(libraryName.c_str());
   }
 #endif
   if (!handle) {
-    wpi::print("HAL Extensions: Failed to load library: {}\n", DLERROR);
+    wpi::util::print("HAL Extensions: Failed to load library: {}\n", DLERROR);
     std::fflush(stdout);
     return rc;
   }
@@ -107,7 +107,7 @@ int HAL_LoadExtensions(void) {
     }
     return rc;
   }
-  wpi::split(e, DELIM, -1, false, [&](auto library) {
+  wpi::util::split(e, DELIM, -1, false, [&](auto library) {
     if (rc >= 0) {
       rc = HAL_LoadOneExtension(std::string(library).c_str());
     }
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 1dd59a3d39..7dde70c872 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -32,7 +32,7 @@ NtQueryTimerResolution(PULONG MinimumResolution, PULONG MaximumResolution,
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/spinlock.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 class SimPeriodicCallbackRegistry : public impl::SimCallbackRegistryBase {
@@ -54,16 +54,16 @@ class SimPeriodicCallbackRegistry : public impl::SimCallbackRegistryBase {
 }  // namespace
 
 static HAL_RuntimeType runtimeType{HAL_Runtime_Simulation};
-static wpi::spinlock gOnShutdownMutex;
+static wpi::util::spinlock gOnShutdownMutex;
 static std::vector<std::pair<void*, void (*)(void*)>> gOnShutdown;
 static SimPeriodicCallbackRegistry gSimPeriodicBefore;
 static SimPeriodicCallbackRegistry gSimPeriodicAfter;
 
-namespace hal {
+namespace wpi::hal {
 void InitializeDriverStation();
-}  // namespace hal
+}  // namespace wpi::hal
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeHAL() {
   InitializeAddressableLEDData();
   InitializeAnalogInData();
@@ -107,7 +107,7 @@ void InitializeHAL() {
   InitializeSimDevice();
   InitializeThreads();
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
@@ -253,7 +253,7 @@ int32_t HAL_GetTeamNumber(void) {
 }
 
 uint64_t HAL_GetFPGATime(int32_t* status) {
-  return hal::GetFPGATime();
+  return wpi::hal::GetFPGATime();
 }
 
 uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
@@ -302,7 +302,7 @@ HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
 
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   static std::atomic_bool initialized{false};
-  static wpi::mutex initializeMutex;
+  static wpi::util::mutex initializeMutex;
   // Initial check, as if it's true initialization has finished
   if (initialized) {
     return true;
@@ -314,12 +314,12 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     return true;
   }
 
-  hal::init::InitializeHAL();
+  wpi::hal::init::InitializeHAL();
 
-  hal::init::HAL_IsInitialized.store(true);
+  wpi::hal::init::HAL_IsInitialized.store(true);
 
-  hal::RestartTiming();
-  hal::InitializeDriverStation();
+  wpi::hal::RestartTiming();
+  wpi::hal::InitializeDriverStation();
 
   initialized = true;
 
diff --git a/hal/src/main/native/sim/HALInitializer.cpp b/hal/src/main/native/sim/HALInitializer.cpp
index 84ba73e6d4..4312571b81 100644
--- a/hal/src/main/native/sim/HALInitializer.cpp
+++ b/hal/src/main/native/sim/HALInitializer.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/hal/HALBase.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 std::atomic_bool HAL_IsInitialized{false};
 void RunInitialize() {
   HAL_Initialize(500, 0);
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/native/sim/HALInitializer.h b/hal/src/main/native/sim/HALInitializer.h
index 20779ff0f8..1336500b8d 100644
--- a/hal/src/main/native/sim/HALInitializer.h
+++ b/hal/src/main/native/sim/HALInitializer.h
@@ -6,7 +6,7 @@
 
 #include <atomic>
 
-namespace hal::init {
+namespace wpi::hal::init {
 extern std::atomic_bool HAL_IsInitialized;
 extern void RunInitialize();
 inline void CheckInit() {
@@ -59,4 +59,4 @@ extern void InitializeSerialPort();
 extern void InitializeSimDevice();
 extern void InitializeThreads();
 
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/native/sim/HALInternal.h b/hal/src/main/native/sim/HALInternal.h
index 7a7863a474..0023442999 100644
--- a/hal/src/main/native/sim/HALInternal.h
+++ b/hal/src/main/native/sim/HALInternal.h
@@ -8,7 +8,7 @@
 
 #include <string_view>
 
-namespace hal {
+namespace wpi::hal {
 void SetLastError(int32_t* status, std::string_view value);
 void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
                                  int32_t minimum, int32_t maximum,
@@ -16,4 +16,4 @@ void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
 void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
                                      int32_t channel,
                                      std::string_view previousAllocation);
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/I2C.cpp b/hal/src/main/native/sim/I2C.cpp
index 2fe7e2acb5..08e3d8914e 100644
--- a/hal/src/main/native/sim/I2C.cpp
+++ b/hal/src/main/native/sim/I2C.cpp
@@ -7,15 +7,15 @@
 #include "HALInitializer.h"
 #include "mockdata/I2CDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeI2C() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   SimI2CData[port].initialized = true;
 }
 int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
diff --git a/hal/src/main/native/sim/MockHooks.cpp b/hal/src/main/native/sim/MockHooks.cpp
index 85f24d6347..5637866135 100644
--- a/hal/src/main/native/sim/MockHooks.cpp
+++ b/hal/src/main/native/sim/MockHooks.cpp
@@ -20,15 +20,15 @@ static std::atomic<uint64_t> programStartTime{0};
 static std::atomic<uint64_t> programPauseTime{0};
 static std::atomic<uint64_t> programStepTime{0};
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeMockHooks() {
-  wpi::SetNowImpl(GetFPGATime);
+  wpi::util::SetNowImpl(GetFPGATime);
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-namespace hal {
+namespace wpi::hal {
 void RestartTiming() {
-  programStartTime = wpi::NowDefault();
+  programStartTime = wpi::util::NowDefault();
   programStepTime = 0;
   if (programPauseTime != 0) {
     programPauseTime = programStartTime.load();
@@ -37,13 +37,13 @@ void RestartTiming() {
 
 void PauseTiming() {
   if (programPauseTime == 0) {
-    programPauseTime = wpi::NowDefault();
+    programPauseTime = wpi::util::NowDefault();
   }
 }
 
 void ResumeTiming() {
   if (programPauseTime != 0) {
-    programStartTime += wpi::NowDefault() - programPauseTime;
+    programStartTime += wpi::util::NowDefault() - programPauseTime;
     programPauseTime = 0;
   }
 }
@@ -59,7 +59,7 @@ void StepTiming(uint64_t delta) {
 uint64_t GetFPGATime() {
   uint64_t curTime = programPauseTime;
   if (curTime == 0) {
-    curTime = wpi::NowDefault();
+    curTime = wpi::util::NowDefault();
   }
   return curTime + programStepTime - programStartTime;
 }
@@ -74,16 +74,16 @@ void SetProgramStarted() {
 bool GetProgramStarted() {
   return programStarted;
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 void HALSIM_WaitForProgramStart(void) {
   int count = 0;
   while (!programStarted) {
     count++;
-    wpi::print("Waiting for program start signal: {}\n", count);
+    wpi::util::print("Waiting for program start signal: {}\n", count);
     std::this_thread::sleep_for(std::chrono::milliseconds(500));
   }
 }
diff --git a/hal/src/main/native/sim/MockHooksInternal.h b/hal/src/main/native/sim/MockHooksInternal.h
index 101f42df39..fafe25e939 100644
--- a/hal/src/main/native/sim/MockHooksInternal.h
+++ b/hal/src/main/native/sim/MockHooksInternal.h
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/simulation/MockHooks.h"
 
-namespace hal {
+namespace wpi::hal {
 void RestartTiming();
 
 void PauseTiming();
@@ -24,4 +24,4 @@ uint64_t GetFPGATime();
 double GetFPGATimestamp();
 
 void SetProgramStarted();
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/Notifier.cpp b/hal/src/main/native/sim/Notifier.cpp
index fea0261a6a..6ff60fce8b 100644
--- a/hal/src/main/native/sim/Notifier.cpp
+++ b/hal/src/main/native/sim/Notifier.cpp
@@ -32,15 +32,15 @@ struct Notifier {
   bool waitTimeValid = false;    // True if waitTime is set and in the future
   bool waitingForAlarm = false;  // True if in HAL_WaitForNotifierAlarm()
   uint64_t waitCount = 0;        // Counts calls to HAL_WaitForNotifierAlarm()
-  wpi::mutex mutex;
-  wpi::condition_variable cond;
+  wpi::util::mutex mutex;
+  wpi::util::condition_variable cond;
 };
 }  // namespace
 
-using namespace hal;
+using namespace wpi::hal;
 
-static wpi::mutex notifiersWaiterMutex;
-static wpi::condition_variable notifiersWaiterCond;
+static wpi::util::mutex notifiersWaiterMutex;
+static wpi::util::condition_variable notifiersWaiterCond;
 
 class NotifierHandleContainer
     : public UnlimitedHandleResource<HAL_NotifierHandle, Notifier,
@@ -62,7 +62,7 @@ class NotifierHandleContainer
 static NotifierHandleContainer* notifierHandles;
 static std::atomic<bool> notifiersPaused{false};
 
-namespace hal {
+namespace wpi::hal {
 namespace init {
 void InitializeNotifier() {
   static NotifierHandleContainer nH;
@@ -87,7 +87,7 @@ void WakeupNotifiers() {
 
 void WaitNotifiers() {
   std::unique_lock ulock(notifiersWaiterMutex);
-  wpi::SmallVector<HAL_NotifierHandle, 8> waiters;
+  wpi::util::SmallVector<HAL_NotifierHandle, 8> waiters;
 
   // Wait for all Notifiers to hit HAL_WaitForNotifierAlarm()
   notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
@@ -123,7 +123,7 @@ void WakeupWaitNotifiers() {
   std::unique_lock ulock(notifiersWaiterMutex);
   int32_t status = 0;
   uint64_t curTime = HAL_GetFPGATime(&status);
-  wpi::SmallVector<std::pair<HAL_NotifierHandle, uint64_t>, 8> waiters;
+  wpi::util::SmallVector<std::pair<HAL_NotifierHandle, uint64_t>, 8> waiters;
 
   // Wake up Notifiers that have expired timeouts
   notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
@@ -161,12 +161,12 @@ void WakeupWaitNotifiers() {
     notifiersWaiterCond.wait_for(ulock, std::chrono::duration<double>(1));
   }
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 extern "C" {
 
 HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   std::shared_ptr<Notifier> notifier = std::make_shared<Notifier>();
   HAL_NotifierHandle handle = notifierHandles->Allocate(notifier);
   if (handle == HAL_kInvalidHandle) {
@@ -318,7 +318,7 @@ int32_t HALSIM_GetNotifierInfo(struct HALSIM_NotifierInfo* arr, int32_t size) {
     if (num < size) {
       arr[num].handle = handle;
       if (notifier->name.empty()) {
-        wpi::format_to_n_c_str(arr[num].name, sizeof(arr[num].name),
+        wpi::util::format_to_n_c_str(arr[num].name, sizeof(arr[num].name),
                                "Notifier{}",
                                static_cast<int>(getHandleIndex(handle)));
       } else {
diff --git a/hal/src/main/native/sim/NotifierInternal.h b/hal/src/main/native/sim/NotifierInternal.h
index 81d906e1f5..7c02082381 100644
--- a/hal/src/main/native/sim/NotifierInternal.h
+++ b/hal/src/main/native/sim/NotifierInternal.h
@@ -4,10 +4,10 @@
 
 #pragma once
 
-namespace hal {
+namespace wpi::hal {
 void PauseNotifiers();
 void ResumeNotifiers();
 void WakeupNotifiers();
 void WaitNotifiers();
 void WakeupWaitNotifiers();
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp
index 09209fd21b..fb15fafbd9 100644
--- a/hal/src/main/native/sim/PWM.cpp
+++ b/hal/src/main/native/sim/PWM.cpp
@@ -15,22 +15,22 @@
 #include "mockdata/PWMDataInternal.h"
 #include "wpi/hal/handles/HandlesInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePWM() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumPWMChannels) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                      kNumPWMChannels, channel);
     return HAL_kInvalidHandle;
   }
@@ -50,10 +50,10 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                        kNumPWMChannels, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
diff --git a/hal/src/main/native/sim/Ports.cpp b/hal/src/main/native/sim/Ports.cpp
index d9f6288287..28eed2bc27 100644
--- a/hal/src/main/native/sim/Ports.cpp
+++ b/hal/src/main/native/sim/Ports.cpp
@@ -6,11 +6,11 @@
 
 #include "PortsInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePorts() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 int32_t HAL_GetNumCanBuses(void) {
diff --git a/hal/src/main/native/sim/PortsInternal.h b/hal/src/main/native/sim/PortsInternal.h
index 3e1d5668ce..8a339392c3 100644
--- a/hal/src/main/native/sim/PortsInternal.h
+++ b/hal/src/main/native/sim/PortsInternal.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-namespace hal {
+namespace wpi::hal {
 constexpr int32_t kNumCanBuses = 5;
 constexpr int32_t kAccelerometers = 1;
 constexpr int32_t kNumAccumulators = 2;
@@ -38,4 +38,4 @@ constexpr int32_t kNumREVPHChannels = 16;
 constexpr int32_t kSPIAccelerometers = 5;
 constexpr int32_t kSPIPorts = 5;
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/Power.cpp b/hal/src/main/native/sim/Power.cpp
index 4f0d2ac330..3434ed6b20 100644
--- a/hal/src/main/native/sim/Power.cpp
+++ b/hal/src/main/native/sim/Power.cpp
@@ -6,11 +6,11 @@
 
 #include "mockdata/RoboRioDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePower() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 // TODO: Fix the naming in here
 extern "C" {
diff --git a/hal/src/main/native/sim/PowerDistribution.cpp b/hal/src/main/native/sim/PowerDistribution.cpp
index 8afcf6c3fc..7cb82517db 100644
--- a/hal/src/main/native/sim/PowerDistribution.cpp
+++ b/hal/src/main/native/sim/PowerDistribution.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/CANAPI.h"
 #include "wpi/hal/Errors.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr HAL_CANManufacturer manufacturer =
     HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
@@ -22,9 +22,9 @@ static constexpr HAL_CANManufacturer manufacturer =
 static constexpr HAL_CANDeviceType deviceType =
     HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePowerDistribution() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
@@ -33,7 +33,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
   if (type == HAL_PowerDistributionType_kAutomatic) {
     if (module != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
       *status = PARAMETER_OUT_OF_RANGE;
-      hal::SetLastError(
+      wpi::hal::SetLastError(
           status, "Automatic PowerDistributionType must have default module");
       return HAL_kInvalidHandle;
     }
@@ -46,15 +46,15 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
   if (!HAL_CheckPowerDistributionModule(module, type)) {
     *status = RESOURCE_OUT_OF_RANGE;
     if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
                                        kNumCTREPDPModules - 1, module);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
                                        kNumREVPDHModules, module);
     }
     return HAL_kInvalidHandle;
   }
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   SimPowerDistributionData[module].initialized = true;
   auto handle =
       HAL_InitializeCAN(busId, manufacturer, module, deviceType, status);
@@ -69,7 +69,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
 
 int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
                                              int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return 0;
   }
@@ -116,7 +116,7 @@ void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
 
 double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
                                            int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return 0.0;
   }
@@ -124,7 +124,7 @@ double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
 }
 double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
                                        int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return 0.0;
   }
@@ -132,7 +132,7 @@ double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
 }
 double HAL_GetPowerDistributionChannelCurrent(
     HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return 0.0;
   }
@@ -141,7 +141,7 @@ double HAL_GetPowerDistributionChannelCurrent(
 void HAL_GetPowerDistributionAllChannelCurrents(
     HAL_PowerDistributionHandle handle, double* currents,
     int32_t currentsLength, int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return;
   }
@@ -154,7 +154,7 @@ void HAL_GetPowerDistributionAllChannelCurrents(
 }
 double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
                                             int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  auto module = wpi::hal::can::GetCANModuleFromHandle(handle, status);
   if (*status != 0) {
     return 0.0;
   }
diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
index 56967c84ea..c2f010d4e8 100644
--- a/hal/src/main/native/sim/REVPH.cpp
+++ b/hal/src/main/native/sim/REVPH.cpp
@@ -13,12 +13,12 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct PCM {
   int32_t module;
-  wpi::mutex lock;
+  wpi::util::mutex lock;
   std::string previousAllocation;
 };
 }  // namespace
@@ -26,23 +26,23 @@ struct PCM {
 static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
                              HAL_HandleEnum::REVPH>* pcmHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeREVPH() {
   static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
                                HAL_HandleEnum::REVPH>
       pH;
   pcmHandles = &pH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
                                     const char* allocationLocation,
                                     int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (!HAL_CheckREVPHModuleNumber(module)) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                      kNumREVPHModules, module);
     return HAL_kInvalidHandle;
   }
@@ -53,10 +53,10 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
 
   if (*status != 0) {
     if (pcm) {
-      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
                                            pcm->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                        kNumREVPHModules, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
diff --git a/hal/src/main/native/sim/SerialPort.cpp b/hal/src/main/native/sim/SerialPort.cpp
index 4f160fb3de..03cfed6c96 100644
--- a/hal/src/main/native/sim/SerialPort.cpp
+++ b/hal/src/main/native/sim/SerialPort.cpp
@@ -6,21 +6,21 @@
 
 #include "HALInitializer.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeSerialPort() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
                                               int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   return HAL_kInvalidHandle;
 }
 
 HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
                                                     const char* portName,
                                                     int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   return HAL_kInvalidHandle;
 }
 
diff --git a/hal/src/main/native/sim/SimDevice.cpp b/hal/src/main/native/sim/SimDevice.cpp
index 2015aef602..9e646abea6 100644
--- a/hal/src/main/native/sim/SimDevice.cpp
+++ b/hal/src/main/native/sim/SimDevice.cpp
@@ -9,16 +9,16 @@
 #include "HALInitializer.h"
 #include "mockdata/SimDeviceDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeSimDevice() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   return SimSimDeviceData->CreateDevice(name);
 }
 
@@ -68,11 +68,11 @@ void HAL_ResetSimValue(HAL_SimValueHandle handle) {
   SimSimDeviceData->ResetValue(handle);
 }
 
-hal::SimDevice::SimDevice(const char* name, int index) {
+wpi::hal::SimDevice::SimDevice(const char* name, int index) {
   m_handle = HAL_CreateSimDevice(fmt::format("{}[{}]", name, index).c_str());
 }
 
-hal::SimDevice::SimDevice(const char* name, int index, int channel) {
+wpi::hal::SimDevice::SimDevice(const char* name, int index, int channel) {
   m_handle = HAL_CreateSimDevice(
       fmt::format("{}[{},{}]", name, index, channel).c_str());
 }
diff --git a/hal/src/main/native/sim/Threads.cpp b/hal/src/main/native/sim/Threads.cpp
index ce2db84690..bd982bdec6 100644
--- a/hal/src/main/native/sim/Threads.cpp
+++ b/hal/src/main/native/sim/Threads.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/hal/Threads.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeThreads() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
                               int32_t* status) {
diff --git a/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp b/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
index 2cd3bef3e7..2c080bf9c3 100644
--- a/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
+++ b/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
@@ -8,19 +8,19 @@
 #include "../PortsInternal.h"
 #include "AddressableLEDDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAddressableLEDData() {
   static AddressableLEDData sad[kNumAddressableLEDs];
-  ::hal::SimAddressableLEDData = sad;
+  ::wpi::hal::SimAddressableLEDData = sad;
   static AddressableLEDDataBuffer buf;
-  ::hal::SimAddressableLEDDataBuffer = &buf;
+  ::wpi::hal::SimAddressableLEDDataBuffer = &buf;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-AddressableLEDData* hal::SimAddressableLEDData;
-AddressableLEDDataBuffer* hal::SimAddressableLEDDataBuffer;
+AddressableLEDData* wpi::hal::SimAddressableLEDData;
+AddressableLEDDataBuffer* wpi::hal::SimAddressableLEDDataBuffer;
 
 void AddressableLEDData::ResetData() {
   initialized.Reset(false);
diff --git a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
index 2b217a1eca..b5ce234e52 100644
--- a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
@@ -11,7 +11,7 @@
 #include "wpi/hal/simulation/SimDataValue.h"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 class AddressableLEDData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(Start)
@@ -30,7 +30,7 @@ extern AddressableLEDData* SimAddressableLEDData;
 class AddressableLEDDataBuffer {
   HAL_SIMDATAVALUE_DEFINE_NAME(Data)
 
-  wpi::recursive_spinlock m_dataMutex;
+  wpi::util::recursive_spinlock m_dataMutex;
   HAL_AddressableLEDData m_data[HAL_kAddressableLEDMaxLength];
 
  public:
@@ -39,4 +39,4 @@ class AddressableLEDDataBuffer {
   SimCallbackRegistry<HAL_ConstBufferCallback, GetDataName> data;
 };
 extern AddressableLEDDataBuffer* SimAddressableLEDDataBuffer;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/AnalogInData.cpp b/hal/src/main/native/sim/mockdata/AnalogInData.cpp
index ebe22757c6..a703c03211 100644
--- a/hal/src/main/native/sim/mockdata/AnalogInData.cpp
+++ b/hal/src/main/native/sim/mockdata/AnalogInData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "AnalogInDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAnalogInData() {
   static AnalogInData sind[kNumAnalogInputs];
-  ::hal::SimAnalogInData = sind;
+  ::wpi::hal::SimAnalogInData = sind;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-AnalogInData* hal::SimAnalogInData;
+AnalogInData* wpi::hal::SimAnalogInData;
 void AnalogInData::ResetData() {
   initialized.Reset(false);
   simDevice = 0;
diff --git a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
index a93df355de..8a5ef935a9 100644
--- a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
@@ -7,7 +7,7 @@
 #include "wpi/hal/simulation/AnalogInData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class AnalogInData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(AverageBits)
@@ -25,4 +25,4 @@ class AnalogInData {
   virtual void ResetData();
 };
 extern AnalogInData* SimAnalogInData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/CTREPCMData.cpp b/hal/src/main/native/sim/mockdata/CTREPCMData.cpp
index bfc0b61796..5096d6538e 100644
--- a/hal/src/main/native/sim/mockdata/CTREPCMData.cpp
+++ b/hal/src/main/native/sim/mockdata/CTREPCMData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "CTREPCMDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCTREPCMData() {
   static CTREPCMData spd[kNumCTREPCMModules];
-  ::hal::SimCTREPCMData = spd;
+  ::wpi::hal::SimCTREPCMData = spd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-CTREPCMData* hal::SimCTREPCMData;
+CTREPCMData* wpi::hal::SimCTREPCMData;
 void CTREPCMData::ResetData() {
   for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
     solenoidOutput[i].Reset(false);
diff --git a/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
index d721179983..44352e8fc5 100644
--- a/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
@@ -8,7 +8,7 @@
 #include "wpi/hal/simulation/CTREPCMData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class CTREPCMData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
@@ -40,4 +40,4 @@ class CTREPCMData {
   virtual void ResetData();
 };
 extern CTREPCMData* SimCTREPCMData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/CanDataInternal.cpp b/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
index 0ace401415..e03c261d37 100644
--- a/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
+++ b/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
@@ -4,16 +4,16 @@
 
 #include "CanDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCanData() {
   static CanData scd;
-  ::hal::SimCanData = &scd;
+  ::wpi::hal::SimCanData = &scd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-CanData* hal::SimCanData;
+CanData* wpi::hal::SimCanData;
 
 void CanData::ResetData() {
   sendMessage.Reset();
diff --git a/hal/src/main/native/sim/mockdata/CanDataInternal.h b/hal/src/main/native/sim/mockdata/CanDataInternal.h
index 813a8ced29..3b555363b1 100644
--- a/hal/src/main/native/sim/mockdata/CanDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/CanDataInternal.h
@@ -7,7 +7,7 @@
 #include "wpi/hal/simulation/CanData.h"
 #include "wpi/hal/simulation/SimCallbackRegistry.h"
 
-namespace hal {
+namespace wpi::hal {
 
 class CanData {
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SendMessage)
@@ -36,4 +36,4 @@ class CanData {
 
 extern CanData* SimCanData;
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/DIOData.cpp b/hal/src/main/native/sim/mockdata/DIOData.cpp
index cdca84bf9d..1f80eedf92 100644
--- a/hal/src/main/native/sim/mockdata/DIOData.cpp
+++ b/hal/src/main/native/sim/mockdata/DIOData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "DIODataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDIOData() {
   static DIOData sdd[kNumDigitalChannels];
-  ::hal::SimDIOData = sdd;
+  ::wpi::hal::SimDIOData = sdd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-DIOData* hal::SimDIOData;
+DIOData* wpi::hal::SimDIOData;
 void DIOData::ResetData() {
   initialized.Reset(false);
   simDevice = 0;
diff --git a/hal/src/main/native/sim/mockdata/DIODataInternal.h b/hal/src/main/native/sim/mockdata/DIODataInternal.h
index b43296cf0a..1d205e5dcb 100644
--- a/hal/src/main/native/sim/mockdata/DIODataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DIODataInternal.h
@@ -7,7 +7,7 @@
 #include "wpi/hal/simulation/DIOData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class DIOData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(Value)
@@ -27,4 +27,4 @@ class DIOData {
   virtual void ResetData();
 };
 extern DIOData* SimDIOData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp b/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
index da4236a50d..9afbcd6247 100644
--- a/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
+++ b/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "DigitalPWMDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDigitalPWMData() {
   static DigitalPWMData sdpd[kNumDigitalPWMOutputs];
-  ::hal::SimDigitalPWMData = sdpd;
+  ::wpi::hal::SimDigitalPWMData = sdpd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-DigitalPWMData* hal::SimDigitalPWMData;
+DigitalPWMData* wpi::hal::SimDigitalPWMData;
 void DigitalPWMData::ResetData() {
   initialized.Reset(false);
   dutyCycle.Reset(0.0);
diff --git a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
index a9f5926cf8..c5e8b1e0be 100644
--- a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
@@ -7,7 +7,7 @@
 #include "wpi/hal/simulation/DigitalPWMData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class DigitalPWMData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(DutyCycle)
@@ -22,4 +22,4 @@ class DigitalPWMData {
   virtual void ResetData();
 };
 extern DigitalPWMData* SimDigitalPWMData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/DriverStationData.cpp b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
index e508d05f51..2388775dc7 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationData.cpp
+++ b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
@@ -6,16 +6,16 @@
 
 #include "DriverStationDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDriverStationData() {
   static DriverStationData dsd;
-  ::hal::SimDriverStationData = &dsd;
+  ::wpi::hal::SimDriverStationData = &dsd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-DriverStationData* hal::SimDriverStationData;
+DriverStationData* wpi::hal::SimDriverStationData;
 
 DriverStationData::DriverStationData() {
   ResetData();
@@ -215,12 +215,12 @@ void DriverStationData::CallNewDataCallbacks() {
   m_newDataCallbacks(&empty);
 }
 
-namespace hal {
+namespace wpi::hal {
 void NewDriverStationData();
-}  // namespace hal
+}  // namespace wpi::hal
 
 void DriverStationData::NotifyNewData() {
-  hal::NewDriverStationData();
+  wpi::hal::NewDriverStationData();
 }
 
 void DriverStationData::SetJoystickButton(int32_t stick, int32_t button,
@@ -528,15 +528,15 @@ void HALSIM_SetJoystickType(int32_t stick, int32_t type) {
 }
 
 void HALSIM_SetJoystickName(int32_t stick, const WPI_String* name) {
-  SimDriverStationData->SetJoystickName(stick, wpi::to_string_view(name));
+  SimDriverStationData->SetJoystickName(stick, wpi::util::to_string_view(name));
 }
 
 void HALSIM_SetGameSpecificMessage(const WPI_String* message) {
-  SimDriverStationData->SetGameSpecificMessage(wpi::to_string_view(message));
+  SimDriverStationData->SetGameSpecificMessage(wpi::util::to_string_view(message));
 }
 
 void HALSIM_SetEventName(const WPI_String* name) {
-  SimDriverStationData->SetEventName(wpi::to_string_view(name));
+  SimDriverStationData->SetEventName(wpi::util::to_string_view(name));
 }
 
 void HALSIM_SetMatchType(HAL_MatchType type) {
diff --git a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
index 1f007e9ebe..da20ba6c54 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
@@ -11,7 +11,7 @@
 #include "wpi/hal/simulation/SimDataValue.h"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 class DriverStationData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Enabled)
@@ -157,11 +157,11 @@ class DriverStationData {
   };
 
   static constexpr int kNumJoysticks = 6;
-  wpi::spinlock m_joystickDataMutex;
+  wpi::util::spinlock m_joystickDataMutex;
   JoystickData m_joystickData[kNumJoysticks];
 
-  wpi::spinlock m_matchInfoMutex;
+  wpi::util::spinlock m_matchInfoMutex;
   HAL_MatchInfo m_matchInfo;
 };
 extern DriverStationData* SimDriverStationData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/DutyCycleData.cpp b/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
index b76044d135..557c7dbd1d 100644
--- a/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
+++ b/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "DutyCycleDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDutyCycleData() {
   static DutyCycleData sed[kNumDutyCycles];
-  ::hal::SimDutyCycleData = sed;
+  ::wpi::hal::SimDutyCycleData = sed;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-DutyCycleData* hal::SimDutyCycleData;
+DutyCycleData* wpi::hal::SimDutyCycleData;
 
 void DutyCycleData::ResetData() {
   initialized.Reset(false);
diff --git a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
index 4e8791cd24..78b2a4b5ec 100644
--- a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
@@ -10,7 +10,7 @@
 #include "wpi/hal/simulation/DutyCycleData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class DutyCycleData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(Output)
@@ -26,4 +26,4 @@ class DutyCycleData {
   virtual void ResetData();
 };
 extern DutyCycleData* SimDutyCycleData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/EncoderData.cpp b/hal/src/main/native/sim/mockdata/EncoderData.cpp
index 8b012ed9d0..2def1a58a1 100644
--- a/hal/src/main/native/sim/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/sim/mockdata/EncoderData.cpp
@@ -7,16 +7,16 @@
 #include "../PortsInternal.h"
 #include "EncoderDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeEncoderData() {
   static EncoderData sed[kNumEncoders];
-  ::hal::SimEncoderData = sed;
+  ::wpi::hal::SimEncoderData = sed;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-EncoderData* hal::SimEncoderData;
+EncoderData* wpi::hal::SimEncoderData;
 void EncoderData::ResetData() {
   digitalChannelA = 0;
   digitalChannelB = 0;
diff --git a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
index 2b78dadc90..bdd3620605 100644
--- a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
@@ -10,7 +10,7 @@
 #include "wpi/hal/simulation/EncoderData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class EncoderData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(Count)
@@ -44,4 +44,4 @@ class EncoderData {
   virtual void ResetData();
 };
 extern EncoderData* SimEncoderData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/I2CData.cpp b/hal/src/main/native/sim/mockdata/I2CData.cpp
index d3b7db61cd..5009c76879 100644
--- a/hal/src/main/native/sim/mockdata/I2CData.cpp
+++ b/hal/src/main/native/sim/mockdata/I2CData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "I2CDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeI2CData() {
   static I2CData sid[kI2CPorts];
-  ::hal::SimI2CData = sid;
+  ::wpi::hal::SimI2CData = sid;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-I2CData* hal::SimI2CData;
+I2CData* wpi::hal::SimI2CData;
 
 void I2CData::ResetData() {
   initialized.Reset(false);
diff --git a/hal/src/main/native/sim/mockdata/I2CDataInternal.h b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
index ba447f14b6..e5cc4e48f5 100644
--- a/hal/src/main/native/sim/mockdata/I2CDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
@@ -8,7 +8,7 @@
 #include "wpi/hal/simulation/SimCallbackRegistry.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class I2CData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Read)
@@ -27,4 +27,4 @@ class I2CData {
   void ResetData();
 };
 extern I2CData* SimI2CData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/PWMData.cpp b/hal/src/main/native/sim/mockdata/PWMData.cpp
index 576c38b305..456334e30c 100644
--- a/hal/src/main/native/sim/mockdata/PWMData.cpp
+++ b/hal/src/main/native/sim/mockdata/PWMData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "PWMDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePWMData() {
   static PWMData spd[kNumPWMChannels];
-  ::hal::SimPWMData = spd;
+  ::wpi::hal::SimPWMData = spd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-PWMData* hal::SimPWMData;
+PWMData* wpi::hal::SimPWMData;
 void PWMData::ResetData() {
   initialized.Reset(false);
   simDevice = 0;
diff --git a/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
index e3294faab0..f1877f4d11 100644
--- a/hal/src/main/native/sim/mockdata/PWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
@@ -7,7 +7,7 @@
 #include "wpi/hal/simulation/PWMData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class PWMData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond)
@@ -24,4 +24,4 @@ class PWMData {
   virtual void ResetData();
 };
 extern PWMData* SimPWMData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp b/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
index 9c5b82644c..d8456fa669 100644
--- a/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
+++ b/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "PowerDistributionDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePowerDistributionData() {
   static PowerDistributionData spd[kNumPDSimModules];
-  ::hal::SimPowerDistributionData = spd;
+  ::wpi::hal::SimPowerDistributionData = spd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-PowerDistributionData* hal::SimPowerDistributionData;
+PowerDistributionData* wpi::hal::SimPowerDistributionData;
 void PowerDistributionData::ResetData() {
   initialized.Reset(false);
   temperature.Reset(0.0);
diff --git a/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
index 10c684f72b..77fb40af8c 100644
--- a/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
@@ -8,7 +8,7 @@
 #include "wpi/hal/simulation/PowerDistributionData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 
 class PowerDistributionData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
@@ -31,4 +31,4 @@ class PowerDistributionData {
   virtual void ResetData();
 };
 extern PowerDistributionData* SimPowerDistributionData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/REVPHData.cpp b/hal/src/main/native/sim/mockdata/REVPHData.cpp
index cb1a3a883e..51cf274c25 100644
--- a/hal/src/main/native/sim/mockdata/REVPHData.cpp
+++ b/hal/src/main/native/sim/mockdata/REVPHData.cpp
@@ -5,16 +5,16 @@
 #include "../PortsInternal.h"
 #include "REVPHDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeREVPHData() {
   static REVPHData spd[kNumREVPHModules];
-  ::hal::SimREVPHData = spd;
+  ::wpi::hal::SimREVPHData = spd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-REVPHData* hal::SimREVPHData;
+REVPHData* wpi::hal::SimREVPHData;
 void REVPHData::ResetData() {
   for (int i = 0; i < kNumREVPHChannels; i++) {
     solenoidOutput[i].Reset(false);
diff --git a/hal/src/main/native/sim/mockdata/REVPHDataInternal.h b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
index 7dc268d0af..028c2cf126 100644
--- a/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
@@ -8,7 +8,7 @@
 #include "wpi/hal/simulation/REVPHData.h"
 #include "wpi/hal/simulation/SimDataValue.h"
 
-namespace hal {
+namespace wpi::hal {
 class REVPHData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
@@ -47,4 +47,4 @@ class REVPHData {
   virtual void ResetData();
 };
 extern REVPHData* SimREVPHData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/Reset.cpp b/hal/src/main/native/sim/mockdata/Reset.cpp
index c3c5f44c77..bb2449f54d 100644
--- a/hal/src/main/native/sim/mockdata/Reset.cpp
+++ b/hal/src/main/native/sim/mockdata/Reset.cpp
@@ -20,51 +20,51 @@
 #include "wpi/hal/simulation/SimDeviceData.h"
 
 extern "C" void HALSIM_ResetAllSimData(void) {
-  for (int32_t i = 0; i < hal::kNumAddressableLEDs; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumAddressableLEDs; i++) {
     HALSIM_ResetAddressableLEDData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumAnalogInputs; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumAnalogInputs; i++) {
     HALSIM_ResetAnalogInData(i);
   }
 
   HALSIM_ResetCanData();
 
-  for (int32_t i = 0; i < hal::kNumCTREPCMModules; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumCTREPCMModules; i++) {
     HALSIM_ResetCTREPCMData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumDigitalPWMOutputs; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumDigitalPWMOutputs; i++) {
     HALSIM_ResetDigitalPWMData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumDigitalChannels; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumDigitalChannels; i++) {
     HALSIM_ResetDIOData(i);
   }
 
   HALSIM_ResetDriverStationData();
 
-  for (int32_t i = 0; i < hal::kNumDutyCycles; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumDutyCycles; i++) {
     HALSIM_ResetDutyCycleData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumEncoders; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumEncoders; i++) {
     HALSIM_ResetEncoderData(i);
   }
 
-  for (int32_t i = 0; i < hal::kI2CPorts; i++) {
+  for (int32_t i = 0; i < wpi::hal::kI2CPorts; i++) {
     HALSIM_ResetI2CData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumPDSimModules; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumPDSimModules; i++) {
     HALSIM_ResetPowerDistributionData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumPWMChannels; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumPWMChannels; i++) {
     HALSIM_ResetPWMData(i);
   }
 
-  for (int32_t i = 0; i < hal::kNumREVPHModules; i++) {
+  for (int32_t i = 0; i < wpi::hal::kNumREVPHModules; i++) {
     HALSIM_ResetREVPHData(i);
   }
 
diff --git a/hal/src/main/native/sim/mockdata/RoboRioData.cpp b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
index ba772a8add..852410f673 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
@@ -6,16 +6,16 @@
 
 #include "RoboRioDataInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeRoboRioData() {
   static RoboRioData srrd;
-  ::hal::SimRoboRioData = &srrd;
+  ::wpi::hal::SimRoboRioData = &srrd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-RoboRioData* hal::SimRoboRioData;
+RoboRioData* wpi::hal::SimRoboRioData;
 void RoboRioData::ResetData() {
   vInVoltage.Reset(12.0);
   userVoltage3V3.Reset(3.3);
@@ -121,7 +121,7 @@ void HALSIM_GetRoboRioSerialNumber(struct WPI_String* serialNumber) {
   SimRoboRioData->GetSerialNumber(serialNumber);
 }
 void HALSIM_SetRoboRioSerialNumber(const struct WPI_String* serialNumber) {
-  SimRoboRioData->SetSerialNumber(wpi::to_string_view(serialNumber));
+  SimRoboRioData->SetSerialNumber(wpi::util::to_string_view(serialNumber));
 }
 
 int32_t HALSIM_RegisterRoboRioCommentsCallback(
@@ -136,7 +136,7 @@ void HALSIM_GetRoboRioComments(struct WPI_String* comments) {
   SimRoboRioData->GetComments(comments);
 }
 void HALSIM_SetRoboRioComments(const struct WPI_String* comments) {
-  SimRoboRioData->SetComments(wpi::to_string_view(comments));
+  SimRoboRioData->SetComments(wpi::util::to_string_view(comments));
 }
 
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
diff --git a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
index 5c9c0ca63f..7fc276569b 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
@@ -11,7 +11,7 @@
 #include "wpi/hal/simulation/SimDataValue.h"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(VInVoltage)
   HAL_SIMDATAVALUE_DEFINE_NAME(UserVoltage3V3)
@@ -54,10 +54,10 @@ class RoboRioData {
   virtual void ResetData();
 
  private:
-  wpi::spinlock m_serialNumberMutex;
+  wpi::util::spinlock m_serialNumberMutex;
   std::string m_serialNumber;
 
-  wpi::spinlock m_commentsMutex;
+  wpi::util::spinlock m_commentsMutex;
   std::string m_comments;
 
   SimCallbackRegistry<HAL_RoboRioStringCallback, GetSerialNumberName>
@@ -67,4 +67,4 @@ class RoboRioData {
       m_commentsCallbacks;
 };
 extern RoboRioData* SimRoboRioData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
index 045692eada..55aac569f3 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
@@ -11,16 +11,16 @@
 #include "SimDeviceDataInternal.h"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeSimDeviceData() {
   static SimDeviceData sdd;
-  ::hal::SimSimDeviceData = &sdd;
+  ::wpi::hal::SimSimDeviceData = &sdd;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-SimDeviceData* hal::SimSimDeviceData;
+SimDeviceData* wpi::hal::SimSimDeviceData;
 
 SimDeviceData::Device* SimDeviceData::LookupDevice(HAL_SimDeviceHandle handle) {
   if (handle <= 0) {
@@ -74,7 +74,7 @@ void SimDeviceData::SetDeviceEnabled(const char* prefix, bool enabled) {
 bool SimDeviceData::IsDeviceEnabled(const char* name) {
   std::scoped_lock lock(m_mutex);
   for (const auto& elem : m_prefixEnabled) {
-    if (wpi::starts_with(name, elem.first)) {
+    if (wpi::util::starts_with(name, elem.first)) {
       return elem.second;
     }
   }
@@ -86,7 +86,7 @@ HAL_SimDeviceHandle SimDeviceData::CreateDevice(const char* name) {
 
   // don't create if disabled
   for (const auto& elem : m_prefixEnabled) {
-    if (wpi::starts_with(name, elem.first)) {
+    if (wpi::util::starts_with(name, elem.first)) {
       if (elem.second) {
         break;  // enabled
       }
@@ -275,7 +275,7 @@ int32_t SimDeviceData::RegisterDeviceCreatedCallback(
   // initial notifications
   if (initialNotify) {
     for (auto&& device : m_devices) {
-      if (wpi::starts_with(device->name, prefix)) {
+      if (wpi::util::starts_with(device->name, prefix)) {
         auto name = device->name;
         auto handle = device->handle;
         lock.unlock();
@@ -339,7 +339,7 @@ void SimDeviceData::EnumerateDevices(const char* prefix, void* param,
                                      HALSIM_SimDeviceCallback callback) {
   std::scoped_lock lock(m_mutex);
   for (auto&& device : m_devices) {
-    if (wpi::starts_with(device->name, prefix)) {
+    if (wpi::util::starts_with(device->name, prefix)) {
       callback(device->name.c_str(), param, device->handle);
     }
   }
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
index 6f8839139c..1e386e9af9 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
@@ -19,7 +19,7 @@
 #include "wpi/util/UidVector.hpp"
 #include "wpi/util/spinlock.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 namespace impl {
 
@@ -29,7 +29,7 @@ class SimUnnamedCallbackRegistry {
   using RawFunctor = void (*)();
 
  protected:
-  using CallbackVector = wpi::UidVector<HalCallbackListener<RawFunctor>, 4>;
+  using CallbackVector = wpi::util::UidVector<HalCallbackListener<RawFunctor>, 4>;
 
  public:
   void Cancel(int32_t uid) {
@@ -95,7 +95,7 @@ class SimPrefixCallbackRegistry {
 
     explicit operator bool() const { return callback != nullptr; }
   };
-  using CallbackVector = wpi::UidVector<CallbackData, 4>;
+  using CallbackVector = wpi::util::UidVector<CallbackData, 4>;
 
  public:
   void Cancel(int32_t uid) {
@@ -126,7 +126,7 @@ class SimPrefixCallbackRegistry {
     if (m_callbacks) {
       for (size_t i = 0; i < m_callbacks->size(); ++i) {
         auto& cb = (*m_callbacks)[i];
-        if (cb.callback && wpi::starts_with(name, cb.prefix)) {
+        if (cb.callback && wpi::util::starts_with(name, cb.prefix)) {
           auto callback = cb.callback;
           auto param = cb.param;
           lock.unlock();
@@ -170,16 +170,16 @@ class SimDeviceData {
 
     HAL_SimDeviceHandle handle{0};
     std::string name;
-    wpi::UidVector<std::unique_ptr<Value>, 16> values;
-    wpi::StringMap<Value*> valueMap;
+    wpi::util::UidVector<std::unique_ptr<Value>, 16> values;
+    wpi::util::StringMap<Value*> valueMap;
     impl::SimUnnamedCallbackRegistry<HALSIM_SimValueCallback> valueCreated;
   };
 
-  wpi::UidVector<std::shared_ptr<Device>, 4> m_devices;
-  wpi::StringMap<std::weak_ptr<Device>> m_deviceMap;
+  wpi::util::UidVector<std::shared_ptr<Device>, 4> m_devices;
+  wpi::util::StringMap<std::weak_ptr<Device>> m_deviceMap;
   std::vector<std::pair<std::string, bool>> m_prefixEnabled;
 
-  wpi::recursive_spinlock m_mutex;
+  wpi::util::recursive_spinlock m_mutex;
 
   impl::SimPrefixCallbackRegistry<HALSIM_SimDeviceCallback> m_deviceCreated;
   impl::SimPrefixCallbackRegistry<HALSIM_SimDeviceCallback> m_deviceFreed;
@@ -253,4 +253,4 @@ class SimDeviceData {
   void ResetData();
 };
 extern SimDeviceData* SimSimDeviceData;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/AddressableLED.cpp b/hal/src/main/native/systemcore/AddressableLED.cpp
index f193276c6a..1110ca81cc 100644
--- a/hal/src/main/native/systemcore/AddressableLED.cpp
+++ b/hal/src/main/native/systemcore/AddressableLED.cpp
@@ -25,7 +25,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/RawTopic.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 #define IO_PREFIX "/io/"
 
@@ -34,11 +34,11 @@ namespace {
 constexpr const char* kLedsKey = IO_PREFIX "leds";
 
 struct AddressableLEDs {
-  explicit AddressableLEDs(nt::NetworkTableInstance inst)
+  explicit AddressableLEDs(wpi::nt::NetworkTableInstance inst)
       : rawPub{inst.GetRawTopic(kLedsKey).Publish(
             "raw", {.periodic = 0.005, .sendAll = true})} {}
 
-  nt::RawPublisher rawPub;
+  wpi::nt::RawPublisher rawPub;
   uint8_t s_buffer[HAL_kAddressableLEDMaxLength * 3];
 };
 
@@ -46,7 +46,7 @@ static AddressableLEDs* leds;
 
 void ConvertAndCopyLEDData(void* dst, const struct HAL_AddressableLEDData* src,
                            int32_t len, HAL_AddressableLEDColorOrder order) {
-  using namespace hal::detail;
+  using namespace wpi::hal::detail;
   switch (order) {
     case HAL_ALED_RGB:
       std::memcpy(dst, src, len * sizeof(HAL_AddressableLEDData));
@@ -75,22 +75,22 @@ void ConvertAndCopyLEDData(void* dst, const struct HAL_AddressableLEDData* src,
 }
 }  // namespace
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAddressableLED() {
-  static AddressableLEDs leds_static{hal::GetSystemServer()};
+  static AddressableLEDs leds_static{wpi::hal::GetSystemServer()};
   leds = &leds_static;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
     int32_t channel, const char* allocationLocation, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for AddressableLED",
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for AddressableLED",
                                      0, kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -102,10 +102,10 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(
+      wpi::hal::SetLastErrorIndexOutOfRange(
           status, "Invalid Index for AddressableLED", 0, kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -133,9 +133,9 @@ void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
   smartIoHandles->Free(handle, HAL_HandleEnum::AddressableLED);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("AddressableLED handle free timeout");
       std::fflush(stdout);
diff --git a/hal/src/main/native/systemcore/AddressableLEDSimd.h b/hal/src/main/native/systemcore/AddressableLEDSimd.h
index eddda08892..d25ab5aadc 100644
--- a/hal/src/main/native/systemcore/AddressableLEDSimd.h
+++ b/hal/src/main/native/systemcore/AddressableLEDSimd.h
@@ -8,7 +8,7 @@
 #include "simd/simd.h"
 #include "wpi/hal/AddressableLEDTypes.h"
 
-namespace hal::detail {
+namespace wpi::hal::detail {
 
 constexpr size_t kPixelSize = 3;
 static_assert(sizeof(HAL_AddressableLEDData) == kPixelSize);
@@ -221,4 +221,4 @@ void ConvertPixels(const uint8_t* src, uint8_t* dst, size_t len) {
     }
   }
 }
-}  // namespace hal::detail
+}  // namespace wpi::hal::detail
diff --git a/hal/src/main/native/systemcore/AnalogInput.cpp b/hal/src/main/native/systemcore/AnalogInput.cpp
index e471f7b37e..5c3c1be014 100644
--- a/hal/src/main/native/systemcore/AnalogInput.cpp
+++ b/hal/src/main/native/systemcore/AnalogInput.cpp
@@ -16,21 +16,21 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeAnalogInput() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
     int32_t channel, const char* allocationLocation, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
                                      kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -42,10 +42,10 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
                                        kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -74,9 +74,9 @@ void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
   smartIoHandles->Free(analogPortHandle, HAL_HandleEnum::AnalogInput);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("DIO handle free timeout");
       std::fflush(stdout);
diff --git a/hal/src/main/native/systemcore/CAN.cpp b/hal/src/main/native/systemcore/CAN.cpp
index a76066b1be..6fd591e36c 100644
--- a/hal/src/main/native/systemcore/CAN.cpp
+++ b/hal/src/main/native/systemcore/CAN.cpp
@@ -30,7 +30,7 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 
@@ -72,7 +72,7 @@ struct CANStreamStorage {
         canMask{mask},
         canFilter{filter} {}
 
-  wpi::circular_buffer<struct HAL_CANStreamMessage> receivedMessages;
+  wpi::util::circular_buffer<struct HAL_CANStreamMessage> receivedMessages;
   bool didOverflow{false};
   uint32_t allowedMessages;
   uint8_t canBusId;
@@ -83,31 +83,31 @@ struct CANStreamStorage {
 };
 
 struct SocketCanState {
-  wpi::EventLoopRunner readLoopRunner;
-  wpi::EventLoopRunner writeLoopRunner;
-  wpi::mutex writeMutex[hal::kNumCanBuses];
-  int socketHandle[hal::kNumCanBuses];
+  wpi::net::EventLoopRunner readLoopRunner;
+  wpi::net::EventLoopRunner writeLoopRunner;
+  wpi::util::mutex writeMutex[wpi::hal::kNumCanBuses];
+  int socketHandle[wpi::hal::kNumCanBuses];
   // ms to count/timer map
-  wpi::DenseMap<uint16_t, std::pair<size_t, std::weak_ptr<wpi::uv::Timer>>>
+  wpi::util::DenseMap<uint16_t, std::pair<size_t, std::weak_ptr<wpi::net::uv::Timer>>>
       timers;
   // ms to bus mask/packet
-  wpi::DenseMap<uint16_t,
-                std::array<std::optional<canfd_frame>, hal::kNumCanBuses>>
+  wpi::util::DenseMap<uint16_t,
+                std::array<std::optional<canfd_frame>, wpi::hal::kNumCanBuses>>
       timedFrames;
   // packet to time
-  wpi::DenseMap<uint32_t, std::array<uint16_t, hal::kNumCanBuses>> packetToTime;
+  wpi::util::DenseMap<uint32_t, std::array<uint16_t, wpi::hal::kNumCanBuses>> packetToTime;
 
-  wpi::mutex readMutex[hal::kNumCanBuses];
+  wpi::util::mutex readMutex[wpi::hal::kNumCanBuses];
   // TODO(thadhouse) we need a MUCH better way of doing this masking
-  wpi::DenseMap<uint32_t, HAL_CANStreamMessage> readFrames[hal::kNumCanBuses];
-  std::vector<CANStreamStorage*> canStreams[hal::kNumCanBuses];
+  wpi::util::DenseMap<uint32_t, HAL_CANStreamMessage> readFrames[wpi::hal::kNumCanBuses];
+  std::vector<CANStreamStorage*> canStreams[wpi::hal::kNumCanBuses];
 
   bool InitializeBuses();
 
   void TimerCallback(uint16_t time);
 
   void RemovePeriodic(uint8_t busMask, uint32_t messageId);
-  void AddPeriodic(wpi::uv::Loop& loop, uint8_t busMask, uint16_t time,
+  void AddPeriodic(wpi::net::uv::Loop& loop, uint8_t busMask, uint16_t time,
                    const canfd_frame& frame);
 };
 
@@ -118,7 +118,7 @@ static UnlimitedHandleResource<HAL_CANStreamHandle, CANStreamStorage,
 
 static SocketCanState* canState;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCAN() {
   canState = new SocketCanState{};
   static UnlimitedHandleResource<HAL_CANStreamHandle, CANStreamStorage,
@@ -126,7 +126,7 @@ void InitializeCAN() {
       cSH;
   canStreamHandles = &cSH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 void CANStreamStorage::CheckFrame(const HAL_CANStreamMessage& message) {
   if ((message.messageId & canMask) != canFilter) {
@@ -145,18 +145,18 @@ void CANStreamStorage::CheckFrame(const HAL_CANStreamMessage& message) {
 
 bool SocketCanState::InitializeBuses() {
   bool success = true;
-  readLoopRunner.ExecSync([this, &success](wpi::uv::Loop& loop) {
+  readLoopRunner.ExecSync([this, &success](wpi::net::uv::Loop& loop) {
     int32_t status = 0;
     HAL_SetCurrentThreadPriority(true, 50, &status);
     if (status != 0) {
-      wpi::print("Failed to set CAN thread priority\n");
+      wpi::util::print("Failed to set CAN thread priority\n");
     }
 
-    for (int i = 0; i < hal::kNumCanBuses; i++) {
+    for (int i = 0; i < wpi::hal::kNumCanBuses; i++) {
       std::scoped_lock lock{writeMutex[i]};
       socketHandle[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
       if (socketHandle[i] == -1) {
-        wpi::print("socket() for CAN {} failed with {}\n", i,
+        wpi::util::print("socket() for CAN {} failed with {}\n", i,
                    std::strerror(errno));
         success = false;
         return;
@@ -166,7 +166,7 @@ bool SocketCanState::InitializeBuses() {
       std::snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "can_s%d", i);
 
       if (ioctl(socketHandle[i], SIOCGIFINDEX, &ifr) == -1) {
-        wpi::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
+        wpi::util::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
                    ifr.ifr_name, std::strerror(errno));
         success = false;
         return;
@@ -179,14 +179,14 @@ bool SocketCanState::InitializeBuses() {
 
       if (bind(socketHandle[i], reinterpret_cast<const sockaddr*>(&addr),
                sizeof(addr)) == -1) {
-        wpi::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
+        wpi::util::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
                    std::strerror(errno));
         success = false;
         return;
       }
 
       if (ioctl(socketHandle[i], SIOCGIFMTU, &ifr) == -1) {
-        wpi::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
+        wpi::util::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
                    ifr.ifr_name, std::strerror(errno));
         success = false;
         return;
@@ -196,7 +196,7 @@ bool SocketCanState::InitializeBuses() {
         int fdSet = 1;
         if (setsockopt(socketHandle[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fdSet,
                        sizeof(fdSet)) != 0) {
-          wpi::print(
+          wpi::util::print(
               "setsockopt(CAN_RAW_FD_FRAMES) for CAN {} failed with {}\n",
               ifr.ifr_name, std::strerror(errno));
           success = false;
@@ -204,9 +204,9 @@ bool SocketCanState::InitializeBuses() {
         }
       }
 
-      auto poll = wpi::uv::Poll::Create(loop, socketHandle[i]);
+      auto poll = wpi::net::uv::Poll::Create(loop, socketHandle[i]);
       if (!poll) {
-        wpi::print("wpi::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
+        wpi::util::print("wpi::net::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
         success = false;
         return;
       }
@@ -226,7 +226,7 @@ bool SocketCanState::InitializeBuses() {
           }
 
           uint32_t messageId = MapSocketCanToMessageId(frame.can_id);
-          uint64_t timestamp = wpi::Now();
+          uint64_t timestamp = wpi::util::Now();
           // Ensure FDF flag is set for the read later.
           if (rVal == CANFD_MTU) {
             frame.flags = CANFD_FDF;
@@ -300,24 +300,24 @@ void SocketCanState::RemovePeriodic(uint8_t busId, uint32_t messageId) {
   }
 }
 
-void SocketCanState::AddPeriodic(wpi::uv::Loop& loop, uint8_t busId,
+void SocketCanState::AddPeriodic(wpi::net::uv::Loop& loop, uint8_t busId,
                                  uint16_t time, const canfd_frame& frame) {
   packetToTime[frame.can_id][busId] = time;
   timedFrames[time][busId] = frame;
   auto& timer = timers[time];
   timer.first++;
   if (timer.first == 1) {
-    auto newTimer = wpi::uv::Timer::Create(loop);
+    auto newTimer = wpi::net::uv::Timer::Create(loop);
     newTimer->timeout.connect([this, time] { TimerCallback(time); });
-    newTimer->Start(wpi::uv::Timer::Time{time}, wpi::uv::Timer::Time{time});
+    newTimer->Start(wpi::net::uv::Timer::Time{time}, wpi::net::uv::Timer::Time{time});
   }
 }
 
-namespace hal {
+namespace wpi::hal {
 bool InitializeCanBuses() {
   return canState->InitializeBuses();
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 namespace {}  // namespace
 
@@ -326,7 +326,7 @@ extern "C" {
 void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
                          const struct HAL_CANMessage* message, int32_t periodMs,
                          int32_t* status) {
-  if (busId < 0 || busId >= hal::kNumCanBuses) {
+  if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
     *status = PARAMETER_OUT_OF_RANGE;
     return;
   }
@@ -336,7 +336,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
   // TODO determine on the real roborio is a non periodic send removes any
   // periodic send.
   if (periodMs == HAL_CAN_SEND_PERIOD_STOP_REPEATING) {
-    canState->writeLoopRunner.ExecSync([messageId, busId](wpi::uv::Loop&) {
+    canState->writeLoopRunner.ExecSync([messageId, busId](wpi::net::uv::Loop&) {
       canState->RemovePeriodic(busId, messageId);
     });
 
@@ -385,7 +385,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
 
   if (periodMs > 0) {
     canState->writeLoopRunner.ExecAsync(
-        [busId, periodMs, frame](wpi::uv::Loop& loop) {
+        [busId, periodMs, frame](wpi::net::uv::Loop& loop) {
           canState->AddPeriodic(loop, busId, periodMs, frame);
         });
   }
@@ -393,7 +393,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
 void HAL_CAN_ReceiveMessage(int32_t busId, uint32_t messageId,
                             struct HAL_CANReceiveMessage* message,
                             int32_t* status) {
-  if (busId < 0 || busId >= hal::kNumCanBuses) {
+  if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
     message->message.dataSize = 0;
     message->timeStamp = 0;
     *status = PARAMETER_OUT_OF_RANGE;
@@ -421,7 +421,7 @@ HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
                                               uint32_t messageIdMask,
                                               uint32_t maxMessages,
                                               int32_t* status) {
-  if (busId < 0 || busId >= hal::kNumCanBuses) {
+  if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
     *status = PARAMETER_OUT_OF_RANGE;
     return HAL_kInvalidHandle;
   }
diff --git a/hal/src/main/native/systemcore/CANAPI.cpp b/hal/src/main/native/systemcore/CANAPI.cpp
index 22b3cd21aa..1a4d37b9d2 100644
--- a/hal/src/main/native/systemcore/CANAPI.cpp
+++ b/hal/src/main/native/systemcore/CANAPI.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 struct CANStorage {
@@ -24,23 +24,23 @@ struct CANStorage {
   HAL_CANDeviceType deviceType;
   int32_t busId;
   uint8_t deviceId;
-  wpi::mutex periodicSendsMutex;
-  wpi::SmallDenseMap<int32_t, int32_t> periodicSends;
-  wpi::mutex receivesMutex;
-  wpi::SmallDenseMap<int32_t, HAL_CANReceiveMessage> receives;
+  wpi::util::mutex periodicSendsMutex;
+  wpi::util::SmallDenseMap<int32_t, int32_t> periodicSends;
+  wpi::util::mutex receivesMutex;
+  wpi::util::SmallDenseMap<int32_t, HAL_CANReceiveMessage> receives;
 };
 }  // namespace
 
 static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>*
     canHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCANAPI() {
   static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>
       cH;
   canHandles = &cH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
   int32_t createdId = 0;
@@ -56,9 +56,9 @@ extern "C" {
 HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
                                 int32_t deviceId, HAL_CANDeviceType deviceType,
                                 int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
-  if (busId < 0 || busId > hal::kNumCanBuses) {
+  if (busId < 0 || busId > wpi::hal::kNumCanBuses) {
     *status = PARAMETER_OUT_OF_RANGE;
     return HAL_kInvalidHandle;
   }
@@ -231,7 +231,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
     auto i = can->receives.find(messageId);
     if (i != can->receives.end()) {
       // Found, check if new enough
-      uint64_t now = wpi::Now();
+      uint64_t now = wpi::util::Now();
       if (now - i->second.timeStamp >
           (static_cast<uint64_t>(timeoutMs) * 1000)) {
         // Timeout, return bad status
diff --git a/hal/src/main/native/systemcore/CANInternal.h b/hal/src/main/native/systemcore/CANInternal.h
index d60d845111..7d453b6849 100644
--- a/hal/src/main/native/systemcore/CANInternal.h
+++ b/hal/src/main/native/systemcore/CANInternal.h
@@ -4,6 +4,6 @@
 
 #pragma once
 
-namespace hal {
+namespace wpi::hal {
 bool InitializeCanBuses();
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/CTREPCM.cpp b/hal/src/main/native/systemcore/CTREPCM.cpp
index b996b832e0..dc738e70dd 100644
--- a/hal/src/main/native/systemcore/CTREPCM.cpp
+++ b/hal/src/main/native/systemcore/CTREPCM.cpp
@@ -15,7 +15,7 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr HAL_CANManufacturer manufacturer =
     HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
@@ -126,7 +126,7 @@ union PcmDebug {
 namespace {
 struct PCM {
   HAL_CANHandle canHandle;
-  wpi::mutex lock;
+  wpi::util::mutex lock;
   std::string previousAllocation;
   PcmControl control;
   PcmControlSetOneShotDur oneShot;
@@ -136,14 +136,14 @@ struct PCM {
 static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
                              HAL_HandleEnum::CTREPCM>* pcmHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCTREPCM() {
   static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
                                HAL_HandleEnum::CTREPCM>
       pH;
   pcmHandles = &pH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 #define READ_PACKET(type, frame, failureValue)                         \
   auto pcm = pcmHandles->Get(handle);                                  \
@@ -178,17 +178,17 @@ extern "C" {
 HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t busId, int32_t module,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   HAL_CTREPCMHandle handle;
   auto pcm = pcmHandles->Allocate(module, &handle, status);
 
   if (*status != 0) {
     if (pcm) {
-      hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
                                            pcm->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
                                        kNumCTREPCMModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -360,7 +360,7 @@ void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
                             int32_t* status) {
   if (index > 7 || index < 0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format("Only [0-7] are valid index values. Requested {}", index));
     return;
@@ -392,7 +392,7 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
                                    int32_t durMs, int32_t* status) {
   if (index > 7 || index < 0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format("Only [0-7] are valid index values. Requested {}", index));
     return;
diff --git a/hal/src/main/native/systemcore/CTREPDP.cpp b/hal/src/main/native/systemcore/CTREPDP.cpp
index 231762dce5..c5482a11d0 100644
--- a/hal/src/main/native/systemcore/CTREPDP.cpp
+++ b/hal/src/main/native/systemcore/CTREPDP.cpp
@@ -17,7 +17,7 @@
 #include "wpi/hal/handles/IndexedHandleResource.h"
 #include "wpi/util/mutex.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr HAL_CANManufacturer manufacturer =
     HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
@@ -118,24 +118,24 @@ struct PDP {
 static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
                              HAL_HandleEnum::CTREPDP>* pdpHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCTREPDP() {
   static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
                                HAL_HandleEnum::CTREPDP>
       pH;
   pdpHandles = &pH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_PDPHandle HAL_InitializePDP(int32_t busId, int32_t module,
                                 const char* allocationLocation,
                                 int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   if (!HAL_CheckPDPModule(module)) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
                                      kNumCTREPDPModules - 1, module);
     return HAL_kInvalidHandle;
   }
@@ -145,10 +145,10 @@ HAL_PDPHandle HAL_InitializePDP(int32_t busId, int32_t module,
 
   if (*status != 0) {
     if (pdp) {
-      hal::SetLastErrorPreviouslyAllocated(status, "CTRE PDP", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "CTRE PDP", module,
                                            pdp->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
                                        kNumCTREPDPModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -175,7 +175,7 @@ void HAL_CleanPDP(HAL_PDPHandle handle) {
 }
 
 int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status) {
-  return hal::getHandleIndex(handle);
+  return wpi::hal::getHandleIndex(handle);
 }
 
 HAL_Bool HAL_CheckPDPModule(int32_t module) {
@@ -232,7 +232,7 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
                                 int32_t* status) {
   if (!HAL_CheckPDPChannel(channel)) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, fmt::format("Invalid pdp channel {}", channel));
+    wpi::hal::SetLastError(status, fmt::format("Invalid pdp channel {}", channel));
     return 0;
   }
 
diff --git a/hal/src/main/native/systemcore/Constants.cpp b/hal/src/main/native/systemcore/Constants.cpp
index d52692612a..795544e637 100644
--- a/hal/src/main/native/systemcore/Constants.cpp
+++ b/hal/src/main/native/systemcore/Constants.cpp
@@ -6,11 +6,11 @@
 
 #include "ConstantsInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeConstants() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
diff --git a/hal/src/main/native/systemcore/ConstantsInternal.h b/hal/src/main/native/systemcore/ConstantsInternal.h
index f4af049d4f..1afdd66979 100644
--- a/hal/src/main/native/systemcore/ConstantsInternal.h
+++ b/hal/src/main/native/systemcore/ConstantsInternal.h
@@ -6,6 +6,6 @@
 
 #include <stdint.h>
 
-namespace hal {
+namespace wpi::hal {
 constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/Counter.cpp b/hal/src/main/native/systemcore/Counter.cpp
index 2970d656c5..5cb4d73402 100644
--- a/hal/src/main/native/systemcore/Counter.cpp
+++ b/hal/src/main/native/systemcore/Counter.cpp
@@ -19,21 +19,21 @@
 #include "wpi/hal/cpp/fpga_clock.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeCounter() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
                                      kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -45,10 +45,10 @@ HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
                                        kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -78,9 +78,9 @@ void HAL_FreeCounter(HAL_CounterHandle counterHandle) {
   smartIoHandles->Free(counterHandle, HAL_HandleEnum::Counter);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("DIO handle free timeout");
       std::fflush(stdout);
diff --git a/hal/src/main/native/systemcore/DIO.cpp b/hal/src/main/native/systemcore/DIO.cpp
index c65b294f5f..b8850828dc 100644
--- a/hal/src/main/native/systemcore/DIO.cpp
+++ b/hal/src/main/native/systemcore/DIO.cpp
@@ -17,22 +17,22 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDIO() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                      kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -44,10 +44,10 @@ HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                        kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -80,9 +80,9 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
   smartIoHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("DIO handle free timeout");
       std::fflush(stdout);
diff --git a/hal/src/main/native/systemcore/DutyCycle.cpp b/hal/src/main/native/systemcore/DutyCycle.cpp
index 260dd6cecd..b19ea5ec85 100644
--- a/hal/src/main/native/systemcore/DutyCycle.cpp
+++ b/hal/src/main/native/systemcore/DutyCycle.cpp
@@ -17,21 +17,21 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/LimitedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeDutyCycle() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
                                             const char* allocationLocation,
                                             int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
                                      kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -43,10 +43,10 @@ HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
                                        kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -73,9 +73,9 @@ void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
   smartIoHandles->Free(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("DIO handle free timeout");
       std::fflush(stdout);
diff --git a/hal/src/main/native/systemcore/Encoder.cpp b/hal/src/main/native/systemcore/Encoder.cpp
index d3a1f38542..9959c11032 100644
--- a/hal/src/main/native/systemcore/Encoder.cpp
+++ b/hal/src/main/native/systemcore/Encoder.cpp
@@ -15,18 +15,18 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/hal/handles/LimitedClassedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeEncoder() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
                                         HAL_Bool reverseDirection,
                                         HAL_EncoderEncodingType encodingType,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return HAL_kInvalidHandle;
 }
diff --git a/hal/src/main/native/systemcore/FRCDriverStation.cpp b/hal/src/main/native/systemcore/FRCDriverStation.cpp
index 7454dd0e4a..ed64ebc1f6 100644
--- a/hal/src/main/native/systemcore/FRCDriverStation.cpp
+++ b/hal/src/main/native/systemcore/FRCDriverStation.cpp
@@ -62,43 +62,43 @@ static_assert(std::is_standard_layout_v<JoystickDataCache>);
 // static_assert(std::is_trivial_v<JoystickDataCache>);
 
 struct SystemServerDriverStation {
-  nt::NetworkTableInstance ntInst;
-  nt::BooleanPublisher hasUserCodePublisher;
-  nt::BooleanPublisher hasUserCodeReadyPublisher;
+  wpi::nt::NetworkTableInstance ntInst;
+  wpi::nt::BooleanPublisher hasUserCodePublisher;
+  wpi::nt::BooleanPublisher hasUserCodeReadyPublisher;
 
-  nt::BooleanSubscriber hasSetWallClockSubscriber;
+  wpi::nt::BooleanSubscriber hasSetWallClockSubscriber;
 
-  nt::ProtobufSubscriber<mrc::ControlData> controlDataSubscriber;
-  nt::ProtobufSubscriber<mrc::MatchInfo> matchInfoSubscriber;
-  nt::StringSubscriber gameSpecificMessageSubscriber;
+  wpi::nt::ProtobufSubscriber<mrc::ControlData> controlDataSubscriber;
+  wpi::nt::ProtobufSubscriber<mrc::MatchInfo> matchInfoSubscriber;
+  wpi::nt::StringSubscriber gameSpecificMessageSubscriber;
 
-  std::array<nt::ProtobufSubscriber<mrc::JoystickDescriptor>,
+  std::array<wpi::nt::ProtobufSubscriber<mrc::JoystickDescriptor>,
              MRC_MAX_NUM_JOYSTICKS>
       joystickDescriptorTopics;
 
-  nt::StringPublisher versionPublisher;
-  nt::StringPublisher consoleLinePublisher;
-  nt::ProtobufPublisher<mrc::ErrorInfo> errorInfoPublisher;
+  wpi::nt::StringPublisher versionPublisher;
+  wpi::nt::StringPublisher consoleLinePublisher;
+  wpi::nt::ProtobufPublisher<mrc::ErrorInfo> errorInfoPublisher;
 
-  std::array<nt::ProtobufPublisher<mrc::JoystickRumbleData>,
+  std::array<wpi::nt::ProtobufPublisher<mrc::JoystickRumbleData>,
              MRC_MAX_NUM_JOYSTICKS>
       joystickRumbleTopics;
 
-  nt::ProtobufPublisher<std::vector<mrc::OpMode>> teleopOpModes;
-  nt::ProtobufPublisher<std::vector<mrc::OpMode>> autoOpModes;
-  nt::ProtobufPublisher<std::vector<mrc::OpMode>> testOpModes;
-  nt::IntegerPublisher traceOpModePublisher;
+  wpi::nt::ProtobufPublisher<std::vector<mrc::OpMode>> teleopOpModes;
+  wpi::nt::ProtobufPublisher<std::vector<mrc::OpMode>> autoOpModes;
+  wpi::nt::ProtobufPublisher<std::vector<mrc::OpMode>> testOpModes;
+  wpi::nt::IntegerPublisher traceOpModePublisher;
 
   NT_Listener controlDataListener;
 
-  wpi::mutex controlDataMutex;
-  wpi::ProtobufMessage<mrc::ControlData> controlDataMsg;
-  nt::Value lastValue;
+  wpi::util::mutex controlDataMutex;
+  wpi::util::ProtobufMessage<mrc::ControlData> controlDataMsg;
+  wpi::nt::Value lastValue;
 
-  explicit SystemServerDriverStation(nt::NetworkTableInstance inst) {
+  explicit SystemServerDriverStation(wpi::nt::NetworkTableInstance inst) {
     ntInst = inst;
 
-    nt::PubSubOptions options;
+    wpi::nt::PubSubOptions options;
     options.sendAll = true;
     options.keepDuplicates = true;
     options.periodic = 0.005;
@@ -179,7 +179,7 @@ struct SystemServerDriverStation {
 
     ntInst.AddListener(
         controlDataSubscriber, NT_EVENT_VALUE_REMOTE | NT_EVENT_UNPUBLISH,
-        [this](const nt::Event& event) { HandleListener(event); });
+        [this](const wpi::nt::Event& event) { HandleListener(event); });
 
     traceOpModePublisher =
         ntInst.GetIntegerTopic(ROBOT_CURRENT_OPMODE_TRACE_PATH)
@@ -187,7 +187,7 @@ struct SystemServerDriverStation {
     traceOpModePublisher.GetTopic().SetCached(false);
   }
 
-  void HandleListener(const nt::Event& event);
+  void HandleListener(const wpi::nt::Event& event);
 
   bool GetLastControlData(mrc::ControlData* data, int64_t* time) {
     std::scoped_lock lock{controlDataMutex};
@@ -205,14 +205,14 @@ struct SystemServerDriverStation {
 };
 
 struct FRCDriverStation {
-  wpi::EventVector newDataEvents;
+  wpi::util::EventVector newDataEvents;
 };
 }  // namespace
 
 static ::SystemServerDriverStation* systemServerDs;
 static ::FRCDriverStation* driverStation;
 
-void SystemServerDriverStation::HandleListener(const nt::Event& event) {
+void SystemServerDriverStation::HandleListener(const wpi::nt::Event& event) {
   auto valueEvent = event.GetValueEventData();
 
   bool isValid = valueEvent && valueEvent->value.IsRaw();
@@ -224,7 +224,7 @@ void SystemServerDriverStation::HandleListener(const nt::Event& event) {
     } else {
       // We've either been unpublished, or type changed.
       // Treat either as a disconnect.
-      lastValue = nt::Value{};
+      lastValue = wpi::nt::Value{};
     }
   }
   if (isValid) {
@@ -233,7 +233,7 @@ void SystemServerDriverStation::HandleListener(const nt::Event& event) {
 }
 
 // Message and Data variables
-static wpi::mutex msgMutex;
+static wpi::util::mutex msgMutex;
 
 void JoystickDataCache::Update(const mrc::ControlData& data) {
   matchTime = data.MatchTime;
@@ -288,7 +288,7 @@ static JoystickDataCache caches[2];
 static JoystickDataCache* currentRead = &caches[0];
 static JoystickDataCache* cacheToUpdate = &caches[1];
 
-static wpi::mutex cacheMutex;
+static wpi::util::mutex cacheMutex;
 
 namespace {
 struct TcpCache {
@@ -306,7 +306,7 @@ static TcpCache tcpCaches[2];
 static TcpCache* tcpCurrentRead = &tcpCaches[0];
 static TcpCache* tcpCacheToUpdate = &tcpCaches[1];
 
-static wpi::mutex tcpCacheMutex;
+static wpi::util::mutex tcpCacheMutex;
 
 void TcpCache::Update() {
   auto newMatchInfo = systemServerDs->matchInfoSubscriber.Get();
@@ -353,22 +353,22 @@ void TcpCache::Update() {
   }
 }
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeFRCDriverStation() {
   std::memset(&newestControlWord, 0, sizeof(newestControlWord));
   static FRCDriverStation ds;
   driverStation = &ds;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-namespace hal {
+namespace wpi::hal {
 static void DefaultPrintErrorImpl(const char* line, size_t size) {
   std::fwrite(line, size, 1, stderr);
 }
-}  // namespace hal
+}  // namespace wpi::hal
 
 static std::atomic<void (*)(const char* line, size_t size)> gPrintErrorImpl{
-    hal::DefaultPrintErrorImpl};
+    wpi::hal::DefaultPrintErrorImpl};
 
 extern "C" {
 
@@ -446,7 +446,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
 }
 
 void HAL_SetPrintErrorImpl(void (*func)(const char* line, size_t size)) {
-  gPrintErrorImpl.store(func ? func : hal::DefaultPrintErrorImpl);
+  gPrintErrorImpl.store(func ? func : wpi::hal::DefaultPrintErrorImpl);
 }
 
 int32_t HAL_SendConsoleLine(const char* line) {
@@ -592,7 +592,7 @@ HAL_Bool HAL_RefreshDSData(void) {
   int64_t dataTime{0};
   bool dataValid = systemServerDs->GetLastControlData(&newestData, &dataTime);
 
-  // auto now = wpi::Now();
+  // auto now = wpi::util::Now();
   // auto delta = now - dataTime;
 
   bool updatedData = false;
@@ -622,7 +622,7 @@ HAL_Bool HAL_RefreshDSData(void) {
 }
 
 void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   driverStation->newDataEvents.Add(handle);
 }
 
@@ -640,17 +640,17 @@ HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
 
 }  // extern "C"
 
-namespace hal {
+namespace wpi::hal {
 void InitializeDriverStation() {
-  systemServerDs = new ::SystemServerDriverStation{hal::GetSystemServer()};
+  systemServerDs = new ::SystemServerDriverStation{wpi::hal::GetSystemServer()};
 }
 
 void WaitForInitialPacket() {
-  wpi::Event waitForInitEvent;
+  wpi::util::Event waitForInitEvent;
   driverStation->newDataEvents.Add(waitForInitEvent.GetHandle());
   bool timed_out = false;
-  wpi::WaitForObject(waitForInitEvent.GetHandle(), 0.1, &timed_out);
+  wpi::util::WaitForObject(waitForInitEvent.GetHandle(), 0.1, &timed_out);
   // Don't care what the result is, just want to give it a chance.
   driverStation->newDataEvents.Remove(waitForInitEvent.GetHandle());
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp
index 6a3db125f6..a5e0f311f0 100644
--- a/hal/src/main/native/systemcore/HAL.cpp
+++ b/hal/src/main/native/systemcore/HAL.cpp
@@ -32,15 +32,15 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static uint64_t dsStartTime;
 
 static int32_t teamNumber = -1;
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal {
+namespace wpi::hal {
 void InitializeDriverStation();
 void WaitForInitialPacket();
 namespace init {
@@ -77,7 +77,7 @@ uint64_t GetDSInitializeTime() {
   return dsStartTime;
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
 
 extern "C" {
 
@@ -199,9 +199,9 @@ void InitializeTeamNumber(void) {
   // Split string around '-' (max of 2 splits), take the second element
   teamNumber = 0;
   int i = 0;
-  wpi::split(hostname, '-', 2, false, [&](auto part) {
+  wpi::util::split(hostname, '-', 2, false, [&](auto part) {
     if (i == 1) {
-      teamNumber = wpi::parse_integer<int32_t>(part, 10).value_or(0);
+      teamNumber = wpi::util::parse_integer<int32_t>(part, 10).value_or(0);
     }
     ++i;
   });
@@ -215,8 +215,8 @@ int32_t HAL_GetTeamNumber(void) {
 }
 
 uint64_t HAL_GetFPGATime(int32_t* status) {
-  hal::init::CheckInit();
-  return wpi::NowDefault();
+  wpi::hal::init::CheckInit();
+  return wpi::util::NowDefault();
 }
 
 uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
@@ -244,32 +244,32 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
 }
 
 HAL_Bool HAL_GetSystemActive(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return false;
 }
 
 HAL_Bool HAL_GetBrownedOut(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return false;
 }
 
 int32_t HAL_GetCommsDisableCount(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return 0;
 }
 
 HAL_Bool HAL_GetRSLState(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return false;
 }
 
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   static std::atomic_bool initialized{false};
-  static wpi::mutex initializeMutex;
+  static wpi::util::mutex initializeMutex;
   // Initial check, as if it's true initialization has finished
   if (initialized) {
     return true;
@@ -282,18 +282,18 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   }
 
   // Initialize system server first, other things might use it
-  hal::InitializeSystemServer();
+  wpi::hal::InitializeSystemServer();
 
-  hal::init::InitializeHAL();
+  wpi::hal::init::InitializeHAL();
 
-  hal::init::HAL_IsInitialized.store(true);
+  wpi::hal::init::HAL_IsInitialized.store(true);
 
   setlinebuf(stdin);
   setlinebuf(stdout);
 
   prctl(PR_SET_PDEATHSIG, SIGTERM);
 
-  if (!hal::InitializeCanBuses()) {
+  if (!wpi::hal::InitializeCanBuses()) {
     std::printf("Failed to initialize can buses\n");
     return false;
   }
@@ -307,14 +307,14 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
 
   int32_t status = 0;
 
-  hal::InitializeDriverStation();
+  wpi::hal::InitializeDriverStation();
 
   dsStartTime = HAL_GetFPGATime(&status);
   if (status != 0) {
     return false;
   }
 
-  hal::WaitForInitialPacket();
+  wpi::hal::WaitForInitialPacket();
 
   initialized = true;
   return true;
diff --git a/hal/src/main/native/systemcore/HALInitializer.cpp b/hal/src/main/native/systemcore/HALInitializer.cpp
index 84ba73e6d4..4312571b81 100644
--- a/hal/src/main/native/systemcore/HALInitializer.cpp
+++ b/hal/src/main/native/systemcore/HALInitializer.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/hal/HALBase.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 std::atomic_bool HAL_IsInitialized{false};
 void RunInitialize() {
   HAL_Initialize(500, 0);
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/native/systemcore/HALInitializer.h b/hal/src/main/native/systemcore/HALInitializer.h
index 558f574207..070f0ac955 100644
--- a/hal/src/main/native/systemcore/HALInitializer.h
+++ b/hal/src/main/native/systemcore/HALInitializer.h
@@ -6,7 +6,7 @@
 
 #include <atomic>
 
-namespace hal::init {
+namespace wpi::hal::init {
 extern std::atomic_bool HAL_IsInitialized;
 extern void RunInitialize();
 inline void CheckInit() {
@@ -44,4 +44,4 @@ extern void InitializeSerialPort();
 extern void InitializeSmartIo();
 extern void InitializeThreads();
 extern void InitializeUsageReporting();
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/native/systemcore/HALInternal.h b/hal/src/main/native/systemcore/HALInternal.h
index b384b51bfa..628763c9ed 100644
--- a/hal/src/main/native/systemcore/HALInternal.h
+++ b/hal/src/main/native/systemcore/HALInternal.h
@@ -8,7 +8,7 @@
 
 #include <string_view>
 
-namespace hal {
+namespace wpi::hal {
 void SetLastError(int32_t* status, std::string_view value);
 void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
                                  int32_t minimum, int32_t maximum,
@@ -17,4 +17,4 @@ void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
                                      int32_t channel,
                                      std::string_view previousAllocation);
 uint64_t GetDSInitializeTime();
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/I2C.cpp b/hal/src/main/native/systemcore/I2C.cpp
index 09f6ef6dc8..502e38c296 100644
--- a/hal/src/main/native/systemcore/I2C.cpp
+++ b/hal/src/main/native/systemcore/I2C.cpp
@@ -22,14 +22,14 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
 namespace {
 constexpr const char* physicalPorts[kNumI2cBuses] = {"/dev/i2c-10",
                                                      "/dev/i2c-1"};
 
 struct I2C {
-  wpi::mutex initMutex;
+  wpi::util::mutex initMutex;
   int objCount = 0;
   int fd = -1;
 };
@@ -37,17 +37,17 @@ struct I2C {
 static I2C i2cObjs[kNumI2cBuses];
 }  // namespace
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeI2C() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (port < 0 || port > 2) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 1,
                                      port);
     return;
   }
@@ -61,9 +61,9 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
   if (handle < 0) {
     int err = errno;
     *status = NO_AVAILABLE_RESOURCES;
-    hal::SetLastError(status, fmt::format("Failed to open onboard i2c bus: {}",
+    wpi::hal::SetLastError(status, fmt::format("Failed to open onboard i2c bus: {}",
                                           std::strerror(err)));
-    wpi::print("Failed to open onboard i2c bus: {}\n", std::strerror(err));
+    wpi::util::print("Failed to open onboard i2c bus: {}\n", std::strerror(err));
     handle = -1;
     i2cObjs[port].objCount--;
     return;
@@ -76,7 +76,7 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
                            uint8_t* dataReceived, int32_t receiveSize) {
   if (port < 0 || port > 2) {
     int32_t status = 0;
-    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
                                      port);
     return -1;
   }
@@ -103,7 +103,7 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
                      const uint8_t* dataToSend, int32_t sendSize) {
   if (port < 0 || port > 2) {
     int32_t status = 0;
-    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 2,
+    wpi::hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 2,
                                      port);
     return -1;
   }
@@ -126,7 +126,7 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
                     int32_t count) {
   if (port < 0 || port > 2) {
     int32_t status = 0;
-    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
                                      port);
     return -1;
   }
@@ -148,7 +148,7 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
 void HAL_CloseI2C(HAL_I2CPort port) {
   if (port < 0 || port > 2) {
     int32_t status = 0;
-    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
                                      port);
     return;
   }
diff --git a/hal/src/main/native/systemcore/IMU.cpp b/hal/src/main/native/systemcore/IMU.cpp
index 2e2eb7b22d..96abc1f541 100644
--- a/hal/src/main/native/systemcore/IMU.cpp
+++ b/hal/src/main/native/systemcore/IMU.cpp
@@ -28,7 +28,7 @@ constexpr const char* kYawLandscapeKey = IMU_PREFIX "yaw_landscape";
 constexpr const char* kYawPortraitKey = IMU_PREFIX "yaw_portrait";
 
 struct IMU {
-  explicit IMU(nt::NetworkTableInstance inst)
+  explicit IMU(wpi::nt::NetworkTableInstance inst)
       : rawAccelSub{inst.GetDoubleArrayTopic(kRawAccelKey).Subscribe({})},
         rawGyroSub{inst.GetDoubleArrayTopic(kRawGyroKey).Subscribe({})},
         quatSub{inst.GetDoubleArrayTopic(kQuaternionKey).Subscribe({})},
@@ -42,15 +42,15 @@ struct IMU {
         yawLandscapeSub{inst.GetDoubleTopic(kYawLandscapeKey).Subscribe(0)},
         yawPortraitSub{inst.GetDoubleTopic(kYawPortraitKey).Subscribe(0)} {}
 
-  nt::DoubleArraySubscriber rawAccelSub;
-  nt::DoubleArraySubscriber rawGyroSub;
-  nt::DoubleArraySubscriber quatSub;
-  nt::DoubleArraySubscriber eulerFlatSub;
-  nt::DoubleArraySubscriber eulerLandscapeSub;
-  nt::DoubleArraySubscriber eulerPortraitSub;
-  nt::DoubleSubscriber yawFlatSub;
-  nt::DoubleSubscriber yawLandscapeSub;
-  nt::DoubleSubscriber yawPortraitSub;
+  wpi::nt::DoubleArraySubscriber rawAccelSub;
+  wpi::nt::DoubleArraySubscriber rawGyroSub;
+  wpi::nt::DoubleArraySubscriber quatSub;
+  wpi::nt::DoubleArraySubscriber eulerFlatSub;
+  wpi::nt::DoubleArraySubscriber eulerLandscapeSub;
+  wpi::nt::DoubleArraySubscriber eulerPortraitSub;
+  wpi::nt::DoubleSubscriber yawFlatSub;
+  wpi::nt::DoubleSubscriber yawLandscapeSub;
+  wpi::nt::DoubleSubscriber yawPortraitSub;
 };
 
 static IMU* imu;
@@ -59,12 +59,12 @@ constexpr double kDegreesToRadians = std::numbers::pi / 180.0;
 constexpr double kGToMetersPerSecondSquared = 9.80665;
 }  // namespace
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeIMU() {
-  static IMU imu_static{hal::GetSystemServer()};
+  static IMU imu_static{wpi::hal::GetSystemServer()};
   imu = &imu_static;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 void HAL_GetIMUAcceleration(HAL_Acceleration3d* accel, int32_t* status) {
diff --git a/hal/src/main/native/systemcore/Notifier.cpp b/hal/src/main/native/systemcore/Notifier.cpp
index cbc2e0757b..9288aad5ee 100644
--- a/hal/src/main/native/systemcore/Notifier.cpp
+++ b/hal/src/main/native/systemcore/Notifier.cpp
@@ -29,15 +29,15 @@ struct Notifier {
   uint64_t waitTime = UINT64_MAX;
   bool active = true;
   bool waitTimeValid = false;  // True if waitTime is set and in the future
-  wpi::mutex mutex;
-  wpi::condition_variable cond;
+  wpi::util::mutex mutex;
+  wpi::util::condition_variable cond;
 };
 }  // namespace
 
-using namespace hal;
+using namespace wpi::hal;
 
-static wpi::mutex notifiersWaiterMutex;
-static wpi::condition_variable notifiersWaiterCond;
+static wpi::util::mutex notifiersWaiterMutex;
+static wpi::util::condition_variable notifiersWaiterCond;
 
 class NotifierHandleContainer
     : public UnlimitedHandleResource<HAL_NotifierHandle, Notifier,
@@ -58,17 +58,17 @@ class NotifierHandleContainer
 
 static NotifierHandleContainer* notifierHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeNotifier() {
   static NotifierHandleContainer nH;
   notifierHandles = &nH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   std::shared_ptr<Notifier> notifier = std::make_shared<Notifier>();
   HAL_NotifierHandle handle = notifierHandles->Allocate(notifier);
   if (handle == HAL_kInvalidHandle) {
diff --git a/hal/src/main/native/systemcore/PWM.cpp b/hal/src/main/native/systemcore/PWM.cpp
index af3048638e..df13831969 100644
--- a/hal/src/main/native/systemcore/PWM.cpp
+++ b/hal/src/main/native/systemcore/PWM.cpp
@@ -20,22 +20,22 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/util/print.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePWM() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
 HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
                                         const char* allocationLocation,
                                         int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 
   if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                      kNumSmartIo, channel);
     return HAL_kInvalidHandle;
   }
@@ -47,10 +47,10 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
                                            port->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                        kNumSmartIo, channel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -85,9 +85,9 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) {
   smartIoHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
 
   // Wait for no other object to hold this handle.
-  auto start = hal::fpga_clock::now();
+  auto start = wpi::hal::fpga_clock::now();
   while (port.use_count() != 1) {
-    auto current = hal::fpga_clock::now();
+    auto current = wpi::hal::fpga_clock::now();
     if (start + std::chrono::seconds(1) < current) {
       std::puts("PWM handle free timeout");
       std::fflush(stdout);
@@ -116,7 +116,7 @@ void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
   if (microsecondPulseTime < 0 ||
       (microsecondPulseTime != 0xFFFF && microsecondPulseTime >= 4096)) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format("Pulse time {} out of range. Expect [0-4096) or 0xFFFF",
                     microsecondPulseTime));
@@ -149,14 +149,14 @@ void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period,
 
   switch (period) {
     case 0:
-      *status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k5ms);
+      *status = port->SetPwmOutputPeriod(wpi::hal::PwmOutputPeriod::k5ms);
       break;
     case 1:
     case 2:
-      *status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k10ms);
+      *status = port->SetPwmOutputPeriod(wpi::hal::PwmOutputPeriod::k10ms);
       break;
     case 3:
-      *status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k20ms);
+      *status = port->SetPwmOutputPeriod(wpi::hal::PwmOutputPeriod::k20ms);
       break;
     default:
       *status = PARAMETER_OUT_OF_RANGE;
diff --git a/hal/src/main/native/systemcore/Ports.cpp b/hal/src/main/native/systemcore/Ports.cpp
index 121f068929..1fec512684 100644
--- a/hal/src/main/native/systemcore/Ports.cpp
+++ b/hal/src/main/native/systemcore/Ports.cpp
@@ -6,11 +6,11 @@
 
 #include "PortsInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePorts() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 int32_t HAL_GetNumCanBuses(void) {
diff --git a/hal/src/main/native/systemcore/PortsInternal.h b/hal/src/main/native/systemcore/PortsInternal.h
index 5600d88bb2..bb3439ef5a 100644
--- a/hal/src/main/native/systemcore/PortsInternal.h
+++ b/hal/src/main/native/systemcore/PortsInternal.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-namespace hal {
+namespace wpi::hal {
 
 constexpr int32_t kNumCanBuses = 5;
 constexpr int32_t kNumSmartIo = 6;
@@ -33,4 +33,4 @@ constexpr int32_t kNumAddressableLEDs = 6;
 constexpr int32_t kNumREVPHModules = 63;
 constexpr int32_t kNumREVPHChannels = 16;
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/Power.cpp b/hal/src/main/native/systemcore/Power.cpp
index c97001a3e4..0006da40f3 100644
--- a/hal/src/main/native/systemcore/Power.cpp
+++ b/hal/src/main/native/systemcore/Power.cpp
@@ -12,23 +12,23 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/nt/DoubleTopic.hpp"
 
-using namespace hal;
+using namespace wpi::hal;
 
-namespace hal {
+namespace wpi::hal {
 
 static void initializePower(int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
 
 namespace {
 struct SystemServerPower {
-  nt::NetworkTableInstance ntInst;
+  wpi::nt::NetworkTableInstance ntInst;
 
-  nt::DoubleSubscriber batterySubscriber;
+  wpi::nt::DoubleSubscriber batterySubscriber;
 
-  explicit SystemServerPower(nt::NetworkTableInstance inst) {
+  explicit SystemServerPower(wpi::nt::NetworkTableInstance inst) {
     ntInst = inst;
 
     batterySubscriber =
@@ -39,11 +39,11 @@ struct SystemServerPower {
 
 static ::SystemServerPower* systemServerPower;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializePower() {
-  systemServerPower = new ::SystemServerPower{hal::GetSystemServer()};
+  systemServerPower = new ::SystemServerPower{wpi::hal::GetSystemServer()};
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/PowerDistribution.cpp b/hal/src/main/native/systemcore/PowerDistribution.cpp
index 5d667efd09..c9c6bf7778 100644
--- a/hal/src/main/native/systemcore/PowerDistribution.cpp
+++ b/hal/src/main/native/systemcore/PowerDistribution.cpp
@@ -15,7 +15,7 @@
 #include "wpi/hal/HALBase.h"
 #include "wpi/hal/handles/HandlesInternal.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 
@@ -25,12 +25,12 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
   if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
     if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
       *status = PARAMETER_OUT_OF_RANGE;
-      hal::SetLastError(
+      wpi::hal::SetLastError(
           status, "Automatic PowerDistributionType must have default module");
       return HAL_kInvalidHandle;
     }
 
-    uint64_t waitTime = hal::GetDSInitializeTime() + 400000;
+    uint64_t waitTime = wpi::hal::GetDSInitializeTime() + 400000;
 
     // Ensure we have been alive for long enough to receive a few Power packets.
     do {
@@ -75,7 +75,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
   }
 }
 
-#define IsCtre(handle) ::hal::isHandleType(handle, HAL_HandleEnum::CTREPDP)
+#define IsCtre(handle) ::wpi::hal::isHandleType(handle, HAL_HandleEnum::CTREPDP)
 
 void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
   if (IsCtre(handle)) {
diff --git a/hal/src/main/native/systemcore/REVPDH.cpp b/hal/src/main/native/systemcore/REVPDH.cpp
index a2b8ad2e4b..e8d26cdbf9 100644
--- a/hal/src/main/native/systemcore/REVPDH.cpp
+++ b/hal/src/main/native/systemcore/REVPDH.cpp
@@ -21,7 +21,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr HAL_CANManufacturer manufacturer =
     HAL_CANManufacturer::HAL_CAN_Man_kREV;
@@ -77,14 +77,14 @@ static constexpr int32_t kPDHFrameStatus4Timeout = 20;
 static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
                              HAL_HandleEnum::REVPDH>* REVPDHHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeREVPDH() {
   static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
                                HAL_HandleEnum::REVPDH>
       rH;
   REVPDHHandles = &rH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
@@ -191,10 +191,10 @@ PDH_status_4_t HAL_GetREVPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
 HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t busId, int32_t module,
                                       const char* allocationLocation,
                                       int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   if (!HAL_CheckREVPDHModuleNumber(module)) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
                                      kNumREVPDHModules, module);
     return HAL_kInvalidHandle;
   }
@@ -204,10 +204,10 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t busId, int32_t module,
   auto hpdh = REVPDHHandles->Allocate(module - 1, &handle, status);
   if (*status != 0) {
     if (hpdh) {
-      hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
                                            hpdh->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
                                        kNumREVPDHModules, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -241,7 +241,7 @@ void HAL_FreeREVPDH(HAL_REVPDHHandle handle) {
 }
 
 int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
-  return hal::getHandleIndex(handle);
+  return wpi::hal::getHandleIndex(handle);
 }
 
 HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module) {
diff --git a/hal/src/main/native/systemcore/REVPH.cpp b/hal/src/main/native/systemcore/REVPH.cpp
index 4a0cb7f01b..fa99da831b 100644
--- a/hal/src/main/native/systemcore/REVPH.cpp
+++ b/hal/src/main/native/systemcore/REVPH.cpp
@@ -17,7 +17,7 @@
 #include "wpi/hal/Errors.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-using namespace hal;
+using namespace wpi::hal;
 
 static constexpr HAL_CANManufacturer manufacturer =
     HAL_CANManufacturer::HAL_CAN_Man_kREV;
@@ -63,7 +63,7 @@ namespace {
 struct REV_PHObj {
   int32_t controlPeriod;
   PH_set_all_t desiredSolenoidsState;
-  wpi::mutex solenoidLock;
+  wpi::util::mutex solenoidLock;
   HAL_CANHandle hcan;
   std::string previousAllocation;
   HAL_REVPHVersion versionInfo;
@@ -74,14 +74,14 @@ struct REV_PHObj {
 static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, 63,
                              HAL_HandleEnum::REVPH>* REVPHHandles;
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeREVPH() {
   static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, kNumREVPHModules,
                                HAL_HandleEnum::REVPH>
       rH;
   REVPHHandles = &rH;
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 static PH_status_0_t HAL_ReadREVPHStatus0(HAL_CANHandle hcan, int32_t* status) {
   HAL_CANReceiveMessage message;
@@ -194,10 +194,10 @@ static HAL_Bool HAL_CheckREVPHPulseTime(int32_t time) {
 HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
                                     const char* allocationLocation,
                                     int32_t* status) {
-  hal::init::CheckInit();
+  wpi::hal::init::CheckInit();
   if (!HAL_CheckREVPHModuleNumber(module)) {
     *status = RESOURCE_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                      kNumREVPHModules, module);
     return HAL_kInvalidHandle;
   }
@@ -207,10 +207,10 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
   auto hph = REVPHHandles->Allocate(module - 1, &handle, status);
   if (*status != 0) {
     if (hph) {
-      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+      wpi::hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
                                            hph->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+      wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                        kNumREVPHModules, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -398,7 +398,7 @@ double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
 
   if (channel < 0 || channel > 1) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastErrorIndexOutOfRange(status, "Invalid REV Analog Index", 0, 2,
+    wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid REV Analog Index", 0, 2,
                                      channel);
     return 0;
   }
@@ -601,7 +601,7 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
 
   if (index >= kNumREVPHChannels || index < 0) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format("Only [0-15] are valid index values. Requested {}", index));
     return;
@@ -609,7 +609,7 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
 
   if (!HAL_CheckREVPHPulseTime(durMs)) {
     *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(
+    wpi::hal::SetLastError(
         status,
         fmt::format("Time not within expected range [0-65534]. Requested {}",
                     durMs));
diff --git a/hal/src/main/native/systemcore/SerialPort.cpp b/hal/src/main/native/systemcore/SerialPort.cpp
index 8cb7981802..d54b5b049b 100644
--- a/hal/src/main/native/systemcore/SerialPort.cpp
+++ b/hal/src/main/native/systemcore/SerialPort.cpp
@@ -24,16 +24,16 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/handles/IndexedHandleResource.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeSerialPort() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
-using namespace hal;
+using namespace wpi::hal;
 
 extern "C" {
 HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
                                               int32_t* status) {
-  // hal::init::CheckInit();
+  // wpi::hal::init::CheckInit();
 
   *status = HAL_HANDLE_ERROR;
   return HAL_kInvalidHandle;
diff --git a/hal/src/main/native/systemcore/SimDevice.cpp b/hal/src/main/native/systemcore/SimDevice.cpp
index 7c24867374..5300c705c5 100644
--- a/hal/src/main/native/systemcore/SimDevice.cpp
+++ b/hal/src/main/native/systemcore/SimDevice.cpp
@@ -46,8 +46,8 @@ void HAL_SetSimValue(HAL_SimValueHandle handle, const struct HAL_Value* value) {
 
 void HAL_ResetSimValue(HAL_SimValueHandle handle) {}
 
-hal::SimDevice::SimDevice(const char* name, int index) {}
+wpi::hal::SimDevice::SimDevice(const char* name, int index) {}
 
-hal::SimDevice::SimDevice(const char* name, int index, int channel) {}
+wpi::hal::SimDevice::SimDevice(const char* name, int index, int channel) {}
 
 }  // extern "C"
diff --git a/hal/src/main/native/systemcore/SmartIo.cpp b/hal/src/main/native/systemcore/SmartIo.cpp
index f0ff8fbabc..9f74eed150 100644
--- a/hal/src/main/native/systemcore/SmartIo.cpp
+++ b/hal/src/main/native/systemcore/SmartIo.cpp
@@ -11,9 +11,9 @@
 #include "wpi/hal/AddressableLEDTypes.h"
 #include "wpi/hal/Errors.h"
 
-namespace hal {
+namespace wpi::hal {
 
-wpi::mutex smartIoMutex;
+wpi::util::mutex smartIoMutex;
 DigitalHandleResource<HAL_DigitalHandle, SmartIo, kNumSmartIo>* smartIoHandles;
 
 namespace init {
@@ -24,9 +24,9 @@ void InitializeSmartIo() {
 }  // namespace init
 
 int32_t SmartIo::InitializeMode(SmartIoMode mode) {
-  auto inst = hal::GetSystemServer();
+  auto inst = wpi::hal::GetSystemServer();
 
-  nt::PubSubOptions options;
+  wpi::nt::PubSubOptions options;
   options.sendAll = true;
   options.keepDuplicates = true;
   options.periodic = 0.005;
@@ -221,4 +221,4 @@ int32_t SmartIo::SetLedLength(int32_t length) {
   return 0;
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/SmartIo.h b/hal/src/main/native/systemcore/SmartIo.h
index 916b2abdc8..be09096b00 100644
--- a/hal/src/main/native/systemcore/SmartIo.h
+++ b/hal/src/main/native/systemcore/SmartIo.h
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/nt/IntegerTopic.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 constexpr int32_t kPwmDisabled = 0;
 constexpr int32_t kPwmAlwaysHigh = 0xFFFF;
@@ -38,16 +38,16 @@ struct SmartIo {
   uint8_t channel;
   std::string previousAllocation;
   SmartIoMode currentMode{SmartIoMode::DigitalInput};
-  nt::IntegerPublisher modePublisher;
+  wpi::nt::IntegerPublisher modePublisher;
 
-  nt::IntegerPublisher setPublisher;
-  nt::IntegerSubscriber getSubscriber;
+  wpi::nt::IntegerPublisher setPublisher;
+  wpi::nt::IntegerSubscriber getSubscriber;
 
-  nt::IntegerPublisher periodSetPublisher;
-  nt::IntegerSubscriber periodGetSubscriber;
+  wpi::nt::IntegerPublisher periodSetPublisher;
+  wpi::nt::IntegerSubscriber periodGetSubscriber;
 
-  nt::IntegerPublisher ledcountPublisher;
-  nt::IntegerPublisher ledoffsetPublisher;
+  wpi::nt::IntegerPublisher ledcountPublisher;
+  wpi::nt::IntegerPublisher ledoffsetPublisher;
 
   int32_t InitializeMode(SmartIoMode mode);
   int32_t SwitchDioDirection(bool input);
@@ -74,6 +74,6 @@ struct SmartIo {
 extern DigitalHandleResource<HAL_DigitalHandle, SmartIo, kNumSmartIo>*
     smartIoHandles;
 
-extern wpi::mutex smartIoMutex;
+extern wpi::util::mutex smartIoMutex;
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/SystemServer.cpp b/hal/src/main/native/systemcore/SystemServer.cpp
index 1c16e29962..467517eb70 100644
--- a/hal/src/main/native/systemcore/SystemServer.cpp
+++ b/hal/src/main/native/systemcore/SystemServer.cpp
@@ -7,15 +7,15 @@
 #include "SystemServerInternal.h"
 #include "mrc/NtNetComm.h"
 
-namespace hal {
+namespace wpi::hal {
 
-static nt::NetworkTableInstance ServerInstance;
+static wpi::nt::NetworkTableInstance ServerInstance;
 
 void InitializeSystemServer() {
   if (ServerInstance) {
     return;
   }
-  ServerInstance = nt::NetworkTableInstance::Create();
+  ServerInstance = wpi::nt::NetworkTableInstance::Create();
   ServerInstance.SetServer("localhost", ROBOT_SYSTEM_SERVER_NT_PORT);
   ServerInstance.StartClient("RobotProgram");
 }
@@ -26,18 +26,18 @@ void ShutdownSystemServer() {
   }
 
   ServerInstance.StopClient();
-  nt::NetworkTableInstance::Destroy(ServerInstance);
+  wpi::nt::NetworkTableInstance::Destroy(ServerInstance);
 }
 
-nt::NetworkTableInstance GetSystemServer() {
+wpi::nt::NetworkTableInstance GetSystemServer() {
   return ServerInstance;
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
 
 extern "C" {
 
 NT_Inst HAL_GetSystemServerHandle(void) {
-  return hal::ServerInstance.GetHandle();
+  return wpi::hal::ServerInstance.GetHandle();
 }
 }  // extern "C"
diff --git a/hal/src/main/native/systemcore/SystemServerInternal.h b/hal/src/main/native/systemcore/SystemServerInternal.h
index 1209c8b395..3e06476cd6 100644
--- a/hal/src/main/native/systemcore/SystemServerInternal.h
+++ b/hal/src/main/native/systemcore/SystemServerInternal.h
@@ -6,8 +6,8 @@
 
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-namespace hal {
+namespace wpi::hal {
 void InitializeSystemServer();
 void ShutdownSystemServer();
-nt::NetworkTableInstance GetSystemServer();
-}  // namespace hal
+wpi::nt::NetworkTableInstance GetSystemServer();
+}  // namespace wpi::hal
diff --git a/hal/src/main/native/systemcore/Threads.cpp b/hal/src/main/native/systemcore/Threads.cpp
index 8b76314ab5..dd1a5ab6f8 100644
--- a/hal/src/main/native/systemcore/Threads.cpp
+++ b/hal/src/main/native/systemcore/Threads.cpp
@@ -9,9 +9,9 @@
 
 #include "wpi/hal/Errors.h"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeThreads() {}
-}  // namespace hal::init
+}  // namespace wpi::hal::init
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/UsageReporting.cpp b/hal/src/main/native/systemcore/UsageReporting.cpp
index 08c0ae2e5c..6d7f48f83c 100644
--- a/hal/src/main/native/systemcore/UsageReporting.cpp
+++ b/hal/src/main/native/systemcore/UsageReporting.cpp
@@ -14,10 +14,10 @@
 
 namespace {
 struct SystemServerUsageReporting {
-  nt::NetworkTableInstance ntInst;
-  wpi::StringMap<nt::StringPublisher> publishers;
+  wpi::nt::NetworkTableInstance ntInst;
+  wpi::util::StringMap<wpi::nt::StringPublisher> publishers;
 
-  explicit SystemServerUsageReporting(nt::NetworkTableInstance inst)
+  explicit SystemServerUsageReporting(wpi::nt::NetworkTableInstance inst)
       : ntInst{inst} {}
 };
 
@@ -29,7 +29,7 @@ extern "C" {
 
 int32_t HAL_ReportUsage(const struct WPI_String* resource,
                         const struct WPI_String* data) {
-  auto resourceStr = wpi::to_string_view(resource);
+  auto resourceStr = wpi::util::to_string_view(resource);
   auto& publisher = systemServerUsage->publishers[resourceStr];
   if (!publisher) {
     publisher =
@@ -37,15 +37,15 @@ int32_t HAL_ReportUsage(const struct WPI_String* resource,
             .GetStringTopic(fmt::format("/UsageReporting/{}", resourceStr))
             .Publish();
   }
-  publisher.Set(wpi::to_string_view(data));
+  publisher.Set(wpi::util::to_string_view(data));
 
   return 0;
 }
 
 }  // extern "C"
 
-namespace hal::init {
+namespace wpi::hal::init {
 void InitializeUsageReporting() {
-  systemServerUsage = new ::SystemServerUsageReporting{hal::GetSystemServer()};
+  systemServerUsage = new ::SystemServerUsageReporting{wpi::hal::GetSystemServer()};
 }
-}  // namespace hal::init
+}  // namespace wpi::hal::init
diff --git a/hal/src/main/python/hal/simulation/resethandles.cpp b/hal/src/main/python/hal/simulation/resethandles.cpp
index b66b3caa22..b6bf48eb64 100644
--- a/hal/src/main/python/hal/simulation/resethandles.cpp
+++ b/hal/src/main/python/hal/simulation/resethandles.cpp
@@ -19,7 +19,7 @@ void HALSIM_ResetGlobalHandles() {
     }
   }
 
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
 }
 
 #else
diff --git a/hal/src/main/python/semiwrap/DriverStation.yml b/hal/src/main/python/semiwrap/DriverStation.yml
index 7914c87b50..42cc2006ca 100644
--- a/hal/src/main/python/semiwrap/DriverStation.yml
+++ b/hal/src/main/python/semiwrap/DriverStation.yml
@@ -22,7 +22,7 @@ functions:
       [](int32_t joystickNum) {
         WPI_String name;
         HAL_GetJoystickName(&name, joystickNum);
-        std::string sname(wpi::to_string_view(&name));
+        std::string sname(wpi::util::to_string_view(&name));
         WPI_FreeString(&name);
         return sname;
       }
diff --git a/hal/src/main/python/semiwrap/HALBase.yml b/hal/src/main/python/semiwrap/HALBase.yml
index d81d5ac322..a731548e13 100644
--- a/hal/src/main/python/semiwrap/HALBase.yml
+++ b/hal/src/main/python/semiwrap/HALBase.yml
@@ -13,7 +13,7 @@ functions:
       []() {
         WPI_String s;
         HAL_GetSerialNumber(&s);
-        std::string ss(wpi::to_string_view(&s));
+        std::string ss(wpi::util::to_string_view(&s));
         WPI_FreeString(&s);
         return ss;
       }
@@ -25,7 +25,7 @@ functions:
       []() {
         WPI_String s;
         HAL_GetComments(&s);
-        std::string ss(wpi::to_string_view(&s));
+        std::string ss(wpi::util::to_string_view(&s));
         WPI_FreeString(&s);
         return ss;
       }
diff --git a/hal/src/main/python/semiwrap/HandlesInternal.yml b/hal/src/main/python/semiwrap/HandlesInternal.yml
index fb088df26b..8fd81e0f97 100644
--- a/hal/src/main/python/semiwrap/HandlesInternal.yml
+++ b/hal/src/main/python/semiwrap/HandlesInternal.yml
@@ -11,5 +11,5 @@ functions:
   getHandleTypedIndex:
   createHandle:
 classes:
-  hal::HandleBase:
+  wpi::hal::HandleBase:
     ignore: true
diff --git a/hal/src/main/python/semiwrap/SimDevice.yml b/hal/src/main/python/semiwrap/SimDevice.yml
index 539fa4fb9e..d6e93d0c6e 100644
--- a/hal/src/main/python/semiwrap/SimDevice.yml
+++ b/hal/src/main/python/semiwrap/SimDevice.yml
@@ -11,7 +11,7 @@ strip_prefixes:
 enums:
   HAL_SimValueDirection:
 classes:
-  hal::SimValue:
+  wpi::hal::SimValue:
     doc: |
       Readonly wrapper around a HAL simulator value.
 
@@ -30,7 +30,7 @@ classes:
         ignore: true
       SetValue:
         ignore: true
-  hal::SimInt:
+  wpi::hal::SimInt:
     doc: |
       Wrapper around a HAL simulator int value handle.
 
@@ -49,7 +49,7 @@ classes:
       Get:
       Set:
       Reset:
-  hal::SimLong:
+  wpi::hal::SimLong:
     doc: |
       Wrapper around a HAL simulator long value handle.
 
@@ -68,7 +68,7 @@ classes:
       Get:
       Set:
       Reset:
-  hal::SimDouble:
+  wpi::hal::SimDouble:
     doc: |
       Wrapper around a HAL simulator double value.
 
@@ -87,7 +87,7 @@ classes:
       Get:
       Set:
       Reset:
-  hal::SimEnum:
+  wpi::hal::SimEnum:
     doc: |
       Wrapper around a HAL simulator enum value.
 
@@ -105,7 +105,7 @@ classes:
                 name: handle
       Get:
       Set:
-  hal::SimBoolean:
+  wpi::hal::SimBoolean:
     doc: |
       Wrapper around a HAL simulator boolean value.
 
@@ -123,7 +123,7 @@ classes:
                 name: handle
       Get:
       Set:
-  hal::SimDevice:
+  wpi::hal::SimDevice:
     doc: |
       Wrapper around a HAL simulation 'device'
 
@@ -133,7 +133,7 @@ classes:
       .. note:: To interact with an existing device use
                 :class:`hal.simulation.SimDeviceSim` instead.
     force_type_casters:
-    - wpi::SmallVector
+    - wpi::util::SmallVector
     enums:
       Direction:
     methods:
@@ -154,8 +154,8 @@ classes:
             ignore: true
           const char*, int32_t, std::span<const char * const>, int32_t:
             cpp_code: |
-              [](SimDevice &self, const char * name, int32_t direction, const wpi::SmallVector<std::string, 8> &options, int32_t initialValue) {
-                wpi::SmallVector<const char *, 8> coptions;
+              [](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector<std::string, 8> &options, int32_t initialValue) {
+                wpi::util::SmallVector<const char *, 8> coptions;
                 coptions.reserve(options.size());
                 for (auto &s: options) {
                   coptions.push_back(s.c_str());
@@ -169,8 +169,8 @@ classes:
             ignore: true
           const char*, int32_t, std::span<const char * const>, std::span<const double>, int32_t:
             cpp_code: |
-              [](SimDevice &self, const char * name, int32_t direction, const wpi::SmallVector<std::string, 8> &options, const wpi::SmallVector<double, 8> &optionValues, int32_t initialValue) {
-                wpi::SmallVector<const char *, 8> coptions;
+              [](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector<std::string, 8> &options, const wpi::util::SmallVector<double, 8> &optionValues, int32_t initialValue) {
+                wpi::util::SmallVector<const char *, 8> coptions;
                 coptions.reserve(options.size());
                 for (auto &s: options) {
                   coptions.push_back(s.c_str());
@@ -185,7 +185,7 @@ classes:
 inline_code: |2
 
   cls_SimValue
-    .def_property_readonly("value", [](const hal::SimValue &self) -> py::object {
+    .def_property_readonly("value", [](const wpi::hal::SimValue &self) -> py::object {
         HAL_Value value;
         {
           py::gil_scoped_release release;
@@ -206,14 +206,14 @@ inline_code: |2
           return py::none();
         }
     })
-    .def_property_readonly("type", [](const hal::SimValue &self) -> HAL_Type {
+    .def_property_readonly("type", [](const wpi::hal::SimValue &self) -> HAL_Type {
       py::gil_scoped_release release;
       return self.GetValue().type;
     })
-    .def("__bool__", [](const hal::SimValue &self) -> bool {
+    .def("__bool__", [](const wpi::hal::SimValue &self) -> bool {
       return (bool)self;
     })
-    .def("__repr__", [](const hal::SimValue &self) -> py::str {
+    .def("__repr__", [](const wpi::hal::SimValue &self) -> py::str {
         if (!self) {
           return "<SimValue (invalid)>";
         }
@@ -258,10 +258,10 @@ inline_code: |2
     });
 
   cls_SimDevice
-    .def("__bool__", [](const hal::SimDevice &self) -> bool {
+    .def("__bool__", [](const wpi::hal::SimDevice &self) -> bool {
       return (bool)self;
     })
-    .def_property_readonly("name", [](const hal::SimDevice &self) -> py::str {
+    .def_property_readonly("name", [](const wpi::hal::SimDevice &self) -> py::str {
       #ifdef __FRC_SYSTEMCORE__
         return "<invalid>";
       #else
@@ -277,7 +277,7 @@ inline_code: |2
         }
       #endif
     })
-    .def("__repr__", [](const hal::SimDevice &self) -> py::str {
+    .def("__repr__", [](const wpi::hal::SimDevice &self) -> py::str {
       #ifdef __FRC_SYSTEMCORE__
         return "<SimDevice (invalid)>";
       #else
diff --git a/hal/src/main/python/semiwrap/simulation/DriverStationData.yml b/hal/src/main/python/semiwrap/simulation/DriverStationData.yml
index 7be9485c45..79f39480be 100644
--- a/hal/src/main/python/semiwrap/simulation/DriverStationData.yml
+++ b/hal/src/main/python/semiwrap/simulation/DriverStationData.yml
@@ -81,19 +81,19 @@ functions:
   HALSIM_SetJoystickName:
     cpp_code: |
       [](int32_t stick, std::string_view sv) {
-        auto s = wpi::make_string(sv);
+        auto s = wpi::util::make_string(sv);
         HALSIM_SetJoystickName(stick, &s);
       }
   HALSIM_SetGameSpecificMessage:
     cpp_code: |
       [](std::string_view sv) {
-        auto s = wpi::make_string(sv);
+        auto s = wpi::util::make_string(sv);
         HALSIM_SetGameSpecificMessage(&s);
       }
   HALSIM_SetEventName:
     cpp_code: |
       [](std::string_view sv) {
-        auto s = wpi::make_string(sv);
+        auto s = wpi::util::make_string(sv);
         HALSIM_SetEventName(&s);
       }
   HALSIM_SetMatchType:
diff --git a/hal/src/main/python/semiwrap/simulation/RoboRioData.yml b/hal/src/main/python/semiwrap/simulation/RoboRioData.yml
index 8bf0f231b4..e016fed574 100644
--- a/hal/src/main/python/semiwrap/simulation/RoboRioData.yml
+++ b/hal/src/main/python/semiwrap/simulation/RoboRioData.yml
@@ -57,14 +57,14 @@ functions:
       []() {
         WPI_String s;
         HALSIM_GetRoboRioSerialNumber(&s);
-        std::string ss(wpi::to_string_view(&s));
+        std::string ss(wpi::util::to_string_view(&s));
         WPI_FreeString(&s);
         return ss;
       }
   HALSIM_SetRoboRioSerialNumber:
     cpp_code: |
       [](std::string_view sv) {
-        auto s = wpi::make_string(sv);
+        auto s = wpi::util::make_string(sv);
         HALSIM_SetRoboRioSerialNumber(&s);
       }
   HALSIM_RegisterRoboRioCommentsCallback:
@@ -78,14 +78,14 @@ functions:
       []() {
         WPI_String s;
         HALSIM_GetRoboRioComments(&s);
-        std::string ss(wpi::to_string_view(&s));
+        std::string ss(wpi::util::to_string_view(&s));
         WPI_FreeString(&s);
         return ss;
       }
   HALSIM_SetRoboRioComments:
     cpp_code: |
       [](std::string_view sv) {
-        auto s = wpi::make_string(sv);
+        auto s = wpi::util::make_string(sv);
         HALSIM_SetRoboRioComments(&s);
       }
   HALSIM_RegisterRoboRioAllCallbacks:
diff --git a/hal/src/main/python/semiwrap/simulation/SimDeviceData.yml b/hal/src/main/python/semiwrap/simulation/SimDeviceData.yml
index de6cf5b83e..a20a28413d 100644
--- a/hal/src/main/python/semiwrap/simulation/SimDeviceData.yml
+++ b/hal/src/main/python/semiwrap/simulation/SimDeviceData.yml
@@ -26,7 +26,7 @@ functions:
       param:
         ignore: true
     cpp_code: |
-      [](hal::SimDevice &simdevice, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
+      [](wpi::hal::SimDevice &simdevice, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
         auto cb = std::make_unique<SimValueCB>(fn, HALSIM_CancelSimDeviceCreatedCallback);
         auto uid = HALSIM_RegisterSimValueCreatedCallback(simdevice, cb.get(),
           [](const char* name, void* param,
@@ -47,7 +47,7 @@ functions:
       param:
         ignore: true
     cpp_code: |
-      [](hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
+      [](wpi::hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
         auto cb = std::make_unique<SimValueCB>(fn, HALSIM_CancelSimValueChangedCallback);
         auto uid = HALSIM_RegisterSimValueChangedCallback(simvalue, cb.get(),
           [](const char* name, void* param,
@@ -68,7 +68,7 @@ functions:
       param:
         ignore: true
     cpp_code: |
-      [](hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
+      [](wpi::hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
         auto cb = std::make_unique<SimValueCB>(fn, HALSIM_CancelSimValueResetCallback);
         auto uid = HALSIM_RegisterSimValueChangedCallback(simvalue, cb.get(),
           [](const char* name, void* param,
diff --git a/hal/src/test/native/cpp/HALTest.cpp b/hal/src/test/native/cpp/HALTest.cpp
index 1ff2b7f297..3c867f777d 100644
--- a/hal/src/test/native/cpp/HALTest.cpp
+++ b/hal/src/test/native/cpp/HALTest.cpp
@@ -6,8 +6,8 @@
 
 #include "wpi/hal/HAL.h"
 
-namespace hal {
+namespace wpi::hal {
 TEST(HALTest, RuntimeType) {
   EXPECT_EQ(HAL_RuntimeType::HAL_Runtime_Simulation, HAL_GetRuntimeType());
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp
index b13eaa4811..4b520630ac 100644
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/CANAPI.h"
 #include "wpi/hal/simulation/CanData.h"
 
-namespace hal {
+namespace wpi::hal {
 struct CANTestStore {
   CANTestStore(int32_t busId, int32_t deviceId, int32_t* status) {
     this->deviceId = deviceId;
@@ -83,4 +83,4 @@ TEST(CANTest, CanIdPacking) {
   ASSERT_EQ(static_cast<int32_t>(HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous),
             (storePair.first & 0x1F000000) >> 24);
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/handles/HandleTest.cpp b/hal/src/test/native/cpp/handles/HandleTest.cpp
index cfc7559c0e..7060b805c1 100644
--- a/hal/src/test/native/cpp/handles/HandleTest.cpp
+++ b/hal/src/test/native/cpp/handles/HandleTest.cpp
@@ -14,9 +14,9 @@ namespace {
 class MyTestClass {};
 }  // namespace
 
-namespace hal {
+namespace wpi::hal {
 TEST(HandleTest, ClassedHandle) {
-  hal::IndexedClassedHandleResource<HAL_TestHandle, MyTestClass, 8,
+  wpi::hal::IndexedClassedHandleResource<HAL_TestHandle, MyTestClass, 8,
                                     HAL_HandleEnum::Vendor>
       testClass;
   int32_t status = 0;
@@ -24,4 +24,4 @@ TEST(HandleTest, ClassedHandle) {
   EXPECT_EQ(0, status);
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
index aa562360eb..6a1d4b84a9 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/simulation/AnalogInData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestAnalogInCallbackName;
 HAL_Value gTestAnalogInCallbackValue;
@@ -66,7 +66,7 @@ TEST(AnalogInSimTest, AnalogInInitialization) {
   EXPECT_STREQ("Unset", gTestAnalogInCallbackName.c_str());
 
   // Reset, should allow you to re-register
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
   HALSIM_ResetAnalogInData(INDEX_TO_TEST);
   callbackId = HALSIM_RegisterAnalogInInitializedCallback(
       INDEX_TO_TEST, &TestAnalogInInitializationCallback, &callbackParam,
@@ -81,4 +81,4 @@ TEST(AnalogInSimTest, AnalogInInitialization) {
   EXPECT_STREQ("Initialized", gTestAnalogInCallbackName.c_str());
   HALSIM_CancelAnalogInInitializedCallback(INDEX_TO_TEST, callbackId);
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
index 5512e989b0..b396cdf0de 100644
--- a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/simulation/DIOData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestDigitalIoCallbackName;
 HAL_Value gTestDigitalIoCallbackValue;
@@ -66,7 +66,7 @@ TEST(DigitalIoSimTest, DigitalIoInitialization) {
   EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
 
   // Reset, should allow you to re-register
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
   HALSIM_ResetDIOData(INDEX_TO_TEST);
   callbackId = HALSIM_RegisterDIOInitializedCallback(
       INDEX_TO_TEST, &TestDigitalIoInitializationCallback, &callbackParam,
@@ -82,4 +82,4 @@ TEST(DigitalIoSimTest, DigitalIoInitialization) {
   HALSIM_CancelDIOInitializedCallback(INDEX_TO_TEST, callbackId);
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
index 736101555d..bbdb326b01 100644
--- a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/simulation/DriverStationData.h"
 #include "wpi/util/StringExtras.hpp"
 
-namespace hal {
+namespace wpi::hal {
 
 TEST(DriverStationTest, Joystick) {
   HAL_JoystickAxes axes;
@@ -122,8 +122,8 @@ TEST(DriverStationTest, EventInfo) {
   constexpr std::string_view eventName = "UnitTest";
   constexpr std::string_view gameData = "Insert game specific info here :D";
   HAL_MatchInfo info;
-  wpi::format_to_n_c_str(info.eventName, sizeof(info.eventName), eventName);
-  wpi::format_to_n_c_str(reinterpret_cast<char*>(info.gameSpecificMessage),
+  wpi::util::format_to_n_c_str(info.eventName, sizeof(info.eventName), eventName);
+  wpi::util::format_to_n_c_str(reinterpret_cast<char*>(info.gameSpecificMessage),
                          sizeof(info.gameSpecificMessage), gameData);
   info.gameSpecificMessageSize = gameData.size();
   info.matchNumber = 5;
@@ -146,4 +146,4 @@ TEST(DriverStationTest, EventInfo) {
   EXPECT_EQ(42, dataBack.replayNumber);
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
index 89364a5b0f..cb310ec021 100644
--- a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/I2C.h"
 #include "wpi/hal/simulation/I2CData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestI2CCallbackName;
 HAL_Value gTestI2CCallbackValue;
@@ -37,4 +37,4 @@ TEST(I2CSimTest, I2CInitialization) {
   EXPECT_STREQ("Initialized", gTestI2CCallbackName.c_str());
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
index cd321c1874..89c2045bf4 100644
--- a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/simulation/CTREPCMData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestSolenoidCallbackName;
 HAL_Value gTestSolenoidCallbackValue;
@@ -66,7 +66,7 @@ TEST(PCMDataTest, PCMInitialization) {
   EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
 
   // Reset, should allow you to re-register
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
   HALSIM_ResetCTREPCMData(MODULE_TO_TEST);
   callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
       MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
@@ -82,4 +82,4 @@ TEST(PCMDataTest, PCMInitialization) {
   EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
index 99a96411d2..42c79330fd 100644
--- a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/PowerDistribution.h"
 #include "wpi/hal/simulation/PowerDistributionData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestPdpCallbackName;
 HAL_Value gTestPdpCallbackValue;
@@ -38,4 +38,4 @@ TEST(PdpSimTest, PdpInitialization) {
   EXPECT_STREQ("Initialized", gTestPdpCallbackName.c_str());
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
index 268b951b9f..9b61e14bca 100644
--- a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/handles/HandlesInternal.h"
 #include "wpi/hal/simulation/PWMData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 std::string gTestPwmCallbackName;
 HAL_Value gTestPwmCallbackValue;
@@ -65,7 +65,7 @@ TEST(PWMSimTest, PwmInitialization) {
   EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
 
   // Reset, should allow you to re-register
-  hal::HandleBase::ResetGlobalHandles();
+  wpi::hal::HandleBase::ResetGlobalHandles();
   HALSIM_ResetPWMData(INDEX_TO_TEST);
   callbackId = HALSIM_RegisterPWMInitializedCallback(
       INDEX_TO_TEST, &TestPwmInitializationCallback, &callbackParam, false);
@@ -79,4 +79,4 @@ TEST(PWMSimTest, PwmInitialization) {
   EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
   HALSIM_CancelPWMInitializedCallback(INDEX_TO_TEST, callbackId);
 }
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
index 1af4e62c64..f331de6ffc 100644
--- a/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/hal/simulation/SimDeviceData.h"
 
-namespace hal {
+namespace wpi::hal {
 
 TEST(SimDeviceSimTest, Enabled) {
   ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("foo"));
@@ -20,4 +20,4 @@ TEST(SimDeviceSimTest, Enabled) {
   ASSERT_EQ(HAL_CreateSimDevice("foo"), 0);
 }
 
-}  // namespace hal
+}  // namespace wpi::hal
diff --git a/ntcore/src/dev/native/cpp/main.cpp b/ntcore/src/dev/native/cpp/main.cpp
index 1d9b15e5bd..345e083d81 100644
--- a/ntcore/src/dev/native/cpp/main.cpp
+++ b/ntcore/src/dev/native/cpp/main.cpp
@@ -54,11 +54,11 @@ int main(int argc, char* argv[]) {
     return EXIT_SUCCESS;
   }
 
-  auto myValue = nt::GetEntry(nt::GetDefaultInstance(), "MyValue");
+  auto myValue = wpi::nt::GetEntry(wpi::nt::GetDefaultInstance(), "MyValue");
 
-  nt::SetEntryValue(myValue, nt::Value::MakeString("Hello World"));
+  wpi::nt::SetEntryValue(myValue, wpi::nt::Value::MakeString("Hello World"));
 
-  wpi::print("{}\n", nt::GetEntryValue(myValue).GetString());
+  wpi::util::print("{}\n", wpi::nt::GetEntryValue(myValue).GetString());
 }
 
 void PrintTimes(std::vector<int64_t>& times) {
@@ -72,36 +72,36 @@ void PrintTimes(std::vector<int64_t>& times) {
       std::inner_product(times.begin(), times.end(), times.begin(), 0);
   double stdev = std::sqrt(sq_sum / times.size() - mean * mean);
 
-  wpi::print("min: {} max: {}, mean: {}, stdev: {}\n", min, max, mean, stdev);
-  wpi::print("min 10: {}\n", fmt::join(times.begin(), times.begin() + 10, ","));
-  wpi::print("max 10: {}\n", fmt::join(times.end() - 10, times.end(), ","));
+  wpi::util::print("min: {} max: {}, mean: {}, stdev: {}\n", min, max, mean, stdev);
+  wpi::util::print("min 10: {}\n", fmt::join(times.begin(), times.begin() + 10, ","));
+  wpi::util::print("max 10: {}\n", fmt::join(times.end() - 10, times.end(), ","));
 }
 
 // benchmark
 void bench() {
   // set up instances
-  auto client = nt::CreateInstance();
-  auto server = nt::CreateInstance();
+  auto client = wpi::nt::CreateInstance();
+  auto server = wpi::nt::CreateInstance();
 
   // connect client and server
-  nt::StartServer(server, "bench.json", "127.0.0.1", 10000);
-  nt::StartClient(client, "client");
-  nt::SetServer(client, "127.0.0.1", 10000);
+  wpi::nt::StartServer(server, "bench.json", "127.0.0.1", 10000);
+  wpi::nt::StartClient(client, "client");
+  wpi::nt::SetServer(client, "127.0.0.1", 10000);
 
   using namespace std::chrono_literals;
   std::this_thread::sleep_for(1s);
 
   // add "typical" set of subscribers on client and server
-  nt::SubscribeMultiple(client, {{std::string_view{}}});
-  nt::Subscribe(nt::GetTopic(client, "highrate"), NT_DOUBLE, "double",
+  wpi::nt::SubscribeMultiple(client, {{std::string_view{}}});
+  wpi::nt::Subscribe(wpi::nt::GetTopic(client, "highrate"), NT_DOUBLE, "double",
                 {.sendAll = true, .keepDuplicates = true});
-  nt::SubscribeMultiple(server, {{std::string_view{}}});
-  auto pub = nt::Publish(nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
-  nt::SetDouble(pub, 0);
+  wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
+  auto pub = wpi::nt::Publish(wpi::nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
+  wpi::nt::SetDouble(pub, 0);
 
   // warm up
   for (int i = 1; i <= 10000; ++i) {
-    nt::SetDouble(pub, i * 0.01);
+    wpi::nt::SetDouble(pub, i * 0.01);
     if (i % 2000 == 0) {
       std::this_thread::sleep_for(0.02s);
     }
@@ -115,55 +115,55 @@ void bench() {
 
   // benchmark
   auto start = std::chrono::high_resolution_clock::now();
-  int64_t now = nt::Now();
+  int64_t now = wpi::nt::Now();
   for (int i = 1; i <= 100000; ++i) {
-    nt::SetDouble(pub, i * 0.01, now);
+    wpi::nt::SetDouble(pub, i * 0.01, now);
     int64_t prev = now;
-    now = nt::Now();
+    now = wpi::nt::Now();
     times.emplace_back(now - prev);
     if (i % 2000 == 0) {
-      nt::Flush(server);
-      flushTimes.emplace_back(nt::Now() - now);
+      wpi::nt::Flush(server);
+      flushTimes.emplace_back(wpi::nt::Now() - now);
       std::this_thread::sleep_for(0.02s);
-      now = nt::Now();
+      now = wpi::nt::Now();
     }
   }
   auto stop = std::chrono::high_resolution_clock::now();
 
-  wpi::print("total time: {}us\n",
+  wpi::util::print("total time: {}us\n",
              std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
                  .count());
   PrintTimes(times);
-  wpi::print("-- Flush --\n");
+  wpi::util::print("-- Flush --\n");
   PrintTimes(flushTimes);
 }
 
 void bench2() {
   // set up instances
-  auto client1 = nt::CreateInstance();
-  auto client2 = nt::CreateInstance();
-  auto server = nt::CreateInstance();
+  auto client1 = wpi::nt::CreateInstance();
+  auto client2 = wpi::nt::CreateInstance();
+  auto server = wpi::nt::CreateInstance();
 
   // connect client and server
-  nt::StartServer(server, "bench2.json", "127.0.0.1", 10000);
-  nt::StartClient(client1, "client1");
-  nt::StartClient(client2, "client2");
-  nt::SetServer(client1, "127.0.0.1", 10000);
-  nt::SetServer(client2, "127.0.0.1", 10000);
+  wpi::nt::StartServer(server, "bench2.json", "127.0.0.1", 10000);
+  wpi::nt::StartClient(client1, "client1");
+  wpi::nt::StartClient(client2, "client2");
+  wpi::nt::SetServer(client1, "127.0.0.1", 10000);
+  wpi::nt::SetServer(client2, "127.0.0.1", 10000);
 
   using namespace std::chrono_literals;
   std::this_thread::sleep_for(1s);
 
   // add "typical" set of subscribers on client and server
-  nt::SubscribeMultiple(client1, {{std::string_view{}}});
-  nt::SubscribeMultiple(client2, {{std::string_view{}}});
-  nt::SubscribeMultiple(server, {{std::string_view{}}});
+  wpi::nt::SubscribeMultiple(client1, {{std::string_view{}}});
+  wpi::nt::SubscribeMultiple(client2, {{std::string_view{}}});
+  wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
 
   // create 1000 entries
   std::array<NT_Entry, 1000> pubs;
   for (int i = 0; i < 1000; ++i) {
-    pubs[i] = nt::GetEntry(
-        nt::GetTopic(server,
+    pubs[i] = wpi::nt::GetEntry(
+        wpi::nt::GetTopic(server,
                      fmt::format("/some/long/name/with/lots/of/slashes/{}", i)),
         NT_DOUBLE_ARRAY, "double[]");
   }
@@ -172,9 +172,9 @@ void bench2() {
   for (int i = 1; i <= 100; ++i) {
     for (auto pub : pubs) {
       double vals[3] = {i * 0.01, i * 0.02, i * 0.03};
-      nt::SetDoubleArray(pub, vals);
+      wpi::nt::SetDoubleArray(pub, vals);
     }
-    nt::FlushLocal(server);
+    wpi::nt::FlushLocal(server);
     std::this_thread::sleep_for(0.02s);
   }
 
@@ -186,28 +186,28 @@ void bench2() {
 
   // benchmark
   auto start = std::chrono::high_resolution_clock::now();
-  int64_t now = nt::Now();
+  int64_t now = wpi::nt::Now();
   for (int i = 1; i <= 1000; ++i) {
     for (auto pub : pubs) {
       double vals[3] = {i * 0.01, i * 0.02, i * 0.03};
-      nt::SetDoubleArray(pub, vals);
+      wpi::nt::SetDoubleArray(pub, vals);
     }
     int64_t prev = now;
-    now = nt::Now();
+    now = wpi::nt::Now();
     times.emplace_back(now - prev);
-    nt::FlushLocal(server);
-    nt::Flush(server);
-    flushTimes.emplace_back(nt::Now() - now);
+    wpi::nt::FlushLocal(server);
+    wpi::nt::Flush(server);
+    flushTimes.emplace_back(wpi::nt::Now() - now);
     std::this_thread::sleep_for(0.02s);
-    now = nt::Now();
+    now = wpi::nt::Now();
   }
   auto stop = std::chrono::high_resolution_clock::now();
 
-  wpi::print("total time: {}us\n",
+  wpi::util::print("total time: {}us\n",
              std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
                  .count());
   PrintTimes(times);
-  wpi::print("-- Flush --\n");
+  wpi::util::print("-- Flush --\n");
   PrintTimes(flushTimes);
 }
 
@@ -216,31 +216,31 @@ static std::mt19937 gen(r());
 static std::uniform_real_distribution<double> dist;
 
 void stress() {
-  auto server = nt::CreateInstance();
-  nt::StartServer(server, "stress.json", "127.0.0.1", 10000);
-  nt::SubscribeMultiple(server, {{std::string_view{}}});
+  auto server = wpi::nt::CreateInstance();
+  wpi::nt::StartServer(server, "stress.json", "127.0.0.1", 10000);
+  wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
 
   using namespace std::chrono_literals;
 
   for (int count = 0; count < 10; ++count) {
     std::thread{[] {
-      auto client = nt::CreateInstance();
-      nt::SubscribeMultiple(client, {{std::string_view{}}});
+      auto client = wpi::nt::CreateInstance();
+      wpi::nt::SubscribeMultiple(client, {{std::string_view{}}});
       for (int i = 0; i < 300; ++i) {
         // sleep a random amount of time
         std::this_thread::sleep_for(0.1s * dist(gen));
 
         // connect
-        nt::StartClient(client, "client");
-        nt::SetServer(client, "127.0.0.1", 10000);
+        wpi::nt::StartClient(client, "client");
+        wpi::nt::SetServer(client, "127.0.0.1", 10000);
 
         // sleep a random amount of time
         std::this_thread::sleep_for(0.1s * dist(gen));
 
         // disconnect
-        nt::StopClient(client);
+        wpi::nt::StopClient(client);
       }
-      nt::DestroyInstance(client);
+      wpi::nt::DestroyInstance(client);
     }}.detach();
 
     std::thread{[server, count] {
@@ -252,7 +252,7 @@ void stress() {
         NT_Publisher pub[30];
         for (int i = 0; i < 30; ++i) {
           pub[i] =
-              nt::Publish(nt::GetTopic(server, fmt::format("{}_{}", count, i)),
+              wpi::nt::Publish(wpi::nt::GetTopic(server, fmt::format("{}_{}", count, i)),
                           NT_DOUBLE, "double", {});
         }
 
@@ -261,9 +261,9 @@ void stress() {
           // sleep a random amount of time between each value set
           std::this_thread::sleep_for(0.001s * dist(gen));
           for (int i = 0; i < 30; ++i) {
-            nt::SetDouble(pub[i], dist(gen));
+            wpi::nt::SetDouble(pub[i], dist(gen));
           }
-          nt::FlushLocal(server);
+          wpi::nt::FlushLocal(server);
         }
 
         // sleep a random amount of time
@@ -271,7 +271,7 @@ void stress() {
 
         // remove publishers
         for (int i = 0; i < 30; ++i) {
-          nt::Unpublish(pub[i]);
+          wpi::nt::Unpublish(pub[i]);
         }
       }
     }}.detach();
@@ -286,11 +286,11 @@ void stress2() {
   auto testTopicName = "testTopic";
   auto count = 1000;
   std::atomic_bool isDone{false};
-  nt::PubSubOptions pubSubOptions{
+  wpi::nt::PubSubOptions pubSubOptions{
       .periodic = std::numeric_limits<double>::min(),
       .sendAll = true,
       .keepDuplicates = true};
-  auto server = nt::NetworkTableInstance::Create();
+  auto server = wpi::nt::NetworkTableInstance::Create();
   server.StartServer();
   auto serverTopic = server.GetDoubleArrayTopic(testTopicName);
   auto subscriber = serverTopic.Subscribe({}, pubSubOptions);
@@ -308,7 +308,7 @@ void stress2() {
     // event.valueData.value.getDoubleArray())));
   });
 
-  auto client = nt::NetworkTableInstance::Create();
+  auto client = wpi::nt::NetworkTableInstance::Create();
   client.SetServer("localhost");
   auto clientName = "test client";
   client.StartClient(clientName);
@@ -333,36 +333,36 @@ void stress2() {
 
 void latency() {
   // set up instances
-  auto client1 = nt::CreateInstance();
-  auto client2 = nt::CreateInstance();
-  auto server = nt::CreateInstance();
+  auto client1 = wpi::nt::CreateInstance();
+  auto client2 = wpi::nt::CreateInstance();
+  auto server = wpi::nt::CreateInstance();
 
   // connect client and server
-  nt::StartServer(server, "latency.json", "127.0.0.1", 10000);
-  nt::StartClient(client1, "client1");
-  nt::SetServer(client1, "127.0.0.1", 10000);
-  nt::StartClient(client2, "client2");
-  nt::SetServer(client2, "127.0.0.1", 10000);
+  wpi::nt::StartServer(server, "latency.json", "127.0.0.1", 10000);
+  wpi::nt::StartClient(client1, "client1");
+  wpi::nt::SetServer(client1, "127.0.0.1", 10000);
+  wpi::nt::StartClient(client2, "client2");
+  wpi::nt::SetServer(client2, "127.0.0.1", 10000);
 
   using namespace std::chrono_literals;
   std::this_thread::sleep_for(1s);
 
   // create publishers and subscribers
   auto pub =
-      nt::Publish(nt::GetTopic(client1, "highrate"), NT_DOUBLE, "double");
-  nt::SubscribeMultiple(server, {{std::string_view{}}});
+      wpi::nt::Publish(wpi::nt::GetTopic(client1, "highrate"), NT_DOUBLE, "double");
+  wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
   auto sub =
-      nt::Subscribe(nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
+      wpi::nt::Subscribe(wpi::nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
   auto sub2 =
-      nt::Subscribe(nt::GetTopic(client2, "highrate"), NT_DOUBLE, "double");
+      wpi::nt::Subscribe(wpi::nt::GetTopic(client2, "highrate"), NT_DOUBLE, "double");
 
   std::this_thread::sleep_for(1s);
 
-  nt::SetDouble(pub, 0);
+  wpi::nt::SetDouble(pub, 0);
 #if 0
   // warm up
   for (int i = 1; i <= 10000; ++i) {
-    nt::SetDouble(pub, i * 0.01);
+    wpi::nt::SetDouble(pub, i * 0.01);
     if (i % 2000 == 0) {
       std::this_thread::sleep_for(0.02s);
     }
@@ -374,26 +374,26 @@ void latency() {
 
   // benchmark client to server
   for (int i = 1; i <= 1000; ++i) {
-    int64_t sendTime = nt::Now();
-    nt::SetDouble(pub, i, sendTime);
-    nt::Flush(client1);
-    while (nt::GetDouble(sub, 0) != i) {
-      wpi::WaitForObject(sub);
+    int64_t sendTime = wpi::nt::Now();
+    wpi::nt::SetDouble(pub, i, sendTime);
+    wpi::nt::Flush(client1);
+    while (wpi::nt::GetDouble(sub, 0) != i) {
+      wpi::util::WaitForObject(sub);
     }
-    times.emplace_back(nt::Now() - sendTime);
+    times.emplace_back(wpi::nt::Now() - sendTime);
   }
   PrintTimes(times);
 
   // benchmark client to client
   times.resize(0);
   for (int i = 2001; i <= 3000; ++i) {
-    int64_t sendTime = nt::Now();
-    nt::SetDouble(pub, i, sendTime);
-    nt::Flush(client1);
-    while (nt::GetDouble(sub2, 0) != i) {
-      wpi::WaitForObject(sub2);
+    int64_t sendTime = wpi::nt::Now();
+    wpi::nt::SetDouble(pub, i, sendTime);
+    wpi::nt::Flush(client1);
+    while (wpi::nt::GetDouble(sub2, 0) != i) {
+      wpi::util::WaitForObject(sub2);
     }
-    times.emplace_back(nt::Now() - sendTime);
+    times.emplace_back(wpi::nt::Now() - sendTime);
   }
 
   PrintTimes(times);
diff --git a/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja b/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
index cca55764ba..42cec20db6 100644
--- a/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
@@ -11,7 +11,7 @@
 #include "org_wpilib_networktables_NetworkTablesJNI.h"
 #include "wpi/nt/ntcore.h"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 //
 // Globals and load/unload
@@ -45,7 +45,7 @@ static const JExceptionInit exceptions[] = {
     {"java/lang/NullPointerException", &nullPointerEx},
 };
 
-namespace nt {
+namespace wpi::nt {
 
 bool JNI_LoadTypes(JNIEnv* env) {
   // Cache references to classes
@@ -76,7 +76,7 @@ void JNI_UnloadTypes(JNIEnv* env) {
   }
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
 
 static std::vector<int> FromJavaBooleanArray(JNIEnv* env, jbooleanArray jarr) {
   CriticalJSpan<const jboolean> ref{env, jarr};
@@ -109,7 +109,7 @@ static std::vector<std::string> FromJavaStringArray(JNIEnv* env, jobjectArray ja
 }
 
 {% for t in types %}
-static jobject MakeJObject(JNIEnv* env, nt::Timestamped{{ t.TypeName }} value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::Timestamped{{ t.TypeName }} value) {
   static jmethodID constructor = env->GetMethodID(
       timestamped{{ t.TypeName }}Cls, "<init>", "(JJ{{ t.jni.jtypestr }})V");
 {%- if t.jni.JavaObject %}
@@ -127,7 +127,7 @@ static jobject MakeJObject(JNIEnv* env, nt::Timestamped{{ t.TypeName }} value) {
 {% endfor %}
 {%- for t in types %}
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::Timestamped{{ t.TypeName }}> arr) {
+                                std::span<const wpi::nt::Timestamped{{ t.TypeName }}> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestamped{{ t.TypeName }}Cls, nullptr);
   if (!jarr) {
@@ -168,7 +168,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomic{{ t.TypeName }}
   (JNIEnv* env, jclass, jint subentry, {{ t.jni.jtype }} defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomic{{ t.TypeName }}(subentry, {{ t.jni.FromJavaBegin }}defaultValue{{ t.jni.FromJavaEnd }}));
+  return MakeJObject(env, wpi::nt::GetAtomic{{ t.TypeName }}(subentry, {{ t.jni.FromJavaBegin }}defaultValue{{ t.jni.FromJavaEnd }}));
 }
 
 /*
@@ -180,7 +180,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueue{{ t.TypeName }}
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueue{{ t.TypeName }}(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueue{{ t.TypeName }}(subentry));
 }
 
 /*
@@ -192,7 +192,7 @@ JNIEXPORT {% if t.jni.JavaObject %}jobject{% else %}{{ t.jni.jtype }}{% endif %}
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValues{{ t.TypeName }}
   (JNIEnv* env, jclass, jint subentry)
 {
-  return {{ t.jni.ToJavaArray }}(env, nt::ReadQueueValues{{ t.TypeName }}(subentry));
+  return {{ t.jni.ToJavaArray }}(env, wpi::nt::ReadQueueValues{{ t.TypeName }}(subentry));
 }
 {% if t.TypeName == "Raw" %}
 /*
@@ -221,7 +221,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setRaw
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
   }
-  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+  return wpi::nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
 }
 
 /*
@@ -250,7 +250,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setRawBuffer
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;
   }
-  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+  return wpi::nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
 }
 {% else %}
 /*
@@ -268,7 +268,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_set{{ t.TypeName }}
     return false;
   }
 {%- endif %}
-  return nt::Set{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}value{{ t.jni.FromJavaEnd }}, time);
+  return wpi::nt::Set{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}value{{ t.jni.FromJavaEnd }}, time);
 }
 {% endif %}
 /*
@@ -281,13 +281,13 @@ Java_org_wpilib_networktables_NetworkTablesJNI_get{{ t.TypeName }}
   (JNIEnv*{% if t.jni.JavaObject %} env{% endif %}, jclass, jint entry, {{ t.jni.jtype }} defaultValue)
 {
 {%- if t.jni.JavaObject %}
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.Is{{ t.TypeName }}()) {
     return defaultValue;
   }
   return {{ t.jni.ToJavaBegin }}val.Get{{ t.TypeName }}(){{ t.jni.ToJavaEnd }};
 {%- else %}
-  return nt::Get{{ t.TypeName }}(entry, defaultValue);
+  return wpi::nt::Get{{ t.TypeName }}(entry, defaultValue);
 {%- endif %}
 }
 {% if t.TypeName == "Raw" %}
@@ -317,7 +317,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultRaw
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
   }
-  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+  return wpi::nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
 }
 
 /*
@@ -346,7 +346,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultRawBuffer
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;
   }
-  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+  return wpi::nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
 }
 {% else %}
 /*
@@ -364,7 +364,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefault{{ t.TypeName }}
     return false;
   }
 {%- endif %}
-  return nt::SetDefault{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}defaultValue{{ t.jni.FromJavaEnd }});
+  return wpi::nt::SetDefault{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}defaultValue{{ t.jni.FromJavaEnd }});
 }
 {% endif %}
 {% endfor %}
diff --git a/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja b/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
index 0b421bcdc0..d03030a90d 100644
--- a/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
@@ -9,7 +9,7 @@
 #include "Value_internal.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 template <typename T>
 static inline std::span<const T> ConvertFromC(const T* arr, size_t size) {
@@ -17,7 +17,7 @@ static inline std::span<const T> ConvertFromC(const T* arr, size_t size) {
 }
 
 static inline std::string_view ConvertFromC(const struct WPI_String* str) {
-  return wpi::to_string_view(str);
+  return wpi::util::to_string_view(str);
 }
 
 static std::vector<std::string> ConvertFromC(const struct WPI_String* arr, size_t size) {
@@ -30,7 +30,7 @@ static std::vector<std::string> ConvertFromC(const struct WPI_String* arr, size_
 }
 
 {% for t in types %}
-static void ConvertToC(const nt::Timestamped{{ t.TypeName }}& in, NT_Timestamped{{ t.TypeName }}* out) {
+static void ConvertToC(const wpi::nt::Timestamped{{ t.TypeName }}& in, NT_Timestamped{{ t.TypeName }}* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
 {%- if t.c.IsArray %}
@@ -47,49 +47,49 @@ extern "C" {
 {% for t in types %}
 NT_Bool NT_Set{{ t.TypeName }}(NT_Handle pubentry, int64_t time, {{ t.c.ParamType }} value{% if t.c.IsArray %}, size_t len{% endif %}) {
 {%- if t.c.IsArray %}
-  return nt::Set{{ t.TypeName }}(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::Set{{ t.TypeName }}(pubentry, ConvertFromC(value, len), time);
 {%- elif t.c.ValueInline %}
-  return nt::Set{{ t.TypeName }}(pubentry, ConvertFromC(value), time);
+  return wpi::nt::Set{{ t.TypeName }}(pubentry, ConvertFromC(value), time);
 {%- else %}
-  return nt::Set{{ t.TypeName }}(pubentry, value, time);
+  return wpi::nt::Set{{ t.TypeName }}(pubentry, value, time);
 {%- endif %}
 }
 
 NT_Bool NT_SetDefault{{ t.TypeName }}(NT_Handle pubentry, {{ t.c.ParamType }} defaultValue{% if t.c.IsArray %}, size_t defaultValueLen{% endif %}) {
 {%- if t.c.IsArray %}
-  return nt::SetDefault{{ t.TypeName }}(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefault{{ t.TypeName }}(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 {%- elif t.c.ValueInline %}
-  return nt::SetDefault{{ t.TypeName }}(pubentry, ConvertFromC(defaultValue));
+  return wpi::nt::SetDefault{{ t.TypeName }}(pubentry, ConvertFromC(defaultValue));
 {%- else %}
-  return nt::SetDefault{{ t.TypeName }}(pubentry, defaultValue);
+  return wpi::nt::SetDefault{{ t.TypeName }}(pubentry, defaultValue);
 {%- endif %}
 }
 
 {%- if t.c.ValueInline %}
 
 void NT_Get{{ t.TypeName }}(NT_Handle subentry, {{ t.c.ParamType }} defaultValue, {{ t.c.ValueType }} value) {
-  auto cppValue = nt::Get{{ t.TypeName }}(subentry, ConvertFromC(defaultValue));
+  auto cppValue = wpi::nt::Get{{ t.TypeName }}(subentry, ConvertFromC(defaultValue));
   ConvertToC(cppValue, value);
 }
 {%- else %}
 
 {{ t.c.ValueType }} NT_Get{{ t.TypeName }}(NT_Handle subentry, {{ t.c.ParamType }} defaultValue{% if t.c.IsArray %}, size_t defaultValueLen, size_t* len{% endif %}) {
 {%- if t.c.IsArray %}
-  auto cppValue = nt::Get{{ t.TypeName }}(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::Get{{ t.TypeName }}(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<{{ t.c.ValueType[:-1] }}>(cppValue, len);
 {%- else %}
-  return nt::Get{{ t.TypeName }}(subentry, defaultValue);
+  return wpi::nt::Get{{ t.TypeName }}(subentry, defaultValue);
 {%- endif %}
 }
 {%- endif %}
 
 void NT_GetAtomic{{ t.TypeName }}(NT_Handle subentry, {{ t.c.ParamType }} defaultValue{% if t.c.IsArray %}, size_t defaultValueLen{% endif %}, struct NT_Timestamped{{ t.TypeName }}* value) {
 {%- if t.c.IsArray %}
-  auto cppValue = nt::GetAtomic{{ t.TypeName }}(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomic{{ t.TypeName }}(subentry, ConvertFromC(defaultValue, defaultValueLen));
 {%- elif t.c.ValueInline %}
-  auto cppValue = nt::GetAtomic{{ t.TypeName }}(subentry, ConvertFromC(defaultValue));
+  auto cppValue = wpi::nt::GetAtomic{{ t.TypeName }}(subentry, ConvertFromC(defaultValue));
 {%- else %}
-  auto cppValue = nt::GetAtomic{{ t.TypeName }}(subentry, defaultValue);
+  auto cppValue = wpi::nt::GetAtomic{{ t.TypeName }}(subentry, defaultValue);
 {%- endif %}
   ConvertToC(cppValue, value);
 }
@@ -105,7 +105,7 @@ void NT_DisposeTimestamped{{ t.TypeName }}(struct NT_Timestamped{{ t.TypeName }}
 }
 
 struct NT_Timestamped{{ t.TypeName }}* NT_ReadQueue{{ t.TypeName }}(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueue{{ t.TypeName }}(subentry);
+  auto arr = wpi::nt::ReadQueue{{ t.TypeName }}(subentry);
   return ConvertToC<NT_Timestamped{{ t.TypeName }}>(arr, len);
 }
 
@@ -118,7 +118,7 @@ void NT_FreeQueue{{ t.TypeName }}(struct NT_Timestamped{{ t.TypeName }}* arr, si
 
 {%- if not t.c.IsArray and not t.c.ValueInline %}
 {{ t.c.ValueType }}* NT_ReadQueueValues{{ t.TypeName }}(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueValues{{ t.TypeName }}(subentry);
+  auto arr = wpi::nt::ReadQueueValues{{ t.TypeName }}(subentry);
   return ConvertToC<{{ t.c.ValueType }}>(arr, len);
 }
 {%- endif %}
diff --git a/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja b/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
index c627e52786..bdf01ad3cc 100644
--- a/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
@@ -10,10 +10,10 @@
 #include "InstanceImpl.hpp"
 
 namespace {
-template <nt::ValidType T>
+template <wpi::nt::ValidType T>
 struct ValuesType {
   using Vector =
-      std::vector<typename nt::TypeInfo<std::remove_cvref_t<T>>::Value>;
+      std::vector<typename wpi::nt::TypeInfo<std::remove_cvref_t<T>>::Value>;
 };
 
 template <>
@@ -22,7 +22,7 @@ struct ValuesType<bool> {
 };
 }  // namespace
 
-namespace nt {
+namespace wpi::nt {
 
 template <ValidType T>
 static inline bool Set(NT_Handle pubentry, typename TypeInfo<T>::View value,
@@ -59,7 +59,7 @@ static inline Timestamped<typename TypeInfo<T>::Value> GetAtomic(
 template <ValidType T>
 inline Timestamped<typename TypeInfo<T>::SmallRet> GetAtomic(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
+    wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
     typename TypeInfo<T>::View defaultValue) {
   if (auto ii = InstanceImpl::Get(Handle{subentry}.GetInst())) {
     return ii->localStorage.GetAtomic<T>(subentry, buf, defaultValue);
@@ -117,18 +117,18 @@ std::vector<{% if t.cpp.ValueType == "bool" %}int{% else %}{{ t.cpp.ValueType }}
 {% if t.cpp.SmallRetType and t.cpp.SmallElemType %}
 {{ t.cpp.SmallRetType }} Get{{ t.TypeName }}(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
+    wpi::util::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
     {{ t.cpp.ParamType }} defaultValue) {
   return GetAtomic<{{ t.cpp.TemplateType }}>(subentry, buf, defaultValue).value;
 }
 
 Timestamped{{ t.TypeName }}View GetAtomic{{ t.TypeName }}(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
+    wpi::util::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
     {{ t.cpp.ParamType }} defaultValue) {
   return GetAtomic<{{ t.cpp.TemplateType }}>(subentry, buf, defaultValue);
 }
 {% endif %}
 {% endfor %}
-}  // namespace nt
+}  // namespace wpi::nt
 
diff --git a/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja b/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
index b45152293d..5a00b092a9 100644
--- a/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
+++ b/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
@@ -16,12 +16,12 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 /**
  * Timestamped value.
  * @ingroup ntcore_cpp_handle_api
@@ -55,7 +55,7 @@ struct Timestamped {
 using Timestamped{{ t.TypeName }} = Timestamped<{{ t.cpp.ValueType }}>;
 {% if t.cpp.SmallRetType %}
 /**
- * Timestamped {{ t.TypeName }} view (for SmallVector-taking functions).
+ * Timestamped {{ t.TypeName }} view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using Timestamped{{ t.TypeName }}View = Timestamped<{{ t.cpp.SmallRetType }}>;
@@ -131,14 +131,14 @@ std::vector<Timestamped{{ t.TypeName }}> ReadQueue{{ t.TypeName }}(NT_Handle sub
  */
 std::vector<{% if t.cpp.ValueType == "bool" %}int{% else %}{{ t.cpp.ValueType }}{% endif %}> ReadQueueValues{{ t.TypeName }}(NT_Handle subentry);
 {% if t.cpp.SmallRetType and t.cpp.SmallElemType %}
-{{ t.cpp.SmallRetType }} Get{{ t.TypeName }}(NT_Handle subentry, wpi::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf, {{ t.cpp.ParamType }} defaultValue);
+{{ t.cpp.SmallRetType }} Get{{ t.TypeName }}(NT_Handle subentry, wpi::util::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf, {{ t.cpp.ParamType }} defaultValue);
 
 Timestamped{{ t.TypeName }}View GetAtomic{{ t.TypeName }}(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
+      wpi::util::SmallVectorImpl<{{ t.cpp.SmallElemType }}>& buf,
       {{ t.cpp.ParamType }} defaultValue);
 {% endif %}
 /** @} */
 {% endfor %}
-}  // namespace nt
+}  // namespace wpi::nt
 
diff --git a/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja b/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
index 74f19ed5ac..581a12e07b 100644
--- a/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
+++ b/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class {{ TypeName }}Topic;
 
@@ -74,7 +74,7 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::Get{{ TypeName }}(m_subHandle, defaultValue);
+    return ::wpi::nt::Get{{ TypeName }}(m_subHandle, defaultValue);
   }
 {% if cpp.SmallRetType and cpp.SmallElemType %}
   /**
@@ -84,7 +84,7 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::Get{{ TypeName }}(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::Get{{ TypeName }}(m_subHandle, buf, defaultValue);
   }
 {% endif %}
   /**
@@ -120,7 +120,7 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomic{{ TypeName }}(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomic{{ TypeName }}(m_subHandle, defaultValue);
   }
 {% if cpp.SmallRetType and cpp.SmallElemType %}
   /**
@@ -132,7 +132,7 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomic{{ TypeName }}(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomic{{ TypeName }}(m_subHandle, buf, defaultValue);
   }
 {% endif %}
   /**
@@ -162,7 +162,7 @@ class {{ TypeName }}Subscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueue{{ TypeName }}(m_subHandle);
+    return ::wpi::nt::ReadQueue{{ TypeName }}(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class {{ TypeName }}Publisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::Set{{ TypeName }}(m_pubHandle, value, time);
+    ::wpi::nt::Set{{ TypeName }}(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class {{ TypeName }}Publisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefault{{ TypeName }}(m_pubHandle, value);
+    ::wpi::nt::SetDefault{{ TypeName }}(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class {{ TypeName }}Entry final : public {{ TypeName }}Subscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -346,7 +346,7 @@ class {{ TypeName }}Topic final : public Topic {
       {% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Subscriber{
-        ::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
+        ::wpi::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
         defaultValue};
   }
 {%- if TypeString %}
@@ -371,7 +371,7 @@ class {{ TypeName }}Topic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Subscriber{
-        ::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
         defaultValue};
   }
 {% endif %}
@@ -396,7 +396,7 @@ class {{ TypeName }}Topic final : public Topic {
   [[nodiscard]]
   PublisherType Publish({% if not TypeString %}std::string_view typeString, {% endif %}const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Publisher{
-        ::nt::Publish(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options)};
+        ::wpi::nt::Publish(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options)};
   }
 
   /**
@@ -419,9 +419,9 @@ class {{ TypeName }}Topic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Publisher{
-        ::nt::PublishEx(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, properties, options)};
   }
 
   /**
@@ -451,7 +451,7 @@ class {{ TypeName }}Topic final : public Topic {
   EntryType GetEntry({% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Entry{
-        ::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
+        ::wpi::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
         defaultValue};
   }
 {%- if TypeString %}
@@ -480,23 +480,23 @@ class {{ TypeName }}Topic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return {{ TypeName }}Entry{
-        ::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
         defaultValue};
   }
 {% endif %}
 };
 
 inline {{ TypeName }}Topic {{ TypeName }}Subscriber::GetTopic() const {
-  return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_subHandle)};
+  return {{ TypeName }}Topic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline {{ TypeName }}Topic {{ TypeName }}Publisher::GetTopic() const {
-  return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return {{ TypeName }}Topic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline {{ TypeName }}Topic {{ TypeName }}Entry::GetTopic() const {
-  return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_subHandle)};
+  return {{ TypeName }}Topic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
 
diff --git a/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp b/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
index f561f3e4dc..51cdefe9db 100644
--- a/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
+++ b/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
@@ -11,7 +11,7 @@
 #include "org_wpilib_networktables_NetworkTablesJNI.h"
 #include "wpi/nt/ntcore.h"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 //
 // Globals and load/unload
@@ -64,7 +64,7 @@ static const JExceptionInit exceptions[] = {
     {"java/lang/NullPointerException", &nullPointerEx},
 };
 
-namespace nt {
+namespace wpi::nt {
 
 bool JNI_LoadTypes(JNIEnv* env) {
   // Cache references to classes
@@ -95,7 +95,7 @@ void JNI_UnloadTypes(JNIEnv* env) {
   }
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
 
 static std::vector<int> FromJavaBooleanArray(JNIEnv* env, jbooleanArray jarr) {
   CriticalJSpan<const jboolean> ref{env, jarr};
@@ -128,7 +128,7 @@ static std::vector<std::string> FromJavaStringArray(JNIEnv* env, jobjectArray ja
 }
 
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedBoolean value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedBoolean value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedBooleanCls, "<init>", "(JJZ)V");
   return env->NewObject(timestampedBooleanCls, constructor,
@@ -137,7 +137,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedBoolean value) {
                         static_cast<jboolean>(value.value));
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedInteger value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedInteger value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedIntegerCls, "<init>", "(JJJ)V");
   return env->NewObject(timestampedIntegerCls, constructor,
@@ -146,7 +146,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedInteger value) {
                         static_cast<jlong>(value.value));
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedFloat value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedFloat value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedFloatCls, "<init>", "(JJF)V");
   return env->NewObject(timestampedFloatCls, constructor,
@@ -155,7 +155,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedFloat value) {
                         static_cast<jfloat>(value.value));
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedDouble value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedDouble value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedDoubleCls, "<init>", "(JJD)V");
   return env->NewObject(timestampedDoubleCls, constructor,
@@ -164,7 +164,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedDouble value) {
                         static_cast<jdouble>(value.value));
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedString value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedString value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedStringCls, "<init>", "(JJLjava/lang/String;)V");
   JLocal<jstring> val{env, MakeJString(env, value.value)};
@@ -173,7 +173,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedString value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedRaw value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedRaw value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedRawCls, "<init>", "(JJ[B)V");
   JLocal<jbyteArray> val{env, MakeJByteArray(env, value.value)};
@@ -182,7 +182,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedRaw value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedBooleanArray value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedBooleanArray value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedBooleanArrayCls, "<init>", "(JJ[Z)V");
   JLocal<jbooleanArray> val{env, MakeJBooleanArray(env, value.value)};
@@ -191,7 +191,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedBooleanArray value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedIntegerArray value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedIntegerArray value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedIntegerArrayCls, "<init>", "(JJ[J)V");
   JLocal<jlongArray> val{env, MakeJLongArray(env, value.value)};
@@ -200,7 +200,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedIntegerArray value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedFloatArray value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedFloatArray value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedFloatArrayCls, "<init>", "(JJ[F)V");
   JLocal<jfloatArray> val{env, MakeJFloatArray(env, value.value)};
@@ -209,7 +209,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedFloatArray value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedDoubleArray value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedDoubleArray value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedDoubleArrayCls, "<init>", "(JJ[D)V");
   JLocal<jdoubleArray> val{env, MakeJDoubleArray(env, value.value)};
@@ -218,7 +218,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedDoubleArray value) {
                         static_cast<jlong>(value.serverTime), val.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, nt::TimestampedStringArray value) {
+static jobject MakeJObject(JNIEnv* env, wpi::nt::TimestampedStringArray value) {
   static jmethodID constructor = env->GetMethodID(
       timestampedStringArrayCls, "<init>", "(JJ[Ljava/lang/Object;)V");
   JLocal<jobjectArray> val{env, MakeJStringArray(env, value.value)};
@@ -228,7 +228,7 @@ static jobject MakeJObject(JNIEnv* env, nt::TimestampedStringArray value) {
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedBoolean> arr) {
+                                std::span<const wpi::nt::TimestampedBoolean> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedBooleanCls, nullptr);
   if (!jarr) {
@@ -242,7 +242,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedInteger> arr) {
+                                std::span<const wpi::nt::TimestampedInteger> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedIntegerCls, nullptr);
   if (!jarr) {
@@ -256,7 +256,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedFloat> arr) {
+                                std::span<const wpi::nt::TimestampedFloat> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedFloatCls, nullptr);
   if (!jarr) {
@@ -270,7 +270,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedDouble> arr) {
+                                std::span<const wpi::nt::TimestampedDouble> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedDoubleCls, nullptr);
   if (!jarr) {
@@ -284,7 +284,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedString> arr) {
+                                std::span<const wpi::nt::TimestampedString> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedStringCls, nullptr);
   if (!jarr) {
@@ -298,7 +298,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedRaw> arr) {
+                                std::span<const wpi::nt::TimestampedRaw> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedRawCls, nullptr);
   if (!jarr) {
@@ -312,7 +312,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedBooleanArray> arr) {
+                                std::span<const wpi::nt::TimestampedBooleanArray> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedBooleanArrayCls, nullptr);
   if (!jarr) {
@@ -326,7 +326,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedIntegerArray> arr) {
+                                std::span<const wpi::nt::TimestampedIntegerArray> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedIntegerArrayCls, nullptr);
   if (!jarr) {
@@ -340,7 +340,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedFloatArray> arr) {
+                                std::span<const wpi::nt::TimestampedFloatArray> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedFloatArrayCls, nullptr);
   if (!jarr) {
@@ -354,7 +354,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedDoubleArray> arr) {
+                                std::span<const wpi::nt::TimestampedDoubleArray> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedDoubleArrayCls, nullptr);
   if (!jarr) {
@@ -368,7 +368,7 @@ static jobjectArray MakeJObject(JNIEnv* env,
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const nt::TimestampedStringArray> arr) {
+                                std::span<const wpi::nt::TimestampedStringArray> arr) {
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), timestampedStringArrayCls, nullptr);
   if (!jarr) {
@@ -471,7 +471,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicBoolean
   (JNIEnv* env, jclass, jint subentry, jboolean defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicBoolean(subentry, defaultValue != JNI_FALSE));
+  return MakeJObject(env, wpi::nt::GetAtomicBoolean(subentry, defaultValue != JNI_FALSE));
 }
 
 /*
@@ -483,7 +483,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueBoolean
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueBoolean(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueBoolean(subentry));
 }
 
 /*
@@ -495,7 +495,7 @@ JNIEXPORT jbooleanArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesBoolean
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJBooleanArray(env, nt::ReadQueueValuesBoolean(subentry));
+  return MakeJBooleanArray(env, wpi::nt::ReadQueueValuesBoolean(subentry));
 }
 
 /*
@@ -507,7 +507,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setBoolean
   (JNIEnv*, jclass, jint entry, jlong time, jboolean value)
 {
-  return nt::SetBoolean(entry, value != JNI_FALSE, time);
+  return wpi::nt::SetBoolean(entry, value != JNI_FALSE, time);
 }
 
 /*
@@ -519,7 +519,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getBoolean
   (JNIEnv*, jclass, jint entry, jboolean defaultValue)
 {
-  return nt::GetBoolean(entry, defaultValue);
+  return wpi::nt::GetBoolean(entry, defaultValue);
 }
 
 /*
@@ -531,7 +531,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultBoolean
   (JNIEnv*, jclass, jint entry, jlong, jboolean defaultValue)
 {
-  return nt::SetDefaultBoolean(entry, defaultValue != JNI_FALSE);
+  return wpi::nt::SetDefaultBoolean(entry, defaultValue != JNI_FALSE);
 }
 
 
@@ -544,7 +544,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicInteger
   (JNIEnv* env, jclass, jint subentry, jlong defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicInteger(subentry, defaultValue));
+  return MakeJObject(env, wpi::nt::GetAtomicInteger(subentry, defaultValue));
 }
 
 /*
@@ -556,7 +556,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueInteger
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueInteger(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueInteger(subentry));
 }
 
 /*
@@ -568,7 +568,7 @@ JNIEXPORT jlongArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesInteger
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJLongArray(env, nt::ReadQueueValuesInteger(subentry));
+  return MakeJLongArray(env, wpi::nt::ReadQueueValuesInteger(subentry));
 }
 
 /*
@@ -580,7 +580,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setInteger
   (JNIEnv*, jclass, jint entry, jlong time, jlong value)
 {
-  return nt::SetInteger(entry, value, time);
+  return wpi::nt::SetInteger(entry, value, time);
 }
 
 /*
@@ -592,7 +592,7 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getInteger
   (JNIEnv*, jclass, jint entry, jlong defaultValue)
 {
-  return nt::GetInteger(entry, defaultValue);
+  return wpi::nt::GetInteger(entry, defaultValue);
 }
 
 /*
@@ -604,7 +604,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultInteger
   (JNIEnv*, jclass, jint entry, jlong, jlong defaultValue)
 {
-  return nt::SetDefaultInteger(entry, defaultValue);
+  return wpi::nt::SetDefaultInteger(entry, defaultValue);
 }
 
 
@@ -617,7 +617,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicFloat
   (JNIEnv* env, jclass, jint subentry, jfloat defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicFloat(subentry, defaultValue));
+  return MakeJObject(env, wpi::nt::GetAtomicFloat(subentry, defaultValue));
 }
 
 /*
@@ -629,7 +629,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueFloat
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueFloat(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueFloat(subentry));
 }
 
 /*
@@ -641,7 +641,7 @@ JNIEXPORT jfloatArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesFloat
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJFloatArray(env, nt::ReadQueueValuesFloat(subentry));
+  return MakeJFloatArray(env, wpi::nt::ReadQueueValuesFloat(subentry));
 }
 
 /*
@@ -653,7 +653,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setFloat
   (JNIEnv*, jclass, jint entry, jlong time, jfloat value)
 {
-  return nt::SetFloat(entry, value, time);
+  return wpi::nt::SetFloat(entry, value, time);
 }
 
 /*
@@ -665,7 +665,7 @@ JNIEXPORT jfloat JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getFloat
   (JNIEnv*, jclass, jint entry, jfloat defaultValue)
 {
-  return nt::GetFloat(entry, defaultValue);
+  return wpi::nt::GetFloat(entry, defaultValue);
 }
 
 /*
@@ -677,7 +677,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultFloat
   (JNIEnv*, jclass, jint entry, jlong, jfloat defaultValue)
 {
-  return nt::SetDefaultFloat(entry, defaultValue);
+  return wpi::nt::SetDefaultFloat(entry, defaultValue);
 }
 
 
@@ -690,7 +690,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicDouble
   (JNIEnv* env, jclass, jint subentry, jdouble defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicDouble(subentry, defaultValue));
+  return MakeJObject(env, wpi::nt::GetAtomicDouble(subentry, defaultValue));
 }
 
 /*
@@ -702,7 +702,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueDouble
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueDouble(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueDouble(subentry));
 }
 
 /*
@@ -714,7 +714,7 @@ JNIEXPORT jdoubleArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesDouble
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJDoubleArray(env, nt::ReadQueueValuesDouble(subentry));
+  return MakeJDoubleArray(env, wpi::nt::ReadQueueValuesDouble(subentry));
 }
 
 /*
@@ -726,7 +726,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setDouble
   (JNIEnv*, jclass, jint entry, jlong time, jdouble value)
 {
-  return nt::SetDouble(entry, value, time);
+  return wpi::nt::SetDouble(entry, value, time);
 }
 
 /*
@@ -738,7 +738,7 @@ JNIEXPORT jdouble JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getDouble
   (JNIEnv*, jclass, jint entry, jdouble defaultValue)
 {
-  return nt::GetDouble(entry, defaultValue);
+  return wpi::nt::GetDouble(entry, defaultValue);
 }
 
 /*
@@ -750,7 +750,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultDouble
   (JNIEnv*, jclass, jint entry, jlong, jdouble defaultValue)
 {
-  return nt::SetDefaultDouble(entry, defaultValue);
+  return wpi::nt::SetDefaultDouble(entry, defaultValue);
 }
 
 
@@ -763,7 +763,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicString
   (JNIEnv* env, jclass, jint subentry, jstring defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicString(subentry, JStringRef{env, defaultValue}));
+  return MakeJObject(env, wpi::nt::GetAtomicString(subentry, JStringRef{env, defaultValue}));
 }
 
 /*
@@ -775,7 +775,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueString
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueString(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueString(subentry));
 }
 
 /*
@@ -787,7 +787,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesString
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJStringArray(env, nt::ReadQueueValuesString(subentry));
+  return MakeJStringArray(env, wpi::nt::ReadQueueValuesString(subentry));
 }
 
 /*
@@ -803,7 +803,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setString
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetString(entry, JStringRef{env, value}, time);
+  return wpi::nt::SetString(entry, JStringRef{env, value}, time);
 }
 
 /*
@@ -815,7 +815,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getString
   (JNIEnv* env, jclass, jint entry, jstring defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsString()) {
     return defaultValue;
   }
@@ -835,7 +835,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultString
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultString(entry, JStringRef{env, defaultValue});
+  return wpi::nt::SetDefaultString(entry, JStringRef{env, defaultValue});
 }
 
 
@@ -848,7 +848,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicRaw
   (JNIEnv* env, jclass, jint subentry, jbyteArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicRaw(subentry, CriticalJSpan<const jbyte>{env, defaultValue}.uarray()));
+  return MakeJObject(env, wpi::nt::GetAtomicRaw(subentry, CriticalJSpan<const jbyte>{env, defaultValue}.uarray()));
 }
 
 /*
@@ -860,7 +860,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueRaw
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueRaw(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueRaw(subentry));
 }
 
 /*
@@ -872,7 +872,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesRaw
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesRaw(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesRaw(subentry));
 }
 
 /*
@@ -901,7 +901,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setRaw
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
   }
-  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+  return wpi::nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
 }
 
 /*
@@ -930,7 +930,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setRawBuffer
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;
   }
-  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+  return wpi::nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
 }
 
 /*
@@ -942,7 +942,7 @@ JNIEXPORT jbyteArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getRaw
   (JNIEnv* env, jclass, jint entry, jbyteArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsRaw()) {
     return defaultValue;
   }
@@ -975,7 +975,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultRaw
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
   }
-  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+  return wpi::nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
 }
 
 /*
@@ -1004,7 +1004,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultRawBuffer
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;
   }
-  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+  return wpi::nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
 }
 
 
@@ -1017,7 +1017,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicBooleanArray
   (JNIEnv* env, jclass, jint subentry, jbooleanArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicBooleanArray(subentry, FromJavaBooleanArray(env, defaultValue)));
+  return MakeJObject(env, wpi::nt::GetAtomicBooleanArray(subentry, FromJavaBooleanArray(env, defaultValue)));
 }
 
 /*
@@ -1029,7 +1029,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueBooleanArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueBooleanArray(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueBooleanArray(subentry));
 }
 
 /*
@@ -1041,7 +1041,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesBooleanArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesBooleanArray(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesBooleanArray(subentry));
 }
 
 /*
@@ -1057,7 +1057,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setBooleanArray
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetBooleanArray(entry, FromJavaBooleanArray(env, value), time);
+  return wpi::nt::SetBooleanArray(entry, FromJavaBooleanArray(env, value), time);
 }
 
 /*
@@ -1069,7 +1069,7 @@ JNIEXPORT jbooleanArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getBooleanArray
   (JNIEnv* env, jclass, jint entry, jbooleanArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsBooleanArray()) {
     return defaultValue;
   }
@@ -1089,7 +1089,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultBooleanArray
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultBooleanArray(entry, FromJavaBooleanArray(env, defaultValue));
+  return wpi::nt::SetDefaultBooleanArray(entry, FromJavaBooleanArray(env, defaultValue));
 }
 
 
@@ -1102,7 +1102,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicIntegerArray
   (JNIEnv* env, jclass, jint subentry, jlongArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicIntegerArray(subentry, CriticalJSpan<const jlong>{env, defaultValue}));
+  return MakeJObject(env, wpi::nt::GetAtomicIntegerArray(subentry, CriticalJSpan<const jlong>{env, defaultValue}));
 }
 
 /*
@@ -1114,7 +1114,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueIntegerArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueIntegerArray(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueIntegerArray(subentry));
 }
 
 /*
@@ -1126,7 +1126,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesIntegerArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesIntegerArray(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesIntegerArray(subentry));
 }
 
 /*
@@ -1142,7 +1142,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setIntegerArray
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetIntegerArray(entry, CriticalJSpan<const jlong>{env, value}, time);
+  return wpi::nt::SetIntegerArray(entry, CriticalJSpan<const jlong>{env, value}, time);
 }
 
 /*
@@ -1154,7 +1154,7 @@ JNIEXPORT jlongArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getIntegerArray
   (JNIEnv* env, jclass, jint entry, jlongArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsIntegerArray()) {
     return defaultValue;
   }
@@ -1174,7 +1174,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultIntegerArray
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultIntegerArray(entry, CriticalJSpan<const jlong>{env, defaultValue});
+  return wpi::nt::SetDefaultIntegerArray(entry, CriticalJSpan<const jlong>{env, defaultValue});
 }
 
 
@@ -1187,7 +1187,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicFloatArray
   (JNIEnv* env, jclass, jint subentry, jfloatArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicFloatArray(subentry, CriticalJSpan<const jfloat>{env, defaultValue}));
+  return MakeJObject(env, wpi::nt::GetAtomicFloatArray(subentry, CriticalJSpan<const jfloat>{env, defaultValue}));
 }
 
 /*
@@ -1199,7 +1199,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueFloatArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueFloatArray(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueFloatArray(subentry));
 }
 
 /*
@@ -1211,7 +1211,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesFloatArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesFloatArray(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesFloatArray(subentry));
 }
 
 /*
@@ -1227,7 +1227,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setFloatArray
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetFloatArray(entry, CriticalJSpan<const jfloat>{env, value}, time);
+  return wpi::nt::SetFloatArray(entry, CriticalJSpan<const jfloat>{env, value}, time);
 }
 
 /*
@@ -1239,7 +1239,7 @@ JNIEXPORT jfloatArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getFloatArray
   (JNIEnv* env, jclass, jint entry, jfloatArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsFloatArray()) {
     return defaultValue;
   }
@@ -1259,7 +1259,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultFloatArray
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultFloatArray(entry, CriticalJSpan<const jfloat>{env, defaultValue});
+  return wpi::nt::SetDefaultFloatArray(entry, CriticalJSpan<const jfloat>{env, defaultValue});
 }
 
 
@@ -1272,7 +1272,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicDoubleArray
   (JNIEnv* env, jclass, jint subentry, jdoubleArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicDoubleArray(subentry, CriticalJSpan<const jdouble>{env, defaultValue}));
+  return MakeJObject(env, wpi::nt::GetAtomicDoubleArray(subentry, CriticalJSpan<const jdouble>{env, defaultValue}));
 }
 
 /*
@@ -1284,7 +1284,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueDoubleArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueDoubleArray(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueDoubleArray(subentry));
 }
 
 /*
@@ -1296,7 +1296,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesDoubleArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesDoubleArray(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesDoubleArray(subentry));
 }
 
 /*
@@ -1312,7 +1312,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDoubleArray
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetDoubleArray(entry, CriticalJSpan<const jdouble>{env, value}, time);
+  return wpi::nt::SetDoubleArray(entry, CriticalJSpan<const jdouble>{env, value}, time);
 }
 
 /*
@@ -1324,7 +1324,7 @@ JNIEXPORT jdoubleArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getDoubleArray
   (JNIEnv* env, jclass, jint entry, jdoubleArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsDoubleArray()) {
     return defaultValue;
   }
@@ -1344,7 +1344,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultDoubleArray
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultDoubleArray(entry, CriticalJSpan<const jdouble>{env, defaultValue});
+  return wpi::nt::SetDefaultDoubleArray(entry, CriticalJSpan<const jdouble>{env, defaultValue});
 }
 
 
@@ -1357,7 +1357,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getAtomicStringArray
   (JNIEnv* env, jclass, jint subentry, jobjectArray defaultValue)
 {
-  return MakeJObject(env, nt::GetAtomicStringArray(subentry, FromJavaStringArray(env, defaultValue)));
+  return MakeJObject(env, wpi::nt::GetAtomicStringArray(subentry, FromJavaStringArray(env, defaultValue)));
 }
 
 /*
@@ -1369,7 +1369,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueStringArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueStringArray(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueStringArray(subentry));
 }
 
 /*
@@ -1381,7 +1381,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValuesStringArray
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObjectArray(env, nt::ReadQueueValuesStringArray(subentry));
+  return MakeJObjectArray(env, wpi::nt::ReadQueueValuesStringArray(subentry));
 }
 
 /*
@@ -1397,7 +1397,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setStringArray
     nullPointerEx.Throw(env, "value cannot be null");
     return false;
   }
-  return nt::SetStringArray(entry, FromJavaStringArray(env, value), time);
+  return wpi::nt::SetStringArray(entry, FromJavaStringArray(env, value), time);
 }
 
 /*
@@ -1409,7 +1409,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getStringArray
   (JNIEnv* env, jclass, jint entry, jobjectArray defaultValue)
 {
-  auto val = nt::GetEntryValue(entry);
+  auto val = wpi::nt::GetEntryValue(entry);
   if (!val || !val.IsStringArray()) {
     return defaultValue;
   }
@@ -1429,7 +1429,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setDefaultStringArray
     nullPointerEx.Throw(env, "defaultValue cannot be null");
     return false;
   }
-  return nt::SetDefaultStringArray(entry, FromJavaStringArray(env, defaultValue));
+  return wpi::nt::SetDefaultStringArray(entry, FromJavaStringArray(env, defaultValue));
 }
 
 
diff --git a/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp b/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
index 6d9dfade79..202f8b909c 100644
--- a/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
+++ b/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
@@ -9,7 +9,7 @@
 #include "Value_internal.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 template <typename T>
 static inline std::span<const T> ConvertFromC(const T* arr, size_t size) {
@@ -17,7 +17,7 @@ static inline std::span<const T> ConvertFromC(const T* arr, size_t size) {
 }
 
 static inline std::string_view ConvertFromC(const struct WPI_String* str) {
-  return wpi::to_string_view(str);
+  return wpi::util::to_string_view(str);
 }
 
 static std::vector<std::string> ConvertFromC(const struct WPI_String* arr, size_t size) {
@@ -30,67 +30,67 @@ static std::vector<std::string> ConvertFromC(const struct WPI_String* arr, size_
 }
 
 
-static void ConvertToC(const nt::TimestampedBoolean& in, NT_TimestampedBoolean* out) {
+static void ConvertToC(const wpi::nt::TimestampedBoolean& in, NT_TimestampedBoolean* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = in.value;
 }
 
-static void ConvertToC(const nt::TimestampedInteger& in, NT_TimestampedInteger* out) {
+static void ConvertToC(const wpi::nt::TimestampedInteger& in, NT_TimestampedInteger* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = in.value;
 }
 
-static void ConvertToC(const nt::TimestampedFloat& in, NT_TimestampedFloat* out) {
+static void ConvertToC(const wpi::nt::TimestampedFloat& in, NT_TimestampedFloat* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = in.value;
 }
 
-static void ConvertToC(const nt::TimestampedDouble& in, NT_TimestampedDouble* out) {
+static void ConvertToC(const wpi::nt::TimestampedDouble& in, NT_TimestampedDouble* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = in.value;
 }
 
-static void ConvertToC(const nt::TimestampedString& in, NT_TimestampedString* out) {
+static void ConvertToC(const wpi::nt::TimestampedString& in, NT_TimestampedString* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   ConvertToC(in.value, &out->value);
 }
 
-static void ConvertToC(const nt::TimestampedRaw& in, NT_TimestampedRaw* out) {
+static void ConvertToC(const wpi::nt::TimestampedRaw& in, NT_TimestampedRaw* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<uint8_t>(in.value, &out->len);
 }
 
-static void ConvertToC(const nt::TimestampedBooleanArray& in, NT_TimestampedBooleanArray* out) {
+static void ConvertToC(const wpi::nt::TimestampedBooleanArray& in, NT_TimestampedBooleanArray* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<NT_Bool>(in.value, &out->len);
 }
 
-static void ConvertToC(const nt::TimestampedIntegerArray& in, NT_TimestampedIntegerArray* out) {
+static void ConvertToC(const wpi::nt::TimestampedIntegerArray& in, NT_TimestampedIntegerArray* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<int64_t>(in.value, &out->len);
 }
 
-static void ConvertToC(const nt::TimestampedFloatArray& in, NT_TimestampedFloatArray* out) {
+static void ConvertToC(const wpi::nt::TimestampedFloatArray& in, NT_TimestampedFloatArray* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<float>(in.value, &out->len);
 }
 
-static void ConvertToC(const nt::TimestampedDoubleArray& in, NT_TimestampedDoubleArray* out) {
+static void ConvertToC(const wpi::nt::TimestampedDoubleArray& in, NT_TimestampedDoubleArray* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<double>(in.value, &out->len);
 }
 
-static void ConvertToC(const nt::TimestampedStringArray& in, NT_TimestampedStringArray* out) {
+static void ConvertToC(const wpi::nt::TimestampedStringArray& in, NT_TimestampedStringArray* out) {
   out->time = in.time;
   out->serverTime = in.serverTime;
   out->value = ConvertToC<struct WPI_String>(in.value, &out->len);
@@ -100,19 +100,19 @@ static void ConvertToC(const nt::TimestampedStringArray& in, NT_TimestampedStrin
 extern "C" {
 
 NT_Bool NT_SetBoolean(NT_Handle pubentry, int64_t time, NT_Bool value) {
-  return nt::SetBoolean(pubentry, value, time);
+  return wpi::nt::SetBoolean(pubentry, value, time);
 }
 
 NT_Bool NT_SetDefaultBoolean(NT_Handle pubentry, NT_Bool defaultValue) {
-  return nt::SetDefaultBoolean(pubentry, defaultValue);
+  return wpi::nt::SetDefaultBoolean(pubentry, defaultValue);
 }
 
 NT_Bool NT_GetBoolean(NT_Handle subentry, NT_Bool defaultValue) {
-  return nt::GetBoolean(subentry, defaultValue);
+  return wpi::nt::GetBoolean(subentry, defaultValue);
 }
 
 void NT_GetAtomicBoolean(NT_Handle subentry, NT_Bool defaultValue, struct NT_TimestampedBoolean* value) {
-  auto cppValue = nt::GetAtomicBoolean(subentry, defaultValue);
+  auto cppValue = wpi::nt::GetAtomicBoolean(subentry, defaultValue);
   ConvertToC(cppValue, value);
 }
 
@@ -120,7 +120,7 @@ void NT_DisposeTimestampedBoolean(struct NT_TimestampedBoolean* value) {
 }
 
 struct NT_TimestampedBoolean* NT_ReadQueueBoolean(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueBoolean(subentry);
+  auto arr = wpi::nt::ReadQueueBoolean(subentry);
   return ConvertToC<NT_TimestampedBoolean>(arr, len);
 }
 
@@ -131,25 +131,25 @@ void NT_FreeQueueBoolean(struct NT_TimestampedBoolean* arr, size_t len) {
   std::free(arr);
 }
 NT_Bool* NT_ReadQueueValuesBoolean(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueValuesBoolean(subentry);
+  auto arr = wpi::nt::ReadQueueValuesBoolean(subentry);
   return ConvertToC<NT_Bool>(arr, len);
 }
 
 
 NT_Bool NT_SetInteger(NT_Handle pubentry, int64_t time, int64_t value) {
-  return nt::SetInteger(pubentry, value, time);
+  return wpi::nt::SetInteger(pubentry, value, time);
 }
 
 NT_Bool NT_SetDefaultInteger(NT_Handle pubentry, int64_t defaultValue) {
-  return nt::SetDefaultInteger(pubentry, defaultValue);
+  return wpi::nt::SetDefaultInteger(pubentry, defaultValue);
 }
 
 int64_t NT_GetInteger(NT_Handle subentry, int64_t defaultValue) {
-  return nt::GetInteger(subentry, defaultValue);
+  return wpi::nt::GetInteger(subentry, defaultValue);
 }
 
 void NT_GetAtomicInteger(NT_Handle subentry, int64_t defaultValue, struct NT_TimestampedInteger* value) {
-  auto cppValue = nt::GetAtomicInteger(subentry, defaultValue);
+  auto cppValue = wpi::nt::GetAtomicInteger(subentry, defaultValue);
   ConvertToC(cppValue, value);
 }
 
@@ -157,7 +157,7 @@ void NT_DisposeTimestampedInteger(struct NT_TimestampedInteger* value) {
 }
 
 struct NT_TimestampedInteger* NT_ReadQueueInteger(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueInteger(subentry);
+  auto arr = wpi::nt::ReadQueueInteger(subentry);
   return ConvertToC<NT_TimestampedInteger>(arr, len);
 }
 
@@ -168,25 +168,25 @@ void NT_FreeQueueInteger(struct NT_TimestampedInteger* arr, size_t len) {
   std::free(arr);
 }
 int64_t* NT_ReadQueueValuesInteger(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueValuesInteger(subentry);
+  auto arr = wpi::nt::ReadQueueValuesInteger(subentry);
   return ConvertToC<int64_t>(arr, len);
 }
 
 
 NT_Bool NT_SetFloat(NT_Handle pubentry, int64_t time, float value) {
-  return nt::SetFloat(pubentry, value, time);
+  return wpi::nt::SetFloat(pubentry, value, time);
 }
 
 NT_Bool NT_SetDefaultFloat(NT_Handle pubentry, float defaultValue) {
-  return nt::SetDefaultFloat(pubentry, defaultValue);
+  return wpi::nt::SetDefaultFloat(pubentry, defaultValue);
 }
 
 float NT_GetFloat(NT_Handle subentry, float defaultValue) {
-  return nt::GetFloat(subentry, defaultValue);
+  return wpi::nt::GetFloat(subentry, defaultValue);
 }
 
 void NT_GetAtomicFloat(NT_Handle subentry, float defaultValue, struct NT_TimestampedFloat* value) {
-  auto cppValue = nt::GetAtomicFloat(subentry, defaultValue);
+  auto cppValue = wpi::nt::GetAtomicFloat(subentry, defaultValue);
   ConvertToC(cppValue, value);
 }
 
@@ -194,7 +194,7 @@ void NT_DisposeTimestampedFloat(struct NT_TimestampedFloat* value) {
 }
 
 struct NT_TimestampedFloat* NT_ReadQueueFloat(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueFloat(subentry);
+  auto arr = wpi::nt::ReadQueueFloat(subentry);
   return ConvertToC<NT_TimestampedFloat>(arr, len);
 }
 
@@ -205,25 +205,25 @@ void NT_FreeQueueFloat(struct NT_TimestampedFloat* arr, size_t len) {
   std::free(arr);
 }
 float* NT_ReadQueueValuesFloat(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueValuesFloat(subentry);
+  auto arr = wpi::nt::ReadQueueValuesFloat(subentry);
   return ConvertToC<float>(arr, len);
 }
 
 
 NT_Bool NT_SetDouble(NT_Handle pubentry, int64_t time, double value) {
-  return nt::SetDouble(pubentry, value, time);
+  return wpi::nt::SetDouble(pubentry, value, time);
 }
 
 NT_Bool NT_SetDefaultDouble(NT_Handle pubentry, double defaultValue) {
-  return nt::SetDefaultDouble(pubentry, defaultValue);
+  return wpi::nt::SetDefaultDouble(pubentry, defaultValue);
 }
 
 double NT_GetDouble(NT_Handle subentry, double defaultValue) {
-  return nt::GetDouble(subentry, defaultValue);
+  return wpi::nt::GetDouble(subentry, defaultValue);
 }
 
 void NT_GetAtomicDouble(NT_Handle subentry, double defaultValue, struct NT_TimestampedDouble* value) {
-  auto cppValue = nt::GetAtomicDouble(subentry, defaultValue);
+  auto cppValue = wpi::nt::GetAtomicDouble(subentry, defaultValue);
   ConvertToC(cppValue, value);
 }
 
@@ -231,7 +231,7 @@ void NT_DisposeTimestampedDouble(struct NT_TimestampedDouble* value) {
 }
 
 struct NT_TimestampedDouble* NT_ReadQueueDouble(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueDouble(subentry);
+  auto arr = wpi::nt::ReadQueueDouble(subentry);
   return ConvertToC<NT_TimestampedDouble>(arr, len);
 }
 
@@ -242,26 +242,26 @@ void NT_FreeQueueDouble(struct NT_TimestampedDouble* arr, size_t len) {
   std::free(arr);
 }
 double* NT_ReadQueueValuesDouble(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueValuesDouble(subentry);
+  auto arr = wpi::nt::ReadQueueValuesDouble(subentry);
   return ConvertToC<double>(arr, len);
 }
 
 
 NT_Bool NT_SetString(NT_Handle pubentry, int64_t time, const struct WPI_String* value) {
-  return nt::SetString(pubentry, ConvertFromC(value), time);
+  return wpi::nt::SetString(pubentry, ConvertFromC(value), time);
 }
 
 NT_Bool NT_SetDefaultString(NT_Handle pubentry, const struct WPI_String* defaultValue) {
-  return nt::SetDefaultString(pubentry, ConvertFromC(defaultValue));
+  return wpi::nt::SetDefaultString(pubentry, ConvertFromC(defaultValue));
 }
 
 void NT_GetString(NT_Handle subentry, const struct WPI_String* defaultValue, struct WPI_String* value) {
-  auto cppValue = nt::GetString(subentry, ConvertFromC(defaultValue));
+  auto cppValue = wpi::nt::GetString(subentry, ConvertFromC(defaultValue));
   ConvertToC(cppValue, value);
 }
 
 void NT_GetAtomicString(NT_Handle subentry, const struct WPI_String* defaultValue, struct NT_TimestampedString* value) {
-  auto cppValue = nt::GetAtomicString(subentry, ConvertFromC(defaultValue));
+  auto cppValue = wpi::nt::GetAtomicString(subentry, ConvertFromC(defaultValue));
   ConvertToC(cppValue, value);
 }
 
@@ -270,7 +270,7 @@ void NT_DisposeTimestampedString(struct NT_TimestampedString* value) {
 }
 
 struct NT_TimestampedString* NT_ReadQueueString(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueString(subentry);
+  auto arr = wpi::nt::ReadQueueString(subentry);
   return ConvertToC<NT_TimestampedString>(arr, len);
 }
 
@@ -283,20 +283,20 @@ void NT_FreeQueueString(struct NT_TimestampedString* arr, size_t len) {
 
 
 NT_Bool NT_SetRaw(NT_Handle pubentry, int64_t time, const uint8_t* value, size_t len) {
-  return nt::SetRaw(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetRaw(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultRaw(NT_Handle pubentry, const uint8_t* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultRaw(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultRaw(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 uint8_t* NT_GetRaw(NT_Handle subentry, const uint8_t* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetRaw(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetRaw(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<uint8_t>(cppValue, len);
 }
 
 void NT_GetAtomicRaw(NT_Handle subentry, const uint8_t* defaultValue, size_t defaultValueLen, struct NT_TimestampedRaw* value) {
-  auto cppValue = nt::GetAtomicRaw(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicRaw(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -305,7 +305,7 @@ void NT_DisposeTimestampedRaw(struct NT_TimestampedRaw* value) {
 }
 
 struct NT_TimestampedRaw* NT_ReadQueueRaw(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueRaw(subentry);
+  auto arr = wpi::nt::ReadQueueRaw(subentry);
   return ConvertToC<NT_TimestampedRaw>(arr, len);
 }
 
@@ -318,20 +318,20 @@ void NT_FreeQueueRaw(struct NT_TimestampedRaw* arr, size_t len) {
 
 
 NT_Bool NT_SetBooleanArray(NT_Handle pubentry, int64_t time, const NT_Bool* value, size_t len) {
-  return nt::SetBooleanArray(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetBooleanArray(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultBooleanArray(NT_Handle pubentry, const NT_Bool* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultBooleanArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultBooleanArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 NT_Bool* NT_GetBooleanArray(NT_Handle subentry, const NT_Bool* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetBooleanArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetBooleanArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<NT_Bool>(cppValue, len);
 }
 
 void NT_GetAtomicBooleanArray(NT_Handle subentry, const NT_Bool* defaultValue, size_t defaultValueLen, struct NT_TimestampedBooleanArray* value) {
-  auto cppValue = nt::GetAtomicBooleanArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicBooleanArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -340,7 +340,7 @@ void NT_DisposeTimestampedBooleanArray(struct NT_TimestampedBooleanArray* value)
 }
 
 struct NT_TimestampedBooleanArray* NT_ReadQueueBooleanArray(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueBooleanArray(subentry);
+  auto arr = wpi::nt::ReadQueueBooleanArray(subentry);
   return ConvertToC<NT_TimestampedBooleanArray>(arr, len);
 }
 
@@ -353,20 +353,20 @@ void NT_FreeQueueBooleanArray(struct NT_TimestampedBooleanArray* arr, size_t len
 
 
 NT_Bool NT_SetIntegerArray(NT_Handle pubentry, int64_t time, const int64_t* value, size_t len) {
-  return nt::SetIntegerArray(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetIntegerArray(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultIntegerArray(NT_Handle pubentry, const int64_t* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultIntegerArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultIntegerArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 int64_t* NT_GetIntegerArray(NT_Handle subentry, const int64_t* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetIntegerArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetIntegerArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<int64_t>(cppValue, len);
 }
 
 void NT_GetAtomicIntegerArray(NT_Handle subentry, const int64_t* defaultValue, size_t defaultValueLen, struct NT_TimestampedIntegerArray* value) {
-  auto cppValue = nt::GetAtomicIntegerArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicIntegerArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -375,7 +375,7 @@ void NT_DisposeTimestampedIntegerArray(struct NT_TimestampedIntegerArray* value)
 }
 
 struct NT_TimestampedIntegerArray* NT_ReadQueueIntegerArray(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueIntegerArray(subentry);
+  auto arr = wpi::nt::ReadQueueIntegerArray(subentry);
   return ConvertToC<NT_TimestampedIntegerArray>(arr, len);
 }
 
@@ -388,20 +388,20 @@ void NT_FreeQueueIntegerArray(struct NT_TimestampedIntegerArray* arr, size_t len
 
 
 NT_Bool NT_SetFloatArray(NT_Handle pubentry, int64_t time, const float* value, size_t len) {
-  return nt::SetFloatArray(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetFloatArray(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultFloatArray(NT_Handle pubentry, const float* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultFloatArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultFloatArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 float* NT_GetFloatArray(NT_Handle subentry, const float* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetFloatArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetFloatArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<float>(cppValue, len);
 }
 
 void NT_GetAtomicFloatArray(NT_Handle subentry, const float* defaultValue, size_t defaultValueLen, struct NT_TimestampedFloatArray* value) {
-  auto cppValue = nt::GetAtomicFloatArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicFloatArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -410,7 +410,7 @@ void NT_DisposeTimestampedFloatArray(struct NT_TimestampedFloatArray* value) {
 }
 
 struct NT_TimestampedFloatArray* NT_ReadQueueFloatArray(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueFloatArray(subentry);
+  auto arr = wpi::nt::ReadQueueFloatArray(subentry);
   return ConvertToC<NT_TimestampedFloatArray>(arr, len);
 }
 
@@ -423,20 +423,20 @@ void NT_FreeQueueFloatArray(struct NT_TimestampedFloatArray* arr, size_t len) {
 
 
 NT_Bool NT_SetDoubleArray(NT_Handle pubentry, int64_t time, const double* value, size_t len) {
-  return nt::SetDoubleArray(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetDoubleArray(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultDoubleArray(NT_Handle pubentry, const double* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultDoubleArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultDoubleArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 double* NT_GetDoubleArray(NT_Handle subentry, const double* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetDoubleArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetDoubleArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<double>(cppValue, len);
 }
 
 void NT_GetAtomicDoubleArray(NT_Handle subentry, const double* defaultValue, size_t defaultValueLen, struct NT_TimestampedDoubleArray* value) {
-  auto cppValue = nt::GetAtomicDoubleArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicDoubleArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -445,7 +445,7 @@ void NT_DisposeTimestampedDoubleArray(struct NT_TimestampedDoubleArray* value) {
 }
 
 struct NT_TimestampedDoubleArray* NT_ReadQueueDoubleArray(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueDoubleArray(subentry);
+  auto arr = wpi::nt::ReadQueueDoubleArray(subentry);
   return ConvertToC<NT_TimestampedDoubleArray>(arr, len);
 }
 
@@ -458,20 +458,20 @@ void NT_FreeQueueDoubleArray(struct NT_TimestampedDoubleArray* arr, size_t len)
 
 
 NT_Bool NT_SetStringArray(NT_Handle pubentry, int64_t time, const struct WPI_String* value, size_t len) {
-  return nt::SetStringArray(pubentry, ConvertFromC(value, len), time);
+  return wpi::nt::SetStringArray(pubentry, ConvertFromC(value, len), time);
 }
 
 NT_Bool NT_SetDefaultStringArray(NT_Handle pubentry, const struct WPI_String* defaultValue, size_t defaultValueLen) {
-  return nt::SetDefaultStringArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
+  return wpi::nt::SetDefaultStringArray(pubentry, ConvertFromC(defaultValue, defaultValueLen));
 }
 
 struct WPI_String* NT_GetStringArray(NT_Handle subentry, const struct WPI_String* defaultValue, size_t defaultValueLen, size_t* len) {
-  auto cppValue = nt::GetStringArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetStringArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   return ConvertToC<struct WPI_String>(cppValue, len);
 }
 
 void NT_GetAtomicStringArray(NT_Handle subentry, const struct WPI_String* defaultValue, size_t defaultValueLen, struct NT_TimestampedStringArray* value) {
-  auto cppValue = nt::GetAtomicStringArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
+  auto cppValue = wpi::nt::GetAtomicStringArray(subentry, ConvertFromC(defaultValue, defaultValueLen));
   ConvertToC(cppValue, value);
 }
 
@@ -480,7 +480,7 @@ void NT_DisposeTimestampedStringArray(struct NT_TimestampedStringArray* value) {
 }
 
 struct NT_TimestampedStringArray* NT_ReadQueueStringArray(NT_Handle subentry, size_t* len) {
-  auto arr = nt::ReadQueueStringArray(subentry);
+  auto arr = wpi::nt::ReadQueueStringArray(subentry);
   return ConvertToC<NT_TimestampedStringArray>(arr, len);
 }
 
diff --git a/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp b/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
index 239a2a1a6f..5e9464fe6c 100644
--- a/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
+++ b/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
@@ -10,10 +10,10 @@
 #include "InstanceImpl.hpp"
 
 namespace {
-template <nt::ValidType T>
+template <wpi::nt::ValidType T>
 struct ValuesType {
   using Vector =
-      std::vector<typename nt::TypeInfo<std::remove_cvref_t<T>>::Value>;
+      std::vector<typename wpi::nt::TypeInfo<std::remove_cvref_t<T>>::Value>;
 };
 
 template <>
@@ -22,7 +22,7 @@ struct ValuesType<bool> {
 };
 }  // namespace
 
-namespace nt {
+namespace wpi::nt {
 
 template <ValidType T>
 static inline bool Set(NT_Handle pubentry, typename TypeInfo<T>::View value,
@@ -59,7 +59,7 @@ static inline Timestamped<typename TypeInfo<T>::Value> GetAtomic(
 template <ValidType T>
 inline Timestamped<typename TypeInfo<T>::SmallRet> GetAtomic(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
+    wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
     typename TypeInfo<T>::View defaultValue) {
   if (auto ii = InstanceImpl::Get(Handle{subentry}.GetInst())) {
     return ii->localStorage.GetAtomic<T>(subentry, buf, defaultValue);
@@ -221,14 +221,14 @@ std::vector<std::string> ReadQueueValuesString(NT_Handle subentry) {
 
 std::string_view GetString(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<char>& buf,
+    wpi::util::SmallVectorImpl<char>& buf,
     std::string_view defaultValue) {
   return GetAtomic<std::string>(subentry, buf, defaultValue).value;
 }
 
 TimestampedStringView GetAtomicString(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<char>& buf,
+    wpi::util::SmallVectorImpl<char>& buf,
     std::string_view defaultValue) {
   return GetAtomic<std::string>(subentry, buf, defaultValue);
 }
@@ -261,14 +261,14 @@ std::vector<std::vector<uint8_t>> ReadQueueValuesRaw(NT_Handle subentry) {
 
 std::span<uint8_t> GetRaw(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<uint8_t>& buf,
+    wpi::util::SmallVectorImpl<uint8_t>& buf,
     std::span<const uint8_t> defaultValue) {
   return GetAtomic<uint8_t[]>(subentry, buf, defaultValue).value;
 }
 
 TimestampedRawView GetAtomicRaw(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<uint8_t>& buf,
+    wpi::util::SmallVectorImpl<uint8_t>& buf,
     std::span<const uint8_t> defaultValue) {
   return GetAtomic<uint8_t[]>(subentry, buf, defaultValue);
 }
@@ -301,14 +301,14 @@ std::vector<std::vector<int>> ReadQueueValuesBooleanArray(NT_Handle subentry) {
 
 std::span<int> GetBooleanArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<int>& buf,
+    wpi::util::SmallVectorImpl<int>& buf,
     std::span<const int> defaultValue) {
   return GetAtomic<bool[]>(subentry, buf, defaultValue).value;
 }
 
 TimestampedBooleanArrayView GetAtomicBooleanArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<int>& buf,
+    wpi::util::SmallVectorImpl<int>& buf,
     std::span<const int> defaultValue) {
   return GetAtomic<bool[]>(subentry, buf, defaultValue);
 }
@@ -341,14 +341,14 @@ std::vector<std::vector<int64_t>> ReadQueueValuesIntegerArray(NT_Handle subentry
 
 std::span<int64_t> GetIntegerArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<int64_t>& buf,
+    wpi::util::SmallVectorImpl<int64_t>& buf,
     std::span<const int64_t> defaultValue) {
   return GetAtomic<int64_t[]>(subentry, buf, defaultValue).value;
 }
 
 TimestampedIntegerArrayView GetAtomicIntegerArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<int64_t>& buf,
+    wpi::util::SmallVectorImpl<int64_t>& buf,
     std::span<const int64_t> defaultValue) {
   return GetAtomic<int64_t[]>(subentry, buf, defaultValue);
 }
@@ -381,14 +381,14 @@ std::vector<std::vector<float>> ReadQueueValuesFloatArray(NT_Handle subentry) {
 
 std::span<float> GetFloatArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<float>& buf,
+    wpi::util::SmallVectorImpl<float>& buf,
     std::span<const float> defaultValue) {
   return GetAtomic<float[]>(subentry, buf, defaultValue).value;
 }
 
 TimestampedFloatArrayView GetAtomicFloatArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<float>& buf,
+    wpi::util::SmallVectorImpl<float>& buf,
     std::span<const float> defaultValue) {
   return GetAtomic<float[]>(subentry, buf, defaultValue);
 }
@@ -421,14 +421,14 @@ std::vector<std::vector<double>> ReadQueueValuesDoubleArray(NT_Handle subentry)
 
 std::span<double> GetDoubleArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<double>& buf,
+    wpi::util::SmallVectorImpl<double>& buf,
     std::span<const double> defaultValue) {
   return GetAtomic<double[]>(subentry, buf, defaultValue).value;
 }
 
 TimestampedDoubleArrayView GetAtomicDoubleArray(
     NT_Handle subentry,
-    wpi::SmallVectorImpl<double>& buf,
+    wpi::util::SmallVectorImpl<double>& buf,
     std::span<const double> defaultValue) {
   return GetAtomic<double[]>(subentry, buf, defaultValue);
 }
@@ -460,4 +460,4 @@ std::vector<std::vector<std::string>> ReadQueueValuesStringArray(NT_Handle suben
 }
 
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
index b5c972de3d..1cbfc5c1fa 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class BooleanArrayTopic;
 
@@ -74,7 +74,7 @@ class BooleanArraySubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetBooleanArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetBooleanArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -84,7 +84,7 @@ class BooleanArraySubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class BooleanArraySubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetBooleanArray(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetBooleanArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class BooleanArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicBooleanArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicBooleanArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -132,7 +132,7 @@ class BooleanArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class BooleanArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicBooleanArray(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicBooleanArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -162,7 +162,7 @@ class BooleanArraySubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueBooleanArray(m_subHandle);
+    return ::wpi::nt::ReadQueueBooleanArray(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class BooleanArrayPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetBooleanArray(m_pubHandle, value, time);
+    ::wpi::nt::SetBooleanArray(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class BooleanArrayPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultBooleanArray(m_pubHandle, value);
+    ::wpi::nt::SetDefaultBooleanArray(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class BooleanArrayEntry final : public BooleanArraySubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -341,7 +341,7 @@ class BooleanArrayTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options),
+        ::wpi::nt::Subscribe(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options),
         defaultValue};
   }
   /**
@@ -365,7 +365,7 @@ class BooleanArrayTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_BOOLEAN_ARRAY, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_BOOLEAN_ARRAY, typeString, options),
         defaultValue};
   }
 
@@ -387,7 +387,7 @@ class BooleanArrayTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArrayPublisher{
-        ::nt::Publish(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options)};
+        ::wpi::nt::Publish(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options)};
   }
 
   /**
@@ -410,9 +410,9 @@ class BooleanArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArrayPublisher{
-        ::nt::PublishEx(m_handle, NT_BOOLEAN_ARRAY, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_BOOLEAN_ARRAY, typeString, properties, options)};
   }
 
   /**
@@ -439,7 +439,7 @@ class BooleanArrayTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArrayEntry{
-        ::nt::GetEntry(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options),
+        ::wpi::nt::GetEntry(m_handle, NT_BOOLEAN_ARRAY, "boolean[]", options),
         defaultValue};
   }
   /**
@@ -467,22 +467,22 @@ class BooleanArrayTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanArrayEntry{
-        ::nt::GetEntry(m_handle, NT_BOOLEAN_ARRAY, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_BOOLEAN_ARRAY, typeString, options),
         defaultValue};
   }
 
 };
 
 inline BooleanArrayTopic BooleanArraySubscriber::GetTopic() const {
-  return BooleanArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return BooleanArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline BooleanArrayTopic BooleanArrayPublisher::GetTopic() const {
-  return BooleanArrayTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return BooleanArrayTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline BooleanArrayTopic BooleanArrayEntry::GetTopic() const {
-  return BooleanArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return BooleanArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
index 58c24d50a7..9c193fcaa7 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class BooleanTopic;
 
@@ -70,7 +70,7 @@ class BooleanSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetBoolean(m_subHandle, defaultValue);
+    return ::wpi::nt::GetBoolean(m_subHandle, defaultValue);
   }
 
   /**
@@ -93,7 +93,7 @@ class BooleanSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicBoolean(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicBoolean(m_subHandle, defaultValue);
   }
 
   /**
@@ -107,7 +107,7 @@ class BooleanSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueBoolean(m_subHandle);
+    return ::wpi::nt::ReadQueueBoolean(m_subHandle);
   }
 
   /**
@@ -149,7 +149,7 @@ class BooleanPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetBoolean(m_pubHandle, value, time);
+    ::wpi::nt::SetBoolean(m_pubHandle, value, time);
   }
 
   /**
@@ -160,7 +160,7 @@ class BooleanPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultBoolean(m_pubHandle, value);
+    ::wpi::nt::SetDefaultBoolean(m_pubHandle, value);
   }
 
   /**
@@ -225,7 +225,7 @@ class BooleanEntry final : public BooleanSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -280,7 +280,7 @@ class BooleanTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanSubscriber{
-        ::nt::Subscribe(m_handle, NT_BOOLEAN, "boolean", options),
+        ::wpi::nt::Subscribe(m_handle, NT_BOOLEAN, "boolean", options),
         defaultValue};
   }
   /**
@@ -304,7 +304,7 @@ class BooleanTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanSubscriber{
-        ::nt::Subscribe(m_handle, NT_BOOLEAN, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_BOOLEAN, typeString, options),
         defaultValue};
   }
 
@@ -326,7 +326,7 @@ class BooleanTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanPublisher{
-        ::nt::Publish(m_handle, NT_BOOLEAN, "boolean", options)};
+        ::wpi::nt::Publish(m_handle, NT_BOOLEAN, "boolean", options)};
   }
 
   /**
@@ -349,9 +349,9 @@ class BooleanTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanPublisher{
-        ::nt::PublishEx(m_handle, NT_BOOLEAN, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_BOOLEAN, typeString, properties, options)};
   }
 
   /**
@@ -378,7 +378,7 @@ class BooleanTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanEntry{
-        ::nt::GetEntry(m_handle, NT_BOOLEAN, "boolean", options),
+        ::wpi::nt::GetEntry(m_handle, NT_BOOLEAN, "boolean", options),
         defaultValue};
   }
   /**
@@ -406,22 +406,22 @@ class BooleanTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return BooleanEntry{
-        ::nt::GetEntry(m_handle, NT_BOOLEAN, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_BOOLEAN, typeString, options),
         defaultValue};
   }
 
 };
 
 inline BooleanTopic BooleanSubscriber::GetTopic() const {
-  return BooleanTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return BooleanTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline BooleanTopic BooleanPublisher::GetTopic() const {
-  return BooleanTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return BooleanTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline BooleanTopic BooleanEntry::GetTopic() const {
-  return BooleanTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return BooleanTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
index f89c29f451..8699071820 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class DoubleArrayTopic;
 
@@ -74,7 +74,7 @@ class DoubleArraySubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetDoubleArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetDoubleArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -84,7 +84,7 @@ class DoubleArraySubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class DoubleArraySubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetDoubleArray(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetDoubleArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class DoubleArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicDoubleArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicDoubleArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -132,7 +132,7 @@ class DoubleArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class DoubleArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicDoubleArray(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicDoubleArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -162,7 +162,7 @@ class DoubleArraySubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueDoubleArray(m_subHandle);
+    return ::wpi::nt::ReadQueueDoubleArray(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class DoubleArrayPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetDoubleArray(m_pubHandle, value, time);
+    ::wpi::nt::SetDoubleArray(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class DoubleArrayPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultDoubleArray(m_pubHandle, value);
+    ::wpi::nt::SetDefaultDoubleArray(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class DoubleArrayEntry final : public DoubleArraySubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -341,7 +341,7 @@ class DoubleArrayTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_DOUBLE_ARRAY, "double[]", options),
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE_ARRAY, "double[]", options),
         defaultValue};
   }
   /**
@@ -365,7 +365,7 @@ class DoubleArrayTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_DOUBLE_ARRAY, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE_ARRAY, typeString, options),
         defaultValue};
   }
 
@@ -387,7 +387,7 @@ class DoubleArrayTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArrayPublisher{
-        ::nt::Publish(m_handle, NT_DOUBLE_ARRAY, "double[]", options)};
+        ::wpi::nt::Publish(m_handle, NT_DOUBLE_ARRAY, "double[]", options)};
   }
 
   /**
@@ -410,9 +410,9 @@ class DoubleArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArrayPublisher{
-        ::nt::PublishEx(m_handle, NT_DOUBLE_ARRAY, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_DOUBLE_ARRAY, typeString, properties, options)};
   }
 
   /**
@@ -439,7 +439,7 @@ class DoubleArrayTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArrayEntry{
-        ::nt::GetEntry(m_handle, NT_DOUBLE_ARRAY, "double[]", options),
+        ::wpi::nt::GetEntry(m_handle, NT_DOUBLE_ARRAY, "double[]", options),
         defaultValue};
   }
   /**
@@ -467,22 +467,22 @@ class DoubleArrayTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleArrayEntry{
-        ::nt::GetEntry(m_handle, NT_DOUBLE_ARRAY, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_DOUBLE_ARRAY, typeString, options),
         defaultValue};
   }
 
 };
 
 inline DoubleArrayTopic DoubleArraySubscriber::GetTopic() const {
-  return DoubleArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return DoubleArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline DoubleArrayTopic DoubleArrayPublisher::GetTopic() const {
-  return DoubleArrayTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return DoubleArrayTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline DoubleArrayTopic DoubleArrayEntry::GetTopic() const {
-  return DoubleArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return DoubleArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
index 41dca50f43..e0e85ab5de 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class DoubleTopic;
 
@@ -70,7 +70,7 @@ class DoubleSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetDouble(m_subHandle, defaultValue);
+    return ::wpi::nt::GetDouble(m_subHandle, defaultValue);
   }
 
   /**
@@ -93,7 +93,7 @@ class DoubleSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicDouble(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicDouble(m_subHandle, defaultValue);
   }
 
   /**
@@ -107,7 +107,7 @@ class DoubleSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueDouble(m_subHandle);
+    return ::wpi::nt::ReadQueueDouble(m_subHandle);
   }
 
   /**
@@ -149,7 +149,7 @@ class DoublePublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetDouble(m_pubHandle, value, time);
+    ::wpi::nt::SetDouble(m_pubHandle, value, time);
   }
 
   /**
@@ -160,7 +160,7 @@ class DoublePublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultDouble(m_pubHandle, value);
+    ::wpi::nt::SetDefaultDouble(m_pubHandle, value);
   }
 
   /**
@@ -225,7 +225,7 @@ class DoubleEntry final : public DoubleSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -280,7 +280,7 @@ class DoubleTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleSubscriber{
-        ::nt::Subscribe(m_handle, NT_DOUBLE, "double", options),
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE, "double", options),
         defaultValue};
   }
   /**
@@ -304,7 +304,7 @@ class DoubleTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleSubscriber{
-        ::nt::Subscribe(m_handle, NT_DOUBLE, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE, typeString, options),
         defaultValue};
   }
 
@@ -326,7 +326,7 @@ class DoubleTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoublePublisher{
-        ::nt::Publish(m_handle, NT_DOUBLE, "double", options)};
+        ::wpi::nt::Publish(m_handle, NT_DOUBLE, "double", options)};
   }
 
   /**
@@ -349,9 +349,9 @@ class DoubleTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoublePublisher{
-        ::nt::PublishEx(m_handle, NT_DOUBLE, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_DOUBLE, typeString, properties, options)};
   }
 
   /**
@@ -378,7 +378,7 @@ class DoubleTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleEntry{
-        ::nt::GetEntry(m_handle, NT_DOUBLE, "double", options),
+        ::wpi::nt::GetEntry(m_handle, NT_DOUBLE, "double", options),
         defaultValue};
   }
   /**
@@ -406,22 +406,22 @@ class DoubleTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return DoubleEntry{
-        ::nt::GetEntry(m_handle, NT_DOUBLE, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_DOUBLE, typeString, options),
         defaultValue};
   }
 
 };
 
 inline DoubleTopic DoubleSubscriber::GetTopic() const {
-  return DoubleTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return DoubleTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline DoubleTopic DoublePublisher::GetTopic() const {
-  return DoubleTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return DoubleTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline DoubleTopic DoubleEntry::GetTopic() const {
-  return DoubleTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return DoubleTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
index aa6ddb0bc9..4ab4cc89f2 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class FloatArrayTopic;
 
@@ -74,7 +74,7 @@ class FloatArraySubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetFloatArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetFloatArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -84,7 +84,7 @@ class FloatArraySubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class FloatArraySubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetFloatArray(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetFloatArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class FloatArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicFloatArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicFloatArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -132,7 +132,7 @@ class FloatArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class FloatArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicFloatArray(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicFloatArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -162,7 +162,7 @@ class FloatArraySubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueFloatArray(m_subHandle);
+    return ::wpi::nt::ReadQueueFloatArray(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class FloatArrayPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetFloatArray(m_pubHandle, value, time);
+    ::wpi::nt::SetFloatArray(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class FloatArrayPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultFloatArray(m_pubHandle, value);
+    ::wpi::nt::SetDefaultFloatArray(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class FloatArrayEntry final : public FloatArraySubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -341,7 +341,7 @@ class FloatArrayTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_FLOAT_ARRAY, "float[]", options),
+        ::wpi::nt::Subscribe(m_handle, NT_FLOAT_ARRAY, "float[]", options),
         defaultValue};
   }
   /**
@@ -365,7 +365,7 @@ class FloatArrayTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_FLOAT_ARRAY, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_FLOAT_ARRAY, typeString, options),
         defaultValue};
   }
 
@@ -387,7 +387,7 @@ class FloatArrayTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArrayPublisher{
-        ::nt::Publish(m_handle, NT_FLOAT_ARRAY, "float[]", options)};
+        ::wpi::nt::Publish(m_handle, NT_FLOAT_ARRAY, "float[]", options)};
   }
 
   /**
@@ -410,9 +410,9 @@ class FloatArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArrayPublisher{
-        ::nt::PublishEx(m_handle, NT_FLOAT_ARRAY, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_FLOAT_ARRAY, typeString, properties, options)};
   }
 
   /**
@@ -439,7 +439,7 @@ class FloatArrayTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArrayEntry{
-        ::nt::GetEntry(m_handle, NT_FLOAT_ARRAY, "float[]", options),
+        ::wpi::nt::GetEntry(m_handle, NT_FLOAT_ARRAY, "float[]", options),
         defaultValue};
   }
   /**
@@ -467,22 +467,22 @@ class FloatArrayTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatArrayEntry{
-        ::nt::GetEntry(m_handle, NT_FLOAT_ARRAY, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_FLOAT_ARRAY, typeString, options),
         defaultValue};
   }
 
 };
 
 inline FloatArrayTopic FloatArraySubscriber::GetTopic() const {
-  return FloatArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return FloatArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline FloatArrayTopic FloatArrayPublisher::GetTopic() const {
-  return FloatArrayTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return FloatArrayTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline FloatArrayTopic FloatArrayEntry::GetTopic() const {
-  return FloatArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return FloatArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
index 04f73ff688..f27d8ec586 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class FloatTopic;
 
@@ -70,7 +70,7 @@ class FloatSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetFloat(m_subHandle, defaultValue);
+    return ::wpi::nt::GetFloat(m_subHandle, defaultValue);
   }
 
   /**
@@ -93,7 +93,7 @@ class FloatSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicFloat(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicFloat(m_subHandle, defaultValue);
   }
 
   /**
@@ -107,7 +107,7 @@ class FloatSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueFloat(m_subHandle);
+    return ::wpi::nt::ReadQueueFloat(m_subHandle);
   }
 
   /**
@@ -149,7 +149,7 @@ class FloatPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetFloat(m_pubHandle, value, time);
+    ::wpi::nt::SetFloat(m_pubHandle, value, time);
   }
 
   /**
@@ -160,7 +160,7 @@ class FloatPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultFloat(m_pubHandle, value);
+    ::wpi::nt::SetDefaultFloat(m_pubHandle, value);
   }
 
   /**
@@ -225,7 +225,7 @@ class FloatEntry final : public FloatSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -280,7 +280,7 @@ class FloatTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatSubscriber{
-        ::nt::Subscribe(m_handle, NT_FLOAT, "float", options),
+        ::wpi::nt::Subscribe(m_handle, NT_FLOAT, "float", options),
         defaultValue};
   }
   /**
@@ -304,7 +304,7 @@ class FloatTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatSubscriber{
-        ::nt::Subscribe(m_handle, NT_FLOAT, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_FLOAT, typeString, options),
         defaultValue};
   }
 
@@ -326,7 +326,7 @@ class FloatTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatPublisher{
-        ::nt::Publish(m_handle, NT_FLOAT, "float", options)};
+        ::wpi::nt::Publish(m_handle, NT_FLOAT, "float", options)};
   }
 
   /**
@@ -349,9 +349,9 @@ class FloatTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatPublisher{
-        ::nt::PublishEx(m_handle, NT_FLOAT, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_FLOAT, typeString, properties, options)};
   }
 
   /**
@@ -378,7 +378,7 @@ class FloatTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatEntry{
-        ::nt::GetEntry(m_handle, NT_FLOAT, "float", options),
+        ::wpi::nt::GetEntry(m_handle, NT_FLOAT, "float", options),
         defaultValue};
   }
   /**
@@ -406,22 +406,22 @@ class FloatTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return FloatEntry{
-        ::nt::GetEntry(m_handle, NT_FLOAT, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_FLOAT, typeString, options),
         defaultValue};
   }
 
 };
 
 inline FloatTopic FloatSubscriber::GetTopic() const {
-  return FloatTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return FloatTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline FloatTopic FloatPublisher::GetTopic() const {
-  return FloatTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return FloatTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline FloatTopic FloatEntry::GetTopic() const {
-  return FloatTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return FloatTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
index 77c4e01ecf..4c90a59e8b 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class IntegerArrayTopic;
 
@@ -74,7 +74,7 @@ class IntegerArraySubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetIntegerArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetIntegerArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -84,7 +84,7 @@ class IntegerArraySubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class IntegerArraySubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetIntegerArray(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetIntegerArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class IntegerArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicIntegerArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicIntegerArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -132,7 +132,7 @@ class IntegerArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class IntegerArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicIntegerArray(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicIntegerArray(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -162,7 +162,7 @@ class IntegerArraySubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueIntegerArray(m_subHandle);
+    return ::wpi::nt::ReadQueueIntegerArray(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class IntegerArrayPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetIntegerArray(m_pubHandle, value, time);
+    ::wpi::nt::SetIntegerArray(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class IntegerArrayPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultIntegerArray(m_pubHandle, value);
+    ::wpi::nt::SetDefaultIntegerArray(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class IntegerArrayEntry final : public IntegerArraySubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -341,7 +341,7 @@ class IntegerArrayTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_INTEGER_ARRAY, "int[]", options),
+        ::wpi::nt::Subscribe(m_handle, NT_INTEGER_ARRAY, "int[]", options),
         defaultValue};
   }
   /**
@@ -365,7 +365,7 @@ class IntegerArrayTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_INTEGER_ARRAY, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_INTEGER_ARRAY, typeString, options),
         defaultValue};
   }
 
@@ -387,7 +387,7 @@ class IntegerArrayTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArrayPublisher{
-        ::nt::Publish(m_handle, NT_INTEGER_ARRAY, "int[]", options)};
+        ::wpi::nt::Publish(m_handle, NT_INTEGER_ARRAY, "int[]", options)};
   }
 
   /**
@@ -410,9 +410,9 @@ class IntegerArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArrayPublisher{
-        ::nt::PublishEx(m_handle, NT_INTEGER_ARRAY, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_INTEGER_ARRAY, typeString, properties, options)};
   }
 
   /**
@@ -439,7 +439,7 @@ class IntegerArrayTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArrayEntry{
-        ::nt::GetEntry(m_handle, NT_INTEGER_ARRAY, "int[]", options),
+        ::wpi::nt::GetEntry(m_handle, NT_INTEGER_ARRAY, "int[]", options),
         defaultValue};
   }
   /**
@@ -467,22 +467,22 @@ class IntegerArrayTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerArrayEntry{
-        ::nt::GetEntry(m_handle, NT_INTEGER_ARRAY, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_INTEGER_ARRAY, typeString, options),
         defaultValue};
   }
 
 };
 
 inline IntegerArrayTopic IntegerArraySubscriber::GetTopic() const {
-  return IntegerArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return IntegerArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline IntegerArrayTopic IntegerArrayPublisher::GetTopic() const {
-  return IntegerArrayTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return IntegerArrayTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline IntegerArrayTopic IntegerArrayEntry::GetTopic() const {
-  return IntegerArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return IntegerArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
index d7efb3e81d..8954672c3f 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class IntegerTopic;
 
@@ -70,7 +70,7 @@ class IntegerSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetInteger(m_subHandle, defaultValue);
+    return ::wpi::nt::GetInteger(m_subHandle, defaultValue);
   }
 
   /**
@@ -93,7 +93,7 @@ class IntegerSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicInteger(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicInteger(m_subHandle, defaultValue);
   }
 
   /**
@@ -107,7 +107,7 @@ class IntegerSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueInteger(m_subHandle);
+    return ::wpi::nt::ReadQueueInteger(m_subHandle);
   }
 
   /**
@@ -149,7 +149,7 @@ class IntegerPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetInteger(m_pubHandle, value, time);
+    ::wpi::nt::SetInteger(m_pubHandle, value, time);
   }
 
   /**
@@ -160,7 +160,7 @@ class IntegerPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultInteger(m_pubHandle, value);
+    ::wpi::nt::SetDefaultInteger(m_pubHandle, value);
   }
 
   /**
@@ -225,7 +225,7 @@ class IntegerEntry final : public IntegerSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -280,7 +280,7 @@ class IntegerTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerSubscriber{
-        ::nt::Subscribe(m_handle, NT_INTEGER, "int", options),
+        ::wpi::nt::Subscribe(m_handle, NT_INTEGER, "int", options),
         defaultValue};
   }
   /**
@@ -304,7 +304,7 @@ class IntegerTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerSubscriber{
-        ::nt::Subscribe(m_handle, NT_INTEGER, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_INTEGER, typeString, options),
         defaultValue};
   }
 
@@ -326,7 +326,7 @@ class IntegerTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerPublisher{
-        ::nt::Publish(m_handle, NT_INTEGER, "int", options)};
+        ::wpi::nt::Publish(m_handle, NT_INTEGER, "int", options)};
   }
 
   /**
@@ -349,9 +349,9 @@ class IntegerTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerPublisher{
-        ::nt::PublishEx(m_handle, NT_INTEGER, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_INTEGER, typeString, properties, options)};
   }
 
   /**
@@ -378,7 +378,7 @@ class IntegerTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerEntry{
-        ::nt::GetEntry(m_handle, NT_INTEGER, "int", options),
+        ::wpi::nt::GetEntry(m_handle, NT_INTEGER, "int", options),
         defaultValue};
   }
   /**
@@ -406,22 +406,22 @@ class IntegerTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return IntegerEntry{
-        ::nt::GetEntry(m_handle, NT_INTEGER, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_INTEGER, typeString, options),
         defaultValue};
   }
 
 };
 
 inline IntegerTopic IntegerSubscriber::GetTopic() const {
-  return IntegerTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return IntegerTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline IntegerTopic IntegerPublisher::GetTopic() const {
-  return IntegerTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return IntegerTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline IntegerTopic IntegerEntry::GetTopic() const {
-  return IntegerTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return IntegerTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
index 1c53742416..ba7e2f94d9 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class RawTopic;
 
@@ -74,7 +74,7 @@ class RawSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetRaw(m_subHandle, defaultValue);
+    return ::wpi::nt::GetRaw(m_subHandle, defaultValue);
   }
 
   /**
@@ -84,7 +84,7 @@ class RawSubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -96,8 +96,8 @@ class RawSubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetRaw(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetRaw(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class RawSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicRaw(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicRaw(m_subHandle, defaultValue);
   }
 
   /**
@@ -132,7 +132,7 @@ class RawSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -146,9 +146,9 @@ class RawSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicRaw(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicRaw(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -162,7 +162,7 @@ class RawSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueRaw(m_subHandle);
+    return ::wpi::nt::ReadQueueRaw(m_subHandle);
   }
 
   /**
@@ -207,7 +207,7 @@ class RawPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetRaw(m_pubHandle, value, time);
+    ::wpi::nt::SetRaw(m_pubHandle, value, time);
   }
 
   /**
@@ -218,7 +218,7 @@ class RawPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultRaw(m_pubHandle, value);
+    ::wpi::nt::SetDefaultRaw(m_pubHandle, value);
   }
 
   /**
@@ -286,7 +286,7 @@ class RawEntry final : public RawSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -341,7 +341,7 @@ class RawTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return RawSubscriber{
-        ::nt::Subscribe(m_handle, NT_RAW, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_RAW, typeString, options),
         defaultValue};
   }
   /**
@@ -364,7 +364,7 @@ class RawTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(std::string_view typeString, const PubSubOptions& options = kDefaultPubSubOptions) {
     return RawPublisher{
-        ::nt::Publish(m_handle, NT_RAW, typeString, options)};
+        ::wpi::nt::Publish(m_handle, NT_RAW, typeString, options)};
   }
 
   /**
@@ -387,9 +387,9 @@ class RawTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return RawPublisher{
-        ::nt::PublishEx(m_handle, NT_RAW, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_RAW, typeString, properties, options)};
   }
 
   /**
@@ -418,21 +418,21 @@ class RawTopic final : public Topic {
   EntryType GetEntry(std::string_view typeString, ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return RawEntry{
-        ::nt::GetEntry(m_handle, NT_RAW, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_RAW, typeString, options),
         defaultValue};
   }
 };
 
 inline RawTopic RawSubscriber::GetTopic() const {
-  return RawTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return RawTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline RawTopic RawPublisher::GetTopic() const {
-  return RawTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return RawTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline RawTopic RawEntry::GetTopic() const {
-  return RawTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return RawTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
index f6b62e68a2..287d4f8b9b 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
@@ -19,12 +19,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class StringArrayTopic;
 
@@ -70,7 +70,7 @@ class StringArraySubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetStringArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetStringArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -93,7 +93,7 @@ class StringArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicStringArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicStringArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -107,7 +107,7 @@ class StringArraySubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueStringArray(m_subHandle);
+    return ::wpi::nt::ReadQueueStringArray(m_subHandle);
   }
 
   /**
@@ -149,7 +149,7 @@ class StringArrayPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetStringArray(m_pubHandle, value, time);
+    ::wpi::nt::SetStringArray(m_pubHandle, value, time);
   }
 
   /**
@@ -160,7 +160,7 @@ class StringArrayPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultStringArray(m_pubHandle, value);
+    ::wpi::nt::SetDefaultStringArray(m_pubHandle, value);
   }
 
   /**
@@ -225,7 +225,7 @@ class StringArrayEntry final : public StringArraySubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -280,7 +280,7 @@ class StringArrayTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_STRING_ARRAY, "string[]", options),
+        ::wpi::nt::Subscribe(m_handle, NT_STRING_ARRAY, "string[]", options),
         defaultValue};
   }
   /**
@@ -304,7 +304,7 @@ class StringArrayTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArraySubscriber{
-        ::nt::Subscribe(m_handle, NT_STRING_ARRAY, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_STRING_ARRAY, typeString, options),
         defaultValue};
   }
 
@@ -326,7 +326,7 @@ class StringArrayTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArrayPublisher{
-        ::nt::Publish(m_handle, NT_STRING_ARRAY, "string[]", options)};
+        ::wpi::nt::Publish(m_handle, NT_STRING_ARRAY, "string[]", options)};
   }
 
   /**
@@ -349,9 +349,9 @@ class StringArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArrayPublisher{
-        ::nt::PublishEx(m_handle, NT_STRING_ARRAY, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_STRING_ARRAY, typeString, properties, options)};
   }
 
   /**
@@ -378,7 +378,7 @@ class StringArrayTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArrayEntry{
-        ::nt::GetEntry(m_handle, NT_STRING_ARRAY, "string[]", options),
+        ::wpi::nt::GetEntry(m_handle, NT_STRING_ARRAY, "string[]", options),
         defaultValue};
   }
   /**
@@ -406,22 +406,22 @@ class StringArrayTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringArrayEntry{
-        ::nt::GetEntry(m_handle, NT_STRING_ARRAY, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_STRING_ARRAY, typeString, options),
         defaultValue};
   }
 
 };
 
 inline StringArrayTopic StringArraySubscriber::GetTopic() const {
-  return StringArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return StringArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline StringArrayTopic StringArrayPublisher::GetTopic() const {
-  return StringArrayTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return StringArrayTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline StringArrayTopic StringArrayEntry::GetTopic() const {
-  return StringArrayTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return StringArrayTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
index cdf930e3a7..7d34a5c520 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
@@ -21,12 +21,12 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class StringTopic;
 
@@ -76,7 +76,7 @@ class StringSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return ::nt::GetString(m_subHandle, defaultValue);
+    return ::wpi::nt::GetString(m_subHandle, defaultValue);
   }
 
   /**
@@ -86,7 +86,7 @@ class StringSubscriber : public Subscriber {
    * @param buf storage for returned value
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return Get(buf, m_defaultValue);
   }
 
@@ -98,8 +98,8 @@ class StringSubscriber : public Subscriber {
    * @param defaultValue default value to return if no value has been published
    * @return value
    */
-  SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
-    return nt::GetString(m_subHandle, buf, defaultValue);
+  SmallRetType Get(wpi::util::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
+    return wpi::nt::GetString(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -122,7 +122,7 @@ class StringSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    return ::nt::GetAtomicString(m_subHandle, defaultValue);
+    return ::wpi::nt::GetAtomicString(m_subHandle, defaultValue);
   }
 
   /**
@@ -134,7 +134,7 @@ class StringSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf) const {
+      wpi::util::SmallVectorImpl<SmallElemType>& buf) const {
     return GetAtomic(buf, m_defaultValue);
   }
 
@@ -148,9 +148,9 @@ class StringSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueViewType GetAtomic(
-      wpi::SmallVectorImpl<SmallElemType>& buf,
+      wpi::util::SmallVectorImpl<SmallElemType>& buf,
       ParamType defaultValue) const {
-    return nt::GetAtomicString(m_subHandle, buf, defaultValue);
+    return wpi::nt::GetAtomicString(m_subHandle, buf, defaultValue);
   }
 
   /**
@@ -164,7 +164,7 @@ class StringSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueString(m_subHandle);
+    return ::wpi::nt::ReadQueueString(m_subHandle);
   }
 
   /**
@@ -209,7 +209,7 @@ class StringPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetString(m_pubHandle, value, time);
+    ::wpi::nt::SetString(m_pubHandle, value, time);
   }
 
   /**
@@ -220,7 +220,7 @@ class StringPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultString(m_pubHandle, value);
+    ::wpi::nt::SetDefaultString(m_pubHandle, value);
   }
 
   /**
@@ -288,7 +288,7 @@ class StringEntry final : public StringSubscriber,
    * Stops publishing the entry if it's published.
    */
   void Unpublish() {
-    ::nt::Unpublish(m_pubHandle);
+    ::wpi::nt::Unpublish(m_pubHandle);
   }
 };
 
@@ -343,7 +343,7 @@ class StringTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringSubscriber{
-        ::nt::Subscribe(m_handle, NT_STRING, "string", options),
+        ::wpi::nt::Subscribe(m_handle, NT_STRING, "string", options),
         defaultValue};
   }
   /**
@@ -367,7 +367,7 @@ class StringTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringSubscriber{
-        ::nt::Subscribe(m_handle, NT_STRING, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_STRING, typeString, options),
         defaultValue};
   }
 
@@ -389,7 +389,7 @@ class StringTopic final : public Topic {
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringPublisher{
-        ::nt::Publish(m_handle, NT_STRING, "string", options)};
+        ::wpi::nt::Publish(m_handle, NT_STRING, "string", options)};
   }
 
   /**
@@ -412,9 +412,9 @@ class StringTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
+    const wpi::util::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringPublisher{
-        ::nt::PublishEx(m_handle, NT_STRING, typeString, properties, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_STRING, typeString, properties, options)};
   }
 
   /**
@@ -441,7 +441,7 @@ class StringTopic final : public Topic {
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringEntry{
-        ::nt::GetEntry(m_handle, NT_STRING, "string", options),
+        ::wpi::nt::GetEntry(m_handle, NT_STRING, "string", options),
         defaultValue};
   }
   /**
@@ -469,22 +469,22 @@ class StringTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return StringEntry{
-        ::nt::GetEntry(m_handle, NT_STRING, typeString, options),
+        ::wpi::nt::GetEntry(m_handle, NT_STRING, typeString, options),
         defaultValue};
   }
 
 };
 
 inline StringTopic StringSubscriber::GetTopic() const {
-  return StringTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return StringTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
 inline StringTopic StringPublisher::GetTopic() const {
-  return StringTopic{::nt::GetTopicFromHandle(m_pubHandle)};
+  return StringTopic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
 }
 
 inline StringTopic StringEntry::GetTopic() const {
-  return StringTopic{::nt::GetTopicFromHandle(m_subHandle)};
+  return StringTopic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
index 5ae1297edb..f430892b90 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
@@ -16,12 +16,12 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 /**
  * Timestamped value.
  * @ingroup ntcore_cpp_handle_api
@@ -371,7 +371,7 @@ std::vector<double> ReadQueueValuesDouble(NT_Handle subentry);
 using TimestampedString = Timestamped<std::string>;
 
 /**
- * Timestamped String view (for SmallVector-taking functions).
+ * Timestamped String view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedStringView = Timestamped<std::string_view>;
@@ -447,11 +447,11 @@ std::vector<TimestampedString> ReadQueueString(NT_Handle subentry);
  */
 std::vector<std::string> ReadQueueValuesString(NT_Handle subentry);
 
-std::string_view GetString(NT_Handle subentry, wpi::SmallVectorImpl<char>& buf, std::string_view defaultValue);
+std::string_view GetString(NT_Handle subentry, wpi::util::SmallVectorImpl<char>& buf, std::string_view defaultValue);
 
 TimestampedStringView GetAtomicString(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<char>& buf,
+      wpi::util::SmallVectorImpl<char>& buf,
       std::string_view defaultValue);
 
 /** @} */
@@ -463,7 +463,7 @@ TimestampedStringView GetAtomicString(
 using TimestampedRaw = Timestamped<std::vector<uint8_t>>;
 
 /**
- * Timestamped Raw view (for SmallVector-taking functions).
+ * Timestamped Raw view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedRawView = Timestamped<std::span<uint8_t>>;
@@ -539,11 +539,11 @@ std::vector<TimestampedRaw> ReadQueueRaw(NT_Handle subentry);
  */
 std::vector<std::vector<uint8_t>> ReadQueueValuesRaw(NT_Handle subentry);
 
-std::span<uint8_t> GetRaw(NT_Handle subentry, wpi::SmallVectorImpl<uint8_t>& buf, std::span<const uint8_t> defaultValue);
+std::span<uint8_t> GetRaw(NT_Handle subentry, wpi::util::SmallVectorImpl<uint8_t>& buf, std::span<const uint8_t> defaultValue);
 
 TimestampedRawView GetAtomicRaw(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<uint8_t>& buf,
+      wpi::util::SmallVectorImpl<uint8_t>& buf,
       std::span<const uint8_t> defaultValue);
 
 /** @} */
@@ -555,7 +555,7 @@ TimestampedRawView GetAtomicRaw(
 using TimestampedBooleanArray = Timestamped<std::vector<int>>;
 
 /**
- * Timestamped BooleanArray view (for SmallVector-taking functions).
+ * Timestamped BooleanArray view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedBooleanArrayView = Timestamped<std::span<int>>;
@@ -631,11 +631,11 @@ std::vector<TimestampedBooleanArray> ReadQueueBooleanArray(NT_Handle subentry);
  */
 std::vector<std::vector<int>> ReadQueueValuesBooleanArray(NT_Handle subentry);
 
-std::span<int> GetBooleanArray(NT_Handle subentry, wpi::SmallVectorImpl<int>& buf, std::span<const int> defaultValue);
+std::span<int> GetBooleanArray(NT_Handle subentry, wpi::util::SmallVectorImpl<int>& buf, std::span<const int> defaultValue);
 
 TimestampedBooleanArrayView GetAtomicBooleanArray(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<int>& buf,
+      wpi::util::SmallVectorImpl<int>& buf,
       std::span<const int> defaultValue);
 
 /** @} */
@@ -647,7 +647,7 @@ TimestampedBooleanArrayView GetAtomicBooleanArray(
 using TimestampedIntegerArray = Timestamped<std::vector<int64_t>>;
 
 /**
- * Timestamped IntegerArray view (for SmallVector-taking functions).
+ * Timestamped IntegerArray view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedIntegerArrayView = Timestamped<std::span<int64_t>>;
@@ -723,11 +723,11 @@ std::vector<TimestampedIntegerArray> ReadQueueIntegerArray(NT_Handle subentry);
  */
 std::vector<std::vector<int64_t>> ReadQueueValuesIntegerArray(NT_Handle subentry);
 
-std::span<int64_t> GetIntegerArray(NT_Handle subentry, wpi::SmallVectorImpl<int64_t>& buf, std::span<const int64_t> defaultValue);
+std::span<int64_t> GetIntegerArray(NT_Handle subentry, wpi::util::SmallVectorImpl<int64_t>& buf, std::span<const int64_t> defaultValue);
 
 TimestampedIntegerArrayView GetAtomicIntegerArray(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<int64_t>& buf,
+      wpi::util::SmallVectorImpl<int64_t>& buf,
       std::span<const int64_t> defaultValue);
 
 /** @} */
@@ -739,7 +739,7 @@ TimestampedIntegerArrayView GetAtomicIntegerArray(
 using TimestampedFloatArray = Timestamped<std::vector<float>>;
 
 /**
- * Timestamped FloatArray view (for SmallVector-taking functions).
+ * Timestamped FloatArray view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedFloatArrayView = Timestamped<std::span<float>>;
@@ -815,11 +815,11 @@ std::vector<TimestampedFloatArray> ReadQueueFloatArray(NT_Handle subentry);
  */
 std::vector<std::vector<float>> ReadQueueValuesFloatArray(NT_Handle subentry);
 
-std::span<float> GetFloatArray(NT_Handle subentry, wpi::SmallVectorImpl<float>& buf, std::span<const float> defaultValue);
+std::span<float> GetFloatArray(NT_Handle subentry, wpi::util::SmallVectorImpl<float>& buf, std::span<const float> defaultValue);
 
 TimestampedFloatArrayView GetAtomicFloatArray(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<float>& buf,
+      wpi::util::SmallVectorImpl<float>& buf,
       std::span<const float> defaultValue);
 
 /** @} */
@@ -831,7 +831,7 @@ TimestampedFloatArrayView GetAtomicFloatArray(
 using TimestampedDoubleArray = Timestamped<std::vector<double>>;
 
 /**
- * Timestamped DoubleArray view (for SmallVector-taking functions).
+ * Timestamped DoubleArray view (for wpi::util::SmallVector-taking functions).
  * @ingroup ntcore_cpp_handle_api
  */
 using TimestampedDoubleArrayView = Timestamped<std::span<double>>;
@@ -907,11 +907,11 @@ std::vector<TimestampedDoubleArray> ReadQueueDoubleArray(NT_Handle subentry);
  */
 std::vector<std::vector<double>> ReadQueueValuesDoubleArray(NT_Handle subentry);
 
-std::span<double> GetDoubleArray(NT_Handle subentry, wpi::SmallVectorImpl<double>& buf, std::span<const double> defaultValue);
+std::span<double> GetDoubleArray(NT_Handle subentry, wpi::util::SmallVectorImpl<double>& buf, std::span<const double> defaultValue);
 
 TimestampedDoubleArrayView GetAtomicDoubleArray(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<double>& buf,
+      wpi::util::SmallVectorImpl<double>& buf,
       std::span<const double> defaultValue);
 
 /** @} */
@@ -995,4 +995,4 @@ std::vector<std::vector<std::string>> ReadQueueValuesStringArray(NT_Handle suben
 
 /** @} */
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/ConnectionList.cpp b/ntcore/src/main/native/cpp/ConnectionList.cpp
index 1676ee1c90..20ed596b63 100644
--- a/ntcore/src/main/native/cpp/ConnectionList.cpp
+++ b/ntcore/src/main/native/cpp/ConnectionList.cpp
@@ -14,12 +14,12 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 static std::string ConnInfoToJson(bool connected, const ConnectionInfo& info) {
   std::string str;
-  wpi::raw_string_ostream os{str};
-  wpi::json::serializer s{os, ' ', 0};
+  wpi::util::raw_string_ostream os{str};
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"connected\":" << (connected ? "true" : "false");
   os << ",\"remote_id\":\"";
   s.dump_escaped(info.remote_id, false);
@@ -99,7 +99,7 @@ void ConnectionList::AddListener(NT_Listener listener, unsigned int eventMask) {
   if ((eventMask & (NT_EVENT_CONNECTED | NT_EVENT_IMMEDIATE)) ==
           (NT_EVENT_CONNECTED | NT_EVENT_IMMEDIATE) &&
       !m_connections.empty()) {
-    wpi::SmallVector<const ConnectionInfo*, 16> infos;
+    wpi::util::SmallVector<const ConnectionInfo*, 16> infos;
     infos.reserve(m_connections.size());
     for (auto&& conn : m_connections) {
       infos.emplace_back(&(*conn));
diff --git a/ntcore/src/main/native/cpp/ConnectionList.hpp b/ntcore/src/main/native/cpp/ConnectionList.hpp
index edf4ef0c3e..916619c8db 100644
--- a/ntcore/src/main/native/cpp/ConnectionList.hpp
+++ b/ntcore/src/main/native/cpp/ConnectionList.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/UidVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class IListenerStorage;
 
@@ -48,11 +48,11 @@ class ConnectionList final : public IConnectionList {
  private:
   int m_inst;
   IListenerStorage& m_listenerStorage;
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
 
   // shared with user (must be atomic or mutex-protected)
   std::atomic_bool m_connected{false};
-  wpi::UidVector<std::optional<ConnectionInfo>, 8> m_connections;
+  wpi::util::UidVector<std::optional<ConnectionInfo>, 8> m_connections;
 
   struct DataLoggerData {
     static constexpr auto kType = Handle::kConnectionDataLogger;
@@ -70,4 +70,4 @@ class ConnectionList final : public IConnectionList {
   HandleMap<DataLoggerData, 8> m_dataloggers;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/Handle.hpp b/ntcore/src/main/native/cpp/Handle.hpp
index e29a9a627f..455cdd58c6 100644
--- a/ntcore/src/main/native/cpp/Handle.hpp
+++ b/ntcore/src/main/native/cpp/Handle.hpp
@@ -7,7 +7,7 @@
 #include "wpi/nt/ntcore_c.h"
 #include "wpi/util/Synchronization.h"
 
-namespace nt {
+namespace wpi::nt {
 
 // Handle data layout:
 // Bits 30-24: Type
@@ -17,7 +17,7 @@ namespace nt {
 class Handle {
  public:
   enum Type {
-    kListener = wpi::kHandleTypeNTBase,
+    kListener = wpi::util::kHandleTypeNTBase,
     kListenerPoller,
     kEntry,
     kInstance,
@@ -29,7 +29,7 @@ class Handle {
     kPublisher,
     kTypeMax
   };
-  static_assert(kTypeMax <= wpi::kHandleTypeHALBase);
+  static_assert(kTypeMax <= wpi::util::kHandleTypeHALBase);
   enum { kIndexMax = 0xfffff };
 
   constexpr explicit Handle(NT_Handle handle) : m_handle(handle) {}
@@ -67,4 +67,4 @@ class Handle {
   NT_Handle m_handle;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/HandleMap.hpp b/ntcore/src/main/native/cpp/HandleMap.hpp
index 22f4354513..9d9d1ca3ae 100644
--- a/ntcore/src/main/native/cpp/HandleMap.hpp
+++ b/ntcore/src/main/native/cpp/HandleMap.hpp
@@ -11,7 +11,7 @@
 #include "Handle.hpp"
 #include "wpi/util/UidVector.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 template <typename T>
 concept HandleType = requires {
@@ -20,7 +20,7 @@ concept HandleType = requires {
 
 // Utility wrapper class for our UidVectors
 template <HandleType T, size_t Size>
-class HandleMap : public wpi::UidVector<std::unique_ptr<T>, Size> {
+class HandleMap : public wpi::util::UidVector<std::unique_ptr<T>, Size> {
  public:
   template <typename... Args>
   T* Add(int inst, Args&&... args) {
@@ -56,4 +56,4 @@ class HandleMap : public wpi::UidVector<std::unique_ptr<T>, Size> {
   }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/IConnectionList.hpp b/ntcore/src/main/native/cpp/IConnectionList.hpp
index bd593c8cbd..302056f3de 100644
--- a/ntcore/src/main/native/cpp/IConnectionList.hpp
+++ b/ntcore/src/main/native/cpp/IConnectionList.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class IConnectionList {
  public:
@@ -21,4 +21,4 @@ class IConnectionList {
   virtual bool IsConnected() const = 0;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/IListenerStorage.hpp b/ntcore/src/main/native/cpp/IListenerStorage.hpp
index ec69d2323d..77e3425973 100644
--- a/ntcore/src/main/native/cpp/IListenerStorage.hpp
+++ b/ntcore/src/main/native/cpp/IListenerStorage.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class IListenerStorage {
  public:
@@ -49,4 +49,4 @@ class IListenerStorage {
   }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/INetworkClient.hpp b/ntcore/src/main/native/cpp/INetworkClient.hpp
index 2a49584489..7c3c8c373a 100644
--- a/ntcore/src/main/native/cpp/INetworkClient.hpp
+++ b/ntcore/src/main/native/cpp/INetworkClient.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class INetworkClient {
  public:
@@ -27,4 +27,4 @@ class INetworkClient {
   virtual void Flush() = 0;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/InstanceImpl.cpp b/ntcore/src/main/native/cpp/InstanceImpl.cpp
index 12dadaf891..7c217954a7 100644
--- a/ntcore/src/main/native/cpp/InstanceImpl.cpp
+++ b/ntcore/src/main/native/cpp/InstanceImpl.cpp
@@ -8,11 +8,11 @@
 #include <string>
 #include <utility>
 
-using namespace nt;
+using namespace wpi::nt;
 
 std::atomic<int> InstanceImpl::s_default{-1};
 std::atomic<InstanceImpl*> InstanceImpl::s_instances[kNumInstances];
-wpi::mutex InstanceImpl::s_mutex;
+wpi::util::mutex InstanceImpl::s_mutex;
 InstanceImpl::Cleanup InstanceImpl::s_cleanup;
 
 using namespace std::placeholders;
diff --git a/ntcore/src/main/native/cpp/InstanceImpl.hpp b/ntcore/src/main/native/cpp/InstanceImpl.hpp
index 7dcfb9cae4..61ae8731b1 100644
--- a/ntcore/src/main/native/cpp/InstanceImpl.hpp
+++ b/ntcore/src/main/native/cpp/InstanceImpl.hpp
@@ -22,7 +22,7 @@
 #include "NetworkServer.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class InstanceImpl {
  public:
@@ -61,7 +61,7 @@ class InstanceImpl {
 
   ListenerStorage listenerStorage;
   LoggerImpl logger_impl;
-  wpi::Logger logger;
+  wpi::util::Logger logger;
   ConnectionList connectionList;
   LocalStorage localStorage;
   std::atomic<int> networkMode{NT_NET_MODE_NONE};
@@ -72,7 +72,7 @@ class InstanceImpl {
   static std::atomic<int> s_default;
   static constexpr int kNumInstances = 16;
   static std::atomic<InstanceImpl*> s_instances[kNumInstances];
-  static wpi::mutex s_mutex;
+  static wpi::util::mutex s_mutex;
 
   struct Cleanup {
     ~Cleanup() {
@@ -87,7 +87,7 @@ class InstanceImpl {
   };
   static Cleanup s_cleanup;
 
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::shared_ptr<NetworkServer> m_networkServer;
   std::shared_ptr<INetworkClient> m_networkClient;
   std::vector<std::pair<std::string, unsigned int>> m_servers;
@@ -96,4 +96,4 @@ class InstanceImpl {
   int m_inst;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/ListenerStorage.cpp b/ntcore/src/main/native/cpp/ListenerStorage.cpp
index 76d92f6d0c..662780da3b 100644
--- a/ntcore/src/main/native/cpp/ListenerStorage.cpp
+++ b/ntcore/src/main/native/cpp/ListenerStorage.cpp
@@ -11,19 +11,19 @@
 #include "wpi/nt/ntcore_c.h"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 void ListenerStorage::Thread::Main() {
   while (m_active) {
     WPI_Handle signaledBuf[3];
-    auto signaled = wpi::WaitForObjects(
+    auto signaled = wpi::util::WaitForObjects(
         {m_poller, m_stopEvent.GetHandle(), m_waitQueueWakeup.GetHandle()},
         signaledBuf);
     if (signaled.empty() || !m_active) {
       return;
     }
     // call all the way back out to the C++ API to ensure valid handle
-    auto events = nt::ReadListenerQueue(m_poller);
+    auto events = wpi::nt::ReadListenerQueue(m_poller);
     if (!events.empty()) {
       std::unique_lock lock{m_mutex};
       for (auto&& event : events) {
@@ -299,7 +299,7 @@ ListenerStorage::DestroyListenerPoller(NT_ListenerPoller pollerHandle) {
   std::scoped_lock lock{m_mutex};
   if (auto poller = m_pollers.Remove(pollerHandle)) {
     // ensure all listeners that use this poller are removed
-    wpi::SmallVector<NT_Listener, 16> toRemove;
+    wpi::util::SmallVector<NT_Listener, 16> toRemove;
     for (auto&& listener : m_listeners) {
       if (listener->poller == poller.get()) {
         toRemove.emplace_back(listener->handle);
@@ -341,7 +341,7 @@ bool ListenerStorage::WaitForListenerQueue(double timeout) {
     }
   }
   bool timedOut;
-  wpi::WaitForObject(h, timeout, &timedOut);
+  wpi::util::WaitForObject(h, timeout, &timedOut);
   return !timedOut;
 }
 
diff --git a/ntcore/src/main/native/cpp/ListenerStorage.hpp b/ntcore/src/main/native/cpp/ListenerStorage.hpp
index 458f99a5e9..d62aa3f59e 100644
--- a/ntcore/src/main/native/cpp/ListenerStorage.hpp
+++ b/ntcore/src/main/native/cpp/ListenerStorage.hpp
@@ -22,7 +22,7 @@
 #include "wpi/util/Synchronization.h"
 #include "wpi/util/mutex.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class ListenerStorage final : public IListenerStorage {
  public:
@@ -72,14 +72,14 @@ class ListenerStorage final : public IListenerStorage {
       std::span<const NT_Listener> handles);
 
   int m_inst;
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
 
   struct PollerData {
     static constexpr auto kType = Handle::kListenerPoller;
 
     explicit PollerData(NT_ListenerPoller handle) : handle{handle} {}
 
-    wpi::SignalObject<NT_ListenerPoller> handle;
+    wpi::util::SignalObject<NT_ListenerPoller> handle;
     std::vector<Event> queue;
   };
   HandleMap<PollerData, 8> m_pollers;
@@ -90,9 +90,9 @@ class ListenerStorage final : public IListenerStorage {
     ListenerData(NT_Listener handle, PollerData* poller)
         : handle{handle}, poller{poller} {}
 
-    wpi::SignalObject<NT_Listener> handle;
+    wpi::util::SignalObject<NT_Listener> handle;
     PollerData* poller;
-    wpi::SmallVector<std::pair<FinishEventFunc, unsigned int>, 2> sources;
+    wpi::util::SmallVector<std::pair<FinishEventFunc, unsigned int>, 2> sources;
     unsigned int eventMask{0};
   };
   HandleMap<ListenerData, 8> m_listeners;
@@ -103,18 +103,18 @@ class ListenerStorage final : public IListenerStorage {
   VectorSet<ListenerData*> m_logListeners;
   VectorSet<ListenerData*> m_timeSyncListeners;
 
-  class Thread final : public wpi::SafeThreadEvent {
+  class Thread final : public wpi::util::SafeThreadEvent {
    public:
     explicit Thread(NT_ListenerPoller poller) : m_poller{poller} {}
 
     void Main() final;
 
     NT_ListenerPoller m_poller;
-    wpi::DenseMap<NT_Listener, ListenerCallback> m_callbacks;
-    wpi::Event m_waitQueueWakeup;
-    wpi::Event m_waitQueueWaiter;
+    wpi::util::DenseMap<NT_Listener, ListenerCallback> m_callbacks;
+    wpi::util::Event m_waitQueueWakeup;
+    wpi::util::Event m_waitQueueWaiter;
   };
-  wpi::SafeThreadOwner<Thread> m_thread;
+  wpi::util::SafeThreadOwner<Thread> m_thread;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/LocalStorage.cpp b/ntcore/src/main/native/cpp/LocalStorage.cpp
index ddac1f5073..f958294e0a 100644
--- a/ntcore/src/main/native/cpp/LocalStorage.cpp
+++ b/ntcore/src/main/native/cpp/LocalStorage.cpp
@@ -6,7 +6,7 @@
 
 #include <vector>
 
-using namespace nt;
+using namespace wpi::nt;
 
 std::vector<NT_Topic> LocalStorage::GetTopics(std::string_view prefix,
                                               unsigned int types) {
diff --git a/ntcore/src/main/native/cpp/LocalStorage.hpp b/ntcore/src/main/native/cpp/LocalStorage.hpp
index 696e700705..29e6e078e1 100644
--- a/ntcore/src/main/native/cpp/LocalStorage.hpp
+++ b/ntcore/src/main/native/cpp/LocalStorage.hpp
@@ -21,24 +21,24 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 
 class IListenerStorage;
 
 class LocalStorage final : public net::ILocalStorage {
  public:
-  LocalStorage(int inst, IListenerStorage& listenerStorage, wpi::Logger& logger)
+  LocalStorage(int inst, IListenerStorage& listenerStorage, wpi::util::Logger& logger)
       : m_impl{inst, listenerStorage, logger} {}
   LocalStorage(const LocalStorage&) = delete;
   LocalStorage& operator=(const LocalStorage&) = delete;
 
   // network interface functions
   int ServerAnnounce(std::string_view name, int id, std::string_view typeStr,
-                     const wpi::json& properties,
+                     const wpi::util::json& properties,
                      std::optional<int> pubuid) final {
     std::scoped_lock lock{m_mutex};
     auto topic = m_impl.GetOrCreateTopic(name);
@@ -51,7 +51,7 @@ class LocalStorage final : public net::ILocalStorage {
     m_impl.RemoveNetworkPublisher(m_impl.GetOrCreateTopic(name));
   }
 
-  void ServerPropertiesUpdate(std::string_view name, const wpi::json& update,
+  void ServerPropertiesUpdate(std::string_view name, const wpi::util::json& update,
                               bool ack) final {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByName(name)) {
@@ -177,17 +177,17 @@ class LocalStorage final : public net::ILocalStorage {
     return topic && topic->Exists();
   }
 
-  wpi::json GetTopicProperty(NT_Topic topicHandle, std::string_view name) {
+  wpi::util::json GetTopicProperty(NT_Topic topicHandle, std::string_view name) {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByHandle(topicHandle)) {
-      return topic->properties.value(name, wpi::json{});
+      return topic->properties.value(name, wpi::util::json{});
     } else {
       return {};
     }
   }
 
   void SetTopicProperty(NT_Topic topicHandle, std::string_view name,
-                        const wpi::json& value) {
+                        const wpi::util::json& value) {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByHandle(topicHandle)) {
       m_impl.SetProperty(topic, name, value);
@@ -201,16 +201,16 @@ class LocalStorage final : public net::ILocalStorage {
     }
   }
 
-  wpi::json GetTopicProperties(NT_Topic topicHandle) {
+  wpi::util::json GetTopicProperties(NT_Topic topicHandle) {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByHandle(topicHandle)) {
       return topic->properties;
     } else {
-      return wpi::json::object();
+      return wpi::util::json::object();
     }
   }
 
-  bool SetTopicProperties(NT_Topic topicHandle, const wpi::json& update) {
+  bool SetTopicProperties(NT_Topic topicHandle, const wpi::util::json& update) {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByHandle(topicHandle)) {
       return m_impl.SetProperties(topic, update, true);
@@ -262,7 +262,7 @@ class LocalStorage final : public net::ILocalStorage {
   }
 
   NT_Publisher Publish(NT_Topic topicHandle, NT_Type type,
-                       std::string_view typeStr, const wpi::json& properties,
+                       std::string_view typeStr, const wpi::util::json& properties,
                        const PubSubOptions& options) {
     std::scoped_lock lock{m_mutex};
     if (auto topic = m_impl.GetTopicByHandle(topicHandle)) {
@@ -334,7 +334,7 @@ class LocalStorage final : public net::ILocalStorage {
   template <SmallArrayType T>
   Timestamped<typename TypeInfo<T>::SmallRet> GetAtomic(
       NT_Handle subentry,
-      wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
+      wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf,
       typename TypeInfo<T>::View defaultValue) {
     std::scoped_lock lock{m_mutex};
     Value* value = m_impl.GetSubEntryValue(subentry);
@@ -485,8 +485,8 @@ class LocalStorage final : public net::ILocalStorage {
   }
 
  private:
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   local::StorageImpl m_impl;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/LoggerImpl.cpp b/ntcore/src/main/native/cpp/LoggerImpl.cpp
index 478653758b..683185c6f2 100644
--- a/ntcore/src/main/native/cpp/LoggerImpl.cpp
+++ b/ntcore/src/main/native/cpp/LoggerImpl.cpp
@@ -12,26 +12,26 @@
 #include "wpi/util/fs.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 static void DefaultLogger(unsigned int level, const char* file,
                           unsigned int line, const char* msg) {
-  if (level == wpi::WPI_LOG_INFO) {
-    wpi::print(stderr, "NT: {}\n", msg);
+  if (level == wpi::util::WPI_LOG_INFO) {
+    wpi::util::print(stderr, "NT: {}\n", msg);
     return;
   }
 
   std::string_view levelmsg;
-  if (level >= wpi::WPI_LOG_CRITICAL) {
+  if (level >= wpi::util::WPI_LOG_CRITICAL) {
     levelmsg = "CRITICAL";
-  } else if (level >= wpi::WPI_LOG_ERROR) {
+  } else if (level >= wpi::util::WPI_LOG_ERROR) {
     levelmsg = "ERROR";
-  } else if (level >= wpi::WPI_LOG_WARNING) {
+  } else if (level >= wpi::util::WPI_LOG_WARNING) {
     levelmsg = "WARNING";
   } else {
     return;
   }
-  wpi::print(stderr, "NT: {}: {} ({}:{})\n", levelmsg, msg, file, line);
+  wpi::util::print(stderr, "NT: {}: {} ({}:{})\n", levelmsg, msg, file, line);
 }
 
 static constexpr unsigned int kFlagCritical = 1u << 16;
@@ -45,23 +45,23 @@ static constexpr unsigned int kFlagDebug3 = 1u << 23;
 static constexpr unsigned int kFlagDebug4 = 1u << 24;
 
 static unsigned int LevelToFlag(unsigned int level) {
-  if (level >= wpi::WPI_LOG_CRITICAL) {
+  if (level >= wpi::util::WPI_LOG_CRITICAL) {
     return EventFlags::kLogMessage | kFlagCritical;
-  } else if (level >= wpi::WPI_LOG_ERROR) {
+  } else if (level >= wpi::util::WPI_LOG_ERROR) {
     return EventFlags::kLogMessage | kFlagError;
-  } else if (level >= wpi::WPI_LOG_WARNING) {
+  } else if (level >= wpi::util::WPI_LOG_WARNING) {
     return EventFlags::kLogMessage | kFlagWarning;
-  } else if (level >= wpi::WPI_LOG_INFO) {
+  } else if (level >= wpi::util::WPI_LOG_INFO) {
     return EventFlags::kLogMessage | kFlagInfo;
-  } else if (level >= wpi::WPI_LOG_DEBUG) {
+  } else if (level >= wpi::util::WPI_LOG_DEBUG) {
     return EventFlags::kLogMessage | kFlagDebug;
-  } else if (level >= wpi::WPI_LOG_DEBUG1) {
+  } else if (level >= wpi::util::WPI_LOG_DEBUG1) {
     return EventFlags::kLogMessage | kFlagDebug1;
-  } else if (level >= wpi::WPI_LOG_DEBUG2) {
+  } else if (level >= wpi::util::WPI_LOG_DEBUG2) {
     return EventFlags::kLogMessage | kFlagDebug2;
-  } else if (level >= wpi::WPI_LOG_DEBUG3) {
+  } else if (level >= wpi::util::WPI_LOG_DEBUG3) {
     return EventFlags::kLogMessage | kFlagDebug3;
-  } else if (level >= wpi::WPI_LOG_DEBUG4) {
+  } else if (level >= wpi::util::WPI_LOG_DEBUG4) {
     return EventFlags::kLogMessage | kFlagDebug4;
   } else {
     return EventFlags::kLogMessage;
@@ -71,31 +71,31 @@ static unsigned int LevelToFlag(unsigned int level) {
 static unsigned int LevelsToEventMask(unsigned int minLevel,
                                       unsigned int maxLevel) {
   unsigned int mask = 0;
-  if (minLevel <= wpi::WPI_LOG_CRITICAL && maxLevel >= wpi::WPI_LOG_CRITICAL) {
+  if (minLevel <= wpi::util::WPI_LOG_CRITICAL && maxLevel >= wpi::util::WPI_LOG_CRITICAL) {
     mask |= kFlagCritical;
   }
-  if (minLevel <= wpi::WPI_LOG_ERROR && maxLevel >= wpi::WPI_LOG_ERROR) {
+  if (minLevel <= wpi::util::WPI_LOG_ERROR && maxLevel >= wpi::util::WPI_LOG_ERROR) {
     mask |= kFlagError;
   }
-  if (minLevel <= wpi::WPI_LOG_WARNING && maxLevel >= wpi::WPI_LOG_WARNING) {
+  if (minLevel <= wpi::util::WPI_LOG_WARNING && maxLevel >= wpi::util::WPI_LOG_WARNING) {
     mask |= kFlagWarning;
   }
-  if (minLevel <= wpi::WPI_LOG_INFO && maxLevel >= wpi::WPI_LOG_INFO) {
+  if (minLevel <= wpi::util::WPI_LOG_INFO && maxLevel >= wpi::util::WPI_LOG_INFO) {
     mask |= kFlagInfo;
   }
-  if (minLevel <= wpi::WPI_LOG_DEBUG && maxLevel >= wpi::WPI_LOG_DEBUG) {
+  if (minLevel <= wpi::util::WPI_LOG_DEBUG && maxLevel >= wpi::util::WPI_LOG_DEBUG) {
     mask |= kFlagDebug;
   }
-  if (minLevel <= wpi::WPI_LOG_DEBUG1 && maxLevel >= wpi::WPI_LOG_DEBUG1) {
+  if (minLevel <= wpi::util::WPI_LOG_DEBUG1 && maxLevel >= wpi::util::WPI_LOG_DEBUG1) {
     mask |= kFlagDebug1;
   }
-  if (minLevel <= wpi::WPI_LOG_DEBUG2 && maxLevel >= wpi::WPI_LOG_DEBUG2) {
+  if (minLevel <= wpi::util::WPI_LOG_DEBUG2 && maxLevel >= wpi::util::WPI_LOG_DEBUG2) {
     mask |= kFlagDebug2;
   }
-  if (minLevel <= wpi::WPI_LOG_DEBUG3 && maxLevel >= wpi::WPI_LOG_DEBUG3) {
+  if (minLevel <= wpi::util::WPI_LOG_DEBUG3 && maxLevel >= wpi::util::WPI_LOG_DEBUG3) {
     mask |= kFlagDebug3;
   }
-  if (minLevel <= wpi::WPI_LOG_DEBUG4 && maxLevel >= wpi::WPI_LOG_DEBUG4) {
+  if (minLevel <= wpi::util::WPI_LOG_DEBUG4 && maxLevel >= wpi::util::WPI_LOG_DEBUG4) {
     mask |= kFlagDebug4;
   }
   if (mask == 0) {
diff --git a/ntcore/src/main/native/cpp/LoggerImpl.hpp b/ntcore/src/main/native/cpp/LoggerImpl.hpp
index 5641f151df..9d9c09ae7a 100644
--- a/ntcore/src/main/native/cpp/LoggerImpl.hpp
+++ b/ntcore/src/main/native/cpp/LoggerImpl.hpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class IListenerStorage;
 
@@ -35,7 +35,7 @@ class LoggerImpl {
  private:
   IListenerStorage& m_listenerStorage;
   std::atomic_int m_listenerCount{0};
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
 
   struct ListenerLevels {
     ListenerLevels(NT_Listener listener, unsigned int minLevel,
@@ -49,4 +49,4 @@ class LoggerImpl {
   std::vector<ListenerLevels> m_listenerLevels;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/NetworkClient.cpp b/ntcore/src/main/native/cpp/NetworkClient.cpp
index 8b659dc86b..8f2f824505 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.cpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.cpp
@@ -24,8 +24,8 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace nt;
-namespace uv = wpi::uv;
+using namespace wpi::nt;
+namespace uv = wpi::net::uv;
 
 static constexpr uv::Timer::Time kReconnectRate{1000};
 static constexpr uv::Timer::Time kWebsocketHandshakeTimeout{500};
@@ -35,7 +35,7 @@ static constexpr size_t kMaxMessageSize = 2 * 1024 * 1024;
 NetworkClientBase::NetworkClientBase(int inst, std::string_view id,
                                      net::ILocalStorage& localStorage,
                                      IConnectionList& connList,
-                                     wpi::Logger& logger)
+                                     wpi::util::Logger& logger)
     : m_inst{inst},
       m_localStorage{localStorage},
       m_connList{connList},
@@ -62,7 +62,7 @@ void NetworkClientBase::StartDSClient(unsigned int port) {
       return;
     }
     m_dsClientServer.second = port == 0 ? NT_DEFAULT_PORT : port;
-    m_dsClient = wpi::DsClient::Create(m_loop, m_logger);
+    m_dsClient = wpi::net::DsClient::Create(m_loop, m_logger);
     if (m_dsClient) {
       m_dsClient->setIp.connect([this](std::string_view ip) {
         m_dsClientServer.first = ip;
@@ -107,7 +107,7 @@ void NetworkClientBase::DoSetServers(
   std::vector<std::pair<std::string, unsigned int>> serversCopy;
   serversCopy.reserve(servers.size());
   for (auto&& server : servers) {
-    serversCopy.emplace_back(wpi::trim(server.first),
+    serversCopy.emplace_back(wpi::util::trim(server.first),
                              server.second == 0 ? defaultPort : server.second);
   }
 
@@ -144,13 +144,13 @@ void NetworkClientBase::DoDisconnect(std::string_view reason) {
 
 NetworkClient::NetworkClient(
     int inst, std::string_view id, net::ILocalStorage& localStorage,
-    IConnectionList& connList, wpi::Logger& logger,
+    IConnectionList& connList, wpi::util::Logger& logger,
     std::function<void(int64_t serverTimeOffset, int64_t rtt2, bool valid)>
         timeSyncUpdated)
     : NetworkClientBase{inst, id, localStorage, connList, logger},
       m_timeSyncUpdated{std::move(timeSyncUpdated)} {
   m_loopRunner.ExecAsync([this](uv::Loop& loop) {
-    m_parallelConnect = wpi::ParallelTcpConnector::Create(
+    m_parallelConnect = wpi::net::ParallelTcpConnector::Create(
         loop, kReconnectRate, m_logger,
         [this](uv::Tcp& tcp) { TcpConnected(tcp); }, true);
 
@@ -221,17 +221,17 @@ void NetworkClient::TcpConnected(uv::Tcp& tcp) {
   tcp.SetLogger(&m_logger);
   tcp.SetNoDelay(true);
   // Start the WS client
-  if (m_logger.min_level() >= wpi::WPI_LOG_DEBUG4) {
+  if (m_logger.min_level() >= wpi::util::WPI_LOG_DEBUG4) {
     std::string ip;
     unsigned int port = 0;
     uv::AddrToName(tcp.GetPeer(), &ip, &port);
     DEBUG4("Starting WebSocket client on {} port {}", ip, port);
   }
-  wpi::WebSocket::ClientOptions options;
+  wpi::net::WebSocket::ClientOptions options;
   options.handshakeTimeout = kWebsocketHandshakeTimeout;
-  wpi::SmallString<128> idBuf;
-  auto ws = wpi::WebSocket::CreateClient(
-      tcp, fmt::format("/nt/{}", wpi::EscapeURI(m_id, idBuf)), "",
+  wpi::util::SmallString<128> idBuf;
+  auto ws = wpi::net::WebSocket::CreateClient(
+      tcp, fmt::format("/nt/{}", wpi::net::EscapeURI(m_id, idBuf)), "",
       {"v4.1.networktables.first.wpi.edu", "networktables.first.wpi.edu"},
       options);
   ws->SetMaxMessageSize(kMaxMessageSize);
@@ -244,7 +244,7 @@ void NetworkClient::TcpConnected(uv::Tcp& tcp) {
   });
 }
 
-void NetworkClient::WsConnected(wpi::WebSocket& ws, uv::Tcp& tcp,
+void NetworkClient::WsConnected(wpi::net::WebSocket& ws, uv::Tcp& tcp,
                                 std::string_view protocol) {
   if (m_parallelConnect) {
     m_parallelConnect->Succeeded(tcp);
@@ -258,7 +258,7 @@ void NetworkClient::WsConnected(wpi::WebSocket& ws, uv::Tcp& tcp,
   INFO("CONNECTED NT4 to {} port {}", connInfo.remote_ip, connInfo.remote_port);
   m_connHandle = m_connList.AddConnection(connInfo);
 
-  bool local = wpi::starts_with(connInfo.remote_ip, "127.");
+  bool local = wpi::util::starts_with(connInfo.remote_ip, "127.");
 
   m_wire = std::make_shared<net::WebSocketConnection>(
       ws, connInfo.protocol_version, m_logger);
diff --git a/ntcore/src/main/native/cpp/NetworkClient.hpp b/ntcore/src/main/native/cpp/NetworkClient.hpp
index aba53f4ab4..0fce2f0711 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.hpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.hpp
@@ -25,15 +25,15 @@
 #include "wpi/net/uv/Async.hpp"
 #include "wpi/net/uv/Timer.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 class ILocalStorage;
-}  // namespace nt::net
+}  // namespace wpi::nt::net
 
-namespace nt {
+namespace wpi::nt {
 
 class IConnectionList;
 
@@ -41,7 +41,7 @@ class NetworkClientBase : public INetworkClient {
  public:
   NetworkClientBase(int inst, std::string_view id,
                     net::ILocalStorage& localStorage, IConnectionList& connList,
-                    wpi::Logger& logger);
+                    wpi::util::Logger& logger);
   ~NetworkClientBase() override;
 
   void Disconnect() override;
@@ -57,7 +57,7 @@ class NetworkClientBase : public INetworkClient {
       std::span<const std::pair<std::string, unsigned int>> servers,
       unsigned int defaultPort);
 
-  virtual void TcpConnected(wpi::uv::Tcp& tcp) = 0;
+  virtual void TcpConnected(wpi::net::uv::Tcp& tcp) = 0;
   virtual void ForceDisconnect(std::string_view reason) = 0;
   virtual void DoDisconnect(std::string_view reason);
 
@@ -65,15 +65,15 @@ class NetworkClientBase : public INetworkClient {
   int m_inst;
   net::ILocalStorage& m_localStorage;
   IConnectionList& m_connList;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   std::string m_id;
 
   // used only from loop
-  std::shared_ptr<wpi::ParallelTcpConnector> m_parallelConnect;
-  std::shared_ptr<wpi::uv::Timer> m_readLocalTimer;
-  std::shared_ptr<wpi::uv::Timer> m_sendOutgoingTimer;
-  std::shared_ptr<wpi::uv::Async<>> m_flushLocal;
-  std::shared_ptr<wpi::uv::Async<>> m_flush;
+  std::shared_ptr<wpi::net::ParallelTcpConnector> m_parallelConnect;
+  std::shared_ptr<wpi::net::uv::Timer> m_readLocalTimer;
+  std::shared_ptr<wpi::net::uv::Timer> m_sendOutgoingTimer;
+  std::shared_ptr<wpi::net::uv::Async<>> m_flushLocal;
+  std::shared_ptr<wpi::net::uv::Async<>> m_flush;
 
   using Queue = net::LocalClientMessageQueue;
   net::ClientMessage m_localMsgs[Queue::kBlockSize];
@@ -81,25 +81,25 @@ class NetworkClientBase : public INetworkClient {
   std::vector<std::pair<std::string, unsigned int>> m_servers;
 
   std::pair<std::string, unsigned int> m_dsClientServer{"", 0};
-  std::shared_ptr<wpi::DsClient> m_dsClient;
+  std::shared_ptr<wpi::net::DsClient> m_dsClient;
 
   // shared with user
-  std::atomic<wpi::uv::Async<>*> m_flushLocalAtomic{nullptr};
-  std::atomic<wpi::uv::Async<>*> m_flushAtomic{nullptr};
+  std::atomic<wpi::net::uv::Async<>*> m_flushLocalAtomic{nullptr};
+  std::atomic<wpi::net::uv::Async<>*> m_flushAtomic{nullptr};
 
   Queue m_localQueue;
 
   int m_connHandle = 0;
 
-  wpi::EventLoopRunner m_loopRunner;
-  wpi::uv::Loop& m_loop;
+  wpi::net::EventLoopRunner m_loopRunner;
+  wpi::net::uv::Loop& m_loop;
 };
 
 class NetworkClient final : public NetworkClientBase {
  public:
   NetworkClient(
       int inst, std::string_view id, net::ILocalStorage& localStorage,
-      IConnectionList& connList, wpi::Logger& logger,
+      IConnectionList& connList, wpi::util::Logger& logger,
       std::function<void(int64_t serverTimeOffset, int64_t rtt2, bool valid)>
           timeSyncUpdated);
   ~NetworkClient() final;
@@ -111,8 +111,8 @@ class NetworkClient final : public NetworkClientBase {
 
  private:
   void HandleLocal();
-  void TcpConnected(wpi::uv::Tcp& tcp) final;
-  void WsConnected(wpi::WebSocket& ws, wpi::uv::Tcp& tcp,
+  void TcpConnected(wpi::net::uv::Tcp& tcp) final;
+  void WsConnected(wpi::net::WebSocket& ws, wpi::net::uv::Tcp& tcp,
                    std::string_view protocol);
   void ForceDisconnect(std::string_view reason) override;
   void DoDisconnect(std::string_view reason) override;
@@ -123,4 +123,4 @@ class NetworkClient final : public NetworkClientBase {
   std::unique_ptr<net::ClientImpl> m_clientImpl;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/NetworkServer.cpp b/ntcore/src/main/native/cpp/NetworkServer.cpp
index 804d3ee18b..3f2a0f95e2 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.cpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.cpp
@@ -34,8 +34,8 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt;
-namespace uv = wpi::uv;
+using namespace wpi::nt;
+namespace uv = wpi::net::uv;
 
 // use a larger max message size for websockets
 static constexpr size_t kMaxMessageSize = 2 * 1024 * 1024;
@@ -45,7 +45,7 @@ static constexpr size_t kClientProcessMessageCountMax = 16;
 class NetworkServer::ServerConnection {
  public:
   ServerConnection(NetworkServer& server, std::string_view addr,
-                   unsigned int port, wpi::Logger& logger)
+                   unsigned int port, wpi::util::Logger& logger)
       : m_server{server},
         m_connInfo{fmt::format("{}:{}", addr, port)},
         m_logger{logger} {
@@ -64,7 +64,7 @@ class NetworkServer::ServerConnection {
   NetworkServer& m_server;
   ConnectionInfo m_info;
   std::string m_connInfo;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   int m_clientId;
 
  private:
@@ -73,11 +73,11 @@ class NetworkServer::ServerConnection {
 
 class NetworkServer::ServerConnection4 final
     : public ServerConnection,
-      public wpi::HttpWebSocketServerConnection<ServerConnection4> {
+      public wpi::net::HttpWebSocketServerConnection<ServerConnection4> {
  public:
   ServerConnection4(std::shared_ptr<uv::Stream> stream, NetworkServer& server,
                     std::string_view addr, unsigned int port,
-                    wpi::Logger& logger)
+                    wpi::util::Logger& logger)
       : ServerConnection{server, addr, port, logger},
         HttpWebSocketServerConnection(
             stream,
@@ -125,8 +125,8 @@ void NetworkServer::ServerConnection::ConnectionClosed() {
 
 void NetworkServer::ServerConnection4::ProcessRequest() {
   DEBUG1("HTTP request: '{}'", m_request.GetUrl());
-  wpi::UrlParser url{m_request.GetUrl(),
-                     m_request.GetMethod() == wpi::HTTP_CONNECT};
+  wpi::net::UrlParser url{m_request.GetUrl(),
+                     m_request.GetMethod() == wpi::net::HTTP_CONNECT};
   if (!url.IsValid()) {
     // failed to parse URL
     SendError(400);
@@ -145,7 +145,7 @@ void NetworkServer::ServerConnection4::ProcessRequest() {
   }
   DEBUG4("query: \"{}\"\n", query);
 
-  const bool isGET = m_request.GetMethod() == wpi::HTTP_GET;
+  const bool isGET = m_request.GetMethod() == wpi::net::HTTP_GET;
   if (isGET && path == "/") {
     // build HTML root page
     SendResponse(200, "OK", "text/html",
@@ -162,18 +162,18 @@ void NetworkServer::ServerConnection4::ProcessRequest() {
 
 void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
   // get name from URL
-  wpi::UrlParser url{m_request.GetUrl(), false};
+  wpi::net::UrlParser url{m_request.GetUrl(), false};
   std::string_view path;
   if (url.HasPath()) {
     path = url.GetPath();
   }
   DEBUG4("path: '{}'", path);
 
-  wpi::SmallString<128> nameBuf;
+  wpi::util::SmallString<128> nameBuf;
   std::string_view name;
   bool err = false;
-  if (auto uri = wpi::remove_prefix(path, "/nt/")) {
-    name = wpi::UnescapeURI(*uri, nameBuf, &err);
+  if (auto uri = wpi::util::remove_prefix(path, "/nt/")) {
+    name = wpi::net::UnescapeURI(*uri, nameBuf, &err);
   }
   if (err || name.empty()) {
     INFO("invalid path '{}' (from {}), must match /nt/[clientId], closing",
@@ -208,7 +208,7 @@ void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
           // respond to RTT ping
           if (pubuid == -1) {
             m_wire->SendBinary([&](auto& os) {
-              net::WireEncodeBinary(os, -1, wpi::Now(), value);
+              net::WireEncodeBinary(os, -1, wpi::util::Now(), value);
             });
           }
         }
@@ -221,7 +221,7 @@ void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
       return;
     }
 
-    bool local = wpi::starts_with(m_info.remote_ip, "127.");
+    bool local = wpi::util::starts_with(m_info.remote_ip, "127.");
     std::string dedupName;
     std::tie(dedupName, m_clientId) = m_server.m_serverImpl.AddClient(
         name, m_connInfo, local, *m_wire,
@@ -255,14 +255,14 @@ void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
 NetworkServer::NetworkServer(std::string_view persistentFilename,
                              std::string_view listenAddress, unsigned int port,
                              net::ILocalStorage& localStorage,
-                             IConnectionList& connList, wpi::Logger& logger,
+                             IConnectionList& connList, wpi::util::Logger& logger,
                              std::function<void()> initDone)
     : m_localStorage{localStorage},
       m_connList{connList},
       m_logger{logger},
       m_initDone{std::move(initDone)},
       m_persistentFilename{persistentFilename},
-      m_listenAddress{wpi::trim(listenAddress)},
+      m_listenAddress{wpi::util::trim(listenAddress)},
       m_port{port},
       m_serverImpl{logger},
       m_localQueue{logger},
@@ -302,7 +302,7 @@ void NetworkServer::ProcessAllLocal() {
 }
 
 void NetworkServer::LoadPersistent() {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(m_persistentFilename);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(m_persistentFilename);
   if (!fileBuffer) {
     INFO(
         "could not open persistent file '{}': {} "
@@ -313,7 +313,7 @@ void NetworkServer::LoadPersistent() {
     fs::copy_file(m_persistentFilename, m_persistentFilename + ".bak",
                   std::filesystem::copy_options::overwrite_existing, ec);
     // try to write an empty file so it doesn't happen again
-    wpi::raw_fd_ostream os{m_persistentFilename, ec, fs::F_Text};
+    wpi::util::raw_fd_ostream os{m_persistentFilename, ec, fs::F_Text};
     if (ec.value() == 0) {
       os << "[]\n";
       os.close();
@@ -330,7 +330,7 @@ void NetworkServer::SavePersistent(std::string_view filename,
   // write to temporary file
   auto tmp = fmt::format("{}.tmp", filename);
   std::error_code ec;
-  wpi::raw_fd_ostream os{tmp, ec, fs::F_Text};
+  wpi::util::raw_fd_ostream os{tmp, ec, fs::F_Text};
   if (ec.value() != 0) {
     INFO("could not open persistent file '{}' for write: {}", tmp,
          ec.message());
diff --git a/ntcore/src/main/native/cpp/NetworkServer.hpp b/ntcore/src/main/native/cpp/NetworkServer.hpp
index b542dca8fe..721a52a8d1 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.hpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.hpp
@@ -20,15 +20,15 @@
 #include "wpi/net/uv/Timer.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 class ILocalStorage;
-}  // namespace nt::net
+}  // namespace wpi::nt::net
 
-namespace nt {
+namespace wpi::nt {
 
 class IConnectionList;
 
@@ -37,7 +37,7 @@ class NetworkServer {
   NetworkServer(std::string_view persistentFilename,
                 std::string_view listenAddress, unsigned int port,
                 net::ILocalStorage& localStorage, IConnectionList& connList,
-                wpi::Logger& logger, std::function<void()> initDone);
+                wpi::util::Logger& logger, std::function<void()> initDone);
   ~NetworkServer();
 
   void FlushLocal();
@@ -56,7 +56,7 @@ class NetworkServer {
 
   net::ILocalStorage& m_localStorage;
   IConnectionList& m_connList;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   std::function<void()> m_initDone;
   std::string m_persistentData;
   std::string m_persistentFilename;
@@ -64,11 +64,11 @@ class NetworkServer {
   unsigned int m_port;
 
   // used only from loop
-  std::shared_ptr<wpi::uv::Timer> m_readLocalTimer;
-  std::shared_ptr<wpi::uv::Timer> m_savePersistentTimer;
-  std::shared_ptr<wpi::uv::Async<>> m_flushLocal;
-  std::shared_ptr<wpi::uv::Async<>> m_flush;
-  std::shared_ptr<wpi::uv::Idle> m_idle;
+  std::shared_ptr<wpi::net::uv::Timer> m_readLocalTimer;
+  std::shared_ptr<wpi::net::uv::Timer> m_savePersistentTimer;
+  std::shared_ptr<wpi::net::uv::Async<>> m_flushLocal;
+  std::shared_ptr<wpi::net::uv::Async<>> m_flush;
+  std::shared_ptr<wpi::net::uv::Idle> m_idle;
   bool m_shutdown = false;
 
   using Queue = net::LocalClientMessageQueue;
@@ -77,9 +77,9 @@ class NetworkServer {
   server::ServerImpl m_serverImpl;
 
   // shared with user (must be atomic or mutex-protected)
-  std::atomic<wpi::uv::Async<>*> m_flushLocalAtomic{nullptr};
-  std::atomic<wpi::uv::Async<>*> m_flushAtomic{nullptr};
-  mutable wpi::mutex m_mutex;
+  std::atomic<wpi::net::uv::Async<>*> m_flushLocalAtomic{nullptr};
+  std::atomic<wpi::net::uv::Async<>*> m_flushAtomic{nullptr};
+  mutable wpi::util::mutex m_mutex;
   struct Connection {
     ServerConnection* conn;
     int connHandle;
@@ -88,8 +88,8 @@ class NetworkServer {
 
   Queue m_localQueue;
 
-  wpi::EventLoopRunner m_loopRunner;
-  wpi::uv::Loop& m_loop;
+  wpi::net::EventLoopRunner m_loopRunner;
+  wpi::net::uv::Loop& m_loop;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/PubSubOptions.hpp b/ntcore/src/main/native/cpp/PubSubOptions.hpp
index 67ed602cf9..65d678969b 100644
--- a/ntcore/src/main/native/cpp/PubSubOptions.hpp
+++ b/ntcore/src/main/native/cpp/PubSubOptions.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 // internal helper class for PubSubOptions
 class PubSubOptionsImpl : public PubSubOptions {
@@ -33,4 +33,4 @@ class PubSubOptionsImpl : public PubSubOptions {
   unsigned int periodicMs = kDefaultPeriodicMs;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/Types_internal.cpp b/ntcore/src/main/native/cpp/Types_internal.cpp
index faf49d645f..cb9c706413 100644
--- a/ntcore/src/main/native/cpp/Types_internal.cpp
+++ b/ntcore/src/main/native/cpp/Types_internal.cpp
@@ -4,7 +4,7 @@
 
 #include "Types_internal.hpp"
 
-std::string_view nt::TypeToString(NT_Type type) {
+std::string_view wpi::nt::TypeToString(NT_Type type) {
   switch (type) {
     case NT_BOOLEAN:
       return "boolean";
@@ -33,7 +33,7 @@ std::string_view nt::TypeToString(NT_Type type) {
   }
 }
 
-NT_Type nt::StringToType(std::string_view typeStr) {
+NT_Type wpi::nt::StringToType(std::string_view typeStr) {
   if (typeStr == "boolean") {
     return NT_BOOLEAN;
   } else if (typeStr == "double") {
@@ -61,7 +61,7 @@ NT_Type nt::StringToType(std::string_view typeStr) {
   }
 }
 
-NT_Type nt::StringToType3(std::string_view typeStr) {
+NT_Type wpi::nt::StringToType3(std::string_view typeStr) {
   if (typeStr == "boolean") {
     return NT_BOOLEAN;
   } else if (typeStr == "double" || typeStr == "int" || typeStr == "float") {
diff --git a/ntcore/src/main/native/cpp/Types_internal.hpp b/ntcore/src/main/native/cpp/Types_internal.hpp
index c05e068f3c..4e680edf13 100644
--- a/ntcore/src/main/native/cpp/Types_internal.hpp
+++ b/ntcore/src/main/native/cpp/Types_internal.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace nt {
+namespace wpi::nt {
 
 std::string_view TypeToString(NT_Type type);
 NT_Type StringToType(std::string_view typeStr);
@@ -27,4 +27,4 @@ constexpr bool IsNumericCompatible(NT_Type a, NT_Type b) {
          (IsNumericArray(a) && IsNumericArray(b));
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/Value.cpp b/ntcore/src/main/native/cpp/Value.cpp
index 626343148b..c121526042 100644
--- a/ntcore/src/main/native/cpp/Value.cpp
+++ b/ntcore/src/main/native/cpp/Value.cpp
@@ -18,7 +18,7 @@
 #include "wpi/util/MemAlloc.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt;
+using namespace wpi::nt;
 
 namespace {
 struct StringArrayStorage {
@@ -176,7 +176,7 @@ Value Value::MakeStringArray(std::vector<std::string>&& value, int64_t time) {
   return val;
 }
 
-void nt::ConvertToC(const Value& in, NT_Value* out) {
+void wpi::nt::ConvertToC(const Value& in, NT_Value* out) {
   *out = in.value();
   switch (in.type()) {
     case NT_STRING:
@@ -184,7 +184,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
       break;
     case NT_RAW: {
       auto v = in.GetRaw();
-      out->data.v_raw.data = static_cast<uint8_t*>(wpi::safe_malloc(v.size()));
+      out->data.v_raw.data = static_cast<uint8_t*>(wpi::util::safe_malloc(v.size()));
       out->data.v_raw.size = v.size();
       std::memcpy(out->data.v_raw.data, v.data(), v.size());
       break;
@@ -192,7 +192,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
     case NT_BOOLEAN_ARRAY: {
       auto v = in.GetBooleanArray();
       out->data.arr_boolean.arr =
-          static_cast<int*>(wpi::safe_malloc(v.size() * sizeof(int)));
+          static_cast<int*>(wpi::util::safe_malloc(v.size() * sizeof(int)));
       out->data.arr_boolean.size = v.size();
       std::copy(v.begin(), v.end(), out->data.arr_boolean.arr);
       break;
@@ -200,7 +200,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
     case NT_INTEGER_ARRAY: {
       auto v = in.GetIntegerArray();
       out->data.arr_int.arr =
-          static_cast<int64_t*>(wpi::safe_malloc(v.size() * sizeof(int64_t)));
+          static_cast<int64_t*>(wpi::util::safe_malloc(v.size() * sizeof(int64_t)));
       out->data.arr_int.size = v.size();
       std::copy(v.begin(), v.end(), out->data.arr_int.arr);
       break;
@@ -208,7 +208,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
     case NT_FLOAT_ARRAY: {
       auto v = in.GetFloatArray();
       out->data.arr_float.arr =
-          static_cast<float*>(wpi::safe_malloc(v.size() * sizeof(float)));
+          static_cast<float*>(wpi::util::safe_malloc(v.size() * sizeof(float)));
       out->data.arr_float.size = v.size();
       std::copy(v.begin(), v.end(), out->data.arr_float.arr);
       break;
@@ -216,7 +216,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
     case NT_DOUBLE_ARRAY: {
       auto v = in.GetDoubleArray();
       out->data.arr_double.arr =
-          static_cast<double*>(wpi::safe_malloc(v.size() * sizeof(double)));
+          static_cast<double*>(wpi::util::safe_malloc(v.size() * sizeof(double)));
       out->data.arr_double.size = v.size();
       std::copy(v.begin(), v.end(), out->data.arr_double.arr);
       break;
@@ -235,7 +235,7 @@ void nt::ConvertToC(const Value& in, NT_Value* out) {
   }
 }
 
-void nt::ConvertToC(std::string_view in, WPI_String* out) {
+void wpi::nt::ConvertToC(std::string_view in, WPI_String* out) {
   if (in.empty()) {
     out->len = 0;
     out->str = nullptr;
@@ -245,7 +245,7 @@ void nt::ConvertToC(std::string_view in, WPI_String* out) {
   std::memcpy(write, in.data(), in.size());
 }
 
-Value nt::ConvertFromC(const NT_Value& value) {
+Value wpi::nt::ConvertFromC(const NT_Value& value) {
   switch (value.type) {
     case NT_BOOLEAN:
       return Value::MakeBoolean(value.data.v_boolean != 0, value.last_change);
@@ -290,7 +290,7 @@ Value nt::ConvertFromC(const NT_Value& value) {
   }
 }
 
-bool nt::operator==(const Value& lhs, const Value& rhs) {
+bool wpi::nt::operator==(const Value& lhs, const Value& rhs) {
   if (lhs.type() != rhs.type()) {
     return false;
   }
diff --git a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
index c1ac1b26d2..16aa106f5f 100644
--- a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
+++ b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
@@ -7,7 +7,7 @@
 #include <utility>
 #include <vector>
 
-using namespace nt;
+using namespace wpi::nt;
 
 std::vector<Value> ValueCircularBuffer::ReadValue(unsigned int types) {
   std::vector<Value> rv;
diff --git a/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp b/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
index fd363a5cb0..2f6e687b38 100644
--- a/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
+++ b/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/ntcore_cpp_types.hpp"
 #include "wpi/util/circular_buffer.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class ValueCircularBuffer {
  public:
@@ -28,7 +28,7 @@ class ValueCircularBuffer {
   std::vector<Timestamped<typename TypeInfo<T>::Value>> Read();
 
  private:
-  wpi::circular_buffer<Value> m_storage;
+  wpi::util::circular_buffer<Value> m_storage;
 };
 
 template <ValidType T>
@@ -45,4 +45,4 @@ ValueCircularBuffer::Read() {
   return rv;
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/Value_internal.cpp b/ntcore/src/main/native/cpp/Value_internal.cpp
index 74ed89fe1a..b050f3a836 100644
--- a/ntcore/src/main/native/cpp/Value_internal.cpp
+++ b/ntcore/src/main/native/cpp/Value_internal.cpp
@@ -4,9 +4,9 @@
 
 #include "Value_internal.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
-Value nt::ConvertNumericValue(const Value& value, NT_Type type) {
+Value wpi::nt::ConvertNumericValue(const Value& value, NT_Type type) {
   switch (type) {
     case NT_INTEGER: {
       Value newval =
diff --git a/ntcore/src/main/native/cpp/Value_internal.hpp b/ntcore/src/main/native/cpp/Value_internal.hpp
index e4c2a24632..32a70d8982 100644
--- a/ntcore/src/main/native/cpp/Value_internal.hpp
+++ b/ntcore/src/main/native/cpp/Value_internal.hpp
@@ -18,7 +18,7 @@
 #include "wpi/nt/ntcore_cpp_types.hpp"
 #include "wpi/util/MemAlloc.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 template <typename T>
 struct TypeInfo {};
@@ -356,7 +356,7 @@ inline typename TypeInfo<T>::Value CopyValue(typename TypeInfo<T>::View value) {
 template <SmallArrayType T>
 inline typename TypeInfo<T>::SmallRet CopyValue(
     typename TypeInfo<T>::View arr,
-    wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
+    wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
   buf.assign(arr.begin(), arr.end());
   return {buf.data(), buf.size()};
 }
@@ -375,7 +375,7 @@ inline typename TypeInfo<T>::Value GetValueCopy(const Value& value) {
 template <SmallArrayType T, bool ConvertNumeric>
 inline typename TypeInfo<T>::SmallRet GetValueCopy(
     const Value& value,
-    wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
+    wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
   if constexpr (ConvertNumeric && NumericArrayType<T>) {
     if (value.IsIntegerArray()) {
       auto arr = value.GetIntegerArray();
@@ -407,7 +407,7 @@ inline Timestamped<typename TypeInfo<T>::Value> GetTimestamped(
 template <SmallArrayType T, bool ConvertNumeric>
 inline Timestamped<typename TypeInfo<T>::SmallRet> GetTimestamped(
     const Value& value,
-    wpi::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
+    wpi::util::SmallVectorImpl<typename TypeInfo<T>::SmallElem>& buf) {
   return {value.time(), value.server_time(),
           GetValueCopy<T, ConvertNumeric>(value, buf)};
 }
@@ -434,7 +434,7 @@ O* ConvertToC(const std::vector<I>& in, size_t* out_len) {
   if (in.empty()) {
     return nullptr;
   }
-  O* out = static_cast<O*>(wpi::safe_malloc(sizeof(O) * in.size()));
+  O* out = static_cast<O*>(wpi::util::safe_malloc(sizeof(O) * in.size()));
   for (size_t i = 0; i < in.size(); ++i) {
     ConvertToC(in[i], &out[i]);
   }
@@ -443,7 +443,7 @@ O* ConvertToC(const std::vector<I>& in, size_t* out_len) {
 
 template <typename O, typename I>
 O* ConvertToC(const std::basic_string<I>& in, size_t* out_len) {
-  char* out = static_cast<char*>(wpi::safe_malloc(in.size() + 1));
+  char* out = static_cast<char*>(wpi::util::safe_malloc(in.size() + 1));
   std::memmove(out, in.data(), in.size());  // NOLINT
   out[in.size()] = '\0';
   *out_len = in.size();
@@ -452,4 +452,4 @@ O* ConvertToC(const std::basic_string<I>& in, size_t* out_len) {
 
 Value ConvertNumericValue(const Value& value, NT_Type type);
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/VectorSet.hpp b/ntcore/src/main/native/cpp/VectorSet.hpp
index 9e13490736..25f9355d26 100644
--- a/ntcore/src/main/native/cpp/VectorSet.hpp
+++ b/ntcore/src/main/native/cpp/VectorSet.hpp
@@ -6,7 +6,7 @@
 
 #include <vector>
 
-namespace nt {
+namespace wpi::nt {
 
 // Utility wrapper for making a set-like vector
 template <typename T>
@@ -18,4 +18,4 @@ class VectorSet : public std::vector<T> {
   bool Remove(T value) { return std::erase(*this, value) != 0; }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
index be77522dfd..1b2c820d81 100644
--- a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
+++ b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
@@ -18,16 +18,16 @@
 #include "wpi/util/jni_util.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 #ifdef __GNUC__
 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
 
-namespace nt {
+namespace wpi::nt {
 bool JNI_LoadTypes(JNIEnv* env);
 void JNI_UnloadTypes(JNIEnv* env);
-}  // namespace nt
+}  // namespace wpi::nt
 
 //
 // Globals and load/unload
@@ -94,7 +94,7 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
     }
   }
 
-  if (!nt::JNI_LoadTypes(env)) {
+  if (!wpi::nt::JNI_LoadTypes(env)) {
     return JNI_ERR;
   }
 
@@ -113,7 +113,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
   for (auto& c : exceptions) {
     c.cls->free(env);
   }
-  nt::JNI_UnloadTypes(env);
+  wpi::nt::JNI_UnloadTypes(env);
 }
 
 }  // extern "C"
@@ -122,7 +122,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
 // Conversions from Java objects to C++
 //
 
-static nt::PubSubOptions FromJavaPubSubOptions(JNIEnv* env, jobject joptions) {
+static wpi::nt::PubSubOptions FromJavaPubSubOptions(JNIEnv* env, jobject joptions) {
   if (!joptions) {
     return {};
   }
@@ -188,7 +188,7 @@ static jobject MakeJObject(JNIEnv* env, std::optional<int64_t> value) {
   }
 }
 
-static jobject MakeJObject(JNIEnv* env, const nt::Value& value) {
+static jobject MakeJObject(JNIEnv* env, const wpi::nt::Value& value) {
   static jmethodID booleanConstructor = nullptr;
   static jmethodID doubleConstructor = nullptr;
   static jmethodID floatConstructor = nullptr;
@@ -238,7 +238,7 @@ static jobject MakeJObject(JNIEnv* env, const nt::Value& value) {
   }
 }
 
-static jobject MakeJValue(JNIEnv* env, const nt::Value& value) {
+static jobject MakeJValue(JNIEnv* env, const wpi::nt::Value& value) {
   static jmethodID constructor =
       env->GetMethodID(valueCls, "<init>", "(ILjava/lang/Object;JJ)V");
   if (!value) {
@@ -252,7 +252,7 @@ static jobject MakeJValue(JNIEnv* env, const nt::Value& value) {
                         static_cast<jlong>(value.server_time()));
 }
 
-static jobject MakeJObject(JNIEnv* env, const nt::ConnectionInfo& info) {
+static jobject MakeJObject(JNIEnv* env, const wpi::nt::ConnectionInfo& info) {
   static jmethodID constructor =
       env->GetMethodID(connectionInfoCls, "<init>",
                        "(Ljava/lang/String;Ljava/lang/String;IJI)V");
@@ -264,7 +264,7 @@ static jobject MakeJObject(JNIEnv* env, const nt::ConnectionInfo& info) {
                         static_cast<jint>(info.protocol_version));
 }
 
-static jobject MakeJObject(JNIEnv* env, const nt::LogMessage& msg) {
+static jobject MakeJObject(JNIEnv* env, const wpi::nt::LogMessage& msg) {
   static jmethodID constructor = env->GetMethodID(
       logMessageCls, "<init>", "(ILjava/lang/String;ILjava/lang/String;)V");
   JLocal<jstring> filename{env, MakeJString(env, msg.filename)};
@@ -275,7 +275,7 @@ static jobject MakeJObject(JNIEnv* env, const nt::LogMessage& msg) {
 }
 
 static jobject MakeJObject(JNIEnv* env, jobject inst,
-                           const nt::TopicInfo& info) {
+                           const wpi::nt::TopicInfo& info) {
   static jmethodID constructor = env->GetMethodID(
       topicInfoCls, "<init>",
       "(Lorg/wpilib/networktables/"
@@ -288,7 +288,7 @@ static jobject MakeJObject(JNIEnv* env, jobject inst,
 }
 
 static jobject MakeJObject(JNIEnv* env, jobject inst,
-                           const nt::ValueEventData& data) {
+                           const wpi::nt::ValueEventData& data) {
   static jmethodID constructor =
       env->GetMethodID(valueEventDataCls, "<init>",
                        "(Lorg/wpilib/networktables/NetworkTableInstance;II"
@@ -299,7 +299,7 @@ static jobject MakeJObject(JNIEnv* env, jobject inst,
                         static_cast<jint>(data.subentry), value.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, const nt::TimeSyncEventData& data) {
+static jobject MakeJObject(JNIEnv* env, const wpi::nt::TimeSyncEventData& data) {
   static jmethodID constructor =
       env->GetMethodID(timeSyncEventDataCls, "<init>", "(JJZ)V");
   return env->NewObject(timeSyncEventDataCls, constructor,
@@ -308,7 +308,7 @@ static jobject MakeJObject(JNIEnv* env, const nt::TimeSyncEventData& data) {
                         static_cast<jboolean>(data.valid));
 }
 
-static jobject MakeJObject(JNIEnv* env, jobject inst, const nt::Event& event) {
+static jobject MakeJObject(JNIEnv* env, jobject inst, const wpi::nt::Event& event) {
   static jmethodID constructor =
       env->GetMethodID(eventCls, "<init>",
                        "(Lorg/wpilib/networktables/NetworkTableInstance;II"
@@ -339,7 +339,7 @@ static jobject MakeJObject(JNIEnv* env, jobject inst, const nt::Event& event) {
       valueData.obj(), logMessage.obj(), timeSyncData.obj());
 }
 
-static jobjectArray MakeJObject(JNIEnv* env, std::span<const nt::Value> arr) {
+static jobjectArray MakeJObject(JNIEnv* env, std::span<const wpi::nt::Value> arr) {
   jobjectArray jarr = env->NewObjectArray(arr.size(), valueCls, nullptr);
   if (!jarr) {
     return nullptr;
@@ -352,7 +352,7 @@ static jobjectArray MakeJObject(JNIEnv* env, std::span<const nt::Value> arr) {
 }
 
 static jobjectArray MakeJObject(JNIEnv* env, jobject inst,
-                                std::span<const nt::Event> arr) {
+                                std::span<const wpi::nt::Event> arr) {
   jobjectArray jarr = env->NewObjectArray(arr.size(), eventCls, nullptr);
   if (!jarr) {
     return nullptr;
@@ -375,7 +375,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getDefaultInstance
   (JNIEnv*, jclass)
 {
-  return nt::GetDefaultInstance();
+  return wpi::nt::GetDefaultInstance();
 }
 
 /*
@@ -387,7 +387,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_createInstance
   (JNIEnv*, jclass)
 {
-  return nt::CreateInstance();
+  return wpi::nt::CreateInstance();
 }
 
 /*
@@ -399,7 +399,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_destroyInstance
   (JNIEnv*, jclass, jint inst)
 {
-  nt::DestroyInstance(inst);
+  wpi::nt::DestroyInstance(inst);
 }
 
 /*
@@ -411,7 +411,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getInstanceFromHandle
   (JNIEnv*, jclass, jint handle)
 {
-  return nt::GetInstanceFromHandle(handle);
+  return wpi::nt::GetInstanceFromHandle(handle);
 }
 
 /*
@@ -427,7 +427,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getEntry
     nullPointerEx.Throw(env, "key cannot be null");
     return false;
   }
-  return nt::GetEntry(inst, JStringRef{env, key});
+  return wpi::nt::GetEntry(inst, JStringRef{env, key});
 }
 
 /*
@@ -439,7 +439,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getEntryName
   (JNIEnv* env, jclass, jint entry)
 {
-  return MakeJString(env, nt::GetEntryName(entry));
+  return MakeJString(env, wpi::nt::GetEntryName(entry));
 }
 
 /*
@@ -451,7 +451,7 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getEntryLastChange
   (JNIEnv*, jclass, jint entry)
 {
-  return nt::GetEntryLastChange(entry);
+  return wpi::nt::GetEntryLastChange(entry);
 }
 
 /*
@@ -463,7 +463,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getType
   (JNIEnv*, jclass, jint entry)
 {
-  return nt::GetEntryType(entry);
+  return wpi::nt::GetEntryType(entry);
 }
 
 /*
@@ -479,7 +479,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getTopics
     nullPointerEx.Throw(env, "prefix cannot be null");
     return nullptr;
   }
-  auto arr = nt::GetTopics(inst, JStringRef{env, prefix}.str(), types);
+  auto arr = wpi::nt::GetTopics(inst, JStringRef{env, prefix}.str(), types);
   return MakeJIntArray(env, arr);
 }
 
@@ -516,7 +516,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getTopicsStr
     typeStrs.emplace_back(typeStrData.back());
   }
 
-  auto arr = nt::GetTopics(inst, JStringRef{env, prefix}.str(), typeStrs);
+  auto arr = wpi::nt::GetTopics(inst, JStringRef{env, prefix}.str(), typeStrs);
   return MakeJIntArray(env, arr);
 }
 
@@ -534,7 +534,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getTopicInfos
     nullPointerEx.Throw(env, "prefix cannot be null");
     return nullptr;
   }
-  auto arr = nt::GetTopicInfo(inst, JStringRef{env, prefix}.str(), types);
+  auto arr = wpi::nt::GetTopicInfo(inst, JStringRef{env, prefix}.str(), types);
   jobjectArray jarr = env->NewObjectArray(arr.size(), topicInfoCls, nullptr);
   if (!jarr) {
     return nullptr;
@@ -580,7 +580,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getTopicInfosStr
     typeStrs.emplace_back(typeStrData.back());
   }
 
-  auto arr = nt::GetTopicInfo(inst, JStringRef{env, prefix}.str(), typeStrs);
+  auto arr = wpi::nt::GetTopicInfo(inst, JStringRef{env, prefix}.str(), typeStrs);
   jobjectArray jarr = env->NewObjectArray(arr.size(), topicInfoCls, nullptr);
   if (!jarr) {
     return nullptr;
@@ -601,7 +601,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopic
   (JNIEnv* env, jclass, jint inst, jstring name)
 {
-  return nt::GetTopic(inst, JStringRef{env, name});
+  return wpi::nt::GetTopic(inst, JStringRef{env, name});
 }
 
 /*
@@ -613,7 +613,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicName
   (JNIEnv* env, jclass, jint topic)
 {
-  return MakeJString(env, nt::GetTopicName(topic));
+  return MakeJString(env, wpi::nt::GetTopicName(topic));
 }
 
 /*
@@ -625,7 +625,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicType
   (JNIEnv*, jclass, jint topic)
 {
-  return nt::GetTopicType(topic);
+  return wpi::nt::GetTopicType(topic);
 }
 
 /*
@@ -637,7 +637,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setTopicPersistent
   (JNIEnv*, jclass, jint topic, jboolean value)
 {
-  nt::SetTopicPersistent(topic, value);
+  wpi::nt::SetTopicPersistent(topic, value);
 }
 
 /*
@@ -649,7 +649,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicPersistent
   (JNIEnv*, jclass, jint topic)
 {
-  return nt::GetTopicPersistent(topic);
+  return wpi::nt::GetTopicPersistent(topic);
 }
 
 /*
@@ -661,7 +661,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setTopicRetained
   (JNIEnv*, jclass, jint topic, jboolean value)
 {
-  nt::SetTopicRetained(topic, value);
+  wpi::nt::SetTopicRetained(topic, value);
 }
 
 /*
@@ -673,7 +673,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicRetained
   (JNIEnv*, jclass, jint topic)
 {
-  return nt::GetTopicRetained(topic);
+  return wpi::nt::GetTopicRetained(topic);
 }
 
 /*
@@ -685,7 +685,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setTopicCached
   (JNIEnv*, jclass, jint topic, jboolean value)
 {
-  nt::SetTopicCached(topic, value);
+  wpi::nt::SetTopicCached(topic, value);
 }
 
 /*
@@ -697,7 +697,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicCached
   (JNIEnv*, jclass, jint topic)
 {
-  return nt::GetTopicCached(topic);
+  return wpi::nt::GetTopicCached(topic);
 }
 
 /*
@@ -709,7 +709,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicTypeString
   (JNIEnv* env, jclass, jint topic)
 {
-  return MakeJString(env, nt::GetTopicTypeString(topic));
+  return MakeJString(env, wpi::nt::GetTopicTypeString(topic));
 }
 
 /*
@@ -721,7 +721,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicExists
   (JNIEnv*, jclass, jint topic)
 {
-  return nt::GetTopicExists(topic);
+  return wpi::nt::GetTopicExists(topic);
 }
 
 /*
@@ -734,7 +734,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_getTopicProperty
   (JNIEnv* env, jclass, jint topic, jstring name)
 {
   return MakeJString(env,
-                     nt::GetTopicProperty(topic, JStringRef{env, name}).dump());
+                     wpi::nt::GetTopicProperty(topic, JStringRef{env, name}).dump());
 }
 
 /*
@@ -746,15 +746,15 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setTopicProperty
   (JNIEnv* env, jclass, jint topic, jstring name, jstring value)
 {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(std::string_view{JStringRef{env, value}});
-  } catch (wpi::json::parse_error& err) {
+    j = wpi::util::json::parse(std::string_view{JStringRef{env, value}});
+  } catch (wpi::util::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse value JSON: {}", err.what()));
     return;
   }
-  nt::SetTopicProperty(topic, JStringRef{env, name}, j);
+  wpi::nt::SetTopicProperty(topic, JStringRef{env, name}, j);
 }
 
 /*
@@ -766,7 +766,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_deleteTopicProperty
   (JNIEnv* env, jclass, jint topic, jstring name)
 {
-  nt::DeleteTopicProperty(topic, JStringRef{env, name});
+  wpi::nt::DeleteTopicProperty(topic, JStringRef{env, name});
 }
 
 /*
@@ -778,7 +778,7 @@ JNIEXPORT jstring JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicProperties
   (JNIEnv* env, jclass, jint topic)
 {
-  return MakeJString(env, nt::GetTopicProperties(topic).dump());
+  return MakeJString(env, wpi::nt::GetTopicProperties(topic).dump());
 }
 
 /*
@@ -790,10 +790,10 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setTopicProperties
   (JNIEnv* env, jclass, jint topic, jstring properties)
 {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(std::string_view{JStringRef{env, properties}});
-  } catch (wpi::json::parse_error& err) {
+    j = wpi::util::json::parse(std::string_view{JStringRef{env, properties}});
+  } catch (wpi::util::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse properties JSON: {}", err.what()));
     return;
@@ -802,7 +802,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setTopicProperties
     illegalArgEx.Throw(env, "properties is not a JSON object");
     return;
   }
-  nt::SetTopicProperties(topic, j);
+  wpi::nt::SetTopicProperties(topic, j);
 }
 
 /*
@@ -814,7 +814,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_subscribe
   (JNIEnv* env, jclass, jint topic, jint type, jstring typeStr, jobject options)
 {
-  return nt::Subscribe(topic, static_cast<NT_Type>(type),
+  return wpi::nt::Subscribe(topic, static_cast<NT_Type>(type),
                        JStringRef{env, typeStr},
                        FromJavaPubSubOptions(env, options));
 }
@@ -828,7 +828,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_unsubscribe
   (JNIEnv*, jclass, jint sub)
 {
-  nt::Unsubscribe(sub);
+  wpi::nt::Unsubscribe(sub);
 }
 
 /*
@@ -840,7 +840,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_publish
   (JNIEnv* env, jclass, jint topic, jint type, jstring typeStr, jobject options)
 {
-  return nt::Publish(topic, static_cast<NT_Type>(type),
+  return wpi::nt::Publish(topic, static_cast<NT_Type>(type),
                      JStringRef{env, typeStr},
                      FromJavaPubSubOptions(env, options));
 }
@@ -855,10 +855,10 @@ Java_org_wpilib_networktables_NetworkTablesJNI_publishEx
   (JNIEnv* env, jclass, jint topic, jint type, jstring typeStr,
    jstring properties, jobject options)
 {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(std::string_view{JStringRef{env, properties}});
-  } catch (wpi::json::parse_error& err) {
+    j = wpi::util::json::parse(std::string_view{JStringRef{env, properties}});
+  } catch (wpi::util::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse properties JSON: {}", err.what()));
     return 0;
@@ -867,7 +867,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_publishEx
     illegalArgEx.Throw(env, "properties is not a JSON object");
     return 0;
   }
-  return nt::PublishEx(topic, static_cast<NT_Type>(type),
+  return wpi::nt::PublishEx(topic, static_cast<NT_Type>(type),
                        JStringRef{env, typeStr}, j,
                        FromJavaPubSubOptions(env, options));
 }
@@ -881,7 +881,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_unpublish
   (JNIEnv*, jclass, jint pubentry)
 {
-  nt::Unpublish(pubentry);
+  wpi::nt::Unpublish(pubentry);
 }
 
 /*
@@ -893,7 +893,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getEntryImpl
   (JNIEnv* env, jclass, jint topic, jint type, jstring typeStr, jobject options)
 {
-  return nt::GetEntry(topic, static_cast<NT_Type>(type),
+  return wpi::nt::GetEntry(topic, static_cast<NT_Type>(type),
                       JStringRef{env, typeStr},
                       FromJavaPubSubOptions(env, options));
 }
@@ -907,7 +907,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_releaseEntry
   (JNIEnv*, jclass, jint entry)
 {
-  nt::ReleaseEntry(entry);
+  wpi::nt::ReleaseEntry(entry);
 }
 
 /*
@@ -919,7 +919,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_release
   (JNIEnv*, jclass, jint pubsubentry)
 {
-  nt::Release(pubsubentry);
+  wpi::nt::Release(pubsubentry);
 }
 
 /*
@@ -931,7 +931,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicFromHandle
   (JNIEnv*, jclass, jint pubsubentry)
 {
-  return nt::GetTopicFromHandle(pubsubentry);
+  return wpi::nt::GetTopicFromHandle(pubsubentry);
 }
 
 /*
@@ -964,7 +964,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_subscribeMultiple
     prefixStringViews.emplace_back(prefixStrings.back());
   }
 
-  return nt::SubscribeMultiple(inst, prefixStringViews,
+  return wpi::nt::SubscribeMultiple(inst, prefixStringViews,
                                FromJavaPubSubOptions(env, options));
 }
 
@@ -977,7 +977,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_unsubscribeMultiple
   (JNIEnv*, jclass, jint sub)
 {
-  nt::UnsubscribeMultiple(sub);
+  wpi::nt::UnsubscribeMultiple(sub);
 }
 
 /*
@@ -989,7 +989,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readQueueValue
   (JNIEnv* env, jclass, jint subentry)
 {
-  return MakeJObject(env, nt::ReadQueueValue(subentry));
+  return MakeJObject(env, wpi::nt::ReadQueueValue(subentry));
 }
 
 /*
@@ -1001,7 +1001,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getValue
   (JNIEnv* env, jclass, jint entry)
 {
-  return MakeJValue(env, nt::GetEntryValue(entry));
+  return MakeJValue(env, wpi::nt::GetEntryValue(entry));
 }
 
 /*
@@ -1013,7 +1013,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setEntryFlags
   (JNIEnv*, jclass, jint entry, jint flags)
 {
-  nt::SetEntryFlags(entry, flags);
+  wpi::nt::SetEntryFlags(entry, flags);
 }
 
 /*
@@ -1025,7 +1025,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getEntryFlags
   (JNIEnv*, jclass, jint entry)
 {
-  return nt::GetEntryFlags(entry);
+  return wpi::nt::GetEntryFlags(entry);
 }
 
 /*
@@ -1037,7 +1037,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getTopicInfo
   (JNIEnv* env, jclass, jobject inst, jint topic)
 {
-  return MakeJObject(env, inst, nt::GetTopicInfo(topic));
+  return MakeJObject(env, inst, wpi::nt::GetTopicInfo(topic));
 }
 
 /*
@@ -1049,7 +1049,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_createListenerPoller
   (JNIEnv*, jclass, jint inst)
 {
-  return nt::CreateListenerPoller(inst);
+  return wpi::nt::CreateListenerPoller(inst);
 }
 
 /*
@@ -1061,7 +1061,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_destroyListenerPoller
   (JNIEnv*, jclass, jint poller)
 {
-  nt::DestroyListenerPoller(poller);
+  wpi::nt::DestroyListenerPoller(poller);
 }
 
 /*
@@ -1095,7 +1095,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_addListener__I_3Ljava_lang_String
     arrview.emplace_back(arr.back());
   }
 
-  return nt::AddPolledListener(poller, arrview, flags);
+  return wpi::nt::AddPolledListener(poller, arrview, flags);
 }
 
 /*
@@ -1107,7 +1107,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_addListener__III
   (JNIEnv* env, jclass, jint poller, jint handle, jint flags)
 {
-  return nt::AddPolledListener(poller, handle, flags);
+  return wpi::nt::AddPolledListener(poller, handle, flags);
 }
 
 /*
@@ -1119,7 +1119,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_readListenerQueue
   (JNIEnv* env, jclass, jobject inst, jint poller)
 {
-  return MakeJObject(env, inst, nt::ReadListenerQueue(poller));
+  return MakeJObject(env, inst, wpi::nt::ReadListenerQueue(poller));
 }
 
 /*
@@ -1131,7 +1131,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_removeListener
   (JNIEnv*, jclass, jint topicListener)
 {
-  nt::RemoveListener(topicListener);
+  wpi::nt::RemoveListener(topicListener);
 }
 
 /*
@@ -1143,7 +1143,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getNetworkMode
   (JNIEnv*, jclass, jint inst)
 {
-  return nt::GetNetworkMode(inst);
+  return wpi::nt::GetNetworkMode(inst);
 }
 
 /*
@@ -1155,7 +1155,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_startLocal
   (JNIEnv*, jclass, jint inst)
 {
-  nt::StartLocal(inst);
+  wpi::nt::StartLocal(inst);
 }
 
 /*
@@ -1167,7 +1167,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopLocal
   (JNIEnv*, jclass, jint inst)
 {
-  nt::StopLocal(inst);
+  wpi::nt::StopLocal(inst);
 }
 
 /*
@@ -1188,7 +1188,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_startServer
     nullPointerEx.Throw(env, "listenAddress cannot be null");
     return;
   }
-  nt::StartServer(inst, JStringRef{env, persistFilename}.str(),
+  wpi::nt::StartServer(inst, JStringRef{env, persistFilename}.str(),
                   JStringRef{env, listenAddress}.c_str(), port);
 }
 
@@ -1201,7 +1201,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopServer
   (JNIEnv*, jclass, jint inst)
 {
-  nt::StopServer(inst);
+  wpi::nt::StopServer(inst);
 }
 
 /*
@@ -1217,7 +1217,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_startClient
     nullPointerEx.Throw(env, "identity cannot be null");
     return;
   }
-  nt::StartClient(inst, JStringRef{env, identity}.str());
+  wpi::nt::StartClient(inst, JStringRef{env, identity}.str());
 }
 
 /*
@@ -1229,7 +1229,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopClient
   (JNIEnv*, jclass, jint inst)
 {
-  nt::StopClient(inst);
+  wpi::nt::StopClient(inst);
 }
 
 /*
@@ -1245,7 +1245,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setServer__ILjava_lang_String_2I
     nullPointerEx.Throw(env, "serverName cannot be null");
     return;
   }
-  nt::SetServer(inst, JStringRef{env, serverName}.c_str(), port);
+  wpi::nt::SetServer(inst, JStringRef{env, serverName}.c_str(), port);
 }
 
 /*
@@ -1291,7 +1291,7 @@ Java_org_wpilib_networktables_NetworkTablesJNI_setServer__I_3Ljava_lang_String_2
     servers.emplace_back(
         std::pair{std::string_view{names.back()}, portInts[i]});
   }
-  nt::SetServer(inst, servers);
+  wpi::nt::SetServer(inst, servers);
 }
 
 /*
@@ -1303,7 +1303,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_setServerTeam
   (JNIEnv* env, jclass, jint inst, jint team, jint port)
 {
-  nt::SetServerTeam(inst, team, port);
+  wpi::nt::SetServerTeam(inst, team, port);
 }
 
 /*
@@ -1315,7 +1315,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_disconnect
   (JNIEnv* env, jclass, jint inst)
 {
-  nt::Disconnect(inst);
+  wpi::nt::Disconnect(inst);
 }
 
 /*
@@ -1327,7 +1327,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_startDSClient
   (JNIEnv*, jclass, jint inst, jint port)
 {
-  nt::StartDSClient(inst, port);
+  wpi::nt::StartDSClient(inst, port);
 }
 
 /*
@@ -1339,7 +1339,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopDSClient
   (JNIEnv*, jclass, jint inst)
 {
-  nt::StopDSClient(inst);
+  wpi::nt::StopDSClient(inst);
 }
 
 /*
@@ -1351,7 +1351,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_flushLocal
   (JNIEnv*, jclass, jint inst)
 {
-  nt::FlushLocal(inst);
+  wpi::nt::FlushLocal(inst);
 }
 
 /*
@@ -1363,7 +1363,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_flush
   (JNIEnv*, jclass, jint inst)
 {
-  nt::Flush(inst);
+  wpi::nt::Flush(inst);
 }
 
 /*
@@ -1375,7 +1375,7 @@ JNIEXPORT jobjectArray JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getConnections
   (JNIEnv* env, jclass, jint inst)
 {
-  auto arr = nt::GetConnections(inst);
+  auto arr = wpi::nt::GetConnections(inst);
   jobjectArray jarr =
       env->NewObjectArray(arr.size(), connectionInfoCls, nullptr);
   if (!jarr) {
@@ -1397,7 +1397,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_isConnected
   (JNIEnv*, jclass, jint inst)
 {
-  return nt::IsConnected(inst);
+  return wpi::nt::IsConnected(inst);
 }
 
 /*
@@ -1409,7 +1409,7 @@ JNIEXPORT jobject JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_getServerTimeOffset
   (JNIEnv* env, jclass, jint inst)
 {
-  return MakeJObject(env, nt::GetServerTimeOffset(inst));
+  return MakeJObject(env, wpi::nt::GetServerTimeOffset(inst));
 }
 
 /*
@@ -1421,7 +1421,7 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_now
   (JNIEnv*, jclass)
 {
-  return nt::Now();
+  return wpi::nt::Now();
 }
 
 /*
@@ -1433,7 +1433,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_startEntryDataLog
   (JNIEnv* env, jclass, jint inst, jlong log, jstring prefix, jstring logPrefix)
 {
-  return nt::StartEntryDataLog(inst, *reinterpret_cast<wpi::log::DataLog*>(log),
+  return wpi::nt::StartEntryDataLog(inst, *reinterpret_cast<wpi::log::DataLog*>(log),
                                JStringRef{env, prefix},
                                JStringRef{env, logPrefix});
 }
@@ -1447,7 +1447,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopEntryDataLog
   (JNIEnv*, jclass, jint logger)
 {
-  nt::StopEntryDataLog(logger);
+  wpi::nt::StopEntryDataLog(logger);
 }
 
 /*
@@ -1459,7 +1459,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_startConnectionDataLog
   (JNIEnv* env, jclass, jint inst, jlong log, jstring name)
 {
-  return nt::StartConnectionDataLog(
+  return wpi::nt::StartConnectionDataLog(
       inst, *reinterpret_cast<wpi::log::DataLog*>(log), JStringRef{env, name});
 }
 
@@ -1472,7 +1472,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_stopConnectionDataLog
   (JNIEnv*, jclass, jint logger)
 {
-  nt::StopConnectionDataLog(logger);
+  wpi::nt::StopConnectionDataLog(logger);
 }
 
 /*
@@ -1484,7 +1484,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_networktables_NetworkTablesJNI_addLogger
   (JNIEnv*, jclass, jint poller, jint minLevel, jint maxLevel)
 {
-  return nt::AddPolledLogger(poller, minLevel, maxLevel);
+  return wpi::nt::AddPolledLogger(poller, minLevel, maxLevel);
 }
 
 }  // extern "C"
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp b/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
index d3fd1095df..d8d73caaef 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
@@ -9,7 +9,7 @@
 #include "wpi/datalog/DataLog.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace nt::local;
+using namespace wpi::nt::local;
 
 int LocalDataLogger::Start(std::string_view name, std::string_view typeStr,
                            std::string_view metadata, int64_t time) {
@@ -20,6 +20,6 @@ int LocalDataLogger::Start(std::string_view name, std::string_view typeStr,
     typeStr = "int64[]";
   }
   return log.Start(fmt::format("{}{}", logPrefix,
-                               wpi::remove_prefix(name, prefix).value_or(name)),
+                               wpi::util::remove_prefix(name, prefix).value_or(name)),
                    typeStr, metadata, time);
 }
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp b/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
index 1f13bcb6d1..2b73ba9a09 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
@@ -16,7 +16,7 @@ namespace wpi::log {
 class DataLog;
 }  // namespace wpi::log
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalTopic;
 
@@ -36,4 +36,4 @@ struct LocalDataLogger {
   std::string logPrefix;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
index 36c0a43391..dda58a02ef 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
@@ -12,7 +12,7 @@
 #include "wpi/nt/NetworkTableValue.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace nt::local;
+using namespace wpi::nt::local;
 
 std::string LocalDataLoggerEntry::MakeMetadata(std::string_view properties) {
   return fmt::format("{{\"properties\":{},\"source\":\"NT\"}}", properties);
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
index ad89746a5e..c97cb880d2 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
@@ -16,11 +16,11 @@ namespace wpi::log {
 class DataLog;
 }  // namespace wpi::log
 
-namespace nt {
+namespace wpi::nt {
 class Value;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalTopic;
 
@@ -41,4 +41,4 @@ struct LocalDataLoggerEntry {
   NT_DataLogger logger;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalEntry.hpp b/ntcore/src/main/native/cpp/local/LocalEntry.hpp
index 876779a373..0ef9d45bb6 100644
--- a/ntcore/src/main/native/cpp/local/LocalEntry.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalEntry.hpp
@@ -8,7 +8,7 @@
 #include "local/LocalSubscriber.hpp"
 #include "wpi/util/Synchronization.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalPublisher;
 
@@ -19,7 +19,7 @@ struct LocalEntry {
       : handle{handle}, topic{subscriber->topic}, subscriber{subscriber} {}
 
   // invariants
-  wpi::SignalObject<NT_Entry> handle;
+  wpi::util::SignalObject<NT_Entry> handle;
   LocalTopic* topic;
   LocalSubscriber* subscriber;
 
@@ -27,4 +27,4 @@ struct LocalEntry {
   LocalPublisher* publisher{nullptr};
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalListener.hpp b/ntcore/src/main/native/cpp/local/LocalListener.hpp
index 12485c14ce..6dc1cff9e7 100644
--- a/ntcore/src/main/native/cpp/local/LocalListener.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalListener.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalMultiSubscriber;
 struct LocalSubscriber;
@@ -32,4 +32,4 @@ struct LocalListener {
   bool subscriberOwned;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp b/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
index 04b821caad..ed75ecb2a2 100644
--- a/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
@@ -16,11 +16,11 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/Synchronization.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 constexpr bool PrefixMatch(std::string_view name, std::string_view prefix,
                            bool special) {
-  return (!special || !prefix.empty()) && wpi::starts_with(name, prefix);
+  return (!special || !prefix.empty()) && wpi::util::starts_with(name, prefix);
 }
 
 struct LocalMultiSubscriber {
@@ -47,7 +47,7 @@ struct LocalMultiSubscriber {
   }
 
   // invariants
-  wpi::SignalObject<NT_MultiSubscriber> handle;
+  wpi::util::SignalObject<NT_MultiSubscriber> handle;
   std::vector<std::string> prefixes;
   PubSubOptionsImpl options;
 
@@ -55,4 +55,4 @@ struct LocalMultiSubscriber {
   VectorSet<NT_Listener> valueListeners;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalPublisher.hpp b/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
index 68cdd38919..bc763f0cab 100644
--- a/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
@@ -11,7 +11,7 @@
 #include "local/PubSubConfig.hpp"
 #include "wpi/util/Synchronization.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalPublisher {
   static constexpr auto kType = Handle::kPublisher;
@@ -24,7 +24,7 @@ struct LocalPublisher {
   }
 
   // invariants
-  wpi::SignalObject<NT_Publisher> handle;
+  wpi::util::SignalObject<NT_Publisher> handle;
   LocalTopic* topic;
   PubSubConfig config;
 
@@ -32,4 +32,4 @@ struct LocalPublisher {
   bool active{false};
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp b/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
index d12bdef4dc..b444cebbd9 100644
--- a/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
@@ -19,8 +19,8 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace nt;
-using namespace nt::local;
+using namespace wpi::nt;
+using namespace wpi::nt::local;
 
 // maximum number of local publishers / subscribers to any given topic
 static constexpr size_t kMaxPublishers = 512;
@@ -29,7 +29,7 @@ static constexpr size_t kMaxMultiSubscribers = 512;
 static constexpr size_t kMaxListeners = 512;
 
 StorageImpl::StorageImpl(int inst, IListenerStorage& listenerStorage,
-                         wpi::Logger& logger)
+                         wpi::util::Logger& logger)
     : m_inst{inst}, m_listenerStorage{listenerStorage}, m_logger{logger} {}
 
 //
@@ -37,7 +37,7 @@ StorageImpl::StorageImpl(int inst, IListenerStorage& listenerStorage,
 //
 
 void StorageImpl::NetworkAnnounce(LocalTopic* topic, std::string_view typeStr,
-                                  const wpi::json& properties,
+                                  const wpi::util::json& properties,
                                   std::optional<int> pubuid) {
   DEBUG4("LS NetworkAnnounce({}, {}, {}, {})", topic->name, typeStr,
          properties.dump(), pubuid.value_or(-1));
@@ -68,7 +68,7 @@ void StorageImpl::NetworkAnnounce(LocalTopic* topic, std::string_view typeStr,
 
   // may be properties update, but need to compare to see if it actually
   // changed to determine whether to update string / send event
-  wpi::json update = topic->CompareProperties(properties);
+  wpi::util::json update = topic->CompareProperties(properties);
   if (!update.empty()) {
     topic->properties = properties;
     PropertiesUpdated(topic, update, event, false);
@@ -110,7 +110,7 @@ void StorageImpl::RemoveNetworkPublisher(LocalTopic* topic) {
 }
 
 void StorageImpl::NetworkPropertiesUpdate(LocalTopic* topic,
-                                          const wpi::json& update, bool ack) {
+                                          const wpi::util::json& update, bool ack) {
   DEBUG4("NetworkPropertiesUpdate({},{})", topic->name, ack);
   if (ack) {
     return;  // ignore acks
@@ -185,7 +185,7 @@ LocalTopic* StorageImpl::GetOrCreateTopic(std::string_view name) {
 //
 
 void StorageImpl::SetFlags(LocalTopic* topic, unsigned int flags) {
-  wpi::json update = topic->SetFlags(flags);
+  wpi::util::json update = topic->SetFlags(flags);
   if ((flags & NT_UNCACHED) != 0 && (flags & NT_PERSISTENT) != 0) {
     WARN("topic {}: disabling cached property disables persistent storage",
          topic->name);
@@ -210,12 +210,12 @@ void StorageImpl::SetCached(LocalTopic* topic, bool value) {
 }
 
 void StorageImpl::SetProperty(LocalTopic* topic, std::string_view name,
-                              const wpi::json& value) {
+                              const wpi::util::json& value) {
   PropertiesUpdated(topic, topic->SetProperty(name, value), NT_EVENT_NONE,
                     true);
 }
 
-bool StorageImpl::SetProperties(LocalTopic* topic, const wpi::json& update,
+bool StorageImpl::SetProperties(LocalTopic* topic, const wpi::util::json& update,
                                 bool sendNetwork) {
   DEBUG4("SetProperties({},{})", topic->name, sendNetwork);
   if (!topic->SetProperties(update)) {
@@ -316,7 +316,7 @@ LocalSubscriber* StorageImpl::Subscribe(LocalTopic* topic, NT_Type type,
 
 LocalPublisher* StorageImpl::Publish(LocalTopic* topic, NT_Type type,
                                      std::string_view typeStr,
-                                     const wpi::json& properties,
+                                     const wpi::util::json& properties,
                                      const PubSubOptions& options) {
   if (type == NT_UNASSIGNED || typeStr.empty()) {
     ERR("cannot publish '{}' with an unassigned type or empty type string",
@@ -589,7 +589,7 @@ void StorageImpl::AddListenerImpl(NT_Listener listenerHandle,
           .get();
 
   // if we're doing anything immediate, get the list of matching topics
-  wpi::SmallVector<LocalTopic*, 32> topics;
+  wpi::util::SmallVector<LocalTopic*, 32> topics;
   if ((eventMask & NT_EVENT_IMMEDIATE) != 0 &&
       (eventMask & (NT_EVENT_PUBLISH | NT_EVENT_VALUE_ALL)) != 0) {
     for (auto&& topic : m_topics) {
@@ -695,7 +695,7 @@ LocalDataLogger* StorageImpl::StartDataLog(wpi::log::DataLog& log,
   auto datalogger = m_dataloggers.Add(m_inst, log, prefix, logPrefix);
 
   // start logging any matching topics
-  auto now = nt::Now();
+  auto now = wpi::nt::Now();
   for (auto&& topic : m_topics) {
     if (!PrefixMatch(topic->name, prefix, topic->special) ||
         topic->type == NT_UNASSIGNED || topic->typeStr.empty()) {
@@ -726,7 +726,7 @@ void StorageImpl::StopDataLog(NT_DataLogger logger) {
 //
 
 bool StorageImpl::HasSchema(std::string_view name) {
-  wpi::SmallString<128> fullName{"/.schema/"};
+  wpi::util::SmallString<128> fullName{"/.schema/"};
   fullName += name;
   auto it = m_schemas.find(fullName);
   return it != m_schemas.end();
@@ -734,7 +734,7 @@ bool StorageImpl::HasSchema(std::string_view name) {
 
 void StorageImpl::AddSchema(std::string_view name, std::string_view type,
                             std::span<const uint8_t> schema) {
-  wpi::SmallString<128> fullName{"/.schema/"};
+  wpi::util::SmallString<128> fullName{"/.schema/"};
   fullName += name;
   auto& pubHandle = m_schemas[fullName];
   if (pubHandle != 0) {
@@ -776,7 +776,7 @@ void StorageImpl::NotifyTopic(LocalTopic* topic, unsigned int eventFlags) {
     m_listenerStorage.Notify(topic->listeners, eventFlags, topicInfo);
   }
 
-  wpi::SmallVector<NT_Listener, 32> listeners;
+  wpi::util::SmallVector<NT_Listener, 32> listeners;
   for (auto listener : m_topicPrefixListeners) {
     if (listener->multiSubscriber &&
         listener->multiSubscriber->Matches(topic->name, topic->special)) {
@@ -864,7 +864,7 @@ void StorageImpl::NotifyValue(LocalTopic* topic, const Value& value,
   }
 }
 
-void StorageImpl::PropertiesUpdated(LocalTopic* topic, const wpi::json& update,
+void StorageImpl::PropertiesUpdated(LocalTopic* topic, const wpi::util::json& update,
                                     unsigned int eventFlags, bool sendNetwork,
                                     bool updateFlags) {
   DEBUG4("PropertiesUpdated({}, {}, {}, {}, {})", topic->name, update.dump(),
@@ -902,7 +902,7 @@ void StorageImpl::RefreshPubSubActive(LocalTopic* topic,
 }
 
 LocalPublisher* StorageImpl::AddLocalPublisher(LocalTopic* topic,
-                                               const wpi::json& properties,
+                                               const wpi::util::json& properties,
                                                const PubSubConfig& config) {
   bool didExist = topic->Exists();
   auto publisher = m_publishers.Add(m_inst, topic, config);
@@ -917,12 +917,12 @@ LocalPublisher* StorageImpl::AddLocalPublisher(LocalTopic* topic,
     RefreshPubSubActive(topic, true);
 
     if (properties.is_null()) {
-      topic->properties = wpi::json::object();
+      topic->properties = wpi::util::json::object();
     } else if (properties.is_object()) {
       topic->properties = properties;
     } else {
       WARN("ignoring non-object properties when publishing '{}'", topic->name);
-      topic->properties = wpi::json::object();
+      topic->properties = wpi::util::json::object();
     }
 
     if (topic->properties.empty()) {
@@ -1054,7 +1054,7 @@ LocalPublisher* StorageImpl::PublishEntry(LocalEntry* entry, NT_Type type) {
     }
   }
   // create publisher
-  entry->publisher = AddLocalPublisher(entry->topic, wpi::json::object(),
+  entry->publisher = AddLocalPublisher(entry->topic, wpi::util::json::object(),
                                        entry->subscriber->config);
   // exclude publisher if requested
   if (entry->subscriber->config.excludeSelf) {
diff --git a/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp b/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
index 7f248321a1..530002c51c 100644
--- a/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
@@ -24,35 +24,35 @@
 #include "wpi/util/Synchronization.h"
 #include "wpi/util/json.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 class IListenerStorage;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::net {
+namespace wpi::nt::net {
 class ClientMessageHandler;
-}  // namespace nt::net
+}  // namespace wpi::nt::net
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 // inner struct to protect against accidentally deadlocking on the mutex
 class StorageImpl {
  public:
-  StorageImpl(int inst, IListenerStorage& listenerStorage, wpi::Logger& logger);
+  StorageImpl(int inst, IListenerStorage& listenerStorage, wpi::util::Logger& logger);
 
-  wpi::Logger& GetLogger() { return m_logger; }
+  wpi::util::Logger& GetLogger() { return m_logger; }
 
   //
   // Network interface functions
   //
 
   void NetworkAnnounce(LocalTopic* topic, std::string_view typeStr,
-                       const wpi::json& properties, std::optional<int> pubuid);
+                       const wpi::util::json& properties, std::optional<int> pubuid);
   void RemoveNetworkPublisher(LocalTopic* topic);
-  void NetworkPropertiesUpdate(LocalTopic* topic, const wpi::json& update,
+  void NetworkPropertiesUpdate(LocalTopic* topic, const wpi::util::json& update,
                                bool ack);
 
   void ServerSetValue(LocalTopic* topic, const Value& value) {
@@ -80,7 +80,7 @@ class StorageImpl {
       if (!topic->Exists()) {
         continue;
       }
-      if (!wpi::starts_with(topic->name, prefix)) {
+      if (!wpi::util::starts_with(topic->name, prefix)) {
         continue;
       }
       if (types != 0 && (types & topic->type) == 0) {
@@ -97,7 +97,7 @@ class StorageImpl {
       if (!topic->Exists()) {
         continue;
       }
-      if (!wpi::starts_with(topic->name, prefix)) {
+      if (!wpi::util::starts_with(topic->name, prefix)) {
         continue;
       }
       if (!types.empty()) {
@@ -126,8 +126,8 @@ class StorageImpl {
   void SetCached(LocalTopic* topic, bool value);
 
   void SetProperty(LocalTopic* topic, std::string_view name,
-                   const wpi::json& value);
-  bool SetProperties(LocalTopic* topic, const wpi::json& update,
+                   const wpi::util::json& value);
+  bool SetProperties(LocalTopic* topic, const wpi::util::json& update,
                      bool sendNetwork);
 
   void DeleteProperty(LocalTopic* topic, std::string_view name);
@@ -156,7 +156,7 @@ class StorageImpl {
                              const PubSubOptions& options);
 
   LocalPublisher* Publish(LocalTopic* topic, NT_Type type,
-                          std::string_view typeStr, const wpi::json& properties,
+                          std::string_view typeStr, const wpi::util::json& properties,
                           const PubSubOptions& options);
 
   LocalEntry* GetEntry(LocalTopic* topicHandle, NT_Type type,
@@ -252,14 +252,14 @@ class StorageImpl {
                    unsigned int eventFlags, bool isDuplicate,
                    const LocalPublisher* publisher);
 
-  void PropertiesUpdated(LocalTopic* topic, const wpi::json& update,
+  void PropertiesUpdated(LocalTopic* topic, const wpi::util::json& update,
                          unsigned int eventFlags, bool sendNetwork,
                          bool updateFlags = true);
 
   void RefreshPubSubActive(LocalTopic* topic, bool warnOnSubMismatch);
 
   LocalPublisher* AddLocalPublisher(LocalTopic* topic,
-                                    const wpi::json& properties,
+                                    const wpi::util::json& properties,
                                     const PubSubConfig& options);
 
   std::unique_ptr<LocalPublisher> RemoveLocalPublisher(NT_Publisher pubHandle);
@@ -292,7 +292,7 @@ class StorageImpl {
  private:
   int m_inst;
   IListenerStorage& m_listenerStorage;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   net::ClientMessageHandler* m_network{nullptr};
 
   // handle mappings
@@ -304,16 +304,16 @@ class StorageImpl {
   HandleMap<LocalDataLogger, 16> m_dataloggers;
 
   // name mappings
-  wpi::StringMap<LocalTopic*> m_nameTopics;
+  wpi::util::StringMap<LocalTopic*> m_nameTopics;
 
   // listeners
-  wpi::DenseMap<NT_Listener, std::unique_ptr<LocalListener>> m_listeners;
+  wpi::util::DenseMap<NT_Listener, std::unique_ptr<LocalListener>> m_listeners;
 
   // string-based listeners
   VectorSet<LocalListener*> m_topicPrefixListeners;
 
   // schema publishers
-  wpi::StringMap<NT_Publisher> m_schemas;
+  wpi::util::StringMap<NT_Publisher> m_schemas;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp b/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
index 2b4e8379df..6744987afd 100644
--- a/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
@@ -15,7 +15,7 @@
 #include "wpi/nt/ntcore_c.h"
 #include "wpi/util/Synchronization.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalSubscriber {
   static constexpr auto kType = Handle::kSubscriber;
@@ -35,7 +35,7 @@ struct LocalSubscriber {
   }
 
   // invariants
-  wpi::SignalObject<NT_Subscriber> handle;
+  wpi::util::SignalObject<NT_Subscriber> handle;
   LocalTopic* topic;
   PubSubConfig config;
 
@@ -49,4 +49,4 @@ struct LocalSubscriber {
   VectorSet<NT_Listener> valueListeners;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/LocalTopic.cpp b/ntcore/src/main/native/cpp/local/LocalTopic.cpp
index e280d145df..c13071805c 100644
--- a/ntcore/src/main/native/cpp/local/LocalTopic.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalTopic.cpp
@@ -8,7 +8,7 @@
 
 #include "local/LocalDataLogger.hpp"
 
-using namespace nt::local;
+using namespace wpi::nt::local;
 
 void LocalTopic::StartStopDataLog(LocalDataLogger* logger, int64_t timestamp,
                                   bool publish) {
@@ -40,28 +40,28 @@ void LocalTopic::UpdateDataLogProperties() {
   }
 }
 
-wpi::json LocalTopic::SetFlags(unsigned int flags) {
-  wpi::json update = wpi::json::object();
+wpi::util::json LocalTopic::SetFlags(unsigned int flags) {
+  wpi::util::json update = wpi::util::json::object();
   if ((flags & NT_PERSISTENT) != 0) {
     properties["persistent"] = true;
     update["persistent"] = true;
   } else {
     properties.erase("persistent");
-    update["persistent"] = wpi::json();
+    update["persistent"] = wpi::util::json();
   }
   if ((flags & NT_RETAINED) != 0) {
     properties["retained"] = true;
     update["retained"] = true;
   } else {
     properties.erase("retained");
-    update["retained"] = wpi::json();
+    update["retained"] = wpi::util::json();
   }
   if ((flags & NT_UNCACHED) != 0) {
     properties["cached"] = false;
     update["cached"] = false;
   } else {
     properties.erase("cached");
-    update["cached"] = wpi::json();
+    update["cached"] = wpi::util::json();
   }
   if ((flags & NT_UNCACHED) != 0) {
     lastValue = {};
@@ -72,8 +72,8 @@ wpi::json LocalTopic::SetFlags(unsigned int flags) {
   return update;
 }
 
-wpi::json LocalTopic::SetPersistent(bool value) {
-  wpi::json update = wpi::json::object();
+wpi::util::json LocalTopic::SetPersistent(bool value) {
+  wpi::util::json update = wpi::util::json::object();
   if (value) {
     m_flags |= NT_PERSISTENT;
     properties["persistent"] = true;
@@ -81,13 +81,13 @@ wpi::json LocalTopic::SetPersistent(bool value) {
   } else {
     m_flags &= ~NT_PERSISTENT;
     properties.erase("persistent");
-    update["persistent"] = wpi::json();
+    update["persistent"] = wpi::util::json();
   }
   return update;
 }
 
-wpi::json LocalTopic::SetRetained(bool value) {
-  wpi::json update = wpi::json::object();
+wpi::util::json LocalTopic::SetRetained(bool value) {
+  wpi::util::json update = wpi::util::json::object();
   if (value) {
     m_flags |= NT_RETAINED;
     properties["retained"] = true;
@@ -95,17 +95,17 @@ wpi::json LocalTopic::SetRetained(bool value) {
   } else {
     m_flags &= ~NT_RETAINED;
     properties.erase("retained");
-    update["retained"] = wpi::json();
+    update["retained"] = wpi::util::json();
   }
   return update;
 }
 
-wpi::json LocalTopic::SetCached(bool value) {
-  wpi::json update = wpi::json::object();
+wpi::util::json LocalTopic::SetCached(bool value) {
+  wpi::util::json update = wpi::util::json::object();
   if (value) {
     m_flags &= ~NT_UNCACHED;
     properties.erase("cached");
-    update["cached"] = wpi::json();
+    update["cached"] = wpi::util::json();
   } else {
     m_flags |= NT_UNCACHED;
     properties["cached"] = false;
@@ -114,26 +114,26 @@ wpi::json LocalTopic::SetCached(bool value) {
   return update;
 }
 
-wpi::json LocalTopic::SetProperty(std::string_view name,
-                                  const wpi::json& value) {
+wpi::util::json LocalTopic::SetProperty(std::string_view name,
+                                  const wpi::util::json& value) {
   if (value.is_null()) {
     properties.erase(name);
   } else {
     properties[name] = value;
   }
-  wpi::json update = wpi::json::object();
+  wpi::util::json update = wpi::util::json::object();
   update[name] = value;
   return update;
 }
 
-wpi::json LocalTopic::DeleteProperty(std::string_view name) {
+wpi::util::json LocalTopic::DeleteProperty(std::string_view name) {
   properties.erase(name);
-  wpi::json update = wpi::json::object();
-  update[name] = wpi::json();
+  wpi::util::json update = wpi::util::json::object();
+  update[name] = wpi::util::json();
   return update;
 }
 
-bool LocalTopic::SetProperties(const wpi::json& update) {
+bool LocalTopic::SetProperties(const wpi::util::json& update) {
   if (!update.is_object()) {
     return false;
   }
@@ -154,8 +154,8 @@ void LocalTopic::RefreshProperties(bool updateFlags) {
   m_propertiesStr = properties.dump();
 }
 
-wpi::json LocalTopic::CompareProperties(const wpi::json props) {
-  wpi::json update = wpi::json::object();
+wpi::util::json LocalTopic::CompareProperties(const wpi::util::json props) {
+  wpi::util::json update = wpi::util::json::object();
   // added/changed
   for (auto&& prop : props.items()) {
     auto it = properties.find(prop.key());
@@ -166,7 +166,7 @@ wpi::json LocalTopic::CompareProperties(const wpi::json props) {
   // removed
   for (auto&& prop : properties.items()) {
     if (props.find(prop.key()) == props.end()) {
-      update[prop.key()] = wpi::json();
+      update[prop.key()] = wpi::util::json();
     }
   }
   return update;
@@ -182,7 +182,7 @@ void LocalTopic::ResetIfDoesNotExist() {
   type = NT_UNASSIGNED;
   typeStr.clear();
   m_flags = 0;
-  properties = wpi::json::object();
+  properties = wpi::util::json::object();
   m_propertiesStr = "{}";
 }
 
diff --git a/ntcore/src/main/native/cpp/local/LocalTopic.hpp b/ntcore/src/main/native/cpp/local/LocalTopic.hpp
index 087ee16e94..af323de282 100644
--- a/ntcore/src/main/native/cpp/local/LocalTopic.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalTopic.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/Synchronization.h"
 #include "wpi/util/json.hpp"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct LocalDataLogger;
 struct LocalEntry;
@@ -48,20 +48,20 @@ struct LocalTopic {
   unsigned int GetFlags() const { return m_flags; }
 
   // these return update json
-  wpi::json SetFlags(unsigned int flags);
-  wpi::json SetPersistent(bool value);
-  wpi::json SetRetained(bool value);
-  wpi::json SetCached(bool value);
-  wpi::json SetProperty(std::string_view name, const wpi::json& value);
-  wpi::json DeleteProperty(std::string_view name);
+  wpi::util::json SetFlags(unsigned int flags);
+  wpi::util::json SetPersistent(bool value);
+  wpi::util::json SetRetained(bool value);
+  wpi::util::json SetCached(bool value);
+  wpi::util::json SetProperty(std::string_view name, const wpi::util::json& value);
+  wpi::util::json DeleteProperty(std::string_view name);
 
   // returns false if not object
-  bool SetProperties(const wpi::json& update);
+  bool SetProperties(const wpi::util::json& update);
 
   void RefreshProperties(bool updateFlags);
 
   // returns update json
-  wpi::json CompareProperties(const wpi::json props);
+  wpi::util::json CompareProperties(const wpi::util::json props);
 
   TopicInfo GetTopicInfo() const {
     TopicInfo info;
@@ -76,7 +76,7 @@ struct LocalTopic {
   void ResetIfDoesNotExist();
 
   // invariants
-  wpi::SignalObject<NT_Topic> handle;
+  wpi::util::SignalObject<NT_Topic> handle;
   std::string name;
   bool special;
 
@@ -84,13 +84,13 @@ struct LocalTopic {
   Value lastValueNetwork;
   NT_Type type{NT_UNASSIGNED};
   std::string typeStr;
-  wpi::json properties = wpi::json::object();
+  wpi::util::json properties = wpi::util::json::object();
   LocalEntry* entry{nullptr};  // cached entry for GetEntry()
 
   bool onNetwork{false};  // true if there are any remote publishers
   bool lastValueFromNetwork{false};
 
-  wpi::SmallVector<LocalDataLoggerEntry, 1> datalogs;
+  wpi::util::SmallVector<LocalDataLoggerEntry, 1> datalogs;
   NT_Type datalogType{NT_UNASSIGNED};
 
   VectorSet<LocalPublisher*> localPublishers;
@@ -107,4 +107,4 @@ struct LocalTopic {
   std::string m_propertiesStr{"{}"};  // cached string for GetTopicInfo() et al
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/local/PubSubConfig.hpp b/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
index 69526cd33b..aeb70be3b6 100644
--- a/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
+++ b/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
@@ -10,7 +10,7 @@
 #include "PubSubOptions.hpp"
 #include "wpi/nt/ntcore_c.h"
 
-namespace nt::local {
+namespace wpi::nt::local {
 
 struct PubSubConfig : public PubSubOptionsImpl {
   PubSubConfig() = default;
@@ -24,4 +24,4 @@ struct PubSubConfig : public PubSubOptionsImpl {
   std::string typeStr;
 };
 
-}  // namespace nt::local
+}  // namespace wpi::nt::local
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
index 25731449a3..7359aed6f9 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -24,11 +24,11 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt;
-using namespace nt::net;
+using namespace wpi::nt;
+using namespace wpi::nt::net;
 
 ClientImpl::ClientImpl(
-    uint64_t curTimeMs, WireConnection& wire, bool local, wpi::Logger& logger,
+    uint64_t curTimeMs, WireConnection& wire, bool local, wpi::util::Logger& logger,
     std::function<void(int64_t serverTimeOffset, int64_t rtt2, bool valid)>
         timeSyncUpdated,
     std::function<void(uint32_t repeatMs)> setPeriodic)
@@ -42,7 +42,7 @@ ClientImpl::ClientImpl(
                                         : kRttIntervalMs)},
       m_outgoing{wire, local} {
   // immediately send RTT ping
-  auto now = wpi::Now();
+  auto now = wpi::util::Now();
   DEBUG4("Sending initial RTT ping {}", now);
   m_wire.SendBinary(
       [&](auto& os) { WireEncodeBinary(os, -1, 0, Value::MakeInteger(now)); });
@@ -80,7 +80,7 @@ void ClientImpl::ProcessIncomingBinary(uint64_t curTimeMs,
         if (m_wire.GetVersion() < 0x0401) {
           m_pongTimeMs = curTimeMs;
         }
-        int64_t now = wpi::Now();
+        int64_t now = wpi::util::Now();
         int64_t rtt2 = (now - value.GetInteger()) / 2;
         if (rtt2 < m_rtt2Us) {
           m_rtt2Us = rtt2;
@@ -135,7 +135,7 @@ void ClientImpl::SendOutgoing(uint64_t curTimeMs, bool flush) {
         return;
       }
 
-      auto now = wpi::Now();
+      auto now = wpi::util::Now();
       DEBUG4("Sending RTT ping {}", now);
       m_wire.SendBinary([&](auto& os) {
         WireEncodeBinary(os, -1, 0, Value::MakeInteger(now));
@@ -165,7 +165,7 @@ void ClientImpl::UpdatePeriodic() {
 }
 
 void ClientImpl::Publish(int32_t pubuid, std::string_view name,
-                         std::string_view typeStr, const wpi::json& properties,
+                         std::string_view typeStr, const wpi::util::json& properties,
                          const PubSubOptionsImpl& options) {
   if (static_cast<uint32_t>(pubuid) >= m_publishers.size()) {
     m_publishers.resize(pubuid + 1);
@@ -222,7 +222,7 @@ void ClientImpl::SetValue(int32_t pubuid, const Value& value) {
 
 int ClientImpl::ServerAnnounce(std::string_view name, int id,
                                std::string_view typeStr,
-                               const wpi::json& properties,
+                               const wpi::util::json& properties,
                                std::optional<int> pubuid) {
   DEBUG4("ServerAnnounce({}, {}, {})", name, id, typeStr);
   assert(m_local);
@@ -239,7 +239,7 @@ void ClientImpl::ServerUnannounce(std::string_view name, int id) {
 }
 
 void ClientImpl::ServerPropertiesUpdate(std::string_view name,
-                                        const wpi::json& update, bool ack) {
+                                        const wpi::util::json& update, bool ack) {
   DEBUG4("ServerProperties({}, {}, {})", name, update.dump(), ack);
   assert(m_local);
   m_local->ServerPropertiesUpdate(name, update, ack);
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.hpp b/ntcore/src/main/native/cpp/net/ClientImpl.hpp
index 69cbf52317..0e450bbd80 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.hpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.hpp
@@ -20,16 +20,16 @@
 #include "WireDecoder.hpp"
 #include "wpi/util/DenseMap.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 class PubSubOptionsImpl;
 class Value;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 struct ClientMessage;
 class WireConnection;
@@ -37,7 +37,7 @@ class WireConnection;
 class ClientImpl final : private ServerMessageHandler {
  public:
   ClientImpl(
-      uint64_t curTimeMs, WireConnection& wire, bool local, wpi::Logger& logger,
+      uint64_t curTimeMs, WireConnection& wire, bool local, wpi::util::Logger& logger,
       std::function<void(int64_t serverTimeOffset, int64_t rtt2, bool valid)>
           timeSyncUpdated,
       std::function<void(uint32_t repeatMs)> setPeriodic);
@@ -63,20 +63,20 @@ class ClientImpl final : private ServerMessageHandler {
 
   // ServerMessageHandler interface
   int ServerAnnounce(std::string_view name, int id, std::string_view typeStr,
-                     const wpi::json& properties,
+                     const wpi::util::json& properties,
                      std::optional<int> pubuid) final;
   void ServerUnannounce(std::string_view name, int id) final;
-  void ServerPropertiesUpdate(std::string_view name, const wpi::json& update,
+  void ServerPropertiesUpdate(std::string_view name, const wpi::util::json& update,
                               bool ack) final;
   void ServerSetValue(int topicId, const Value& value) final;
 
   void Publish(int pubuid, std::string_view name, std::string_view typeStr,
-               const wpi::json& properties, const PubSubOptionsImpl& options);
+               const wpi::util::json& properties, const PubSubOptionsImpl& options);
   void Unpublish(int pubuid, ClientMessage&& msg);
   void SetValue(int pubuid, const Value& value);
 
   WireConnection& m_wire;
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   ServerMessageHandler* m_local{nullptr};
   std::function<void(int64_t serverTimeOffset, int64_t rtt2, bool valid)>
       m_timeSyncUpdated;
@@ -86,7 +86,7 @@ class ClientImpl final : private ServerMessageHandler {
   std::vector<std::unique_ptr<PublisherData>> m_publishers;
 
   // indexed by server-provided topic id
-  wpi::DenseMap<int, int> m_topicMap;
+  wpi::util::DenseMap<int, int> m_topicMap;
 
   // ping
   NetworkPing m_ping;
@@ -107,4 +107,4 @@ class ClientImpl final : private ServerMessageHandler {
   NetworkOutgoingQueue<ClientMessage> m_outgoing;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp b/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
index 988ff90854..3e7277c1a3 100644
--- a/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
+++ b/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
@@ -13,11 +13,11 @@
 #include "wpi/util/Logger.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class ClientMessageQueue {
  public:
@@ -35,7 +35,7 @@ class ClientMessageQueueImpl final : public ClientMessageHandler,
  public:
   static constexpr size_t kBlockSize = 64;
 
-  explicit ClientMessageQueueImpl(wpi::Logger& logger) : m_logger{logger} {}
+  explicit ClientMessageQueueImpl(wpi::util::Logger& logger) : m_logger{logger} {}
 
   bool empty() const { return m_queue.empty(); }
 
@@ -71,7 +71,7 @@ class ClientMessageQueueImpl final : public ClientMessageHandler,
 
   // ClientMessageHandler - calls to these append to the queue
   void ClientPublish(int pubuid, std::string_view name,
-                     std::string_view typeStr, const wpi::json& properties,
+                     std::string_view typeStr, const wpi::util::json& properties,
                      const PubSubOptionsImpl& options) final {
     std::scoped_lock lock{m_mutex};
     m_queue.enqueue(ClientMessage{PublishMsg{
@@ -84,7 +84,7 @@ class ClientMessageQueueImpl final : public ClientMessageHandler,
   }
 
   void ClientSetProperties(std::string_view name,
-                           const wpi::json& update) final {
+                           const wpi::util::json& update) final {
     std::scoped_lock lock{m_mutex};
     m_queue.enqueue(ClientMessage{SetPropertiesMsg{std::string{name}, update}});
   }
@@ -117,8 +117,8 @@ class ClientMessageQueueImpl final : public ClientMessageHandler,
   }
 
  private:
-  wpi::FastQueue<ClientMessage, kBlockSize> m_queue{kBlockSize - 1};
-  wpi::Logger& m_logger;
+  wpi::util::FastQueue<ClientMessage, kBlockSize> m_queue{kBlockSize - 1};
+  wpi::util::Logger& m_logger;
 
   class NoMutex {
    public:
@@ -126,7 +126,7 @@ class ClientMessageQueueImpl final : public ClientMessageHandler,
     void unlock() {}
   };
   [[no_unique_address]]
-  std::conditional_t<IsMutexed, wpi::mutex, NoMutex> m_mutex;
+  std::conditional_t<IsMutexed, wpi::util::mutex, NoMutex> m_mutex;
 
   struct ValueSize {
     size_t size{0};
@@ -143,4 +143,4 @@ using LocalClientMessageQueue =
     detail::ClientMessageQueueImpl<2 * 1024 * 1024, true>;
 using NetworkIncomingClientQueue = detail::ClientMessageQueueImpl<0, false>;
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/Message.hpp b/ntcore/src/main/native/cpp/net/Message.hpp
index 9de180dbba..9f05631ccc 100644
--- a/ntcore/src/main/native/cpp/net/Message.hpp
+++ b/ntcore/src/main/native/cpp/net/Message.hpp
@@ -13,7 +13,7 @@
 #include "wpi/nt/NetworkTableValue.hpp"
 #include "wpi/util/json.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 #if __GNUC__ >= 13
 #pragma GCC diagnostic push
@@ -25,7 +25,7 @@ struct PublishMsg {
   int pubuid{0};
   std::string name;
   std::string typeStr;
-  wpi::json properties;
+  wpi::util::json properties;
   PubSubOptionsImpl options;  // will be empty when coming from network
 };
 
@@ -37,7 +37,7 @@ struct UnpublishMsg {
 struct SetPropertiesMsg {
   static constexpr std::string_view kMethodStr = "setproperties";
   std::string name;
-  wpi::json update;
+  wpi::util::json update;
 };
 
 struct SubscribeMsg {
@@ -75,7 +75,7 @@ struct AnnounceMsg {
   int id{0};
   std::string typeStr;
   std::optional<int> pubuid;
-  wpi::json properties;
+  wpi::util::json properties;
 };
 
 struct UnannounceMsg {
@@ -87,7 +87,7 @@ struct UnannounceMsg {
 struct PropertiesUpdateMsg {
   static constexpr std::string_view kMethodStr = "properties";
   std::string name;
-  wpi::json update;
+  wpi::util::json update;
   bool ack;
 };
 
@@ -103,4 +103,4 @@ struct ServerMessage {
   Contents contents;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/MessageHandler.hpp b/ntcore/src/main/native/cpp/net/MessageHandler.hpp
index ee3784393a..e8ae7b1de0 100644
--- a/ntcore/src/main/native/cpp/net/MessageHandler.hpp
+++ b/ntcore/src/main/native/cpp/net/MessageHandler.hpp
@@ -11,12 +11,12 @@
 
 #include "wpi/util/json_fwd.hpp"
 
-namespace nt {
+namespace wpi::nt {
 class PubSubOptionsImpl;
 class Value;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class ClientMessageHandler {
  public:
@@ -24,11 +24,11 @@ class ClientMessageHandler {
 
   virtual void ClientPublish(int pubuid, std::string_view name,
                              std::string_view typeStr,
-                             const wpi::json& properties,
+                             const wpi::util::json& properties,
                              const PubSubOptionsImpl& options) = 0;
   virtual void ClientUnpublish(int pubuid) = 0;
   virtual void ClientSetProperties(std::string_view name,
-                                   const wpi::json& update) = 0;
+                                   const wpi::util::json& update) = 0;
   virtual void ClientSubscribe(int subuid,
                                std::span<const std::string> topicNames,
                                const PubSubOptionsImpl& options) = 0;
@@ -41,12 +41,12 @@ class ServerMessageHandler {
   virtual ~ServerMessageHandler() = default;
   virtual int ServerAnnounce(std::string_view name, int id,
                              std::string_view typeStr,
-                             const wpi::json& properties,
+                             const wpi::util::json& properties,
                              std::optional<int> pubuid) = 0;
   virtual void ServerUnannounce(std::string_view name, int id) = 0;
   virtual void ServerPropertiesUpdate(std::string_view name,
-                                      const wpi::json& update, bool ack) = 0;
+                                      const wpi::util::json& update, bool ack) = 0;
   virtual void ServerSetValue(int topicuid, const Value& value) = 0;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/NetworkInterface.hpp b/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
index e4bd826d53..c3b5f58334 100644
--- a/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
+++ b/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
@@ -6,7 +6,7 @@
 
 #include "MessageHandler.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class ILocalStorage : public ServerMessageHandler {
  public:
@@ -14,4 +14,4 @@ class ILocalStorage : public ServerMessageHandler {
   virtual void ClearNetwork() = 0;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp b/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
index 32655a22e4..f7438f07f2 100644
--- a/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
+++ b/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
@@ -20,7 +20,7 @@
 #include "wpi/nt/ntcore_c.h"
 #include "wpi/util/DenseMap.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 static constexpr uint32_t kMinPeriodMs = 5;
 
@@ -171,7 +171,7 @@ class NetworkOutgoingQueue {
     }
 
     // what queues are ready to send?
-    wpi::SmallVector<unsigned int, 16> queues;
+    wpi::util::SmallVector<unsigned int, 16> queues;
     for (unsigned int i = 0; i < m_queues.size(); ++i) {
       if (!m_queues[i].msgs.empty() &&
           (flush || curTimeMs >= m_queues[i].nextSendMs)) {
@@ -258,7 +258,7 @@ class NetworkOutgoingQueue {
  private:
   using ValueMsg = typename MessageType::ValueMsg;
 
-  void EncodeValue(wpi::raw_ostream& os, int id, const Value& value) {
+  void EncodeValue(wpi::util::raw_ostream& os, int id, const Value& value) {
     int64_t time = value.time();
     if constexpr (std::same_as<ValueMsg, ClientValueMsg>) {
       if (time != 0) {
@@ -298,7 +298,7 @@ class NetworkOutgoingQueue {
     unsigned int queueIndex = 0;
     int valuePos = -1;  // -1 if not in queue
   };
-  wpi::DenseMap<int, HandleInfo> m_idMap;
+  wpi::util::DenseMap<int, HandleInfo> m_idMap;
   size_t m_totalSize{0};
   uint64_t m_lastSendMs{0};
   int64_t m_timeOffsetUs{0};
@@ -310,4 +310,4 @@ class NetworkOutgoingQueue {
   static constexpr size_t kOutgoingLimit = 1024 * 1024;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/NetworkPing.cpp b/ntcore/src/main/native/cpp/net/NetworkPing.cpp
index 209da1c92f..d770c8984e 100644
--- a/ntcore/src/main/native/cpp/net/NetworkPing.cpp
+++ b/ntcore/src/main/native/cpp/net/NetworkPing.cpp
@@ -6,7 +6,7 @@
 
 #include "WireConnection.hpp"
 
-using namespace nt::net;
+using namespace wpi::nt::net;
 
 bool NetworkPing::Send(uint64_t curTimeMs) {
   if (curTimeMs < m_nextPingTimeMs) {
diff --git a/ntcore/src/main/native/cpp/net/NetworkPing.hpp b/ntcore/src/main/native/cpp/net/NetworkPing.hpp
index 304e01f23d..13ff9ef23f 100644
--- a/ntcore/src/main/native/cpp/net/NetworkPing.hpp
+++ b/ntcore/src/main/native/cpp/net/NetworkPing.hpp
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class WireConnection;
 
@@ -25,4 +25,4 @@ class NetworkPing {
   uint64_t m_pongTimeMs{0};
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp b/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
index d79c1a4385..22795acf39 100644
--- a/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
+++ b/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
@@ -15,8 +15,8 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt;
-using namespace nt::net;
+using namespace wpi::nt;
+using namespace wpi::nt::net;
 
 // MTU - assume Ethernet, IPv6, TCP; does not include WS frame header (max 10)
 static constexpr size_t kMTU = 1500 - 40 - 20;
@@ -28,7 +28,7 @@ static constexpr size_t kFlushThresholdFrames = 32;
 static constexpr size_t kFlushThresholdBytes = 16384;
 static constexpr size_t kMaxPoolSize = 32;
 
-class WebSocketConnection::Stream final : public wpi::raw_ostream {
+class WebSocketConnection::Stream final : public wpi::util::raw_ostream {
  public:
   explicit Stream(WebSocketConnection& conn) : m_conn{conn} {
     auto& buf = conn.m_bufs.back();
@@ -60,8 +60,8 @@ void WebSocketConnection::Stream::write_impl(const char* data, size_t len) {
     m_conn.m_written += amt;
     if (!m_disableAlloc) {
 #ifdef NT_ENABLE_WS_FRAG
-      m_conn.m_frames.back().opcode &= ~wpi::WebSocket::kFlagFin;
-      m_conn.StartFrame(wpi::WebSocket::Frame::kFragment);
+      m_conn.m_frames.back().opcode &= ~wpi::net::WebSocket::kFlagFin;
+      m_conn.StartFrame(wpi::net::WebSocket::Frame::kFragment);
 #else
       m_conn.m_bufs.emplace_back(m_conn.AllocBuf());
       m_conn.m_bufs.back().len = 0;
@@ -90,8 +90,8 @@ void WebSocketConnection::Stream::write_impl(const char* data, size_t len) {
     if (buf.len >= kAllocSize && (len > 0 || !m_disableAlloc)) {
 #ifdef NT_ENABLE_WS_FRAG
       // fragment the current frame and start a new one
-      m_conn.m_frames.back().opcode &= ~wpi::WebSocket::kFlagFin;
-      m_conn.StartFrame(wpi::WebSocket::Frame::kFragment);
+      m_conn.m_frames.back().opcode &= ~wpi::net::WebSocket::kFlagFin;
+      m_conn.StartFrame(wpi::net::WebSocket::Frame::kFragment);
 #else
       m_conn.m_bufs.emplace_back(m_conn.AllocBuf());
       m_conn.m_bufs.back().len = 0;
@@ -106,9 +106,9 @@ void WebSocketConnection::Stream::write_impl(const char* data, size_t len) {
   }
 }
 
-WebSocketConnection::WebSocketConnection(wpi::WebSocket& ws,
+WebSocketConnection::WebSocketConnection(wpi::net::WebSocket& ws,
                                          unsigned int version,
-                                         wpi::Logger& logger)
+                                         wpi::util::Logger& logger)
     : m_ws{ws}, m_logger{logger}, m_version{version} {}
 
 WebSocketConnection::~WebSocketConnection() {
@@ -124,7 +124,7 @@ void WebSocketConnection::SendPing(uint64_t time) {
   WPI_DEBUG4(m_logger, "conn: sending ping {}", time);
   auto buf = AllocBuf();
   buf.len = 8;
-  wpi::support::endian::write64<wpi::endianness::native>(buf.base, time);
+  wpi::util::support::endian::write64<wpi::util::endianness::native>(buf.base, time);
   m_ws.SendPing({buf}, [selfweak = weak_from_this()](auto bufs, auto err) {
     if (auto self = selfweak.lock()) {
       self->m_err = err;
@@ -153,7 +153,7 @@ void WebSocketConnection::FinishText() {
 }
 
 int WebSocketConnection::Write(
-    State kind, wpi::function_ref<void(wpi::raw_ostream& os)> writer) {
+    State kind, wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) {
   bool first = false;
   if (m_state != kind ||
       (m_state == kind && m_framePos >= kNewFrameThresholdBytes)) {
@@ -163,10 +163,10 @@ int WebSocketConnection::Write(
     }
     m_state = kind;
     if (!m_frames.empty()) {
-      m_frames.back().opcode |= wpi::WebSocket::kFlagFin;
+      m_frames.back().opcode |= wpi::net::WebSocket::kFlagFin;
     }
-    StartFrame(m_state == kText ? wpi::WebSocket::Frame::kText
-                                : wpi::WebSocket::Frame::kBinary);
+    StartFrame(m_state == kText ? wpi::net::WebSocket::Frame::kText
+                                : wpi::net::WebSocket::Frame::kBinary);
     m_framePos = 0;
     first = true;
   }
@@ -188,7 +188,7 @@ int WebSocketConnection::Write(
 
 int WebSocketConnection::Flush() {
   WPI_DEBUG4(m_logger, "conn: flushing");
-  m_lastFlushTime = wpi::Now();
+  m_lastFlushTime = wpi::util::Now();
   if (m_state == kEmpty) {
     return 0;
   }
@@ -201,7 +201,7 @@ int WebSocketConnection::Flush() {
   if (m_frames.empty()) {
     return 0;
   }
-  m_frames.back().opcode |= wpi::WebSocket::kFlagFin;
+  m_frames.back().opcode |= wpi::net::WebSocket::kFlagFin;
 
   // convert internal frames into WS frames
   m_ws_frames.clear();
@@ -232,7 +232,7 @@ int WebSocketConnection::Flush() {
 
   int count = 0;
   for (auto&& frame :
-       wpi::take_back(std::span{m_frames}, unsentFrames.size())) {
+       wpi::util::take_back(std::span{m_frames}, unsentFrames.size())) {
     ReleaseBufs(
         std::span{m_bufs}.subspan(frame.start, frame.end - frame.start));
     count += frame.count;
@@ -243,17 +243,17 @@ int WebSocketConnection::Flush() {
 }
 
 void WebSocketConnection::Send(
-    uint8_t opcode, wpi::function_ref<void(wpi::raw_ostream& os)> writer) {
-  wpi::SmallVector<wpi::uv::Buffer, 4> bufs;
-  wpi::raw_uv_ostream os{bufs, [this] { return AllocBuf(); }};
-  if (opcode == wpi::WebSocket::Frame::kText) {
+    uint8_t opcode, wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) {
+  wpi::util::SmallVector<wpi::net::uv::Buffer, 4> bufs;
+  wpi::net::raw_uv_ostream os{bufs, [this] { return AllocBuf(); }};
+  if (opcode == wpi::net::WebSocket::Frame::kText) {
     os << '[';
   }
   writer(os);
-  if (opcode == wpi::WebSocket::Frame::kText) {
+  if (opcode == wpi::net::WebSocket::Frame::kText) {
     os << ']';
   }
-  wpi::WebSocket::Frame frame{opcode, os.bufs()};
+  wpi::net::WebSocket::Frame frame{opcode, os.bufs()};
   WPI_DEBUG4(m_logger, "Send({})", static_cast<uint8_t>(opcode));
   m_ws.SendFrames({{frame}}, [selfweak = weak_from_this()](auto bufs, auto) {
     if (auto self = selfweak.lock()) {
@@ -271,16 +271,16 @@ void WebSocketConnection::Disconnect(std::string_view reason) {
   m_ws.Fail(1001, reason);
 }
 
-wpi::uv::Buffer WebSocketConnection::AllocBuf() {
+wpi::net::uv::Buffer WebSocketConnection::AllocBuf() {
   if (!m_buf_pool.empty()) {
     auto buf = m_buf_pool.back();
     m_buf_pool.pop_back();
     return buf;
   }
-  return wpi::uv::Buffer::Allocate(kAllocSize + 1);  // leave space for ']'
+  return wpi::net::uv::Buffer::Allocate(kAllocSize + 1);  // leave space for ']'
 }
 
-void WebSocketConnection::ReleaseBufs(std::span<wpi::uv::Buffer> bufs) {
+void WebSocketConnection::ReleaseBufs(std::span<wpi::net::uv::Buffer> bufs) {
 #ifdef __SANITIZE_ADDRESS__
   size_t numToPool = 0;
 #else
diff --git a/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp b/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
index 48c4103645..de62e7856e 100644
--- a/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
+++ b/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
@@ -15,18 +15,18 @@
 #include "wpi/net/uv/Stream.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class WebSocketConnection final
     : public WireConnection,
       public std::enable_shared_from_this<WebSocketConnection> {
  public:
-  WebSocketConnection(wpi::WebSocket& ws, unsigned int version,
-                      wpi::Logger& logger);
+  WebSocketConnection(wpi::net::WebSocket& ws, unsigned int version,
+                      wpi::util::Logger& logger);
   ~WebSocketConnection() override;
   WebSocketConnection(const WebSocketConnection&) = delete;
   WebSocketConnection& operator=(const WebSocketConnection&) = delete;
@@ -37,19 +37,19 @@ class WebSocketConnection final
 
   bool Ready() const final { return !m_ws.IsWriteInProgress(); }
 
-  int WriteText(wpi::function_ref<void(wpi::raw_ostream& os)> writer) final {
+  int WriteText(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) final {
     return Write(kText, writer);
   }
-  int WriteBinary(wpi::function_ref<void(wpi::raw_ostream& os)> writer) final {
+  int WriteBinary(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) final {
     return Write(kBinary, writer);
   }
   int Flush() final;
 
-  void SendText(wpi::function_ref<void(wpi::raw_ostream& os)> writer) final {
-    Send(wpi::WebSocket::Frame::kText, writer);
+  void SendText(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) final {
+    Send(wpi::net::WebSocket::Frame::kText, writer);
   }
-  void SendBinary(wpi::function_ref<void(wpi::raw_ostream& os)> writer) final {
-    Send(wpi::WebSocket::Frame::kBinary, writer);
+  void SendBinary(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) final {
+    Send(wpi::net::WebSocket::Frame::kBinary, writer);
   }
 
   uint64_t GetLastFlushTime() const final { return m_lastFlushTime; }
@@ -78,17 +78,17 @@ class WebSocketConnection final
  private:
   enum State { kEmpty, kText, kBinary };
 
-  int Write(State kind, wpi::function_ref<void(wpi::raw_ostream& os)> writer);
+  int Write(State kind, wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer);
   void Send(uint8_t opcode,
-            wpi::function_ref<void(wpi::raw_ostream& os)> writer);
+            wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer);
 
   void StartFrame(uint8_t opcode);
   void FinishText();
-  wpi::uv::Buffer AllocBuf();
-  void ReleaseBufs(std::span<wpi::uv::Buffer> bufs);
+  wpi::net::uv::Buffer AllocBuf();
+  void ReleaseBufs(std::span<wpi::net::uv::Buffer> bufs);
 
-  wpi::WebSocket& m_ws;
-  wpi::Logger& m_logger;
+  wpi::net::WebSocket& m_ws;
+  wpi::util::Logger& m_logger;
   bool m_readActive = true;
 
   class Stream;
@@ -102,17 +102,17 @@ class WebSocketConnection final
     unsigned int count = 0;
     uint8_t opcode;
   };
-  std::vector<wpi::WebSocket::Frame> m_ws_frames;  // to reduce allocs
+  std::vector<wpi::net::WebSocket::Frame> m_ws_frames;  // to reduce allocs
   std::vector<Frame> m_frames;
-  std::vector<wpi::uv::Buffer> m_bufs;
-  std::vector<wpi::uv::Buffer> m_buf_pool;
+  std::vector<wpi::net::uv::Buffer> m_bufs;
+  std::vector<wpi::net::uv::Buffer> m_buf_pool;
   size_t m_framePos = 0;
   size_t m_written = 0;
-  wpi::uv::Error m_err;
+  wpi::net::uv::Error m_err;
   State m_state = kEmpty;
   std::string m_reason;
   uint64_t m_lastFlushTime = 0;
   unsigned int m_version;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/WireConnection.hpp b/ntcore/src/main/native/cpp/net/WireConnection.hpp
index 1c9cd68fd2..cd5684c133 100644
--- a/ntcore/src/main/native/cpp/net/WireConnection.hpp
+++ b/ntcore/src/main/native/cpp/net/WireConnection.hpp
@@ -10,11 +10,11 @@
 
 #include "wpi/util/function_ref.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class WireConnection {
  public:
@@ -33,10 +33,10 @@ class WireConnection {
   // not sent.
   [[nodiscard]]
   virtual int WriteText(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) = 0;
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) = 0;
   [[nodiscard]]
   virtual int WriteBinary(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) = 0;
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) = 0;
 
   // Flushes any pending buffers. Return value equivalent to
   // WriteText/WriteBinary (e.g. 1 means the last WriteX call was not sent).
@@ -45,9 +45,9 @@ class WireConnection {
 
   // These immediately send the data even if the buffer is full.
   virtual void SendText(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) = 0;
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) = 0;
   virtual void SendBinary(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) = 0;
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) = 0;
 
   virtual uint64_t GetLastFlushTime() const = 0;  // in microseconds
 
@@ -60,4 +60,4 @@ class WireConnection {
   virtual void Disconnect(std::string_view reason) = 0;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/WireDecoder.cpp b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
index 0b756a694e..3fbc44bd53 100644
--- a/ntcore/src/main/native/cpp/net/WireDecoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
@@ -19,11 +19,11 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/mpack.h"
 
-using namespace nt;
-using namespace nt::net;
+using namespace wpi::nt;
+using namespace wpi::nt::net;
 using namespace mpack;
 
-static bool GetNumber(wpi::json& val, double* num) {
+static bool GetNumber(wpi::util::json& val, double* num) {
   if (auto v = val.get_ptr<const int64_t*>()) {
     *num = *v;
   } else if (auto v = val.get_ptr<const uint64_t*>()) {
@@ -36,7 +36,7 @@ static bool GetNumber(wpi::json& val, double* num) {
   return true;
 }
 
-static bool GetNumber(wpi::json& val, int64_t* num) {
+static bool GetNumber(wpi::util::json& val, int64_t* num) {
   if (auto v = val.get_ptr<const int64_t*>()) {
     *num = *v;
   } else if (auto v = val.get_ptr<const uint64_t*>()) {
@@ -47,7 +47,7 @@ static bool GetNumber(wpi::json& val, int64_t* num) {
   return true;
 }
 
-static std::string* ObjGetString(wpi::json::object_t& obj, std::string_view key,
+static std::string* ObjGetString(wpi::util::json::object_t& obj, std::string_view key,
                                  std::string* error) {
   auto it = obj.find(key);
   if (it == obj.end()) {
@@ -61,7 +61,7 @@ static std::string* ObjGetString(wpi::json::object_t& obj, std::string_view key,
   return val;
 }
 
-static bool ObjGetNumber(wpi::json::object_t& obj, std::string_view key,
+static bool ObjGetNumber(wpi::util::json::object_t& obj, std::string_view key,
                          std::string* error, int64_t* num) {
   auto it = obj.find(key);
   if (it == obj.end()) {
@@ -75,7 +75,7 @@ static bool ObjGetNumber(wpi::json::object_t& obj, std::string_view key,
   return true;
 }
 
-static bool ObjGetStringArray(wpi::json::object_t& obj, std::string_view key,
+static bool ObjGetStringArray(wpi::util::json::object_t& obj, std::string_view key,
                               std::string* error,
                               std::vector<std::string>* out) {
   // prefixes
@@ -84,7 +84,7 @@ static bool ObjGetStringArray(wpi::json::object_t& obj, std::string_view key,
     *error = fmt::format("no {} key", key);
     return false;
   }
-  auto jarr = it->second.get_ptr<wpi::json::array_t*>();
+  auto jarr = it->second.get_ptr<wpi::util::json::array_t*>();
   if (!jarr) {
     *error = fmt::format("{} must be an array", key);
     return false;
@@ -112,11 +112,11 @@ template <typename T>
   requires(std::same_as<T, ClientMessageHandler> ||
            std::same_as<T, ServerMessageHandler>)
 static bool WireDecodeTextImpl(std::string_view in, T& out,
-                               wpi::Logger& logger) {
-  wpi::json j;
+                               wpi::util::Logger& logger) {
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(in);
-  } catch (wpi::json::parse_error& err) {
+    j = wpi::util::json::parse(in);
+  } catch (wpi::util::json::parse_error& err) {
     WPI_WARNING(logger, "could not decode JSON message: {}", err.what());
     return false;
   }
@@ -132,7 +132,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
     ++i;
     std::string error;
     {
-      auto obj = jmsg.get_ptr<wpi::json::object_t*>();
+      auto obj = jmsg.get_ptr<wpi::util::json::object_t*>();
       if (!obj) {
         error = "expected message to be an object";
         goto err;
@@ -148,7 +148,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
         error = "no params key";
         goto err;
       }
-      auto params = paramsIt->second.get_ptr<wpi::json::object_t*>();
+      auto params = paramsIt->second.get_ptr<wpi::util::json::object_t*>();
       if (!params) {
         error = "params must be an object";
         goto err;
@@ -174,14 +174,14 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (pubuid >= 0x7fffffffLL || pubuid <= (-0x7fffffffLL - 1)) {
             error = "pubuid out of range";
             goto err;
           }
 
           // properties; allow missing (treated as empty)
-          wpi::json* properties = nullptr;
+          wpi::util::json* properties = nullptr;
           auto propertiesIt = params->find("properties");
           if (propertiesIt != params->end()) {
             properties = &propertiesIt->second;
@@ -190,9 +190,9 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
               goto err;
             }
           }
-          wpi::json propertiesEmpty;
+          wpi::util::json propertiesEmpty;
           if (!properties) {
-            propertiesEmpty = wpi::json::object();
+            propertiesEmpty = wpi::util::json::object();
             properties = &propertiesEmpty;
           }
 
@@ -206,7 +206,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (pubuid >= 0x7fffffffLL || pubuid <= (-0x7fffffffLL - 1)) {
             error = "pubuid out of range";
             goto err;
@@ -243,7 +243,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (subuid >= 0x7fffffffLL || subuid <= (-0x7fffffffLL - 1)) {
             error = "subuid out of range";
             goto err;
@@ -253,7 +253,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
           PubSubOptionsImpl options;
           auto optionsIt = params->find("options");
           if (optionsIt != params->end()) {
-            auto joptions = optionsIt->second.get_ptr<wpi::json::object_t*>();
+            auto joptions = optionsIt->second.get_ptr<wpi::util::json::object_t*>();
             if (!joptions) {
               error = "options must be an object";
               goto err;
@@ -321,7 +321,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (subuid >= 0x7fffffffLL || subuid <= (-0x7fffffffLL - 1)) {
             error = "pubuid out of range";
             goto err;
@@ -348,7 +348,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (id >= 0x7fffffffLL || id <= (-0x7fffffffLL - 1)) {
             error = "id out of range";
             goto err;
@@ -370,7 +370,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
               goto err;
             }
 
-            // limit to 32-bit range and exclude endpoints used by DenseMap
+            // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
             if (val >= 0x7fffffffLL || val <= (-0x7fffffffLL - 1)) {
               error = "pubuid out of range";
               goto err;
@@ -388,7 +388,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
           auto properties = &propertiesIt->second;
           if (!properties->is_object()) {
             WPI_WARNING(logger, "{}: properties is not an object", *name);
-            *properties = wpi::json::object();
+            *properties = wpi::util::json::object();
           }
 
           // complete
@@ -406,7 +406,7 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
             goto err;
           }
 
-          // limit to 32-bit range and exclude endpoints used by DenseMap
+          // limit to 32-bit range and exclude endpoints used by wpi::util::DenseMap
           if (id >= 0x7fffffffLL || id <= (-0x7fffffffLL - 1)) {
             error = "id out of range";
             goto err;
@@ -464,17 +464,17 @@ static bool WireDecodeTextImpl(std::string_view in, T& out,
 #pragma clang diagnostic pop
 #endif
 
-bool nt::net::WireDecodeText(std::string_view in, ClientMessageHandler& out,
-                             wpi::Logger& logger) {
+bool wpi::nt::net::WireDecodeText(std::string_view in, ClientMessageHandler& out,
+                             wpi::util::Logger& logger) {
   return ::WireDecodeTextImpl(in, out, logger);
 }
 
-void nt::net::WireDecodeText(std::string_view in, ServerMessageHandler& out,
-                             wpi::Logger& logger) {
+void wpi::nt::net::WireDecodeText(std::string_view in, ServerMessageHandler& out,
+                             wpi::util::Logger& logger) {
   ::WireDecodeTextImpl(in, out, logger);
 }
 
-bool nt::net::WireDecodeBinary(std::span<const uint8_t>* in, int* outId,
+bool wpi::nt::net::WireDecodeBinary(std::span<const uint8_t>* in, int* outId,
                                Value* outValue, std::string* error,
                                int64_t localTimeOffset) {
   mpack_reader_t reader;
@@ -614,6 +614,6 @@ bool nt::net::WireDecodeBinary(std::span<const uint8_t>* in, int* outId,
   outValue->SetServerTime(time);
   outValue->SetTime(time == 0 ? 0 : time + localTimeOffset);
   // update input range
-  *in = wpi::take_back(*in, mpack_reader_remaining(&reader, nullptr));
+  *in = wpi::util::take_back(*in, mpack_reader_remaining(&reader, nullptr));
   return true;
 }
diff --git a/ntcore/src/main/native/cpp/net/WireDecoder.hpp b/ntcore/src/main/native/cpp/net/WireDecoder.hpp
index 3a8d421608..6b8e7bc8bc 100644
--- a/ntcore/src/main/native/cpp/net/WireDecoder.hpp
+++ b/ntcore/src/main/native/cpp/net/WireDecoder.hpp
@@ -10,27 +10,27 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 class Value;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class ClientMessageHandler;
 class ServerMessageHandler;
 
 // return true if client pub/sub metadata needs updating
 bool WireDecodeText(std::string_view in, ClientMessageHandler& out,
-                    wpi::Logger& logger);
+                    wpi::util::Logger& logger);
 void WireDecodeText(std::string_view in, ServerMessageHandler& out,
-                    wpi::Logger& logger);
+                    wpi::util::Logger& logger);
 
 // returns true if successfully decoded a message
 bool WireDecodeBinary(std::span<const uint8_t>* in, int* outId, Value* outValue,
                       std::string* error, int64_t localTimeOffset);
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/net/WireEncoder.cpp b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
index 907a1f50e2..0b737d389c 100644
--- a/ntcore/src/main/native/cpp/net/WireEncoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
@@ -14,14 +14,14 @@
 #include "wpi/util/mpack.h"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace nt;
-using namespace nt::net;
+using namespace wpi::nt;
+using namespace wpi::nt::net;
 using namespace mpack;
 
-void nt::net::WireEncodePublish(wpi::raw_ostream& os, int pubuid,
+void wpi::nt::net::WireEncodePublish(wpi::util::raw_ostream& os, int pubuid,
                                 std::string_view name, std::string_view typeStr,
-                                const wpi::json& properties) {
-  wpi::json::serializer s{os, ' ', 0};
+                                const wpi::util::json& properties) {
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << PublishMsg::kMethodStr << "\",\"params\":{";
   os << "\"name\":\"";
   s.dump_escaped(name, false);
@@ -34,18 +34,18 @@ void nt::net::WireEncodePublish(wpi::raw_ostream& os, int pubuid,
   os << "\"}}";
 }
 
-void nt::net::WireEncodeUnpublish(wpi::raw_ostream& os, int pubuid) {
-  wpi::json::serializer s{os, ' ', 0};
+void wpi::nt::net::WireEncodeUnpublish(wpi::util::raw_ostream& os, int pubuid) {
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << UnpublishMsg::kMethodStr << "\",\"params\":{";
   os << "\"pubuid\":";
   s.dump_integer(pubuid);
   os << "}}";
 }
 
-void nt::net::WireEncodeSetProperties(wpi::raw_ostream& os,
+void wpi::nt::net::WireEncodeSetProperties(wpi::util::raw_ostream& os,
                                       std::string_view name,
-                                      const wpi::json& update) {
-  wpi::json::serializer s{os, ' ', 0};
+                                      const wpi::util::json& update) {
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << SetPropertiesMsg::kMethodStr << "\",\"params\":{";
   os << "\"name\":\"";
   s.dump_escaped(name, false);
@@ -55,8 +55,8 @@ void nt::net::WireEncodeSetProperties(wpi::raw_ostream& os,
 }
 
 template <typename T>
-static void EncodePrefixes(wpi::raw_ostream& os, std::span<const T> topicNames,
-                           wpi::json::serializer& s) {
+static void EncodePrefixes(wpi::util::raw_ostream& os, std::span<const T> topicNames,
+                           wpi::util::json::serializer& s) {
   os << '[';
   bool first = true;
   for (auto&& name : topicNames) {
@@ -73,10 +73,10 @@ static void EncodePrefixes(wpi::raw_ostream& os, std::span<const T> topicNames,
 }
 
 template <typename T>
-static void WireEncodeSubscribeImpl(wpi::raw_ostream& os, int subuid,
+static void WireEncodeSubscribeImpl(wpi::util::raw_ostream& os, int subuid,
                                     std::span<const T> topicNames,
                                     const PubSubOptionsImpl& options) {
-  wpi::json::serializer s{os, ' ', 0};
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << SubscribeMsg::kMethodStr << "\",\"params\":{";
   os << "\"options\":{";
   bool first = true;
@@ -112,27 +112,27 @@ static void WireEncodeSubscribeImpl(wpi::raw_ostream& os, int subuid,
   os << "}}";
 }
 
-void nt::net::WireEncodeSubscribe(wpi::raw_ostream& os, int subuid,
+void wpi::nt::net::WireEncodeSubscribe(wpi::util::raw_ostream& os, int subuid,
                                   std::span<const std::string_view> topicNames,
                                   const PubSubOptionsImpl& options) {
   WireEncodeSubscribeImpl(os, subuid, topicNames, options);
 }
 
-void nt::net::WireEncodeSubscribe(wpi::raw_ostream& os, int subuid,
+void wpi::nt::net::WireEncodeSubscribe(wpi::util::raw_ostream& os, int subuid,
                                   std::span<const std::string> topicNames,
                                   const PubSubOptionsImpl& options) {
   WireEncodeSubscribeImpl(os, subuid, topicNames, options);
 }
 
-void nt::net::WireEncodeUnsubscribe(wpi::raw_ostream& os, int subuid) {
-  wpi::json::serializer s{os, ' ', 0};
+void wpi::nt::net::WireEncodeUnsubscribe(wpi::util::raw_ostream& os, int subuid) {
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << UnsubscribeMsg::kMethodStr << "\",\"params\":{";
   os << "\"subuid\":";
   s.dump_integer(subuid);
   os << "}}";
 }
 
-bool nt::net::WireEncodeText(wpi::raw_ostream& os, const ClientMessage& msg) {
+bool wpi::nt::net::WireEncodeText(wpi::util::raw_ostream& os, const ClientMessage& msg) {
   if (auto m = std::get_if<PublishMsg>(&msg.contents)) {
     WireEncodePublish(os, m->pubuid, m->name, m->typeStr, m->properties);
   } else if (auto m = std::get_if<UnpublishMsg>(&msg.contents)) {
@@ -149,11 +149,11 @@ bool nt::net::WireEncodeText(wpi::raw_ostream& os, const ClientMessage& msg) {
   return true;
 }
 
-void nt::net::WireEncodeAnnounce(wpi::raw_ostream& os, std::string_view name,
+void wpi::nt::net::WireEncodeAnnounce(wpi::util::raw_ostream& os, std::string_view name,
                                  int id, std::string_view typeStr,
-                                 const wpi::json& properties,
+                                 const wpi::util::json& properties,
                                  std::optional<int> pubuid) {
-  wpi::json::serializer s{os, ' ', 0};
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << AnnounceMsg::kMethodStr << "\",\"params\":{";
   os << "\"id\":";
   s.dump_integer(id);
@@ -170,9 +170,9 @@ void nt::net::WireEncodeAnnounce(wpi::raw_ostream& os, std::string_view name,
   os << "\"}}";
 }
 
-void nt::net::WireEncodeUnannounce(wpi::raw_ostream& os, std::string_view name,
+void wpi::nt::net::WireEncodeUnannounce(wpi::util::raw_ostream& os, std::string_view name,
                                    int64_t id) {
-  wpi::json::serializer s{os, ' ', 0};
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << UnannounceMsg::kMethodStr << "\",\"params\":{";
   os << "\"id\":";
   s.dump_integer(id);
@@ -181,10 +181,10 @@ void nt::net::WireEncodeUnannounce(wpi::raw_ostream& os, std::string_view name,
   os << "\"}}";
 }
 
-void nt::net::WireEncodePropertiesUpdate(wpi::raw_ostream& os,
+void wpi::nt::net::WireEncodePropertiesUpdate(wpi::util::raw_ostream& os,
                                          std::string_view name,
-                                         const wpi::json& update, bool ack) {
-  wpi::json::serializer s{os, ' ', 0};
+                                         const wpi::util::json& update, bool ack) {
+  wpi::util::json::serializer s{os, ' ', 0};
   os << "{\"method\":\"" << PropertiesUpdateMsg::kMethodStr
      << "\",\"params\":{";
   os << "\"name\":\"";
@@ -197,7 +197,7 @@ void nt::net::WireEncodePropertiesUpdate(wpi::raw_ostream& os,
   os << "}}";
 }
 
-bool nt::net::WireEncodeText(wpi::raw_ostream& os, const ServerMessage& msg) {
+bool wpi::nt::net::WireEncodeText(wpi::util::raw_ostream& os, const ServerMessage& msg) {
   if (auto m = std::get_if<AnnounceMsg>(&msg.contents)) {
     WireEncodeAnnounce(os, m->name, m->id, m->typeStr, m->properties,
                        m->pubuid);
@@ -211,7 +211,7 @@ bool nt::net::WireEncodeText(wpi::raw_ostream& os, const ServerMessage& msg) {
   return true;
 }
 
-bool nt::net::WireEncodeBinary(wpi::raw_ostream& os, int id, int64_t time,
+bool wpi::nt::net::WireEncodeBinary(wpi::util::raw_ostream& os, int id, int64_t time,
                                const Value& value) {
   char buf[128];
   mpack_writer_t writer;
@@ -219,7 +219,7 @@ bool nt::net::WireEncodeBinary(wpi::raw_ostream& os, int id, int64_t time,
   mpack_writer_set_context(&writer, &os);
   mpack_writer_set_flush(
       &writer, [](mpack_writer_t* writer, const char* buffer, size_t count) {
-        static_cast<wpi::raw_ostream*>(writer->context)->write(buffer, count);
+        static_cast<wpi::util::raw_ostream*>(writer->context)->write(buffer, count);
       });
   mpack_start_array(&writer, 4);
   mpack_write_int(&writer, id);
diff --git a/ntcore/src/main/native/cpp/net/WireEncoder.hpp b/ntcore/src/main/native/cpp/net/WireEncoder.hpp
index ea1b5228e1..394cc27fdd 100644
--- a/ntcore/src/main/native/cpp/net/WireEncoder.hpp
+++ b/ntcore/src/main/native/cpp/net/WireEncoder.hpp
@@ -11,51 +11,51 @@
 
 #include "wpi/util/json_fwd.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 }  // namespace wpi
 
-namespace nt {
+namespace wpi::nt {
 class PubSubOptionsImpl;
 class Value;
-}  // namespace nt
+}  // namespace wpi::nt
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 struct ClientMessage;
 struct ServerMessage;
 
 // encoders for client text messages (avoids need to construct a Message struct)
-void WireEncodePublish(wpi::raw_ostream& os, int pubuid, std::string_view name,
-                       std::string_view typeStr, const wpi::json& properties);
-void WireEncodeUnpublish(wpi::raw_ostream& os, int pubuid);
-void WireEncodeSetProperties(wpi::raw_ostream& os, std::string_view name,
-                             const wpi::json& update);
-void WireEncodeSubscribe(wpi::raw_ostream& os, int subuid,
+void WireEncodePublish(wpi::util::raw_ostream& os, int pubuid, std::string_view name,
+                       std::string_view typeStr, const wpi::util::json& properties);
+void WireEncodeUnpublish(wpi::util::raw_ostream& os, int pubuid);
+void WireEncodeSetProperties(wpi::util::raw_ostream& os, std::string_view name,
+                             const wpi::util::json& update);
+void WireEncodeSubscribe(wpi::util::raw_ostream& os, int subuid,
                          std::span<const std::string_view> topicNames,
                          const PubSubOptionsImpl& options);
-void WireEncodeSubscribe(wpi::raw_ostream& os, int subuid,
+void WireEncodeSubscribe(wpi::util::raw_ostream& os, int subuid,
                          std::span<const std::string> topicNames,
                          const PubSubOptionsImpl& options);
-void WireEncodeUnsubscribe(wpi::raw_ostream& os, int subuid);
+void WireEncodeUnsubscribe(wpi::util::raw_ostream& os, int subuid);
 
 // encoders for server text messages (avoids need to construct a Message struct)
-void WireEncodeAnnounce(wpi::raw_ostream& os, std::string_view name, int id,
-                        std::string_view typeStr, const wpi::json& properties,
+void WireEncodeAnnounce(wpi::util::raw_ostream& os, std::string_view name, int id,
+                        std::string_view typeStr, const wpi::util::json& properties,
                         std::optional<int> pubuid);
-void WireEncodeUnannounce(wpi::raw_ostream& os, std::string_view name,
+void WireEncodeUnannounce(wpi::util::raw_ostream& os, std::string_view name,
                           int64_t id);
-void WireEncodePropertiesUpdate(wpi::raw_ostream& os, std::string_view name,
-                                const wpi::json& update, bool ack);
+void WireEncodePropertiesUpdate(wpi::util::raw_ostream& os, std::string_view name,
+                                const wpi::util::json& update, bool ack);
 
 // Encode a single message; note text messages must be put into a
 // JSON array "[msg1, msg2]" for transmission.
 // Returns true if message was written
-bool WireEncodeText(wpi::raw_ostream& os, const ClientMessage& msg);
-bool WireEncodeText(wpi::raw_ostream& os, const ServerMessage& msg);
+bool WireEncodeText(wpi::util::raw_ostream& os, const ClientMessage& msg);
+bool WireEncodeText(wpi::util::raw_ostream& os, const ServerMessage& msg);
 
 // encoder for binary messages
-bool WireEncodeBinary(wpi::raw_ostream& os, int id, int64_t time,
+bool WireEncodeBinary(wpi::util::raw_ostream& os, int id, int64_t time,
                       const Value& value);
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/main/native/cpp/networktables/NTSendable.cpp b/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
index 1901a2b463..62825dab96 100644
--- a/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
@@ -7,10 +7,10 @@
 #include "wpi/nt/NTSendableBuilder.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
-void NTSendable::InitSendable(wpi::SendableBuilder& builder) {
-  if (builder.GetBackendKind() == wpi::SendableBuilder::kNetworkTables) {
+void NTSendable::InitSendable(wpi::util::SendableBuilder& builder) {
+  if (builder.GetBackendKind() == wpi::util::SendableBuilder::kNetworkTables) {
     InitSendable(static_cast<NTSendableBuilder&>(builder));
   }
 }
diff --git a/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp b/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
index 0681127e7c..99b7ee7491 100644
--- a/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/nt/NTSendableBuilder.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 NTSendableBuilder::BackendKind NTSendableBuilder::GetBackendKind() const {
   return kNetworkTables;
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
index c965ba7584..5f6f663fd4 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
@@ -30,31 +30,31 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/StringMap.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 std::string_view NetworkTable::BasenameKey(std::string_view key) {
   size_t slash = key.rfind(PATH_SEPARATOR_CHAR);
   if (slash == std::string_view::npos) {
     return key;
   }
-  return wpi::substr(key, slash + 1);
+  return wpi::util::substr(key, slash + 1);
 }
 
 std::string NetworkTable::NormalizeKey(std::string_view key,
                                        bool withLeadingSlash) {
-  wpi::SmallString<128> buf;
+  wpi::util::SmallString<128> buf;
   return std::string{NormalizeKey(key, buf, withLeadingSlash)};
 }
 
 std::string_view NetworkTable::NormalizeKey(std::string_view key,
-                                            wpi::SmallVectorImpl<char>& buf,
+                                            wpi::util::SmallVectorImpl<char>& buf,
                                             bool withLeadingSlash) {
   buf.clear();
   if (withLeadingSlash) {
     buf.push_back(PATH_SEPARATOR_CHAR);
   }
   // for each path element, add it with a slash following
-  wpi::split(key, PATH_SEPARATOR_CHAR, -1, false, [&](auto part) {
+  wpi::util::split(key, PATH_SEPARATOR_CHAR, -1, false, [&](auto part) {
     buf.append(part.begin(), part.end());
     buf.push_back(PATH_SEPARATOR_CHAR);
   });
@@ -69,9 +69,9 @@ std::vector<std::string> NetworkTable::GetHierarchy(std::string_view key) {
   std::vector<std::string> hierarchy;
   hierarchy.emplace_back(1, PATH_SEPARATOR_CHAR);
   // for each path element, add it to the end of what we built previously
-  wpi::SmallString<128> path;
+  wpi::util::SmallString<128> path;
   bool any = false;
-  wpi::split(key, PATH_SEPARATOR_CHAR, -1, false, [&](auto part) {
+  wpi::util::split(key, PATH_SEPARATOR_CHAR, -1, false, [&](auto part) {
     any = true;
     path += PATH_SEPARATOR_CHAR;
     path += part;
@@ -101,7 +101,7 @@ NetworkTableEntry NetworkTable::GetEntry(std::string_view key) const {
   if (entry == 0) {
     fmt::memory_buffer buf;
     fmt::format_to(fmt::appender{buf}, "{}/{}", m_path, key);
-    entry = nt::GetEntry(m_inst, {buf.data(), buf.size()});
+    entry = wpi::nt::GetEntry(m_inst, {buf.data(), buf.size()});
   }
   return NetworkTableEntry{entry};
 }
@@ -109,7 +109,7 @@ NetworkTableEntry NetworkTable::GetEntry(std::string_view key) const {
 Topic NetworkTable::GetTopic(std::string_view name) const {
   fmt::memory_buffer buf;
   fmt::format_to(fmt::appender{buf}, "{}/{}", m_path, name);
-  return Topic{::nt::GetTopic(m_inst, {buf.data(), buf.size()})};
+  return Topic{::wpi::nt::GetTopic(m_inst, {buf.data(), buf.size()})};
 }
 
 BooleanTopic NetworkTable::GetBooleanTopic(std::string_view name) const {
@@ -174,7 +174,7 @@ bool NetworkTable::ContainsKey(std::string_view key) const {
 }
 
 bool NetworkTable::ContainsSubTable(std::string_view key) const {
-  return !::nt::GetTopics(m_inst, fmt::format("{}/{}/", m_path, key), 0)
+  return !::wpi::nt::GetTopics(m_inst, fmt::format("{}/{}/", m_path, key), 0)
               .empty();
 }
 
@@ -182,8 +182,8 @@ std::vector<TopicInfo> NetworkTable::GetTopicInfo(int types) const {
   std::vector<TopicInfo> infos;
   size_t prefix_len = m_path.size() + 1;
   for (auto&& info :
-       ::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
-    auto relative_key = wpi::substr(info.name, prefix_len);
+       ::wpi::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
+    auto relative_key = wpi::util::substr(info.name, prefix_len);
     if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
       continue;
     }
@@ -196,8 +196,8 @@ std::vector<Topic> NetworkTable::GetTopics(int types) const {
   std::vector<Topic> topics;
   size_t prefix_len = m_path.size() + 1;
   for (auto&& info :
-       ::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
-    auto relative_key = wpi::substr(info.name, prefix_len);
+       ::wpi::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
+    auto relative_key = wpi::util::substr(info.name, prefix_len);
     if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
       continue;
     }
@@ -210,8 +210,8 @@ std::vector<std::string> NetworkTable::GetKeys(int types) const {
   std::vector<std::string> keys;
   size_t prefix_len = m_path.size() + 1;
   for (auto&& info :
-       ::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
-    auto relative_key = wpi::substr(info.name, prefix_len);
+       ::wpi::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), types)) {
+    auto relative_key = wpi::util::substr(info.name, prefix_len);
     if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
       continue;
     }
@@ -224,13 +224,13 @@ std::vector<std::string> NetworkTable::GetSubTables() const {
   std::vector<std::string> keys;
   size_t prefix_len = m_path.size() + 1;
   for (auto&& topic :
-       ::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), 0)) {
-    auto relative_key = wpi::substr(topic.name, prefix_len);
+       ::wpi::nt::GetTopicInfo(m_inst, fmt::format("{}/", m_path), 0)) {
+    auto relative_key = wpi::util::substr(topic.name, prefix_len);
     size_t end_subtable = relative_key.find(PATH_SEPARATOR_CHAR);
     if (end_subtable == std::string_view::npos) {
       continue;
     }
-    auto subTable = wpi::substr(relative_key, 0, end_subtable);
+    auto subTable = wpi::util::substr(relative_key, 0, end_subtable);
     if (keys.empty() || keys.back() != subTable) {
       keys.emplace_back(subTable);
     }
@@ -384,7 +384,7 @@ NT_Listener NetworkTable::AddListener(int eventMask,
         } else {
           return;
         }
-        auto relative_key = wpi::substr(topicName, m_path.size() + 1);
+        auto relative_key = wpi::util::substr(topicName, m_path.size() + 1);
         if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
           return;
         }
@@ -401,9 +401,9 @@ NT_Listener NetworkTable::AddListener(std::string_view key, int eventMask,
 }
 
 NT_Listener NetworkTable::AddSubTableListener(SubTableListener listener) {
-  // The lambda needs to be copyable, but StringMap is not, so use
+  // The lambda needs to be copyable, but wpi::util::StringMap is not, so use
   // a shared_ptr to it.
-  auto notified_tables = std::make_shared<wpi::StringMap<char>>();
+  auto notified_tables = std::make_shared<wpi::util::StringMap<char>>();
 
   return NetworkTableInstance{m_inst}.AddListener(
       {{fmt::format("{}/", m_path)}}, NT_EVENT_PUBLISH | NT_EVENT_IMMEDIATE,
@@ -412,7 +412,7 @@ NT_Listener NetworkTable::AddSubTableListener(SubTableListener listener) {
         if (!topicInfo) {
           return;
         }
-        auto relative_key = wpi::substr(topicInfo->name, m_path.size() + 1);
+        auto relative_key = wpi::util::substr(topicInfo->name, m_path.size() + 1);
         auto end_sub_table = relative_key.find(PATH_SEPARATOR_CHAR);
         if (end_sub_table == std::string_view::npos) {
           return;
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
index 9912b46914..52c29bfdcf 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
@@ -7,12 +7,12 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/Topic.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 NetworkTableInstance NetworkTableEntry::GetInstance() const {
   return NetworkTableInstance{GetInstanceFromHandle(m_handle)};
 }
 
 Topic NetworkTableEntry::GetTopic() const {
-  return Topic{::nt::GetTopicFromHandle(m_handle)};
+  return Topic{::wpi::nt::GetTopicFromHandle(m_handle)};
 }
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
index bee3228035..8e2e81df72 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
@@ -24,10 +24,10 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 Topic NetworkTableInstance::GetTopic(std::string_view name) const {
-  return Topic{::nt::GetTopic(m_handle, name)};
+  return Topic{::wpi::nt::GetTopic(m_handle, name)};
 }
 
 BooleanTopic NetworkTableInstance::GetBooleanTopic(
@@ -108,41 +108,41 @@ void NetworkTableInstance::SetServer(std::span<const std::string_view> servers,
 NT_Listener NetworkTableInstance::AddListener(Topic topic,
                                               unsigned int eventMask,
                                               ListenerCallback listener) {
-  if (::nt::GetInstanceFromHandle(topic.GetHandle()) != m_handle) {
-    wpi::print(stderr, "AddListener: topic is not from this instance\n");
+  if (::wpi::nt::GetInstanceFromHandle(topic.GetHandle()) != m_handle) {
+    wpi::util::print(stderr, "AddListener: topic is not from this instance\n");
     return 0;
   }
-  return ::nt::AddListener(topic.GetHandle(), eventMask, std::move(listener));
+  return ::wpi::nt::AddListener(topic.GetHandle(), eventMask, std::move(listener));
 }
 
 NT_Listener NetworkTableInstance::AddListener(Subscriber& subscriber,
                                               unsigned int eventMask,
                                               ListenerCallback listener) {
-  if (::nt::GetInstanceFromHandle(subscriber.GetHandle()) != m_handle) {
-    wpi::print(stderr, "AddListener: subscriber is not from this instance\n");
+  if (::wpi::nt::GetInstanceFromHandle(subscriber.GetHandle()) != m_handle) {
+    wpi::util::print(stderr, "AddListener: subscriber is not from this instance\n");
     return 0;
   }
-  return ::nt::AddListener(subscriber.GetHandle(), eventMask,
+  return ::wpi::nt::AddListener(subscriber.GetHandle(), eventMask,
                            std::move(listener));
 }
 
 NT_Listener NetworkTableInstance::AddListener(const NetworkTableEntry& entry,
                                               int eventMask,
                                               ListenerCallback listener) {
-  if (::nt::GetInstanceFromHandle(entry.GetHandle()) != m_handle) {
-    wpi::print(stderr, "AddListener: entry is not from this instance\n");
+  if (::wpi::nt::GetInstanceFromHandle(entry.GetHandle()) != m_handle) {
+    wpi::util::print(stderr, "AddListener: entry is not from this instance\n");
     return 0;
   }
-  return ::nt::AddListener(entry.GetHandle(), eventMask, std::move(listener));
+  return ::wpi::nt::AddListener(entry.GetHandle(), eventMask, std::move(listener));
 }
 
 NT_Listener NetworkTableInstance::AddListener(MultiSubscriber& subscriber,
                                               int eventMask,
                                               ListenerCallback listener) {
-  if (::nt::GetInstanceFromHandle(subscriber.GetHandle()) != m_handle) {
-    wpi::print(stderr, "AddListener: subscriber is not from this instance\n");
+  if (::wpi::nt::GetInstanceFromHandle(subscriber.GetHandle()) != m_handle) {
+    wpi::util::print(stderr, "AddListener: subscriber is not from this instance\n");
     return 0;
   }
-  return ::nt::AddListener(subscriber.GetHandle(), eventMask,
+  return ::wpi::nt::AddListener(subscriber.GetHandle(), eventMask,
                            std::move(listener));
 }
diff --git a/ntcore/src/main/native/cpp/networktables/Topic.cpp b/ntcore/src/main/native/cpp/networktables/Topic.cpp
index 8a92e65fb2..6e47dcefb5 100644
--- a/ntcore/src/main/native/cpp/networktables/Topic.cpp
+++ b/ntcore/src/main/native/cpp/networktables/Topic.cpp
@@ -8,22 +8,22 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace nt;
+using namespace wpi::nt;
 
 NetworkTableInstance Topic::GetInstance() const {
   return NetworkTableInstance{GetInstanceFromHandle(m_handle)};
 }
 
-wpi::json Topic::GetProperty(std::string_view name) const {
-  return ::nt::GetTopicProperty(m_handle, name);
+wpi::util::json Topic::GetProperty(std::string_view name) const {
+  return ::wpi::nt::GetTopicProperty(m_handle, name);
 }
 
-void Topic::SetProperty(std::string_view name, const wpi::json& value) {
-  ::nt::SetTopicProperty(m_handle, name, value);
+void Topic::SetProperty(std::string_view name, const wpi::util::json& value) {
+  ::wpi::nt::SetTopicProperty(m_handle, name, value);
 }
 
-wpi::json Topic::GetProperties() const {
-  return ::nt::GetTopicProperties(m_handle);
+wpi::util::json Topic::GetProperties() const {
+  return ::wpi::nt::GetTopicProperties(m_handle);
 }
 
 GenericSubscriber Topic::GenericSubscribe(const PubSubOptions& options) {
@@ -32,21 +32,21 @@ GenericSubscriber Topic::GenericSubscribe(const PubSubOptions& options) {
 
 GenericSubscriber Topic::GenericSubscribe(std::string_view typeString,
                                           const PubSubOptions& options) {
-  return GenericSubscriber{::nt::Subscribe(
-      m_handle, ::nt::GetTypeFromString(typeString), typeString, options)};
+  return GenericSubscriber{::wpi::nt::Subscribe(
+      m_handle, ::wpi::nt::GetTypeFromString(typeString), typeString, options)};
 }
 
 GenericPublisher Topic::GenericPublish(std::string_view typeString,
                                        const PubSubOptions& options) {
-  return GenericPublisher{::nt::Publish(
-      m_handle, ::nt::GetTypeFromString(typeString), typeString, options)};
+  return GenericPublisher{::wpi::nt::Publish(
+      m_handle, ::wpi::nt::GetTypeFromString(typeString), typeString, options)};
 }
 
 GenericPublisher Topic::GenericPublishEx(std::string_view typeString,
-                                         const wpi::json& properties,
+                                         const wpi::util::json& properties,
                                          const PubSubOptions& options) {
-  return GenericPublisher{::nt::PublishEx(m_handle,
-                                          ::nt::GetTypeFromString(typeString),
+  return GenericPublisher{::wpi::nt::PublishEx(m_handle,
+                                          ::wpi::nt::GetTypeFromString(typeString),
                                           typeString, properties, options)};
 }
 
@@ -56,8 +56,8 @@ GenericEntry Topic::GetGenericEntry(const PubSubOptions& options) {
 
 GenericEntry Topic::GetGenericEntry(std::string_view typeString,
                                     const PubSubOptions& options) {
-  return GenericEntry{::nt::GetEntry(
-      m_handle, ::nt::GetTypeFromString(typeString), typeString, options)};
+  return GenericEntry{::wpi::nt::GetEntry(
+      m_handle, ::wpi::nt::GetTypeFromString(typeString), typeString, options)};
 }
 
 void Publisher::anchor() {}
diff --git a/ntcore/src/main/native/cpp/ntcore_c.cpp b/ntcore/src/main/native/cpp/ntcore_c.cpp
index 9386ba3f94..93ea56dbc3 100644
--- a/ntcore/src/main/native/cpp/ntcore_c.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_c.cpp
@@ -21,7 +21,7 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt;
+using namespace wpi::nt;
 
 // Conversion helpers
 
@@ -138,19 +138,19 @@ extern "C" {
  */
 
 NT_Inst NT_GetDefaultInstance(void) {
-  return nt::GetDefaultInstance();
+  return wpi::nt::GetDefaultInstance();
 }
 
 NT_Inst NT_CreateInstance(void) {
-  return nt::CreateInstance();
+  return wpi::nt::CreateInstance();
 }
 
 void NT_DestroyInstance(NT_Inst inst) {
-  return nt::DestroyInstance(inst);
+  return wpi::nt::DestroyInstance(inst);
 }
 
 NT_Inst NT_GetInstanceFromHandle(NT_Handle handle) {
-  return nt::GetInstanceFromHandle(handle);
+  return wpi::nt::GetInstanceFromHandle(handle);
 }
 
 /*
@@ -158,19 +158,19 @@ NT_Inst NT_GetInstanceFromHandle(NT_Handle handle) {
  */
 
 NT_Entry NT_GetEntry(NT_Inst inst, const struct WPI_String* name) {
-  return nt::GetEntry(inst, wpi::to_string_view(name));
+  return wpi::nt::GetEntry(inst, wpi::util::to_string_view(name));
 }
 
 void NT_GetEntryName(NT_Entry entry, struct WPI_String* name) {
-  nt::ConvertToC(nt::GetEntryName(entry), name);
+  wpi::nt::ConvertToC(wpi::nt::GetEntryName(entry), name);
 }
 
 enum NT_Type NT_GetEntryType(NT_Entry entry) {
-  return nt::GetEntryType(entry);
+  return wpi::nt::GetEntryType(entry);
 }
 
 uint64_t NT_GetEntryLastChange(NT_Entry entry) {
-  return nt::GetEntryLastChange(entry);
+  return wpi::nt::GetEntryLastChange(entry);
 }
 
 void NT_GetEntryValue(NT_Entry entry, struct NT_Value* value) {
@@ -180,7 +180,7 @@ void NT_GetEntryValue(NT_Entry entry, struct NT_Value* value) {
 void NT_GetEntryValueType(NT_Entry entry, unsigned int types,
                           struct NT_Value* value) {
   NT_InitValue(value);
-  auto v = nt::GetEntryValue(entry);
+  auto v = wpi::nt::GetEntryValue(entry);
   if (!v) {
     return;
   }
@@ -192,52 +192,52 @@ void NT_GetEntryValueType(NT_Entry entry, unsigned int types,
 
 int NT_SetDefaultEntryValue(NT_Entry entry,
                             const struct NT_Value* default_value) {
-  return nt::SetDefaultEntryValue(entry, ConvertFromC(*default_value));
+  return wpi::nt::SetDefaultEntryValue(entry, ConvertFromC(*default_value));
 }
 
 int NT_SetEntryValue(NT_Entry entry, const struct NT_Value* value) {
-  return nt::SetEntryValue(entry, ConvertFromC(*value));
+  return wpi::nt::SetEntryValue(entry, ConvertFromC(*value));
 }
 
 void NT_SetEntryFlags(NT_Entry entry, unsigned int flags) {
-  nt::SetEntryFlags(entry, flags);
+  wpi::nt::SetEntryFlags(entry, flags);
 }
 
 unsigned int NT_GetEntryFlags(NT_Entry entry) {
-  return nt::GetEntryFlags(entry);
+  return wpi::nt::GetEntryFlags(entry);
 }
 
 struct NT_Value* NT_ReadQueueValue(NT_Handle subentry, size_t* count) {
-  return ConvertToC<NT_Value>(nt::ReadQueueValue(subentry), count);
+  return ConvertToC<NT_Value>(wpi::nt::ReadQueueValue(subentry), count);
 }
 
 struct NT_Value* NT_ReadQueueValueType(NT_Handle subentry, unsigned int types,
                                        size_t* count) {
-  return ConvertToC<NT_Value>(nt::ReadQueueValue(subentry, types), count);
+  return ConvertToC<NT_Value>(wpi::nt::ReadQueueValue(subentry, types), count);
 }
 
 NT_Topic* NT_GetTopics(NT_Inst inst, const struct WPI_String* prefix,
                        unsigned int types, size_t* count) {
-  auto info_v = nt::GetTopics(inst, wpi::to_string_view(prefix), types);
+  auto info_v = wpi::nt::GetTopics(inst, wpi::util::to_string_view(prefix), types);
   return ConvertToC<NT_Topic>(info_v, count);
 }
 
 NT_Topic* NT_GetTopicsStr(NT_Inst inst, const struct WPI_String* prefix,
                           const struct WPI_String* types, size_t types_len,
                           size_t* count) {
-  wpi::SmallVector<std::string_view, 4> typesCpp;
+  wpi::util::SmallVector<std::string_view, 4> typesCpp;
   typesCpp.reserve(types_len);
   for (size_t i = 0; i < types_len; ++i) {
-    typesCpp.emplace_back(wpi::to_string_view(&types[i]));
+    typesCpp.emplace_back(wpi::util::to_string_view(&types[i]));
   }
-  auto info_v = nt::GetTopics(inst, wpi::to_string_view(prefix), typesCpp);
+  auto info_v = wpi::nt::GetTopics(inst, wpi::util::to_string_view(prefix), typesCpp);
   return ConvertToC<NT_Topic>(info_v, count);
 }
 
 struct NT_TopicInfo* NT_GetTopicInfos(NT_Inst inst,
                                       const struct WPI_String* prefix,
                                       unsigned int types, size_t* count) {
-  auto info_v = nt::GetTopicInfo(inst, wpi::to_string_view(prefix), types);
+  auto info_v = wpi::nt::GetTopicInfo(inst, wpi::util::to_string_view(prefix), types);
   return ConvertToC<NT_TopicInfo>(info_v, count);
 }
 
@@ -245,17 +245,17 @@ struct NT_TopicInfo* NT_GetTopicInfosStr(NT_Inst inst,
                                          const struct WPI_String* prefix,
                                          const struct WPI_String* types,
                                          size_t types_len, size_t* count) {
-  wpi::SmallVector<std::string_view, 4> typesCpp;
+  wpi::util::SmallVector<std::string_view, 4> typesCpp;
   typesCpp.reserve(types_len);
   for (size_t i = 0; i < types_len; ++i) {
-    typesCpp.emplace_back(wpi::to_string_view(&types[i]));
+    typesCpp.emplace_back(wpi::util::to_string_view(&types[i]));
   }
-  auto info_v = nt::GetTopicInfo(inst, wpi::to_string_view(prefix), typesCpp);
+  auto info_v = wpi::nt::GetTopicInfo(inst, wpi::util::to_string_view(prefix), typesCpp);
   return ConvertToC<NT_TopicInfo>(info_v, count);
 }
 
 NT_Bool NT_GetTopicInfo(NT_Topic topic, struct NT_TopicInfo* info) {
-  auto info_v = nt::GetTopicInfo(topic);
+  auto info_v = wpi::nt::GetTopicInfo(topic);
   if (info_v.name.empty()) {
     return false;
   }
@@ -264,102 +264,102 @@ NT_Bool NT_GetTopicInfo(NT_Topic topic, struct NT_TopicInfo* info) {
 }
 
 NT_Topic NT_GetTopic(NT_Inst inst, const struct WPI_String* name) {
-  return nt::GetTopic(inst, wpi::to_string_view(name));
+  return wpi::nt::GetTopic(inst, wpi::util::to_string_view(name));
 }
 
 void NT_GetTopicName(NT_Topic topic, struct WPI_String* name) {
-  nt::ConvertToC(nt::GetTopicName(topic), name);
+  wpi::nt::ConvertToC(wpi::nt::GetTopicName(topic), name);
 }
 
 NT_Type NT_GetTopicType(NT_Topic topic) {
-  return nt::GetTopicType(topic);
+  return wpi::nt::GetTopicType(topic);
 }
 
 void NT_GetTopicTypeString(NT_Topic topic, struct WPI_String* type) {
-  nt::ConvertToC(nt::GetTopicTypeString(topic), type);
+  wpi::nt::ConvertToC(wpi::nt::GetTopicTypeString(topic), type);
 }
 
 void NT_SetTopicPersistent(NT_Topic topic, NT_Bool value) {
-  nt::SetTopicPersistent(topic, value);
+  wpi::nt::SetTopicPersistent(topic, value);
 }
 
 NT_Bool NT_GetTopicPersistent(NT_Topic topic) {
-  return nt::GetTopicPersistent(topic);
+  return wpi::nt::GetTopicPersistent(topic);
 }
 
 void NT_SetTopicRetained(NT_Topic topic, NT_Bool value) {
-  nt::SetTopicRetained(topic, value);
+  wpi::nt::SetTopicRetained(topic, value);
 }
 
 NT_Bool NT_GetTopicRetained(NT_Topic topic) {
-  return nt::GetTopicRetained(topic);
+  return wpi::nt::GetTopicRetained(topic);
 }
 
 void NT_SetTopicCached(NT_Topic topic, NT_Bool value) {
-  nt::SetTopicCached(topic, value);
+  wpi::nt::SetTopicCached(topic, value);
 }
 
 NT_Bool NT_GetTopicCached(NT_Topic topic) {
-  return nt::GetTopicCached(topic);
+  return wpi::nt::GetTopicCached(topic);
 }
 
 NT_Bool NT_GetTopicExists(NT_Handle handle) {
-  return nt::GetTopicExists(handle);
+  return wpi::nt::GetTopicExists(handle);
 }
 
 void NT_GetTopicProperty(NT_Topic topic, const struct WPI_String* name,
                          struct WPI_String* prop) {
-  wpi::json j = nt::GetTopicProperty(topic, wpi::to_string_view(name));
-  nt::ConvertToC(j.dump(), prop);
+  wpi::util::json j = wpi::nt::GetTopicProperty(topic, wpi::util::to_string_view(name));
+  wpi::nt::ConvertToC(j.dump(), prop);
 }
 
 NT_Bool NT_SetTopicProperty(NT_Topic topic, const struct WPI_String* name,
                             const struct WPI_String* value) {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(wpi::to_string_view(value));
-  } catch (wpi::json::parse_error&) {
+    j = wpi::util::json::parse(wpi::util::to_string_view(value));
+  } catch (wpi::util::json::parse_error&) {
     return false;
   }
-  nt::SetTopicProperty(topic, wpi::to_string_view(name), j);
+  wpi::nt::SetTopicProperty(topic, wpi::util::to_string_view(name), j);
   return true;
 }
 
 void NT_DeleteTopicProperty(NT_Topic topic, const struct WPI_String* name) {
-  nt::DeleteTopicProperty(topic, wpi::to_string_view(name));
+  wpi::nt::DeleteTopicProperty(topic, wpi::util::to_string_view(name));
 }
 
 void NT_GetTopicProperties(NT_Topic topic, struct WPI_String* property) {
-  wpi::json j = nt::GetTopicProperties(topic);
-  nt::ConvertToC(j.dump(), property);
+  wpi::util::json j = wpi::nt::GetTopicProperties(topic);
+  wpi::nt::ConvertToC(j.dump(), property);
 }
 
 NT_Bool NT_SetTopicProperties(NT_Topic topic,
                               const struct WPI_String* properties) {
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(wpi::to_string_view(properties));
-  } catch (wpi::json::parse_error&) {
+    j = wpi::util::json::parse(wpi::util::to_string_view(properties));
+  } catch (wpi::util::json::parse_error&) {
     return false;
   }
-  return nt::SetTopicProperties(topic, j);
+  return wpi::nt::SetTopicProperties(topic, j);
 }
 
 NT_Subscriber NT_Subscribe(NT_Topic topic, NT_Type type,
                            const struct WPI_String* typeStr,
                            const struct NT_PubSubOptions* options) {
-  return nt::Subscribe(topic, type, wpi::to_string_view(typeStr),
+  return wpi::nt::Subscribe(topic, type, wpi::util::to_string_view(typeStr),
                        ConvertToCpp(options));
 }
 
 void NT_Unsubscribe(NT_Subscriber sub) {
-  return nt::Unsubscribe(sub);
+  return wpi::nt::Unsubscribe(sub);
 }
 
 NT_Publisher NT_Publish(NT_Topic topic, NT_Type type,
                         const struct WPI_String* typeStr,
                         const struct NT_PubSubOptions* options) {
-  return nt::Publish(topic, type, wpi::to_string_view(typeStr),
+  return wpi::nt::Publish(topic, type, wpi::util::to_string_view(typeStr),
                      ConvertToCpp(options));
 }
 
@@ -367,58 +367,58 @@ NT_Publisher NT_PublishEx(NT_Topic topic, NT_Type type,
                           const struct WPI_String* typeStr,
                           const struct WPI_String* properties,
                           const struct NT_PubSubOptions* options) {
-  wpi::json j;
+  wpi::util::json j;
   if (properties->len == 0) {
     // gracefully handle empty string
-    j = wpi::json::object();
+    j = wpi::util::json::object();
   } else {
     try {
-      j = wpi::json::parse(wpi::to_string_view(properties));
-    } catch (wpi::json::parse_error&) {
+      j = wpi::util::json::parse(wpi::util::to_string_view(properties));
+    } catch (wpi::util::json::parse_error&) {
       return {};
     }
   }
 
-  return nt::PublishEx(topic, type, wpi::to_string_view(typeStr), j,
+  return wpi::nt::PublishEx(topic, type, wpi::util::to_string_view(typeStr), j,
                        ConvertToCpp(options));
 }
 
 void NT_Unpublish(NT_Handle pubentry) {
-  return nt::Unpublish(pubentry);
+  return wpi::nt::Unpublish(pubentry);
 }
 
 NT_Entry NT_GetEntryEx(NT_Topic topic, NT_Type type,
                        const struct WPI_String* typeStr,
                        const struct NT_PubSubOptions* options) {
-  return nt::GetEntry(topic, type, wpi::to_string_view(typeStr),
+  return wpi::nt::GetEntry(topic, type, wpi::util::to_string_view(typeStr),
                       ConvertToCpp(options));
 }
 
 void NT_ReleaseEntry(NT_Entry entry) {
-  nt::ReleaseEntry(entry);
+  wpi::nt::ReleaseEntry(entry);
 }
 
 void NT_Release(NT_Handle pubsubentry) {
-  nt::Release(pubsubentry);
+  wpi::nt::Release(pubsubentry);
 }
 
 NT_Topic NT_GetTopicFromHandle(NT_Handle pubsubentry) {
-  return nt::GetTopicFromHandle(pubsubentry);
+  return wpi::nt::GetTopicFromHandle(pubsubentry);
 }
 
 NT_MultiSubscriber NT_SubscribeMultiple(
     NT_Inst inst, const struct WPI_String* prefixes, size_t prefixes_len,
     const struct NT_PubSubOptions* options) {
-  wpi::SmallVector<std::string_view, 8> p;
+  wpi::util::SmallVector<std::string_view, 8> p;
   p.resize_for_overwrite(prefixes_len);
   for (size_t i = 0; i < prefixes_len; ++i) {
-    p[i] = wpi::to_string_view(&prefixes[i]);
+    p[i] = wpi::util::to_string_view(&prefixes[i]);
   }
-  return nt::SubscribeMultiple(inst, p, ConvertToCpp(options));
+  return wpi::nt::SubscribeMultiple(inst, p, ConvertToCpp(options));
 }
 
 void NT_UnsubscribeMultiple(NT_MultiSubscriber sub) {
-  nt::UnsubscribeMultiple(sub);
+  wpi::nt::UnsubscribeMultiple(sub);
 }
 
 /*
@@ -426,31 +426,31 @@ void NT_UnsubscribeMultiple(NT_MultiSubscriber sub) {
  */
 
 NT_ListenerPoller NT_CreateListenerPoller(NT_Inst inst) {
-  return nt::CreateListenerPoller(inst);
+  return wpi::nt::CreateListenerPoller(inst);
 }
 
 void NT_DestroyListenerPoller(NT_ListenerPoller poller) {
-  nt::DestroyListenerPoller(poller);
+  wpi::nt::DestroyListenerPoller(poller);
 }
 
 struct NT_Event* NT_ReadListenerQueue(NT_ListenerPoller poller, size_t* len) {
-  auto arr_cpp = nt::ReadListenerQueue(poller);
+  auto arr_cpp = wpi::nt::ReadListenerQueue(poller);
   return ConvertToC<NT_Event>(arr_cpp, len);
 }
 
 void NT_RemoveListener(NT_Listener listener) {
-  nt::RemoveListener(listener);
+  wpi::nt::RemoveListener(listener);
 }
 
 NT_Bool NT_WaitForListenerQueue(NT_Handle handle, double timeout) {
-  return nt::WaitForListenerQueue(handle, timeout);
+  return wpi::nt::WaitForListenerQueue(handle, timeout);
 }
 
 NT_Listener NT_AddListenerSingle(NT_Inst inst, const struct WPI_String* prefix,
                                  unsigned int mask, void* data,
                                  NT_ListenerCallback callback) {
-  std::string_view p = wpi::to_string_view(prefix);
-  return nt::AddListener(inst, {{p}}, mask, [=](auto& event) {
+  std::string_view p = wpi::util::to_string_view(prefix);
+  return wpi::nt::AddListener(inst, {{p}}, mask, [=](auto& event) {
     NT_Event event_c;
     ConvertToC(event, &event_c);
     callback(data, &event_c);
@@ -462,12 +462,12 @@ NT_Listener NT_AddListenerMultiple(NT_Inst inst,
                                    const struct WPI_String* prefixes,
                                    size_t prefixes_len, unsigned int mask,
                                    void* data, NT_ListenerCallback callback) {
-  wpi::SmallVector<std::string_view, 8> p;
+  wpi::util::SmallVector<std::string_view, 8> p;
   p.reserve(prefixes_len);
   for (size_t i = 0; i < prefixes_len; ++i) {
     p.emplace_back(prefixes[i].str, prefixes[i].len);
   }
-  return nt::AddListener(inst, p, mask, [=](auto& event) {
+  return wpi::nt::AddListener(inst, p, mask, [=](auto& event) {
     NT_Event event_c;
     ConvertToC(event, &event_c);
     callback(data, &event_c);
@@ -477,7 +477,7 @@ NT_Listener NT_AddListenerMultiple(NT_Inst inst,
 
 NT_Listener NT_AddListener(NT_Topic topic, unsigned int mask, void* data,
                            NT_ListenerCallback callback) {
-  return nt::AddListener(topic, mask, [=](auto& event) {
+  return wpi::nt::AddListener(topic, mask, [=](auto& event) {
     NT_Event event_c;
     ConvertToC(event, &event_c);
     callback(data, &event_c);
@@ -488,25 +488,25 @@ NT_Listener NT_AddListener(NT_Topic topic, unsigned int mask, void* data,
 NT_Listener NT_AddPolledListenerSingle(NT_ListenerPoller poller,
                                        const struct WPI_String* prefix,
                                        unsigned int mask) {
-  std::string_view p = wpi::to_string_view(prefix);
-  return nt::AddPolledListener(poller, {{p}}, mask);
+  std::string_view p = wpi::util::to_string_view(prefix);
+  return wpi::nt::AddPolledListener(poller, {{p}}, mask);
 }
 
 NT_Listener NT_AddPolledListenerMultiple(NT_ListenerPoller poller,
                                          const struct WPI_String* prefixes,
                                          size_t prefixes_len,
                                          unsigned int mask) {
-  wpi::SmallVector<std::string_view, 8> p;
+  wpi::util::SmallVector<std::string_view, 8> p;
   p.reserve(prefixes_len);
   for (size_t i = 0; i < prefixes_len; ++i) {
     p.emplace_back(prefixes[i].str, prefixes[i].len);
   }
-  return nt::AddPolledListener(poller, p, mask);
+  return wpi::nt::AddPolledListener(poller, p, mask);
 }
 
 NT_Listener NT_AddPolledListener(NT_ListenerPoller poller, NT_Topic topic,
                                  unsigned int mask) {
-  return nt::AddPolledListener(poller, topic, mask);
+  return wpi::nt::AddPolledListener(poller, topic, mask);
 }
 
 /*
@@ -514,39 +514,39 @@ NT_Listener NT_AddPolledListener(NT_ListenerPoller poller, NT_Topic topic,
  */
 
 unsigned int NT_GetNetworkMode(NT_Inst inst) {
-  return nt::GetNetworkMode(inst);
+  return wpi::nt::GetNetworkMode(inst);
 }
 
 void NT_StartLocal(NT_Inst inst) {
-  nt::StartLocal(inst);
+  wpi::nt::StartLocal(inst);
 }
 
 void NT_StopLocal(NT_Inst inst) {
-  nt::StopLocal(inst);
+  wpi::nt::StopLocal(inst);
 }
 
 void NT_StartServer(NT_Inst inst, const struct WPI_String* persist_filename,
                     const struct WPI_String* listen_address,
                     unsigned int port) {
-  nt::StartServer(inst, wpi::to_string_view(persist_filename),
-                  wpi::to_string_view(listen_address), port);
+  wpi::nt::StartServer(inst, wpi::util::to_string_view(persist_filename),
+                  wpi::util::to_string_view(listen_address), port);
 }
 
 void NT_StopServer(NT_Inst inst) {
-  nt::StopServer(inst);
+  wpi::nt::StopServer(inst);
 }
 
 void NT_StartClient(NT_Inst inst, const struct WPI_String* identity) {
-  nt::StartClient(inst, wpi::to_string_view(identity));
+  wpi::nt::StartClient(inst, wpi::util::to_string_view(identity));
 }
 
 void NT_StopClient(NT_Inst inst) {
-  nt::StopClient(inst);
+  wpi::nt::StopClient(inst);
 }
 
 void NT_SetServer(NT_Inst inst, const struct WPI_String* server_name,
                   unsigned int port) {
-  nt::SetServer(inst, wpi::to_string_view(server_name), port);
+  wpi::nt::SetServer(inst, wpi::util::to_string_view(server_name), port);
 }
 
 void NT_SetServerMulti(NT_Inst inst, size_t count,
@@ -556,46 +556,46 @@ void NT_SetServerMulti(NT_Inst inst, size_t count,
   servers.reserve(count);
   for (size_t i = 0; i < count; ++i) {
     servers.emplace_back(
-        std::pair{wpi::to_string_view(&server_names[i]), ports[i]});
+        std::pair{wpi::util::to_string_view(&server_names[i]), ports[i]});
   }
-  nt::SetServer(inst, servers);
+  wpi::nt::SetServer(inst, servers);
 }
 
 void NT_SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port) {
-  nt::SetServerTeam(inst, team, port);
+  wpi::nt::SetServerTeam(inst, team, port);
 }
 
 void NT_Disconnect(NT_Inst inst) {
-  nt::Disconnect(inst);
+  wpi::nt::Disconnect(inst);
 }
 
 void NT_StartDSClient(NT_Inst inst, unsigned int port) {
-  nt::StartDSClient(inst, port);
+  wpi::nt::StartDSClient(inst, port);
 }
 
 void NT_StopDSClient(NT_Inst inst) {
-  nt::StopDSClient(inst);
+  wpi::nt::StopDSClient(inst);
 }
 
 void NT_FlushLocal(NT_Inst inst) {
-  nt::FlushLocal(inst);
+  wpi::nt::FlushLocal(inst);
 }
 
 void NT_Flush(NT_Inst inst) {
-  nt::Flush(inst);
+  wpi::nt::Flush(inst);
 }
 
 NT_Bool NT_IsConnected(NT_Inst inst) {
-  return nt::IsConnected(inst);
+  return wpi::nt::IsConnected(inst);
 }
 
 struct NT_ConnectionInfo* NT_GetConnections(NT_Inst inst, size_t* count) {
-  auto conn_v = nt::GetConnections(inst);
+  auto conn_v = wpi::nt::GetConnections(inst);
   return ConvertToC<NT_ConnectionInfo>(conn_v, count);
 }
 
 int64_t NT_GetServerTimeOffset(NT_Inst inst, NT_Bool* valid) {
-  if (auto v = nt::GetServerTimeOffset(inst)) {
+  if (auto v = wpi::nt::GetServerTimeOffset(inst)) {
     *valid = true;
     return *v;
   } else {
@@ -609,40 +609,40 @@ int64_t NT_GetServerTimeOffset(NT_Inst inst, NT_Bool* valid) {
  */
 
 int64_t NT_Now(void) {
-  return nt::Now();
+  return wpi::nt::Now();
 }
 
 void NT_SetNow(int64_t timestamp) {
-  nt::SetNow(timestamp);
+  wpi::nt::SetNow(timestamp);
 }
 
 NT_DataLogger NT_StartEntryDataLog(NT_Inst inst, struct WPI_DataLog* log,
                                    const struct WPI_String* prefix,
                                    const struct WPI_String* logPrefix) {
-  return nt::StartEntryDataLog(inst, *reinterpret_cast<wpi::log::DataLog*>(log),
-                               wpi::to_string_view(prefix),
-                               wpi::to_string_view(logPrefix));
+  return wpi::nt::StartEntryDataLog(inst, *reinterpret_cast<wpi::log::DataLog*>(log),
+                               wpi::util::to_string_view(prefix),
+                               wpi::util::to_string_view(logPrefix));
 }
 
 void NT_StopEntryDataLog(NT_DataLogger logger) {
-  nt::StopEntryDataLog(logger);
+  wpi::nt::StopEntryDataLog(logger);
 }
 
 NT_ConnectionDataLogger NT_StartConnectionDataLog(
     NT_Inst inst, struct WPI_DataLog* log, const struct WPI_String* name) {
-  return nt::StartConnectionDataLog(inst,
+  return wpi::nt::StartConnectionDataLog(inst,
                                     *reinterpret_cast<wpi::log::DataLog*>(log),
-                                    wpi::to_string_view(name));
+                                    wpi::util::to_string_view(name));
 }
 
 void NT_StopConnectionDataLog(NT_ConnectionDataLogger logger) {
-  nt::StopConnectionDataLog(logger);
+  wpi::nt::StopConnectionDataLog(logger);
 }
 
 NT_Listener NT_AddLogger(NT_Inst inst, unsigned int min_level,
                          unsigned int max_level, void* data,
                          NT_ListenerCallback func) {
-  return nt::AddLogger(inst, min_level, max_level, [=](auto& event) {
+  return wpi::nt::AddLogger(inst, min_level, max_level, [=](auto& event) {
     NT_Event event_c;
     ConvertToC(event, &event_c);
     func(data, &event_c);
@@ -652,17 +652,17 @@ NT_Listener NT_AddLogger(NT_Inst inst, unsigned int min_level,
 
 NT_Listener NT_AddPolledLogger(NT_ListenerPoller poller, unsigned int min_level,
                                unsigned int max_level) {
-  return nt::AddPolledLogger(poller, min_level, max_level);
+  return wpi::nt::AddPolledLogger(poller, min_level, max_level);
 }
 
 NT_Bool NT_HasSchema(NT_Inst inst, const struct WPI_String* name) {
-  return nt::HasSchema(inst, wpi::to_string_view(name));
+  return wpi::nt::HasSchema(inst, wpi::util::to_string_view(name));
 }
 
 void NT_AddSchema(NT_Inst inst, const struct WPI_String* name,
                   const struct WPI_String* type, const uint8_t* schema,
                   size_t schemaSize) {
-  nt::AddSchema(inst, wpi::to_string_view(name), wpi::to_string_view(type),
+  wpi::nt::AddSchema(inst, wpi::util::to_string_view(name), wpi::util::to_string_view(type),
                 {schema, schemaSize});
 }
 
@@ -754,29 +754,29 @@ void NT_DisposeEvent(NT_Event* event) {
 /* Array and Struct Allocations */
 
 char* NT_AllocateCharArray(size_t size) {
-  char* retVal = static_cast<char*>(wpi::safe_malloc(size * sizeof(char)));
+  char* retVal = static_cast<char*>(wpi::util::safe_malloc(size * sizeof(char)));
   return retVal;
 }
 
 int* NT_AllocateBooleanArray(size_t size) {
-  int* retVal = static_cast<int*>(wpi::safe_malloc(size * sizeof(int)));
+  int* retVal = static_cast<int*>(wpi::util::safe_malloc(size * sizeof(int)));
   return retVal;
 }
 
 int64_t* NT_AllocateIntegerArray(size_t size) {
   int64_t* retVal =
-      static_cast<int64_t*>(wpi::safe_malloc(size * sizeof(int64_t)));
+      static_cast<int64_t*>(wpi::util::safe_malloc(size * sizeof(int64_t)));
   return retVal;
 }
 
 float* NT_AllocateFloatArray(size_t size) {
-  float* retVal = static_cast<float*>(wpi::safe_malloc(size * sizeof(float)));
+  float* retVal = static_cast<float*>(wpi::util::safe_malloc(size * sizeof(float)));
   return retVal;
 }
 
 double* NT_AllocateDoubleArray(size_t size) {
   double* retVal =
-      static_cast<double*>(wpi::safe_malloc(size * sizeof(double)));
+      static_cast<double*>(wpi::util::safe_malloc(size * sizeof(double)));
   return retVal;
 }
 
@@ -851,7 +851,7 @@ char* NT_GetValueString(const struct NT_Value* value, uint64_t* last_change,
   *last_change = value->last_change;
   *str_len = value->data.v_string.len;
   char* str =
-      static_cast<char*>(wpi::safe_malloc(value->data.v_string.len + 1));
+      static_cast<char*>(wpi::util::safe_malloc(value->data.v_string.len + 1));
   std::memcpy(str, value->data.v_string.str, value->data.v_string.len + 1);
   return str;
 }
@@ -864,7 +864,7 @@ uint8_t* NT_GetValueRaw(const struct NT_Value* value, uint64_t* last_change,
   *last_change = value->last_change;
   *raw_len = value->data.v_raw.size;
   uint8_t* raw =
-      static_cast<uint8_t*>(wpi::safe_malloc(value->data.v_raw.size));
+      static_cast<uint8_t*>(wpi::util::safe_malloc(value->data.v_raw.size));
   std::memcpy(raw, value->data.v_raw.data, value->data.v_raw.size);
   return raw;
 }
@@ -877,7 +877,7 @@ NT_Bool* NT_GetValueBooleanArray(const struct NT_Value* value,
   *last_change = value->last_change;
   *arr_size = value->data.arr_boolean.size;
   NT_Bool* arr = static_cast<int*>(
-      wpi::safe_malloc(value->data.arr_boolean.size * sizeof(NT_Bool)));
+      wpi::util::safe_malloc(value->data.arr_boolean.size * sizeof(NT_Bool)));
   std::memcpy(arr, value->data.arr_boolean.arr,
               value->data.arr_boolean.size * sizeof(NT_Bool));
   return arr;
@@ -891,7 +891,7 @@ int64_t* NT_GetValueIntegerArray(const struct NT_Value* value,
   *last_change = value->last_change;
   *arr_size = value->data.arr_int.size;
   int64_t* arr = static_cast<int64_t*>(
-      wpi::safe_malloc(value->data.arr_int.size * sizeof(int64_t)));
+      wpi::util::safe_malloc(value->data.arr_int.size * sizeof(int64_t)));
   std::memcpy(arr, value->data.arr_int.arr,
               value->data.arr_int.size * sizeof(int64_t));
   return arr;
@@ -905,7 +905,7 @@ float* NT_GetValueFloatArray(const struct NT_Value* value,
   *last_change = value->last_change;
   *arr_size = value->data.arr_float.size;
   float* arr = static_cast<float*>(
-      wpi::safe_malloc(value->data.arr_float.size * sizeof(float)));
+      wpi::util::safe_malloc(value->data.arr_float.size * sizeof(float)));
   std::memcpy(arr, value->data.arr_float.arr,
               value->data.arr_float.size * sizeof(float));
   return arr;
@@ -919,7 +919,7 @@ double* NT_GetValueDoubleArray(const struct NT_Value* value,
   *last_change = value->last_change;
   *arr_size = value->data.arr_double.size;
   double* arr = static_cast<double*>(
-      wpi::safe_malloc(value->data.arr_double.size * sizeof(double)));
+      wpi::util::safe_malloc(value->data.arr_double.size * sizeof(double)));
   std::memcpy(arr, value->data.arr_double.arr,
               value->data.arr_double.size * sizeof(double));
   return arr;
diff --git a/ntcore/src/main/native/cpp/ntcore_cpp.cpp b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
index 6643b08fb2..baba9e5748 100644
--- a/ntcore/src/main/native/cpp/ntcore_cpp.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
@@ -26,13 +26,13 @@
 static std::atomic_bool gNowSet{false};
 static std::atomic<int64_t> gNowTime;
 
-namespace nt {
+namespace wpi::nt {
 
-wpi::json TopicInfo::GetProperties() const {
+wpi::util::json TopicInfo::GetProperties() const {
   try {
-    return wpi::json::parse(properties);
-  } catch (wpi::json::parse_error&) {
-    return wpi::json::object();
+    return wpi::util::json::parse(properties);
+  } catch (wpi::util::json::parse_error&) {
+    return wpi::util::json::object();
   }
 }
 
@@ -293,7 +293,7 @@ bool GetTopicExists(NT_Handle handle) {
   return false;
 }
 
-wpi::json GetTopicProperty(NT_Topic topic, std::string_view name) {
+wpi::util::json GetTopicProperty(NT_Topic topic, std::string_view name) {
   if (auto ii = InstanceImpl::GetTyped(topic, Handle::kTopic)) {
     return ii->localStorage.GetTopicProperty(topic, name);
   } else {
@@ -302,7 +302,7 @@ wpi::json GetTopicProperty(NT_Topic topic, std::string_view name) {
 }
 
 void SetTopicProperty(NT_Topic topic, std::string_view name,
-                      const wpi::json& value) {
+                      const wpi::util::json& value) {
   if (auto ii = InstanceImpl::GetTyped(topic, Handle::kTopic)) {
     ii->localStorage.SetTopicProperty(topic, name, value);
   } else {
@@ -316,7 +316,7 @@ void DeleteTopicProperty(NT_Topic topic, std::string_view name) {
   }
 }
 
-wpi::json GetTopicProperties(NT_Topic topic) {
+wpi::util::json GetTopicProperties(NT_Topic topic) {
   if (auto ii = InstanceImpl::GetTyped(topic, Handle::kTopic)) {
     return ii->localStorage.GetTopicProperties(topic);
   } else {
@@ -324,7 +324,7 @@ wpi::json GetTopicProperties(NT_Topic topic) {
   }
 }
 
-bool SetTopicProperties(NT_Topic topic, const wpi::json& properties) {
+bool SetTopicProperties(NT_Topic topic, const wpi::util::json& properties) {
   if (auto ii = InstanceImpl::GetTyped(topic, Handle::kTopic)) {
     return ii->localStorage.SetTopicProperties(topic, properties);
   } else {
@@ -349,11 +349,11 @@ void Unsubscribe(NT_Subscriber sub) {
 
 NT_Publisher Publish(NT_Topic topic, NT_Type type, std::string_view typeStr,
                      const PubSubOptions& options) {
-  return PublishEx(topic, type, typeStr, wpi::json::object(), options);
+  return PublishEx(topic, type, typeStr, wpi::util::json::object(), options);
 }
 
 NT_Publisher PublishEx(NT_Topic topic, NT_Type type, std::string_view typeStr,
-                       const wpi::json& properties,
+                       const wpi::util::json& properties,
                        const PubSubOptions& options) {
   if (auto ii = InstanceImpl::GetTyped(topic, Handle::kTopic)) {
     return ii->localStorage.Publish(topic, type, typeStr, properties, options);
@@ -549,7 +549,7 @@ int64_t Now() {
   if (gNowSet) {
     return gNowTime;
   }
-  return wpi::Now();
+  return wpi::util::Now();
 }
 
 void SetNow(int64_t timestamp) {
@@ -574,7 +574,7 @@ std::string_view GetStringFromType(NT_Type type) {
 }
 
 /*
- * Data Logger Functions
+ * Data wpi::util::Logger Functions
  */
 NT_DataLogger StartEntryDataLog(NT_Inst inst, wpi::log::DataLog& log,
                                 std::string_view prefix,
@@ -813,4 +813,4 @@ void AddSchema(NT_Inst inst, std::string_view name, std::string_view type,
   }
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/cpp/ntcore_meta.cpp b/ntcore/src/main/native/cpp/ntcore_meta.cpp
index c49a67c79f..727fe1a234 100644
--- a/ntcore/src/main/native/cpp/ntcore_meta.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_meta.cpp
@@ -14,7 +14,7 @@
 
 using namespace mpack;
 
-using namespace nt::meta;
+using namespace wpi::nt::meta;
 
 static SubscriberOptions DecodeSubscriberOptions(mpack_reader_t& r) {
   SubscriberOptions options;
@@ -39,7 +39,7 @@ static SubscriberOptions DecodeSubscriberOptions(mpack_reader_t& r) {
   return options;
 }
 
-std::optional<std::vector<ClientPublisher>> nt::meta::DecodeClientPublishers(
+std::optional<std::vector<ClientPublisher>> wpi::nt::meta::DecodeClientPublishers(
     std::span<const uint8_t> data) {
   mpack_reader_t r;
   mpack_reader_init_data(&r, data);
@@ -71,7 +71,7 @@ std::optional<std::vector<ClientPublisher>> nt::meta::DecodeClientPublishers(
   }
 }
 
-std::optional<std::vector<ClientSubscriber>> nt::meta::DecodeClientSubscribers(
+std::optional<std::vector<ClientSubscriber>> wpi::nt::meta::DecodeClientSubscribers(
     std::span<const uint8_t> data) {
   mpack_reader_t r;
   mpack_reader_init_data(&r, data);
@@ -113,7 +113,7 @@ std::optional<std::vector<ClientSubscriber>> nt::meta::DecodeClientSubscribers(
   }
 }
 
-std::optional<std::vector<TopicPublisher>> nt::meta::DecodeTopicPublishers(
+std::optional<std::vector<TopicPublisher>> wpi::nt::meta::DecodeTopicPublishers(
     std::span<const uint8_t> data) {
   mpack_reader_t r;
   mpack_reader_init_data(&r, data);
@@ -145,7 +145,7 @@ std::optional<std::vector<TopicPublisher>> nt::meta::DecodeTopicPublishers(
   }
 }
 
-std::optional<std::vector<TopicSubscriber>> nt::meta::DecodeTopicSubscribers(
+std::optional<std::vector<TopicSubscriber>> wpi::nt::meta::DecodeTopicSubscribers(
     std::span<const uint8_t> data) {
   mpack_reader_t r;
   mpack_reader_init_data(&r, data);
@@ -179,7 +179,7 @@ std::optional<std::vector<TopicSubscriber>> nt::meta::DecodeTopicSubscribers(
   }
 }
 
-std::optional<std::vector<Client>> nt::meta::DecodeClients(
+std::optional<std::vector<Client>> wpi::nt::meta::DecodeClients(
     std::span<const uint8_t> data) {
   mpack_reader_t r;
   mpack_reader_init_data(&r, data);
diff --git a/ntcore/src/main/native/cpp/ntcore_meta_c.cpp b/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
index 064b9a1238..b9e407030f 100644
--- a/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
@@ -8,8 +8,8 @@
 #include "Value_internal.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-using namespace nt;
-using namespace nt::meta;
+using namespace wpi::nt;
+using namespace wpi::nt::meta;
 
 static void ConvertToC(const SubscriberOptions& in,
                        NT_Meta_SubscriberOptions* out) {
@@ -56,7 +56,7 @@ static O* ConvertToC(const std::optional<std::vector<I>>& in, size_t* out_len) {
     if (O* rv = ConvertToC<O>(*in, out_len)) {
       return rv;
     } else {
-      return static_cast<O*>(wpi::safe_malloc(0));  // return non-NULL
+      return static_cast<O*>(wpi::util::safe_malloc(0));  // return non-NULL
     }
   } else {
     *out_len = 0;
diff --git a/ntcore/src/main/native/cpp/ntcore_test.cpp b/ntcore/src/main/native/cpp/ntcore_test.cpp
index 75d8f80092..21f7894bf1 100644
--- a/ntcore/src/main/native/cpp/ntcore_test.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_test.cpp
@@ -12,8 +12,8 @@
 extern "C" {
 struct WPI_String* NT_GetStringForTesting(const char* str, int* struct_size) {
   struct WPI_String* strout =
-      static_cast<WPI_String*>(wpi::safe_calloc(1, sizeof(WPI_String)));
-  nt::ConvertToC(str, strout);
+      static_cast<WPI_String*>(wpi::util::safe_calloc(1, sizeof(WPI_String)));
+  wpi::nt::ConvertToC(str, strout);
   *struct_size = sizeof(WPI_String);
   return strout;
 }
@@ -23,10 +23,10 @@ struct NT_TopicInfo* NT_GetTopicInfoForTesting(const char* name,
                                                const char* type_str,
                                                int* struct_size) {
   struct NT_TopicInfo* topic_info =
-      static_cast<NT_TopicInfo*>(wpi::safe_calloc(1, sizeof(NT_TopicInfo)));
-  nt::ConvertToC(name, &topic_info->name);
+      static_cast<NT_TopicInfo*>(wpi::util::safe_calloc(1, sizeof(NT_TopicInfo)));
+  wpi::nt::ConvertToC(name, &topic_info->name);
   topic_info->type = type;
-  nt::ConvertToC(type_str, &topic_info->type_str);
+  wpi::nt::ConvertToC(type_str, &topic_info->type_str);
   *struct_size = sizeof(NT_TopicInfo);
   return topic_info;
 }
@@ -42,9 +42,9 @@ struct NT_ConnectionInfo* NT_GetConnectionInfoForTesting(
     const char* remote_id, const char* remote_ip, unsigned int remote_port,
     uint64_t last_update, unsigned int protocol_version, int* struct_size) {
   struct NT_ConnectionInfo* conn_info = static_cast<NT_ConnectionInfo*>(
-      wpi::safe_calloc(1, sizeof(NT_ConnectionInfo)));
-  nt::ConvertToC(remote_id, &conn_info->remote_id);
-  nt::ConvertToC(remote_ip, &conn_info->remote_ip);
+      wpi::util::safe_calloc(1, sizeof(NT_ConnectionInfo)));
+  wpi::nt::ConvertToC(remote_id, &conn_info->remote_id);
+  wpi::nt::ConvertToC(remote_ip, &conn_info->remote_ip);
   conn_info->remote_port = remote_port;
   conn_info->last_update = last_update;
   conn_info->protocol_version = protocol_version;
@@ -61,7 +61,7 @@ void NT_FreeConnectionInfoForTesting(struct NT_ConnectionInfo* info) {
 struct NT_Value* NT_GetValueBooleanForTesting(uint64_t last_change, int val,
                                               int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_BOOLEAN;
   value->last_change = last_change;
   value->data.v_boolean = val;
@@ -72,7 +72,7 @@ struct NT_Value* NT_GetValueBooleanForTesting(uint64_t last_change, int val,
 struct NT_Value* NT_GetValueDoubleForTesting(uint64_t last_change, double val,
                                              int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_DOUBLE;
   value->last_change = last_change;
   value->data.v_double = val;
@@ -84,10 +84,10 @@ struct NT_Value* NT_GetValueStringForTesting(uint64_t last_change,
                                              const char* str,
                                              int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_STRING;
   value->last_change = last_change;
-  nt::ConvertToC(str, &value->data.v_string);
+  wpi::nt::ConvertToC(str, &value->data.v_string);
   *struct_size = sizeof(NT_Value);
   return value;
 }
@@ -95,10 +95,10 @@ struct NT_Value* NT_GetValueStringForTesting(uint64_t last_change,
 struct NT_Value* NT_GetValueRawForTesting(uint64_t last_change, const char* raw,
                                           int raw_len, int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_RAW;
   value->last_change = last_change;
-  nt::ConvertToC(std::string_view(raw, raw_len), &value->data.v_string);
+  wpi::nt::ConvertToC(std::string_view(raw, raw_len), &value->data.v_string);
   *struct_size = sizeof(NT_Value);
   return value;
 }
@@ -108,7 +108,7 @@ struct NT_Value* NT_GetValueBooleanArrayForTesting(uint64_t last_change,
                                                    size_t array_len,
                                                    int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_BOOLEAN_ARRAY;
   value->last_change = last_change;
   value->data.arr_boolean.arr = NT_AllocateBooleanArray(array_len);
@@ -124,7 +124,7 @@ struct NT_Value* NT_GetValueDoubleArrayForTesting(uint64_t last_change,
                                                   size_t array_len,
                                                   int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_BOOLEAN;
   value->last_change = last_change;
   value->data.arr_double.arr = NT_AllocateDoubleArray(array_len);
@@ -140,7 +140,7 @@ struct NT_Value* NT_GetValueStringArrayForTesting(uint64_t last_change,
                                                   size_t array_len,
                                                   int* struct_size) {
   struct NT_Value* value =
-      static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
+      static_cast<NT_Value*>(wpi::util::safe_calloc(1, sizeof(NT_Value)));
   value->type = NT_BOOLEAN;
   value->last_change = last_change;
   value->data.arr_string.arr = WPI_AllocateStringArray(array_len);
diff --git a/ntcore/src/main/native/cpp/server/Constants.hpp b/ntcore/src/main/native/cpp/server/Constants.hpp
index c04a7e0899..fb09ecde0a 100644
--- a/ntcore/src/main/native/cpp/server/Constants.hpp
+++ b/ntcore/src/main/native/cpp/server/Constants.hpp
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 inline constexpr uint32_t kMinPeriodMs = 5;
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/Functions.hpp b/ntcore/src/main/native/cpp/server/Functions.hpp
index 89b7756863..f162f8a8d6 100644
--- a/ntcore/src/main/native/cpp/server/Functions.hpp
+++ b/ntcore/src/main/native/cpp/server/Functions.hpp
@@ -9,10 +9,10 @@
 #include <functional>
 #include <string_view>
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 using SetPeriodicFunc = std::function<void(uint32_t repeatMs)>;
 using Connected3Func =
     std::function<void(std::string_view name, uint16_t proto)>;
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp b/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
index 2d57b665f9..7a690165c3 100644
--- a/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
+++ b/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
@@ -11,7 +11,7 @@
 #include "wpi/util/MessagePack.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 struct Writer : public mpack::mpack_writer_t {
   Writer() {
@@ -19,13 +19,13 @@ struct Writer : public mpack::mpack_writer_t {
     mpack::mpack_writer_set_context(this, &os);
     mpack::mpack_writer_set_flush(
         this, [](mpack::mpack_writer_t* w, const char* buffer, size_t count) {
-          static_cast<wpi::raw_ostream*>(w->context)->write(buffer, count);
+          static_cast<wpi::util::raw_ostream*>(w->context)->write(buffer, count);
         });
   }
 
   std::vector<uint8_t> bytes;
-  wpi::raw_uvector_ostream os{bytes};
+  wpi::util::raw_uvector_ostream os{bytes};
   char buf[128];
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerClient.cpp b/ntcore/src/main/native/cpp/server/ServerClient.cpp
index fbac6808d6..7588e99c90 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient.cpp
@@ -11,7 +11,7 @@
 #include "server/ServerStorage.hpp"
 #include "wpi/util/MessagePack.hpp"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 using namespace mpack;
 
 void ServerClient::UpdateMetaClientPub() {
@@ -46,7 +46,7 @@ void ServerClient::UpdateMetaClientSub() {
 
 std::span<ServerSubscriber*> ServerClient::GetSubscribers(
     std::string_view name, bool special,
-    wpi::SmallVectorImpl<ServerSubscriber*>& buf) {
+    wpi::util::SmallVectorImpl<ServerSubscriber*>& buf) {
   buf.resize(0);
   for (auto&& subPair : m_subscribers) {
     ServerSubscriber* subscriber = subPair.getSecond().get();
diff --git a/ntcore/src/main/native/cpp/server/ServerClient.hpp b/ntcore/src/main/native/cpp/server/ServerClient.hpp
index 061b6c897e..b15f7cade4 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient.hpp
@@ -19,13 +19,13 @@
 #include "server/ServerSubscriber.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 struct ServerTopic;
 class ServerStorage;
@@ -35,7 +35,7 @@ class ServerClient {
  public:
   ServerClient(std::string_view name, std::string_view connInfo, bool local,
                SetPeriodicFunc setPeriodic, ServerStorage& storage, int id,
-               wpi::Logger& logger)
+               wpi::util::Logger& logger)
       : m_name{name},
         m_connInfo{connInfo},
         m_local{local},
@@ -55,7 +55,7 @@ class ServerClient {
                          net::ValueSendMode mode) = 0;
   virtual void SendAnnounce(ServerTopic* topic, std::optional<int> pubuid) = 0;
   virtual void SendUnannounce(ServerTopic* topic) = 0;
-  virtual void SendPropertiesUpdate(ServerTopic* topic, const wpi::json& update,
+  virtual void SendPropertiesUpdate(ServerTopic* topic, const wpi::util::json& update,
                                     bool ack) = 0;
   virtual void SendOutgoing(uint64_t curTimeMs, bool flush) = 0;
   virtual void Flush() = 0;
@@ -68,7 +68,7 @@ class ServerClient {
 
   std::span<ServerSubscriber*> GetSubscribers(
       std::string_view name, bool special,
-      wpi::SmallVectorImpl<ServerSubscriber*>& buf);
+      wpi::util::SmallVectorImpl<ServerSubscriber*>& buf);
 
   std::string_view GetName() const { return m_name; }
   int GetId() const { return m_id; }
@@ -86,10 +86,10 @@ class ServerClient {
   ServerStorage& m_storage;
   int m_id;
 
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
-  wpi::DenseMap<int, std::unique_ptr<ServerPublisher>> m_publishers;
-  wpi::DenseMap<int, std::unique_ptr<ServerSubscriber>> m_subscribers;
+  wpi::util::DenseMap<int, std::unique_ptr<ServerPublisher>> m_publishers;
+  wpi::util::DenseMap<int, std::unique_ptr<ServerSubscriber>> m_subscribers;
 
  public:
   // meta topics
@@ -97,4 +97,4 @@ class ServerClient {
   ServerTopic* m_metaSub = nullptr;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4.cpp b/ntcore/src/main/native/cpp/server/ServerClient4.cpp
index 1ec8d88169..f0add7f7dd 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4.cpp
@@ -12,13 +12,13 @@
 #include "server/ServerTopic.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 
 ServerClient4::ServerClient4(std::string_view name, std::string_view connInfo,
                              bool local, net::WireConnection& wire,
                              SetPeriodicFunc setPeriodic,
                              ServerStorage& storage, int id,
-                             wpi::Logger& logger)
+                             wpi::util::Logger& logger)
     : ServerClient4Base{name,    connInfo, local, setPeriodic,
                         storage, id,       logger},
       m_wire{wire},
@@ -67,7 +67,7 @@ bool ServerClient4::ProcessIncomingBinary(std::span<const uint8_t> data) {
 
     // respond to RTT ping
     if (pubuid == -1) {
-      auto now = wpi::Now();
+      auto now = wpi::util::Now();
       DEBUG4("RTT ping from {}, responding with time={}", m_id, now);
       m_wire.SendBinary(
           [&](auto& os) { net::WireEncodeBinary(os, -1, now, value); });
@@ -142,7 +142,7 @@ void ServerClient4::SendUnannounce(ServerTopic* topic) {
 }
 
 void ServerClient4::SendPropertiesUpdate(ServerTopic* topic,
-                                         const wpi::json& update, bool ack) {
+                                         const wpi::util::json& update, bool ack) {
   if (!m_announceSent.lookup(topic)) {
     return;
   }
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4.hpp b/ntcore/src/main/native/cpp/server/ServerClient4.hpp
index 03cc44c6a6..1fcb99a5a8 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4.hpp
@@ -11,13 +11,13 @@
 #include "server/Functions.hpp"
 #include "server/ServerClient4Base.hpp"
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient4 final : public ServerClient4Base {
  public:
   ServerClient4(std::string_view name, std::string_view connInfo, bool local,
                 net::WireConnection& wire, SetPeriodicFunc setPeriodic,
-                ServerStorage& storage, int id, wpi::Logger& logger);
+                ServerStorage& storage, int id, wpi::util::Logger& logger);
 
   bool ProcessIncomingText(std::string_view data) final;
   bool ProcessIncomingBinary(std::span<const uint8_t> data) final;
@@ -34,7 +34,7 @@ class ServerClient4 final : public ServerClient4Base {
                  net::ValueSendMode mode) final;
   void SendAnnounce(ServerTopic* topic, std::optional<int> pubuid) final;
   void SendUnannounce(ServerTopic* topic) final;
-  void SendPropertiesUpdate(ServerTopic* topic, const wpi::json& update,
+  void SendPropertiesUpdate(ServerTopic* topic, const wpi::util::json& update,
                             bool ack) final;
   void SendOutgoing(uint64_t curTimeMs, bool flush) final;
 
@@ -51,4 +51,4 @@ class ServerClient4 final : public ServerClient4Base {
   net::NetworkOutgoingQueue<net::ServerMessage> m_outgoing;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp b/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
index e0e5e792bc..e768d068ca 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
@@ -15,11 +15,11 @@
 #include "server/ServerPublisher.hpp"
 #include "wpi/util/SpanExtras.hpp"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 
 void ServerClient4Base::ClientPublish(int pubuid, std::string_view name,
                                       std::string_view typeStr,
-                                      const wpi::json& properties,
+                                      const wpi::util::json& properties,
                                       const PubSubOptionsImpl& options) {
   DEBUG3("ClientPublish({}, {}, {}, {})", m_id, name, pubuid, typeStr);
   auto topic = m_storage.CreateTopic(this, name, typeStr, properties);
@@ -67,7 +67,7 @@ void ServerClient4Base::ClientUnpublish(int pubuid) {
 }
 
 void ServerClient4Base::ClientSetProperties(std::string_view name,
-                                            const wpi::json& update) {
+                                            const wpi::util::json& update) {
   DEBUG4("ClientSetProperties({}, {}, {})", m_id, name, update.dump());
   ServerTopic* topic = m_storage.GetTopic(name);
   if (!topic || !topic->IsPublished()) {
@@ -205,7 +205,7 @@ bool ServerClient4Base::DoProcessIncomingMessages(
   DEBUG4("ProcessIncomingMessage()");
   max = (std::min)(m_msgsBuf.size(), max);
   std::span<net::ClientMessage> msgs =
-      queue.ReadQueue(wpi::take_front(std::span{m_msgsBuf}, max));
+      queue.ReadQueue(wpi::util::take_front(std::span{m_msgsBuf}, max));
 
   // just map as a normal client into client=0 calls
   bool updatepub = false;
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp b/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
index f80f5e6813..274546a9b2 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
@@ -12,24 +12,24 @@
 #include "server/ServerClient.hpp"
 #include "wpi/util/DenseMap.hpp"
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient4Base : public ServerClient,
                           protected net::ClientMessageHandler {
  public:
   ServerClient4Base(std::string_view name, std::string_view connInfo,
                     bool local, SetPeriodicFunc setPeriodic,
-                    ServerStorage& storage, int id, wpi::Logger& logger)
+                    ServerStorage& storage, int id, wpi::util::Logger& logger)
       : ServerClient{name, connInfo, local, setPeriodic, storage, id, logger} {}
 
  protected:
   // ClientMessageHandler interface
   void ClientPublish(int pubuid, std::string_view name,
-                     std::string_view typeStr, const wpi::json& properties,
+                     std::string_view typeStr, const wpi::util::json& properties,
                      const PubSubOptionsImpl& options) final;
   void ClientUnpublish(int pubuid) final;
   void ClientSetProperties(std::string_view name,
-                           const wpi::json& update) final;
+                           const wpi::util::json& update) final;
   void ClientSubscribe(int subuid, std::span<const std::string> topicNames,
                        const PubSubOptionsImpl& options) final;
   void ClientUnsubscribe(int subuid) final;
@@ -38,10 +38,10 @@ class ServerClient4Base : public ServerClient,
 
   bool DoProcessIncomingMessages(net::ClientMessageQueue& queue, size_t max);
 
-  wpi::DenseMap<ServerTopic*, bool> m_announceSent;
+  wpi::util::DenseMap<ServerTopic*, bool> m_announceSent;
 
  private:
   std::array<net::ClientMessage, 16> m_msgsBuf;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp b/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
index b3dca02092..004f74a289 100644
--- a/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
@@ -6,7 +6,7 @@
 
 #include "server/ServerImpl.hpp"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 
 // Suppress false positive -Wmaybe-uninitialized warning from GCC 14
 #if defined(__GNUC__) && !defined(__clang__)
@@ -14,7 +14,7 @@ using namespace nt::server;
 #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 #endif
 ServerClientLocal::ServerClientLocal(ServerStorage& storage, int id,
-                                     wpi::Logger& logger)
+                                     wpi::util::Logger& logger)
     : ServerClient4Base{"", "", true, [](uint32_t) {}, storage, id, logger} {
   // create local client meta topics
   m_metaPub = storage.CreateMetaTopic("$serverpub");
@@ -61,7 +61,7 @@ void ServerClientLocal::SendUnannounce(ServerTopic* topic) {
 }
 
 void ServerClientLocal::SendPropertiesUpdate(ServerTopic* topic,
-                                             const wpi::json& update,
+                                             const wpi::util::json& update,
                                              bool ack) {
   if (m_local) {
     if (!m_announceSent.lookup(topic)) {
diff --git a/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp b/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
index df6f6393f2..f22d4a8f4f 100644
--- a/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
@@ -9,11 +9,11 @@
 
 #include "server/ServerClient4Base.hpp"
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClientLocal final : public ServerClient4Base {
  public:
-  ServerClientLocal(ServerStorage& storage, int id, wpi::Logger& logger);
+  ServerClientLocal(ServerStorage& storage, int id, wpi::util::Logger& logger);
 
   bool ProcessIncomingText(std::string_view data) final { return false; }
   bool ProcessIncomingBinary(std::span<const uint8_t> data) final {
@@ -31,7 +31,7 @@ class ServerClientLocal final : public ServerClient4Base {
                  net::ValueSendMode mode) final;
   void SendAnnounce(ServerTopic* topic, std::optional<int> pubuid) final;
   void SendUnannounce(ServerTopic* topic) final;
-  void SendPropertiesUpdate(ServerTopic* topic, const wpi::json& update,
+  void SendPropertiesUpdate(ServerTopic* topic, const wpi::util::json& update,
                             bool ack) final;
   void SendOutgoing(uint64_t curTimeMs, bool flush) final {}
   void Flush() final {}
@@ -47,4 +47,4 @@ class ServerClientLocal final : public ServerClient4Base {
   net::ClientMessageQueue* m_queue = nullptr;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerImpl.cpp b/ntcore/src/main/native/cpp/server/ServerImpl.cpp
index efbd72c8ac..f94f2a9189 100644
--- a/ntcore/src/main/native/cpp/server/ServerImpl.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerImpl.cpp
@@ -18,11 +18,11 @@
 #include "server/ServerClientLocal.hpp"
 #include "wpi/util/MessagePack.hpp"
 
-using namespace nt;
-using namespace nt::server;
+using namespace wpi::nt;
+using namespace wpi::nt::server;
 using namespace mpack;
 
-ServerImpl::ServerImpl(wpi::Logger& logger)
+ServerImpl::ServerImpl(wpi::util::Logger& logger)
     : m_logger{logger},
       m_storage{logger, [this](ServerTopic* topic, ServerClient* client) {
                   SendAnnounce(topic, client);
@@ -87,7 +87,7 @@ void ServerImpl::SendAnnounce(ServerTopic* topic, ServerClient* client) {
     }
 
     // look for subscriber matching prefixes
-    wpi::SmallVector<ServerSubscriber*, 16> subscribersBuf;
+    wpi::util::SmallVector<ServerSubscriber*, 16> subscribersBuf;
     auto subscribers =
         aClient->GetSubscribers(topic->name, topic->special, subscribersBuf);
 
@@ -201,7 +201,7 @@ bool ServerImpl::ProcessLocalMessages(size_t max) {
 
 std::string ServerImpl::DumpPersistent() {
   std::string rv;
-  wpi::raw_string_ostream os{rv};
+  wpi::util::raw_string_ostream os{rv};
   m_storage.DumpPersistent(os);
   os.flush();
   return rv;
diff --git a/ntcore/src/main/native/cpp/server/ServerImpl.hpp b/ntcore/src/main/native/cpp/server/ServerImpl.hpp
index 6993ce9831..af640ae9c2 100644
--- a/ntcore/src/main/native/cpp/server/ServerImpl.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerImpl.hpp
@@ -17,29 +17,29 @@
 #include "server/ServerClient.hpp"
 #include "server/ServerStorage.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::net {
+namespace wpi::nt::net {
 class ClientMessageQueue;
 class LocalInterface;
 class ServerMessageHandler;
 class WireConnection;
-}  // namespace nt::net
+}  // namespace wpi::nt::net
 
-namespace nt::net3 {
+namespace wpi::nt::net3 {
 class WireConnection3;
-}  // namespace nt::net3
+}  // namespace wpi::nt::net3
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClientLocal;
 struct ServerTopic;
 
 class ServerImpl final {
  public:
-  explicit ServerImpl(wpi::Logger& logger);
+  explicit ServerImpl(wpi::util::Logger& logger);
 
   void SendAllOutgoing(uint64_t curTimeMs, bool flush);
   void SendOutgoing(int clientId, uint64_t curTimeMs);
@@ -78,7 +78,7 @@ class ServerImpl final {
   }
 
  private:
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
   ServerClientLocal* m_localClient;
   std::vector<std::unique_ptr<ServerClient>> m_clients;
@@ -94,4 +94,4 @@ class ServerImpl final {
   void UpdateMetaClients(const std::vector<ConnectionInfo>& conns);
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerPublisher.cpp b/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
index 7219116c90..d507bcc83d 100644
--- a/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
@@ -10,7 +10,7 @@
 #include "server/ServerTopic.hpp"
 #include "wpi/util/MessagePack.hpp"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 using namespace mpack;
 
 void ServerPublisher::UpdateMeta() {
diff --git a/ntcore/src/main/native/cpp/server/ServerPublisher.hpp b/ntcore/src/main/native/cpp/server/ServerPublisher.hpp
index e8c0677c8c..516549600e 100644
--- a/ntcore/src/main/native/cpp/server/ServerPublisher.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerPublisher.hpp
@@ -11,7 +11,7 @@
 #include <string_view>
 #include <vector>
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient;
 struct ServerTopic;
@@ -40,4 +40,4 @@ class ServerPublisher {
   std::vector<uint8_t> m_metaTopic;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerStorage.cpp b/ntcore/src/main/native/cpp/server/ServerStorage.cpp
index 9556606943..24e5c2e0b6 100644
--- a/ntcore/src/main/native/cpp/server/ServerStorage.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerStorage.cpp
@@ -18,14 +18,14 @@
 #include "wpi/util/MessagePack.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace nt;
-using namespace nt::server;
+using namespace wpi::nt;
+using namespace wpi::nt::server;
 using namespace mpack;
 
 ServerTopic* ServerStorage::CreateTopic(ServerClient* client,
                                         std::string_view name,
                                         std::string_view typeStr,
-                                        const wpi::json& properties,
+                                        const wpi::util::json& properties,
                                         bool special) {
   auto& topic = m_nameTopics[name];
   if (topic) {
@@ -88,7 +88,7 @@ void ServerStorage::DeleteTopic(ServerTopic* topic) {
 }
 
 void ServerStorage::SetProperties(ServerClient* client, ServerTopic* topic,
-                                  const wpi::json& update) {
+                                  const wpi::util::json& update) {
   DEBUG4("SetProperties({}, {}, {})", client ? client->GetId() : -1,
          topic->name, update.dump());
   bool wasPersistent = topic->persistent;
@@ -108,11 +108,11 @@ void ServerStorage::SetFlags(ServerClient* client, ServerTopic* topic,
     // update persistentChanged flag
     if (topic->persistent != wasPersistent) {
       m_persistentChanged = true;
-      wpi::json update;
+      wpi::util::json update;
       if (topic->persistent) {
         update = {{"persistent", true}};
       } else {
-        update = {{"persistent", wpi::json::object()}};
+        update = {{"persistent", wpi::util::json::object()}};
       }
       PropertiesChanged(client, topic, update);
     }
@@ -146,7 +146,7 @@ void ServerStorage::SetValue(ServerClient* client, ServerTopic* topic,
 
 void ServerStorage::RemoveClient(ServerClient* client) {
   // remove all publishers and subscribers for this client
-  wpi::SmallVector<ServerTopic*, 16> toDelete;
+  wpi::util::SmallVector<ServerTopic*, 16> toDelete;
   for (auto&& topic : m_topics) {
     bool pubChanged = false;
     bool subChanged = false;
@@ -222,7 +222,7 @@ void ServerStorage::UpdateMetaTopicSub(ServerTopic* topic) {
 }
 
 void ServerStorage::PropertiesChanged(ServerClient* client, ServerTopic* topic,
-                                      const wpi::json& update) {
+                                      const wpi::util::json& update) {
   // removing some properties can result in the topic being unpublished
   if (!topic->IsPublished()) {
     DeleteTopic(topic);
@@ -234,8 +234,8 @@ void ServerStorage::PropertiesChanged(ServerClient* client, ServerTopic* topic,
   }
 }
 
-static void DumpValue(wpi::raw_ostream& os, const Value& value,
-                      wpi::json::serializer& s) {
+static void DumpValue(wpi::util::raw_ostream& os, const Value& value,
+                      wpi::util::json::serializer& s) {
   switch (value.type()) {
     case NT_BOOLEAN:
       if (value.GetBoolean()) {
@@ -261,7 +261,7 @@ static void DumpValue(wpi::raw_ostream& os, const Value& value,
     case NT_RAW:
     case NT_RPC:
       os << '"';
-      wpi::Base64Encode(os, value.GetRaw());
+      wpi::util::Base64Encode(os, value.GetRaw());
       os << '"';
       break;
     case NT_BOOLEAN_ARRAY: {
@@ -346,8 +346,8 @@ static void DumpValue(wpi::raw_ostream& os, const Value& value,
   }
 }
 
-void ServerStorage::DumpPersistent(wpi::raw_ostream& os) {
-  wpi::json::serializer s{os, ' ', 16};
+void ServerStorage::DumpPersistent(wpi::util::raw_ostream& os) {
+  wpi::util::json::serializer s{os, ' ', 16};
   os << "[\n";
   bool first = true;
   for (const auto& topic : m_topics) {
@@ -372,7 +372,7 @@ void ServerStorage::DumpPersistent(wpi::raw_ostream& os) {
   os << "\n]\n";
 }
 
-static std::string* ObjGetString(wpi::json::object_t& obj, std::string_view key,
+static std::string* ObjGetString(wpi::util::json::object_t& obj, std::string_view key,
                                  std::string* error) {
   auto it = obj.find(key);
   if (it == obj.end()) {
@@ -391,10 +391,10 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
     return {};
   }
 
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(in);
-  } catch (wpi::json::parse_error& err) {
+    j = wpi::util::json::parse(in);
+  } catch (wpi::util::json::parse_error& err) {
     return fmt::format("could not decode JSON: {}", err.what());
   }
 
@@ -406,12 +406,12 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
 
   std::string allerrors;
   int i = -1;
-  auto time = nt::Now();
+  auto time = wpi::nt::Now();
   for (auto&& jitem : j) {
     ++i;
     std::string error;
     {
-      auto obj = jitem.get_ptr<wpi::json::object_t*>();
+      auto obj = jitem.get_ptr<wpi::util::json::object_t*>();
       if (!obj) {
         error = "expected item to be an object";
         goto err;
@@ -502,7 +502,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
           goto err;
         }
       } else if (*typeStr == "boolean[]") {
-        auto arr = valueIt->second.get_ptr<wpi::json::array_t*>();
+        auto arr = valueIt->second.get_ptr<wpi::util::json::array_t*>();
         if (!arr) {
           error = "value type mismatch, expected array";
           goto err;
@@ -517,7 +517,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
         }
         value = Value::MakeBooleanArray(elems, time);
       } else if (*typeStr == "int[]") {
-        auto arr = valueIt->second.get_ptr<wpi::json::array_t*>();
+        auto arr = valueIt->second.get_ptr<wpi::util::json::array_t*>();
         if (!arr) {
           error = "value type mismatch, expected array";
           goto err;
@@ -534,7 +534,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
         }
         value = Value::MakeIntegerArray(elems, time);
       } else if (*typeStr == "double[]") {
-        auto arr = valueIt->second.get_ptr<wpi::json::array_t*>();
+        auto arr = valueIt->second.get_ptr<wpi::util::json::array_t*>();
         if (!arr) {
           error = "value type mismatch, expected array";
           goto err;
@@ -549,7 +549,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
         }
         value = Value::MakeDoubleArray(elems, time);
       } else if (*typeStr == "float[]") {
-        auto arr = valueIt->second.get_ptr<wpi::json::array_t*>();
+        auto arr = valueIt->second.get_ptr<wpi::util::json::array_t*>();
         if (!arr) {
           error = "value type mismatch, expected array";
           goto err;
@@ -564,7 +564,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
         }
         value = Value::MakeFloatArray(elems, time);
       } else if (*typeStr == "string[]") {
-        auto arr = valueIt->second.get_ptr<wpi::json::array_t*>();
+        auto arr = valueIt->second.get_ptr<wpi::util::json::array_t*>();
         if (!arr) {
           error = "value type mismatch, expected array";
           goto err;
@@ -582,7 +582,7 @@ std::string ServerStorage::LoadPersistent(std::string_view in) {
         // raw
         if (auto v = valueIt->second.get_ptr<std::string*>()) {
           std::vector<uint8_t> data;
-          wpi::Base64Decode(*v, &data);
+          wpi::util::Base64Decode(*v, &data);
           value = Value::MakeRaw(std::move(data), time);
         } else {
           error = "value type mismatch, expected string";
diff --git a/ntcore/src/main/native/cpp/server/ServerStorage.hpp b/ntcore/src/main/native/cpp/server/ServerStorage.hpp
index 8c0711740f..16f5eff2b1 100644
--- a/ntcore/src/main/native/cpp/server/ServerStorage.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerStorage.hpp
@@ -14,18 +14,18 @@
 #include "wpi/util/UidVector.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 class raw_ostream;
 }  // namespace wpi
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient;
 
 class ServerStorage final {
  public:
-  ServerStorage(wpi::Logger& logger,
+  ServerStorage(wpi::util::Logger& logger,
                 std::function<void(ServerTopic* topic, ServerClient* client)>
                     sendAnnounce)
       : m_logger{logger}, m_sendAnnounce{std::move(sendAnnounce)} {}
@@ -34,18 +34,18 @@ class ServerStorage final {
 
   ServerTopic* CreateTopic(ServerClient* client, std::string_view name,
                            std::string_view typeStr,
-                           const wpi::json& properties, bool special = false);
+                           const wpi::util::json& properties, bool special = false);
   ServerTopic* CreateMetaTopic(std::string_view name);
   void DeleteTopic(ServerTopic* topic);
   void SetProperties(ServerClient* client, ServerTopic* topic,
-                     const wpi::json& update);
+                     const wpi::util::json& update);
   void SetFlags(ServerClient* client, ServerTopic* topic, unsigned int flags);
   void SetValue(ServerClient* client, ServerTopic* topic, const Value& value);
 
   void RemoveClient(ServerClient* client);
 
   void PropertiesChanged(ServerClient* client, ServerTopic* topic,
-                         const wpi::json& update);
+                         const wpi::util::json& update);
 
   ServerTopic* GetTopic(unsigned int id) const {
     return id < m_topics.size() ? m_topics[id].get() : nullptr;
@@ -78,17 +78,17 @@ class ServerStorage final {
     return rv;
   }
 
-  void DumpPersistent(wpi::raw_ostream& os);
+  void DumpPersistent(wpi::util::raw_ostream& os);
   // returns newline-separated errors
   std::string LoadPersistent(std::string_view in);
 
  private:
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   std::function<void(ServerTopic* topic, ServerClient* client)> m_sendAnnounce;
 
-  wpi::UidVector<std::unique_ptr<ServerTopic>, 16> m_topics;
-  wpi::StringMap<ServerTopic*> m_nameTopics;
+  wpi::util::UidVector<std::unique_ptr<ServerTopic>, 16> m_topics;
+  wpi::util::StringMap<ServerTopic*> m_nameTopics;
   bool m_persistentChanged{false};
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp b/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
index efb9f2faf5..1efa89a9eb 100644
--- a/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
@@ -11,8 +11,8 @@
 #include "wpi/util/MessagePack.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace nt;
-using namespace nt::server;
+using namespace wpi::nt;
+using namespace wpi::nt::server;
 using namespace mpack;
 
 static void WriteOptions(mpack_writer_t& w, const PubSubOptionsImpl& options) {
@@ -44,7 +44,7 @@ bool ServerSubscriber::Matches(std::string_view name, bool special) {
   for (auto&& topicName : m_topicNames) {
     if ((!m_options.prefixMatch && name == topicName) ||
         (m_options.prefixMatch && (!special || !topicName.empty()) &&
-         wpi::starts_with(name, topicName))) {
+         wpi::util::starts_with(name, topicName))) {
       return true;
     }
   }
diff --git a/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp b/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
index e41aa87f2a..6f278020fa 100644
--- a/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
@@ -15,7 +15,7 @@
 #include "PubSubOptions.hpp"
 #include "server/Constants.hpp"
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient;
 struct ServerTopic;
@@ -71,4 +71,4 @@ class ServerSubscriber {
   uint32_t m_periodMs;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/cpp/server/ServerTopic.cpp b/ntcore/src/main/native/cpp/server/ServerTopic.cpp
index 72f504913e..eaf85ddd76 100644
--- a/ntcore/src/main/native/cpp/server/ServerTopic.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerTopic.cpp
@@ -6,9 +6,9 @@
 
 #include "Log.hpp"
 
-using namespace nt::server;
+using namespace wpi::nt::server;
 
-bool ServerTopic::SetProperties(const wpi::json& update) {
+bool ServerTopic::SetProperties(const wpi::util::json& update) {
   if (!update.is_object()) {
     return false;
   }
diff --git a/ntcore/src/main/native/cpp/server/ServerTopic.hpp b/ntcore/src/main/native/cpp/server/ServerTopic.hpp
index 7d15feab25..42b43f8269 100644
--- a/ntcore/src/main/native/cpp/server/ServerTopic.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerTopic.hpp
@@ -16,17 +16,17 @@
 #include "wpi/util/SmallPtrSet.hpp"
 #include "wpi/util/json.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi
 
-namespace nt::server {
+namespace wpi::nt::server {
 
 class ServerClient;
 
 struct TopicClientData {
-  wpi::SmallPtrSet<ServerPublisher*, 2> publishers;
-  wpi::SmallPtrSet<ServerSubscriber*, 2> subscribers;
+  wpi::util::SmallPtrSet<ServerPublisher*, 2> publishers;
+  wpi::util::SmallPtrSet<ServerSubscriber*, 2> subscribers;
   net::ValueSendMode sendMode = net::ValueSendMode::kDisabled;
 
   bool AddSubscriber(ServerSubscriber* sub) {
@@ -44,11 +44,11 @@ struct TopicClientData {
 };
 
 struct ServerTopic {
-  ServerTopic(wpi::Logger& logger, std::string_view name,
+  ServerTopic(wpi::util::Logger& logger, std::string_view name,
               std::string_view typeStr)
       : m_logger{logger}, name{name}, typeStr{typeStr} {}
-  ServerTopic(wpi::Logger& logger, std::string_view name,
-              std::string_view typeStr, wpi::json properties)
+  ServerTopic(wpi::util::Logger& logger, std::string_view name,
+              std::string_view typeStr, wpi::util::json properties)
       : m_logger{logger},
         name{name},
         typeStr{typeStr},
@@ -63,17 +63,17 @@ struct ServerTopic {
   }
 
   // returns true if properties changed
-  bool SetProperties(const wpi::json& update);
+  bool SetProperties(const wpi::util::json& update);
   void RefreshProperties();
   bool SetFlags(unsigned int flags_);
 
-  wpi::Logger& m_logger;  // Must be m_logger for WARN macro to work
+  wpi::util::Logger& m_logger;  // Must be m_logger for WARN macro to work
   std::string name;
   unsigned int id;
   Value lastValue;
   ServerClient* lastValueClient = nullptr;
   std::string typeStr;
-  wpi::json properties = wpi::json::object();
+  wpi::util::json properties = wpi::util::json::object();
   unsigned int publisherCount{0};
   bool persistent{false};
   bool retained{false};
@@ -93,11 +93,11 @@ struct ServerTopic {
     }
   }
 
-  wpi::SmallDenseMap<ServerClient*, TopicClientData, 4> clients;
+  wpi::util::SmallDenseMap<ServerClient*, TopicClientData, 4> clients;
 
   // meta topics
   ServerTopic* metaPub = nullptr;
   ServerTopic* metaSub = nullptr;
 };
 
-}  // namespace nt::server
+}  // namespace wpi::nt::server
diff --git a/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp b/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
index d00b3a39da..be98524018 100644
--- a/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
@@ -14,7 +14,7 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class Value;
 
@@ -44,7 +44,7 @@ class GenericSubscriber : public Subscriber {
    *
    * @return value
    */
-  ValueType Get() const { return ::nt::GetEntryValue(m_subHandle); }
+  ValueType Get() const { return ::wpi::nt::GetEntryValue(m_subHandle); }
 
   /**
    * Gets the entry's value as a boolean. If the entry does not exist or is of
@@ -54,7 +54,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   bool GetBoolean(bool defaultValue) const {
-    return ::nt::GetBoolean(m_subHandle, defaultValue);
+    return ::wpi::nt::GetBoolean(m_subHandle, defaultValue);
   }
 
   /**
@@ -65,7 +65,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   int64_t GetInteger(int64_t defaultValue) const {
-    return ::nt::GetInteger(m_subHandle, defaultValue);
+    return ::wpi::nt::GetInteger(m_subHandle, defaultValue);
   }
 
   /**
@@ -76,7 +76,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   float GetFloat(float defaultValue) const {
-    return ::nt::GetFloat(m_subHandle, defaultValue);
+    return ::wpi::nt::GetFloat(m_subHandle, defaultValue);
   }
 
   /**
@@ -87,7 +87,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   double GetDouble(double defaultValue) const {
-    return ::nt::GetDouble(m_subHandle, defaultValue);
+    return ::wpi::nt::GetDouble(m_subHandle, defaultValue);
   }
 
   /**
@@ -98,7 +98,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   std::string GetString(std::string_view defaultValue) const {
-    return ::nt::GetString(m_subHandle, defaultValue);
+    return ::wpi::nt::GetString(m_subHandle, defaultValue);
   }
 
   /**
@@ -109,7 +109,7 @@ class GenericSubscriber : public Subscriber {
    * @return the entry's value or the given default value
    */
   std::vector<uint8_t> GetRaw(std::span<const uint8_t> defaultValue) const {
-    return ::nt::GetRaw(m_subHandle, defaultValue);
+    return ::wpi::nt::GetRaw(m_subHandle, defaultValue);
   }
 
   /**
@@ -127,7 +127,7 @@ class GenericSubscriber : public Subscriber {
    *       non-zero value is true.
    */
   std::vector<int> GetBooleanArray(std::span<const int> defaultValue) const {
-    return ::nt::GetBooleanArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetBooleanArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -142,7 +142,7 @@ class GenericSubscriber : public Subscriber {
    */
   std::vector<int64_t> GetIntegerArray(
       std::span<const int64_t> defaultValue) const {
-    return ::nt::GetIntegerArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetIntegerArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -156,7 +156,7 @@ class GenericSubscriber : public Subscriber {
    *       concern, use GetValue() instead.
    */
   std::vector<float> GetFloatArray(std::span<const float> defaultValue) const {
-    return ::nt::GetFloatArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetFloatArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -171,7 +171,7 @@ class GenericSubscriber : public Subscriber {
    */
   std::vector<double> GetDoubleArray(
       std::span<const double> defaultValue) const {
-    return ::nt::GetDoubleArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetDoubleArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -186,7 +186,7 @@ class GenericSubscriber : public Subscriber {
    */
   std::vector<std::string> GetStringArray(
       std::span<const std::string> defaultValue) const {
-    return ::nt::GetStringArray(m_subHandle, defaultValue);
+    return ::wpi::nt::GetStringArray(m_subHandle, defaultValue);
   }
 
   /**
@@ -200,7 +200,7 @@ class GenericSubscriber : public Subscriber {
    *     been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    return ::nt::ReadQueueValue(m_subHandle);
+    return ::wpi::nt::ReadQueueValue(m_subHandle);
   }
 
   /**
@@ -209,7 +209,7 @@ class GenericSubscriber : public Subscriber {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return Topic{::nt::GetTopicFromHandle(m_subHandle)};
+    return Topic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
   }
 };
 
@@ -238,79 +238,79 @@ class GenericPublisher : public Publisher {
    *
    * @param value value to publish
    */
-  void Set(ParamType value) { ::nt::SetEntryValue(m_pubHandle, value); }
+  void Set(ParamType value) { ::wpi::nt::SetEntryValue(m_pubHandle, value); }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBoolean(bool value, int64_t time = 0) {
-    return nt::SetBoolean(m_pubHandle, value, time);
+    return wpi::nt::SetBoolean(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetInteger(int64_t value, int64_t time = 0) {
-    return nt::SetInteger(m_pubHandle, value, time);
+    return wpi::nt::SetInteger(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetFloat(float value, int64_t time = 0) {
-    return nt::SetFloat(m_pubHandle, value, time);
+    return wpi::nt::SetFloat(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetDouble(double value, int64_t time = 0) {
-    return nt::SetDouble(m_pubHandle, value, time);
+    return wpi::nt::SetDouble(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetString(std::string_view value, int64_t time = 0) {
-    return nt::SetString(m_pubHandle, value, time);
+    return wpi::nt::SetString(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetRaw(std::span<const uint8_t> value, int64_t time = 0) {
-    return nt::SetRaw(m_pubHandle, value, time);
+    return wpi::nt::SetRaw(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBooleanArray(std::span<const bool> value, int64_t time = 0) {
@@ -321,55 +321,55 @@ class GenericPublisher : public Publisher {
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBooleanArray(std::span<const int> value, int64_t time = 0) {
-    return nt::SetBooleanArray(m_pubHandle, value, time);
+    return wpi::nt::SetBooleanArray(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetIntegerArray(std::span<const int64_t> value, int64_t time = 0) {
-    return nt::SetIntegerArray(m_pubHandle, value, time);
+    return wpi::nt::SetIntegerArray(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetFloatArray(std::span<const float> value, int64_t time = 0) {
-    return nt::SetFloatArray(m_pubHandle, value, time);
+    return wpi::nt::SetFloatArray(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetDoubleArray(std::span<const double> value, int64_t time = 0) {
-    return nt::SetDoubleArray(m_pubHandle, value, time);
+    return wpi::nt::SetDoubleArray(m_pubHandle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetStringArray(std::span<const std::string> value, int64_t time = 0) {
-    return nt::SetStringArray(m_pubHandle, value, time);
+    return wpi::nt::SetStringArray(m_pubHandle, value, time);
   }
 
   /**
@@ -380,7 +380,7 @@ class GenericPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultEntryValue(m_pubHandle, value);
+    ::wpi::nt::SetDefaultEntryValue(m_pubHandle, value);
   }
 
   /**
@@ -390,7 +390,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultBoolean(bool defaultValue) {
-    return nt::SetDefaultBoolean(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultBoolean(m_pubHandle, defaultValue);
   }
 
   /**
@@ -400,7 +400,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultInteger(int64_t defaultValue) {
-    return nt::SetDefaultInteger(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultInteger(m_pubHandle, defaultValue);
   }
 
   /**
@@ -410,7 +410,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultFloat(float defaultValue) {
-    return nt::SetDefaultFloat(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultFloat(m_pubHandle, defaultValue);
   }
 
   /**
@@ -420,7 +420,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultDouble(double defaultValue) {
-    return nt::SetDefaultDouble(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultDouble(m_pubHandle, defaultValue);
   }
 
   /**
@@ -430,7 +430,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultString(std::string_view defaultValue) {
-    return nt::SetDefaultString(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultString(m_pubHandle, defaultValue);
   }
 
   /**
@@ -440,7 +440,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultRaw(std::span<const uint8_t> defaultValue) {
-    return nt::SetDefaultRaw(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultRaw(m_pubHandle, defaultValue);
   }
 
   /**
@@ -450,7 +450,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultBooleanArray(std::span<const int> defaultValue) {
-    return nt::SetDefaultBooleanArray(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultBooleanArray(m_pubHandle, defaultValue);
   }
 
   /**
@@ -460,7 +460,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultIntegerArray(std::span<const int64_t> defaultValue) {
-    return nt::SetDefaultIntegerArray(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultIntegerArray(m_pubHandle, defaultValue);
   }
 
   /**
@@ -470,7 +470,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultFloatArray(std::span<const float> defaultValue) {
-    return nt::SetDefaultFloatArray(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultFloatArray(m_pubHandle, defaultValue);
   }
 
   /**
@@ -480,7 +480,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultDoubleArray(std::span<const double> defaultValue) {
-    return nt::SetDefaultDoubleArray(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultDoubleArray(m_pubHandle, defaultValue);
   }
 
   /**
@@ -490,7 +490,7 @@ class GenericPublisher : public Publisher {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultStringArray(std::span<const std::string> defaultValue) {
-    return nt::SetDefaultStringArray(m_pubHandle, defaultValue);
+    return wpi::nt::SetDefaultStringArray(m_pubHandle, defaultValue);
   }
 
   /**
@@ -499,7 +499,7 @@ class GenericPublisher : public Publisher {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return Topic{::nt::GetTopicFromHandle(m_pubHandle)};
+    return Topic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
   }
 };
 
@@ -548,13 +548,13 @@ class GenericEntry final : public GenericSubscriber, public GenericPublisher {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return Topic{::nt::GetTopicFromHandle(m_subHandle)};
+    return Topic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
   }
 
   /**
    * Stops publishing the entry if it's published.
    */
-  void Unpublish() { ::nt::Unpublish(m_pubHandle); }
+  void Unpublish() { ::wpi::nt::Unpublish(m_pubHandle); }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp b/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
index 54d3dcb777..eff021e223 100644
--- a/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
@@ -10,7 +10,7 @@
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 /**
  * Subscribe to multiple topics based on one or more topic name prefixes. Can be
@@ -31,7 +31,7 @@ class MultiSubscriber final {
   MultiSubscriber(NetworkTableInstance inst,
                   std::span<const std::string_view> prefixes,
                   const PubSubOptions& options = kDefaultPubSubOptions)
-      : m_handle{::nt::SubscribeMultiple(inst.GetHandle(), prefixes, options)} {
+      : m_handle{::wpi::nt::SubscribeMultiple(inst.GetHandle(), prefixes, options)} {
   }
 
   MultiSubscriber(const MultiSubscriber&) = delete;
@@ -43,7 +43,7 @@ class MultiSubscriber final {
 
   MultiSubscriber& operator=(MultiSubscriber&& rhs) {
     if (m_handle != 0) {
-      ::nt::UnsubscribeMultiple(m_handle);
+      ::wpi::nt::UnsubscribeMultiple(m_handle);
     }
     m_handle = rhs.m_handle;
     rhs.m_handle = 0;
@@ -52,7 +52,7 @@ class MultiSubscriber final {
 
   ~MultiSubscriber() {
     if (m_handle != 0) {
-      ::nt::UnsubscribeMultiple(m_handle);
+      ::wpi::nt::UnsubscribeMultiple(m_handle);
     }
   }
 
@@ -74,4 +74,4 @@ class MultiSubscriber final {
   NT_MultiSubscriber m_handle{0};
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp b/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
index 2153938c79..3e9ae3a71e 100644
--- a/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
@@ -6,14 +6,14 @@
 
 #include "wpi/util/sendable/Sendable.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class NTSendableBuilder;
 
 /**
  * Interface for NetworkTable Sendable objects.
  */
-class NTSendable : public wpi::Sendable {
+class NTSendable : public wpi::util::Sendable {
  public:
   /**
    * Initializes this Sendable object.
@@ -22,7 +22,7 @@ class NTSendable : public wpi::Sendable {
    */
   virtual void InitSendable(NTSendableBuilder& builder) = 0;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp b/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
index ebcca731ea..79a0881ba6 100644
--- a/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
@@ -12,13 +12,13 @@
 #include "wpi/util/FunctionExtras.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 /**
  * Helper class for building Sendable dashboard representations for
  * NetworkTables.
  */
-class NTSendableBuilder : public wpi::SendableBuilder {
+class NTSendableBuilder : public wpi::util::SendableBuilder {
  public:
   /**
    * Set the function that should be called to update the network table
@@ -28,7 +28,7 @@ class NTSendableBuilder : public wpi::SendableBuilder {
    *
    * @param func    function
    */
-  virtual void SetUpdateTable(wpi::unique_function<void()> func) = 0;
+  virtual void SetUpdateTable(wpi::util::unique_function<void()> func) = 0;
 
   /**
    * Add a property without getters or setters.  This can be used to get
@@ -53,4 +53,4 @@ class NTSendableBuilder : public wpi::SendableBuilder {
   BackendKind GetBackendKind() const override;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
index 98bed3a5c4..47f3116e10 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 #include "wpi/util/struct/Struct.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class BooleanArrayTopic;
 class BooleanTopic;
@@ -31,16 +31,16 @@ class FloatTopic;
 class IntegerArrayTopic;
 class IntegerTopic;
 class NetworkTableInstance;
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayTopic;
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructTopic;
 class Topic;
 
@@ -58,8 +58,8 @@ class NetworkTable final {
  private:
   NT_Inst m_inst;
   std::string m_path;
-  mutable wpi::mutex m_mutex;
-  mutable wpi::StringMap<NT_Entry> m_entries;
+  mutable wpi::util::mutex m_mutex;
+  mutable wpi::util::StringMap<NT_Entry> m_entries;
 
   struct private_init {};
   friend class NetworkTableInstance;
@@ -94,7 +94,7 @@ class NetworkTable final {
                                   bool withLeadingSlash = true);
 
   static std::string_view NormalizeKey(std::string_view key,
-                                       wpi::SmallVectorImpl<char>& buf,
+                                       wpi::util::SmallVectorImpl<char>& buf,
                                        bool withLeadingSlash = true);
 
   /**
@@ -236,7 +236,7 @@ class NetworkTable final {
    * @param name topic name
    * @return Topic
    */
-  template <wpi::ProtobufSerializable T>
+  template <wpi::util::ProtobufSerializable T>
   ProtobufTopic<T> GetProtobufTopic(std::string_view name) const {
     return ProtobufTopic<T>{GetTopic(name)};
   }
@@ -249,7 +249,7 @@ class NetworkTable final {
    * @return Topic
    */
   template <typename T, typename... I>
-    requires wpi::StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   StructTopic<T, I...> GetStructTopic(std::string_view name, I... info) const {
     return StructTopic<T, I...>{GetTopic(name), std::move(info)...};
   }
@@ -262,7 +262,7 @@ class NetworkTable final {
    * @return Topic
    */
   template <typename T, typename... I>
-    requires wpi::StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   StructArrayTopic<T, I...> GetStructArrayTopic(std::string_view name,
                                                 I... info) const {
     return StructArrayTopic<T, I...>{GetTopic(name), std::move(info)...};
@@ -674,4 +674,4 @@ class NetworkTable final {
   void RemoveListener(NT_Listener listener);
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
index 3cd11c37fd..7fd4a8b14a 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
@@ -15,7 +15,7 @@
 #include "wpi/nt/NetworkTableValue.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class NetworkTableInstance;
 class Topic;
@@ -109,7 +109,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   bool GetBoolean(bool defaultValue) const {
-    return nt::GetBoolean(m_handle, defaultValue);
+    return wpi::nt::GetBoolean(m_handle, defaultValue);
   }
 
   /**
@@ -120,7 +120,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   int64_t GetInteger(int64_t defaultValue) const {
-    return nt::GetInteger(m_handle, defaultValue);
+    return wpi::nt::GetInteger(m_handle, defaultValue);
   }
 
   /**
@@ -131,7 +131,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   float GetFloat(float defaultValue) const {
-    return nt::GetFloat(m_handle, defaultValue);
+    return wpi::nt::GetFloat(m_handle, defaultValue);
   }
 
   /**
@@ -142,7 +142,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   double GetDouble(double defaultValue) const {
-    return nt::GetDouble(m_handle, defaultValue);
+    return wpi::nt::GetDouble(m_handle, defaultValue);
   }
 
   /**
@@ -153,7 +153,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   std::string GetString(std::string_view defaultValue) const {
-    return nt::GetString(m_handle, defaultValue);
+    return wpi::nt::GetString(m_handle, defaultValue);
   }
 
   /**
@@ -164,7 +164,7 @@ class NetworkTableEntry final {
    * @return the entry's value or the given default value
    */
   std::vector<uint8_t> GetRaw(std::span<const uint8_t> defaultValue) const {
-    return nt::GetRaw(m_handle, defaultValue);
+    return wpi::nt::GetRaw(m_handle, defaultValue);
   }
 
   /**
@@ -182,7 +182,7 @@ class NetworkTableEntry final {
    *       non-zero value is true.
    */
   std::vector<int> GetBooleanArray(std::span<const int> defaultValue) const {
-    return nt::GetBooleanArray(m_handle, defaultValue);
+    return wpi::nt::GetBooleanArray(m_handle, defaultValue);
   }
 
   /**
@@ -197,7 +197,7 @@ class NetworkTableEntry final {
    */
   std::vector<int64_t> GetIntegerArray(
       std::span<const int64_t> defaultValue) const {
-    return nt::GetIntegerArray(m_handle, defaultValue);
+    return wpi::nt::GetIntegerArray(m_handle, defaultValue);
   }
 
   /**
@@ -211,7 +211,7 @@ class NetworkTableEntry final {
    *       concern, use GetValue() instead.
    */
   std::vector<float> GetFloatArray(std::span<const float> defaultValue) const {
-    return nt::GetFloatArray(m_handle, defaultValue);
+    return wpi::nt::GetFloatArray(m_handle, defaultValue);
   }
 
   /**
@@ -226,7 +226,7 @@ class NetworkTableEntry final {
    */
   std::vector<double> GetDoubleArray(
       std::span<const double> defaultValue) const {
-    return nt::GetDoubleArray(m_handle, defaultValue);
+    return wpi::nt::GetDoubleArray(m_handle, defaultValue);
   }
 
   /**
@@ -241,7 +241,7 @@ class NetworkTableEntry final {
    */
   std::vector<std::string> GetStringArray(
       std::span<const std::string> defaultValue) const {
-    return nt::GetStringArray(m_handle, defaultValue);
+    return wpi::nt::GetStringArray(m_handle, defaultValue);
   }
 
   /**
@@ -253,7 +253,7 @@ class NetworkTableEntry final {
    *     published since the previous call.
    */
   std::vector<NetworkTableValue> ReadQueue() {
-    return nt::ReadQueueValue(m_handle);
+    return wpi::nt::ReadQueueValue(m_handle);
   }
 
   /**
@@ -273,7 +273,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultBoolean(bool defaultValue) {
-    return nt::SetDefaultBoolean(m_handle, defaultValue);
+    return wpi::nt::SetDefaultBoolean(m_handle, defaultValue);
   }
 
   /**
@@ -283,7 +283,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultInteger(int64_t defaultValue) {
-    return nt::SetDefaultInteger(m_handle, defaultValue);
+    return wpi::nt::SetDefaultInteger(m_handle, defaultValue);
   }
 
   /**
@@ -293,7 +293,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultFloat(float defaultValue) {
-    return nt::SetDefaultFloat(m_handle, defaultValue);
+    return wpi::nt::SetDefaultFloat(m_handle, defaultValue);
   }
 
   /**
@@ -303,7 +303,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultDouble(double defaultValue) {
-    return nt::SetDefaultDouble(m_handle, defaultValue);
+    return wpi::nt::SetDefaultDouble(m_handle, defaultValue);
   }
 
   /**
@@ -313,7 +313,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultString(std::string_view defaultValue) {
-    return nt::SetDefaultString(m_handle, defaultValue);
+    return wpi::nt::SetDefaultString(m_handle, defaultValue);
   }
 
   /**
@@ -323,7 +323,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultRaw(std::span<const uint8_t> defaultValue) {
-    return nt::SetDefaultRaw(m_handle, defaultValue);
+    return wpi::nt::SetDefaultRaw(m_handle, defaultValue);
   }
 
   /**
@@ -333,7 +333,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultBooleanArray(std::span<const int> defaultValue) {
-    return nt::SetDefaultBooleanArray(m_handle, defaultValue);
+    return wpi::nt::SetDefaultBooleanArray(m_handle, defaultValue);
   }
 
   /**
@@ -343,7 +343,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultIntegerArray(std::span<const int64_t> defaultValue) {
-    return nt::SetDefaultIntegerArray(m_handle, defaultValue);
+    return wpi::nt::SetDefaultIntegerArray(m_handle, defaultValue);
   }
 
   /**
@@ -353,7 +353,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultFloatArray(std::span<const float> defaultValue) {
-    return nt::SetDefaultFloatArray(m_handle, defaultValue);
+    return wpi::nt::SetDefaultFloatArray(m_handle, defaultValue);
   }
 
   /**
@@ -363,7 +363,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultDoubleArray(std::span<const double> defaultValue) {
-    return nt::SetDefaultDoubleArray(m_handle, defaultValue);
+    return wpi::nt::SetDefaultDoubleArray(m_handle, defaultValue);
   }
 
   /**
@@ -373,7 +373,7 @@ class NetworkTableEntry final {
    * @return True if the entry did not already have a value, otherwise False
    */
   bool SetDefaultStringArray(std::span<const std::string> defaultValue) {
-    return nt::SetDefaultStringArray(m_handle, defaultValue);
+    return wpi::nt::SetDefaultStringArray(m_handle, defaultValue);
   }
 
   /**
@@ -388,73 +388,73 @@ class NetworkTableEntry final {
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBoolean(bool value, int64_t time = 0) {
-    return nt::SetBoolean(m_handle, value, time);
+    return wpi::nt::SetBoolean(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetInteger(int64_t value, int64_t time = 0) {
-    return nt::SetInteger(m_handle, value, time);
+    return wpi::nt::SetInteger(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetFloat(float value, int64_t time = 0) {
-    return nt::SetFloat(m_handle, value, time);
+    return wpi::nt::SetFloat(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetDouble(double value, int64_t time = 0) {
-    return nt::SetDouble(m_handle, value, time);
+    return wpi::nt::SetDouble(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetString(std::string_view value, int64_t time = 0) {
-    return nt::SetString(m_handle, value, time);
+    return wpi::nt::SetString(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetRaw(std::span<const uint8_t> value, int64_t time = 0) {
-    return nt::SetRaw(m_handle, value, time);
+    return wpi::nt::SetRaw(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBooleanArray(std::span<const bool> value, int64_t time = 0) {
@@ -465,69 +465,69 @@ class NetworkTableEntry final {
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetBooleanArray(std::span<const int> value, int64_t time = 0) {
-    return nt::SetBooleanArray(m_handle, value, time);
+    return wpi::nt::SetBooleanArray(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetIntegerArray(std::span<const int64_t> value, int64_t time = 0) {
-    return nt::SetIntegerArray(m_handle, value, time);
+    return wpi::nt::SetIntegerArray(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetFloatArray(std::span<const float> value, int64_t time = 0) {
-    return nt::SetFloatArray(m_handle, value, time);
+    return wpi::nt::SetFloatArray(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetDoubleArray(std::span<const double> value, int64_t time = 0) {
-    return nt::SetDoubleArray(m_handle, value, time);
+    return wpi::nt::SetDoubleArray(m_handle, value, time);
   }
 
   /**
    * Sets the entry's value.
    *
    * @param value the value to set
-   * @param time the timestamp to set (0 = nt::Now())
+   * @param time the timestamp to set (0 = wpi::nt::Now())
    * @return False if the entry exists with a different type
    */
   bool SetStringArray(std::span<const std::string> value, int64_t time = 0) {
-    return nt::SetStringArray(m_handle, value, time);
+    return wpi::nt::SetStringArray(m_handle, value, time);
   }
 
   /**
    * Make value persistent through program restarts.
    */
   void SetPersistent() {
-    nt::SetTopicPersistent(nt::GetTopicFromHandle(m_handle), true);
+    wpi::nt::SetTopicPersistent(wpi::nt::GetTopicFromHandle(m_handle), true);
   }
 
   /**
    * Stop making value persistent through program restarts.
    */
   void ClearPersistent() {
-    nt::SetTopicPersistent(nt::GetTopicFromHandle(m_handle), false);
+    wpi::nt::SetTopicPersistent(wpi::nt::GetTopicFromHandle(m_handle), false);
   }
 
   /**
@@ -536,13 +536,13 @@ class NetworkTableEntry final {
    * @return True if the value is persistent.
    */
   bool IsPersistent() const {
-    return nt::GetTopicPersistent(nt::GetTopicFromHandle(m_handle));
+    return wpi::nt::GetTopicPersistent(wpi::nt::GetTopicFromHandle(m_handle));
   }
 
   /**
    * Stops publishing the entry if it's been published.
    */
-  void Unpublish() { return nt::Unpublish(m_handle); }
+  void Unpublish() { return wpi::nt::Unpublish(m_handle); }
 
   /**
    * Gets the entry's topic.
@@ -562,4 +562,4 @@ class NetworkTableEntry final {
   NT_Entry m_handle{0};
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
index fd3ec015c0..eab900ff8b 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/protobuf/Protobuf.hpp"
 #include "wpi/util/struct/Struct.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class BooleanArrayTopic;
 class BooleanTopic;
@@ -29,16 +29,16 @@ class FloatTopic;
 class IntegerArrayTopic;
 class IntegerTopic;
 class MultiSubscriber;
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayTopic;
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructTopic;
 class Subscriber;
 class Topic;
@@ -255,7 +255,7 @@ class NetworkTableInstance final {
    * @param name topic name
    * @return Topic
    */
-  template <wpi::ProtobufSerializable T>
+  template <wpi::util::ProtobufSerializable T>
   ProtobufTopic<T> GetProtobufTopic(std::string_view name) const {
     return ProtobufTopic<T>{GetTopic(name)};
   }
@@ -268,7 +268,7 @@ class NetworkTableInstance final {
    * @return Topic
    */
   template <typename T, typename... I>
-    requires wpi::StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   StructTopic<T, I...> GetStructTopic(std::string_view name, I... info) const {
     return StructTopic<T, I...>{GetTopic(name), std::move(info)...};
   }
@@ -281,7 +281,7 @@ class NetworkTableInstance final {
    * @return Topic
    */
   template <typename T, typename... I>
-    requires wpi::StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   StructArrayTopic<T, I...> GetStructArrayTopic(std::string_view name,
                                                 I... info) const {
     return StructArrayTopic<T, I...>{GetTopic(name), std::move(info)...};
@@ -295,7 +295,7 @@ class NetworkTableInstance final {
    * @return Array of topics.
    */
   std::vector<Topic> GetTopics() {
-    auto handles = ::nt::GetTopics(m_handle, "", 0);
+    auto handles = ::wpi::nt::GetTopics(m_handle, "", 0);
     return {handles.begin(), handles.end()};
   }
 
@@ -310,7 +310,7 @@ class NetworkTableInstance final {
    * @return Array of topics.
    */
   std::vector<Topic> GetTopics(std::string_view prefix) {
-    auto handles = ::nt::GetTopics(m_handle, prefix, 0);
+    auto handles = ::wpi::nt::GetTopics(m_handle, prefix, 0);
     return {handles.begin(), handles.end()};
   }
 
@@ -327,7 +327,7 @@ class NetworkTableInstance final {
    * @return Array of topics.
    */
   std::vector<Topic> GetTopics(std::string_view prefix, unsigned int types) {
-    auto handles = ::nt::GetTopics(m_handle, prefix, types);
+    auto handles = ::wpi::nt::GetTopics(m_handle, prefix, types);
     return {handles.begin(), handles.end()};
   }
 
@@ -344,7 +344,7 @@ class NetworkTableInstance final {
    */
   std::vector<Topic> GetTopics(std::string_view prefix,
                                std::span<std::string_view> types) {
-    auto handles = ::nt::GetTopics(m_handle, prefix, types);
+    auto handles = ::wpi::nt::GetTopics(m_handle, prefix, types);
     return {handles.begin(), handles.end()};
   }
 
@@ -356,7 +356,7 @@ class NetworkTableInstance final {
    * @return Array of topic information.
    */
   std::vector<TopicInfo> GetTopicInfo() {
-    return ::nt::GetTopicInfo(m_handle, "", 0);
+    return ::wpi::nt::GetTopicInfo(m_handle, "", 0);
   }
 
   /**
@@ -371,7 +371,7 @@ class NetworkTableInstance final {
    * @return Array of topic information.
    */
   std::vector<TopicInfo> GetTopicInfo(std::string_view prefix) {
-    return ::nt::GetTopicInfo(m_handle, prefix, 0);
+    return ::wpi::nt::GetTopicInfo(m_handle, prefix, 0);
   }
 
   /**
@@ -389,7 +389,7 @@ class NetworkTableInstance final {
    */
   std::vector<TopicInfo> GetTopicInfo(std::string_view prefix,
                                       unsigned int types) {
-    return ::nt::GetTopicInfo(m_handle, prefix, types);
+    return ::wpi::nt::GetTopicInfo(m_handle, prefix, types);
   }
 
   /**
@@ -406,7 +406,7 @@ class NetworkTableInstance final {
    */
   std::vector<TopicInfo> GetTopicInfo(std::string_view prefix,
                                       std::span<std::string_view> types) {
-    return ::nt::GetTopicInfo(m_handle, prefix, types);
+    return ::wpi::nt::GetTopicInfo(m_handle, prefix, types);
   }
 
   /**
@@ -416,7 +416,7 @@ class NetworkTableInstance final {
    * @return Network table entry.
    */
   NetworkTableEntry GetEntry(std::string_view name) {
-    return NetworkTableEntry{::nt::GetEntry(m_handle, name)};
+    return NetworkTableEntry{::wpi::nt::GetEntry(m_handle, name)};
   }
 
   /**
@@ -438,7 +438,7 @@ class NetworkTableInstance final {
    * @param listener Listener handle to remove
    */
   static void RemoveListener(NT_Listener listener) {
-    ::nt::RemoveListener(listener);
+    ::wpi::nt::RemoveListener(listener);
   }
 
   /**
@@ -452,7 +452,7 @@ class NetworkTableInstance final {
    * @return False if timed out, otherwise true.
    */
   bool WaitForListenerQueue(double timeout) {
-    return ::nt::WaitForListenerQueue(m_handle, timeout);
+    return ::wpi::nt::WaitForListenerQueue(m_handle, timeout);
   }
 
   /**
@@ -466,7 +466,7 @@ class NetworkTableInstance final {
    */
   NT_Listener AddConnectionListener(bool immediate_notify,
                                     ListenerCallback callback) const {
-    return ::nt::AddListener(
+    return ::wpi::nt::AddListener(
         m_handle,
         NT_EVENT_CONNECTION | (immediate_notify ? NT_EVENT_IMMEDIATE : 0),
         std::move(callback));
@@ -485,7 +485,7 @@ class NetworkTableInstance final {
    */
   NT_Listener AddTimeSyncListener(bool immediate_notify,
                                   ListenerCallback callback) const {
-    return ::nt::AddListener(
+    return ::wpi::nt::AddListener(
         m_handle,
         NT_EVENT_TIMESYNC | (immediate_notify ? NT_EVENT_IMMEDIATE : 0),
         std::move(callback));
@@ -566,7 +566,7 @@ class NetworkTableInstance final {
    */
   NT_Listener AddListener(std::span<const std::string_view> prefixes,
                           int eventMask, ListenerCallback listener) {
-    return ::nt::AddListener(m_handle, prefixes, eventMask,
+    return ::wpi::nt::AddListener(m_handle, prefixes, eventMask,
                              std::move(listener));
   }
 
@@ -582,20 +582,20 @@ class NetworkTableInstance final {
    *
    * @return Bitmask of NetworkMode.
    */
-  unsigned int GetNetworkMode() const { return ::nt::GetNetworkMode(m_handle); }
+  unsigned int GetNetworkMode() const { return ::wpi::nt::GetNetworkMode(m_handle); }
 
   /**
    * Starts local-only operation.  Prevents calls to StartServer or StartClient
    * from taking effect.  Has no effect if StartServer or StartClient
    * has already been called.
    */
-  void StartLocal() { ::nt::StartLocal(m_handle); }
+  void StartLocal() { ::wpi::nt::StartLocal(m_handle); }
 
   /**
    * Stops local-only operation.  StartServer or StartClient can be called after
    * this call to start a server or client.
    */
-  void StopLocal() { ::nt::StopLocal(m_handle); }
+  void StopLocal() { ::wpi::nt::StopLocal(m_handle); }
 
   /**
    * Starts a server using the specified filename, listening address, and port.
@@ -610,13 +610,13 @@ class NetworkTableInstance final {
   void StartServer(std::string_view persist_filename = "networktables.json",
                    const char* listen_address = "",
                    unsigned int port = kDefaultPort) {
-    ::nt::StartServer(m_handle, persist_filename, listen_address, port);
+    ::wpi::nt::StartServer(m_handle, persist_filename, listen_address, port);
   }
 
   /**
    * Stops the server if it is running.
    */
-  void StopServer() { ::nt::StopServer(m_handle); }
+  void StopServer() { ::wpi::nt::StopServer(m_handle); }
 
   /**
    * Starts a client.  Use SetServer or SetServerTeam to set the server name
@@ -625,13 +625,13 @@ class NetworkTableInstance final {
    * @param identity  network identity to advertise (cannot be empty string)
    */
   void StartClient(std::string_view identity) {
-    ::nt::StartClient(m_handle, identity);
+    ::wpi::nt::StartClient(m_handle, identity);
   }
 
   /**
    * Stops the client if it is running.
    */
-  void StopClient() { ::nt::StopClient(m_handle); }
+  void StopClient() { ::wpi::nt::StopClient(m_handle); }
 
   /**
    * Sets server address and port for client (without restarting client).
@@ -640,7 +640,7 @@ class NetworkTableInstance final {
    * @param port        port to communicate over (0 = default)
    */
   void SetServer(std::string_view server_name, unsigned int port = 0) {
-    ::nt::SetServer(m_handle, server_name, port);
+    ::wpi::nt::SetServer(m_handle, server_name, port);
   }
 
   /**
@@ -651,7 +651,7 @@ class NetworkTableInstance final {
    */
   void SetServer(
       std::span<const std::pair<std::string_view, unsigned int>> servers) {
-    ::nt::SetServer(m_handle, servers);
+    ::wpi::nt::SetServer(m_handle, servers);
   }
 
   /**
@@ -672,14 +672,14 @@ class NetworkTableInstance final {
    * @param port        port to communicate over (0 = default)
    */
   void SetServerTeam(unsigned int team, unsigned int port = 0) {
-    ::nt::SetServerTeam(m_handle, team, port);
+    ::wpi::nt::SetServerTeam(m_handle, team, port);
   }
 
   /**
    * Disconnects the client if it's running and connected. This will
    * automatically start reconnection attempts to the current server list.
    */
-  void Disconnect() { ::nt::Disconnect(m_handle); }
+  void Disconnect() { ::wpi::nt::Disconnect(m_handle); }
 
   /**
    * Starts requesting server address from Driver Station.
@@ -689,19 +689,19 @@ class NetworkTableInstance final {
    * @param port server port to use in combination with IP from DS (0 = default)
    */
   void StartDSClient(unsigned int port = 0) {
-    ::nt::StartDSClient(m_handle, port);
+    ::wpi::nt::StartDSClient(m_handle, port);
   }
 
   /**
    * Stops requesting server address from Driver Station.
    */
-  void StopDSClient() { ::nt::StopDSClient(m_handle); }
+  void StopDSClient() { ::wpi::nt::StopDSClient(m_handle); }
 
   /**
    * Flushes all updated values immediately to the local client/server. This
    * does not flush to the network.
    */
-  void FlushLocal() const { ::nt::FlushLocal(m_handle); }
+  void FlushLocal() const { ::wpi::nt::FlushLocal(m_handle); }
 
   /**
    * Flushes all updated values immediately to the network.
@@ -709,7 +709,7 @@ class NetworkTableInstance final {
    * This is primarily useful for synchronizing network updates with
    * user code.
    */
-  void Flush() const { ::nt::Flush(m_handle); }
+  void Flush() const { ::wpi::nt::Flush(m_handle); }
 
   /**
    * Get information on the currently established network connections.
@@ -718,7 +718,7 @@ class NetworkTableInstance final {
    * @return array of connection information
    */
   std::vector<ConnectionInfo> GetConnections() const {
-    return ::nt::GetConnections(m_handle);
+    return ::wpi::nt::GetConnections(m_handle);
   }
 
   /**
@@ -726,7 +726,7 @@ class NetworkTableInstance final {
    *
    * @return True if connected.
    */
-  bool IsConnected() const { return ::nt::IsConnected(m_handle); }
+  bool IsConnected() const { return ::wpi::nt::IsConnected(m_handle); }
 
   /**
    * Get the time offset between server time and local time. Add this value to
@@ -740,14 +740,14 @@ class NetworkTableInstance final {
    * @return Time offset in microseconds (optional)
    */
   std::optional<int64_t> GetServerTimeOffset() const {
-    return ::nt::GetServerTimeOffset(m_handle);
+    return ::wpi::nt::GetServerTimeOffset(m_handle);
   }
 
   /** @} */
 
   /**
    * @{
-   * @name Data Logger Functions
+   * @name Data wpi::util::Logger Functions
    */
 
   /**
@@ -763,7 +763,7 @@ class NetworkTableInstance final {
   NT_DataLogger StartEntryDataLog(wpi::log::DataLog& log,
                                   std::string_view prefix,
                                   std::string_view logPrefix) {
-    return ::nt::StartEntryDataLog(m_handle, log, prefix, logPrefix);
+    return ::wpi::nt::StartEntryDataLog(m_handle, log, prefix, logPrefix);
   }
 
   /**
@@ -772,7 +772,7 @@ class NetworkTableInstance final {
    * @param logger data logger handle
    */
   static void StopEntryDataLog(NT_DataLogger logger) {
-    ::nt::StopEntryDataLog(logger);
+    ::wpi::nt::StopEntryDataLog(logger);
   }
 
   /**
@@ -785,7 +785,7 @@ class NetworkTableInstance final {
    */
   NT_ConnectionDataLogger StartConnectionDataLog(wpi::log::DataLog& log,
                                                  std::string_view name) {
-    return ::nt::StartConnectionDataLog(m_handle, log, name);
+    return ::wpi::nt::StartConnectionDataLog(m_handle, log, name);
   }
 
   /**
@@ -794,14 +794,14 @@ class NetworkTableInstance final {
    * @param logger data logger handle
    */
   static void StopConnectionDataLog(NT_ConnectionDataLogger logger) {
-    ::nt::StopConnectionDataLog(logger);
+    ::wpi::nt::StopConnectionDataLog(logger);
   }
 
   /** @} */
 
   /**
    * @{
-   * @name Logger Functions
+   * @name wpi::util::Logger Functions
    */
 
   /**
@@ -818,7 +818,7 @@ class NetworkTableInstance final {
    */
   NT_Listener AddLogger(unsigned int minLevel, unsigned int maxLevel,
                         ListenerCallback func) {
-    return ::nt::AddLogger(m_handle, minLevel, maxLevel, std::move(func));
+    return ::wpi::nt::AddLogger(m_handle, minLevel, maxLevel, std::move(func));
   }
 
   /** @} */
@@ -838,7 +838,7 @@ class NetworkTableInstance final {
    * @return True if schema already registered
    */
   bool HasSchema(std::string_view name) const {
-    return ::nt::HasSchema(m_handle, name);
+    return ::wpi::nt::HasSchema(m_handle, name);
   }
 
   /**
@@ -857,7 +857,7 @@ class NetworkTableInstance final {
    */
   void AddSchema(std::string_view name, std::string_view type,
                  std::span<const uint8_t> schema) {
-    ::nt::AddSchema(m_handle, name, type, schema);
+    ::wpi::nt::AddSchema(m_handle, name, type, schema);
   }
 
   /**
@@ -876,7 +876,7 @@ class NetworkTableInstance final {
    */
   void AddSchema(std::string_view name, std::string_view type,
                  std::string_view schema) {
-    ::nt::AddSchema(m_handle, name, type, schema);
+    ::wpi::nt::AddSchema(m_handle, name, type, schema);
   }
 
 // Suppress unused-lambda-capture warning on AddSchema() call
@@ -892,8 +892,8 @@ class NetworkTableInstance final {
    * @tparam T protobuf serializable type
    * @param msg protobuf message
    */
-  template <wpi::ProtobufSerializable T>
-  void AddProtobufSchema(wpi::ProtobufMessage<T>& msg) {
+  template <wpi::util::ProtobufSerializable T>
+  void AddProtobufSchema(wpi::util::ProtobufMessage<T>& msg) {
     msg.ForEachProtobufDescriptor(
         [this](auto typeString) { return HasSchema(typeString); },
         [this](auto typeString, auto schema) {
@@ -909,9 +909,9 @@ class NetworkTableInstance final {
    * @param info optional struct type info
    */
   template <typename T, typename... I>
-    requires wpi::StructSerializable<T, I...>
+    requires wpi::util::StructSerializable<T, I...>
   void AddStructSchema(const I&... info) {
-    wpi::ForEachStructSchema<T>(
+    wpi::util::ForEachStructSchema<T>(
         [this](auto typeString, auto schema) {
           AddSchema(typeString, "structschema", schema);
         },
@@ -933,4 +933,4 @@ class NetworkTableInstance final {
   NT_Inst m_handle{0};
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
index 6f989048a8..244423c325 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
@@ -15,7 +15,7 @@
 #include "wpi/nt/Topic.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class MultiSubscriber;
 class NetworkTableEntry;
@@ -47,7 +47,7 @@ class NetworkTableListener final {
   static NetworkTableListener CreateListener(
       NetworkTableInstance inst, std::span<const std::string_view> prefixes,
       unsigned int mask, ListenerCallback listener) {
-    return NetworkTableListener{::nt::AddListener(inst.GetHandle(), prefixes,
+    return NetworkTableListener{::wpi::nt::AddListener(inst.GetHandle(), prefixes,
                                                   mask, std::move(listener))};
   }
 
@@ -63,7 +63,7 @@ class NetworkTableListener final {
   static NetworkTableListener CreateListener(Topic topic, unsigned int mask,
                                              ListenerCallback listener) {
     return NetworkTableListener{
-        nt::AddListener(topic.GetHandle(), mask, std::move(listener))};
+        wpi::nt::AddListener(topic.GetHandle(), mask, std::move(listener))};
   }
 
   /**
@@ -79,7 +79,7 @@ class NetworkTableListener final {
                                              unsigned int mask,
                                              ListenerCallback listener) {
     return NetworkTableListener{
-        ::nt::AddListener(subscriber.GetHandle(), mask, std::move(listener))};
+        ::wpi::nt::AddListener(subscriber.GetHandle(), mask, std::move(listener))};
   }
 
   /**
@@ -95,7 +95,7 @@ class NetworkTableListener final {
                                              unsigned int mask,
                                              ListenerCallback listener) {
     return NetworkTableListener{
-        ::nt::AddListener(subscriber.GetHandle(), mask, std::move(listener))};
+        ::wpi::nt::AddListener(subscriber.GetHandle(), mask, std::move(listener))};
   }
 
   /**
@@ -110,7 +110,7 @@ class NetworkTableListener final {
                                              unsigned int mask,
                                              ListenerCallback listener) {
     return NetworkTableListener{
-        ::nt::AddListener(entry.GetHandle(), mask, std::move(listener))};
+        ::wpi::nt::AddListener(entry.GetHandle(), mask, std::move(listener))};
   }
 
   /**
@@ -124,7 +124,7 @@ class NetworkTableListener final {
   static NetworkTableListener CreateConnectionListener(
       NetworkTableInstance inst, bool immediate_notify,
       ListenerCallback listener) {
-    return NetworkTableListener{::nt::AddListener(
+    return NetworkTableListener{::wpi::nt::AddListener(
         inst.GetHandle(),
         NT_EVENT_CONNECTION | (immediate_notify ? NT_EVENT_IMMEDIATE : 0),
         std::move(listener))};
@@ -142,7 +142,7 @@ class NetworkTableListener final {
   static NetworkTableListener CreateTimeSyncListener(
       NetworkTableInstance inst, bool immediate_notify,
       ListenerCallback listener) {
-    return NetworkTableListener{::nt::AddListener(
+    return NetworkTableListener{::wpi::nt::AddListener(
         inst.GetHandle(),
         NT_EVENT_TIMESYNC | (immediate_notify ? NT_EVENT_IMMEDIATE : 0),
         std::move(listener))};
@@ -166,7 +166,7 @@ class NetworkTableListener final {
                                            unsigned int minLevel,
                                            unsigned int maxLevel,
                                            ListenerCallback listener) {
-    return NetworkTableListener{::nt::AddLogger(inst.GetHandle(), minLevel,
+    return NetworkTableListener{::wpi::nt::AddLogger(inst.GetHandle(), minLevel,
                                                 maxLevel, std::move(listener))};
   }
 
@@ -179,7 +179,7 @@ class NetworkTableListener final {
 
   NetworkTableListener& operator=(NetworkTableListener&& rhs) {
     if (m_handle != 0) {
-      nt::RemoveListener(m_handle);
+      wpi::nt::RemoveListener(m_handle);
     }
     m_handle = rhs.m_handle;
     rhs.m_handle = 0;
@@ -188,7 +188,7 @@ class NetworkTableListener final {
 
   ~NetworkTableListener() {
     if (m_handle != 0) {
-      nt::RemoveListener(m_handle);
+      wpi::nt::RemoveListener(m_handle);
     }
   }
 
@@ -213,7 +213,7 @@ class NetworkTableListener final {
    */
   bool WaitForQueue(double timeout) {
     if (m_handle != 0) {
-      return nt::WaitForListenerQueue(m_handle, timeout);
+      return wpi::nt::WaitForListenerQueue(m_handle, timeout);
     } else {
       return false;
     }
@@ -240,7 +240,7 @@ class NetworkTableListenerPoller final {
    * @param inst Instance
    */
   explicit NetworkTableListenerPoller(NetworkTableInstance inst)
-      : m_handle(nt::CreateListenerPoller(inst.GetHandle())) {}
+      : m_handle(wpi::nt::CreateListenerPoller(inst.GetHandle())) {}
 
   NetworkTableListenerPoller(const NetworkTableListenerPoller&) = delete;
   NetworkTableListenerPoller& operator=(const NetworkTableListenerPoller&) =
@@ -253,7 +253,7 @@ class NetworkTableListenerPoller final {
 
   NetworkTableListenerPoller& operator=(NetworkTableListenerPoller&& rhs) {
     if (m_handle != 0) {
-      nt::DestroyListenerPoller(m_handle);
+      wpi::nt::DestroyListenerPoller(m_handle);
     }
     m_handle = rhs.m_handle;
     rhs.m_handle = 0;
@@ -262,7 +262,7 @@ class NetworkTableListenerPoller final {
 
   ~NetworkTableListenerPoller() {
     if (m_handle != 0) {
-      nt::DestroyListenerPoller(m_handle);
+      wpi::nt::DestroyListenerPoller(m_handle);
     }
   }
 
@@ -286,7 +286,7 @@ class NetworkTableListenerPoller final {
    */
   NT_Listener AddListener(std::span<const std::string_view> prefixes,
                           unsigned int mask) {
-    return nt::AddPolledListener(m_handle, prefixes, mask);
+    return wpi::nt::AddPolledListener(m_handle, prefixes, mask);
   }
 
   /**
@@ -298,7 +298,7 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddListener(Topic topic, unsigned int mask) {
-    return ::nt::AddPolledListener(m_handle, topic.GetHandle(), mask);
+    return ::wpi::nt::AddPolledListener(m_handle, topic.GetHandle(), mask);
   }
 
   /**
@@ -310,7 +310,7 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddListener(Subscriber& subscriber, unsigned int mask) {
-    return ::nt::AddPolledListener(m_handle, subscriber.GetHandle(), mask);
+    return ::wpi::nt::AddPolledListener(m_handle, subscriber.GetHandle(), mask);
   }
 
   /**
@@ -322,7 +322,7 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddListener(MultiSubscriber& subscriber, unsigned int mask) {
-    return ::nt::AddPolledListener(m_handle, subscriber.GetHandle(), mask);
+    return ::wpi::nt::AddPolledListener(m_handle, subscriber.GetHandle(), mask);
   }
 
   /**
@@ -333,7 +333,7 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddListener(NetworkTableEntry& entry, unsigned int mask) {
-    return ::nt::AddPolledListener(m_handle, entry.GetHandle(), mask);
+    return ::wpi::nt::AddPolledListener(m_handle, entry.GetHandle(), mask);
   }
 
   /**
@@ -345,8 +345,8 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddConnectionListener(bool immediate_notify) {
-    return ::nt::AddPolledListener(
-        m_handle, ::nt::GetInstanceFromHandle(m_handle),
+    return ::wpi::nt::AddPolledListener(
+        m_handle, ::wpi::nt::GetInstanceFromHandle(m_handle),
         NT_EVENT_CONNECTION | (immediate_notify ? NT_EVENT_IMMEDIATE : 0));
   }
 
@@ -361,8 +361,8 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddTimeSyncListener(bool immediate_notify) {
-    return ::nt::AddPolledListener(
-        m_handle, ::nt::GetInstanceFromHandle(m_handle),
+    return ::wpi::nt::AddPolledListener(
+        m_handle, ::wpi::nt::GetInstanceFromHandle(m_handle),
         NT_EVENT_TIMESYNC | (immediate_notify ? NT_EVENT_IMMEDIATE : 0));
   }
 
@@ -378,7 +378,7 @@ class NetworkTableListenerPoller final {
    * @return Listener handle
    */
   NT_Listener AddLogger(unsigned int minLevel, unsigned int maxLevel) {
-    return ::nt::AddPolledLogger(m_handle, minLevel, maxLevel);
+    return ::wpi::nt::AddPolledLogger(m_handle, minLevel, maxLevel);
   }
 
   /**
@@ -386,17 +386,17 @@ class NetworkTableListenerPoller final {
    *
    * @param listener Listener handle
    */
-  void RemoveListener(NT_Listener listener) { ::nt::RemoveListener(listener); }
+  void RemoveListener(NT_Listener listener) { ::wpi::nt::RemoveListener(listener); }
 
   /**
    * Read events.
    *
    * @return Events since the previous call to ReadQueue()
    */
-  std::vector<Event> ReadQueue() { return ::nt::ReadListenerQueue(m_handle); }
+  std::vector<Event> ReadQueue() { return ::wpi::nt::ReadListenerQueue(m_handle); }
 
  private:
   NT_ListenerPoller m_handle{0};
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
index df384346a0..7d3cd78b35 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace nt {
+namespace wpi::nt {
 
 /**
  * NetworkTable entry type.
@@ -39,4 +39,4 @@ enum class NetworkTableType {
   kFloatArray = NT_FLOAT_ARRAY
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
index 726643ecdc..b17a37d2db 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
@@ -18,7 +18,7 @@
 
 #include "wpi/nt/ntcore_c.h"
 
-namespace nt {
+namespace wpi::nt {
 
 // Forward declare here to avoid circular dependency on ntcore_cpp.h
 int64_t Now();
@@ -91,14 +91,14 @@ class Value final {
   /**
    * Get the creation time of the value, in local time.
    *
-   * @return The time, in the units returned by nt::Now().
+   * @return The time, in the units returned by wpi::nt::Now().
    */
   int64_t last_change() const { return m_val.last_change; }
 
   /**
    * Get the creation time of the value, in local time.
    *
-   * @return The time, in the units returned by nt::Now().
+   * @return The time, in the units returned by wpi::nt::Now().
    */
   int64_t time() const { return m_val.last_change; }
 
@@ -695,4 +695,4 @@ bool operator==(const Value& lhs, const Value& rhs);
  */
 using NetworkTableValue = Value;
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp b/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
index fdddb241e9..3b2e0a8a2f 100644
--- a/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
@@ -19,15 +19,15 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufTopic;
 
 /**
  * NetworkTables protobuf-encoded value subscriber.
  */
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufSubscriber : public Subscriber {
  public:
   using TopicType = ProtobufTopic<T>;
@@ -45,7 +45,7 @@ class ProtobufSubscriber : public Subscriber {
    * @param msg Protobuf message
    * @param defaultValue Default value
    */
-  ProtobufSubscriber(NT_Subscriber handle, wpi::ProtobufMessage<T> msg,
+  ProtobufSubscriber(NT_Subscriber handle, wpi::util::ProtobufMessage<T> msg,
                      T defaultValue)
       : Subscriber{handle},
         m_msg{std::move(msg)},
@@ -96,8 +96,8 @@ class ProtobufSubscriber : public Subscriber {
    * @return true if successful
    */
   bool GetInto(T* out) {
-    wpi::SmallVector<uint8_t, 128> buf;
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    wpi::util::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (view.value.empty()) {
       return false;
     } else {
@@ -124,8 +124,8 @@ class ProtobufSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(const T& defaultValue) const {
-    wpi::SmallVector<uint8_t, 128> buf;
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    wpi::util::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (!view.value.empty()) {
       std::scoped_lock lock{m_mutex};
       if (auto optval = m_msg.Unpack(view.value)) {
@@ -147,7 +147,7 @@ class ProtobufSubscriber : public Subscriber {
    *     have been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    auto raw = ::wpi::nt::ReadQueueRaw(m_subHandle);
     std::vector<TimestampedValueType> rv;
     rv.reserve(raw.size());
     std::scoped_lock lock{m_mutex};
@@ -165,19 +165,19 @@ class ProtobufSubscriber : public Subscriber {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return ProtobufTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
+    return ProtobufTopic<T>{::wpi::nt::GetTopicFromHandle(m_subHandle)};
   }
 
  private:
-  mutable wpi::mutex m_mutex;
-  mutable wpi::ProtobufMessage<T> m_msg;
+  mutable wpi::util::mutex m_mutex;
+  mutable wpi::util::ProtobufMessage<T> m_msg;
   ValueType m_defaultValue;
 };
 
 /**
  * NetworkTables protobuf-encoded value publisher.
  */
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufPublisher : public Publisher {
  public:
   using TopicType = ProtobufTopic<T>;
@@ -195,7 +195,7 @@ class ProtobufPublisher : public Publisher {
    * @param handle Native handle
    * @param msg Protobuf message
    */
-  explicit ProtobufPublisher(NT_Publisher handle, wpi::ProtobufMessage<T> msg)
+  explicit ProtobufPublisher(NT_Publisher handle, wpi::util::ProtobufMessage<T> msg)
       : Publisher{handle}, m_msg{std::move(msg)} {}
 
   ProtobufPublisher(const ProtobufPublisher&) = delete;
@@ -222,7 +222,7 @@ class ProtobufPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(const T& value, int64_t time = 0) {
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     {
       std::scoped_lock lock{m_mutex};
       if (!m_schemaPublished.exchange(true, std::memory_order_relaxed)) {
@@ -230,7 +230,7 @@ class ProtobufPublisher : public Publisher {
       }
       m_msg.Pack(buf, value);
     }
-    ::nt::SetRaw(m_pubHandle, buf, time);
+    ::wpi::nt::SetRaw(m_pubHandle, buf, time);
   }
 
   /**
@@ -241,7 +241,7 @@ class ProtobufPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(const T& value) {
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     {
       std::scoped_lock lock{m_mutex};
       if (!m_schemaPublished.exchange(true, std::memory_order_relaxed)) {
@@ -249,7 +249,7 @@ class ProtobufPublisher : public Publisher {
       }
       m_msg.Pack(buf, value);
     }
-    ::nt::SetDefaultRaw(m_pubHandle, buf);
+    ::wpi::nt::SetDefaultRaw(m_pubHandle, buf);
   }
 
   /**
@@ -258,12 +258,12 @@ class ProtobufPublisher : public Publisher {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return ProtobufTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
+    return ProtobufTopic<T>{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
   }
 
  private:
-  wpi::mutex m_mutex;
-  wpi::ProtobufMessage<T> m_msg;
+  wpi::util::mutex m_mutex;
+  wpi::util::ProtobufMessage<T> m_msg;
   std::atomic_bool m_schemaPublished{false};
 };
 
@@ -272,7 +272,7 @@ class ProtobufPublisher : public Publisher {
  *
  * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
  */
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufEntry final : public ProtobufSubscriber<T>,
                             public ProtobufPublisher<T> {
  public:
@@ -294,9 +294,9 @@ class ProtobufEntry final : public ProtobufSubscriber<T>,
    * @param msg Protobuf message
    * @param defaultValue Default value
    */
-  ProtobufEntry(NT_Entry handle, wpi::ProtobufMessage<T> msg, T defaultValue)
+  ProtobufEntry(NT_Entry handle, wpi::util::ProtobufMessage<T> msg, T defaultValue)
       : ProtobufSubscriber<T>{handle, std::move(msg), std::move(defaultValue)},
-        ProtobufPublisher<T>{handle, wpi::ProtobufMessage<T>{}} {}
+        ProtobufPublisher<T>{handle, wpi::util::ProtobufMessage<T>{}} {}
 
   /**
    * Determines if the native handle is valid.
@@ -318,19 +318,19 @@ class ProtobufEntry final : public ProtobufSubscriber<T>,
    * @return Topic
    */
   TopicType GetTopic() const {
-    return ProtobufTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
+    return ProtobufTopic<T>{::wpi::nt::GetTopicFromHandle(this->m_subHandle)};
   }
 
   /**
    * Stops publishing the entry if it's published.
    */
-  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+  void Unpublish() { ::wpi::nt::Unpublish(this->m_pubHandle); }
 };
 
 /**
  * NetworkTables protobuf-encoded value topic.
  */
-template <wpi::ProtobufSerializable T>
+template <wpi::util::ProtobufSerializable T>
 class ProtobufTopic final : public Topic {
  public:
   using SubscriberType = ProtobufSubscriber<T>;
@@ -375,10 +375,10 @@ class ProtobufTopic final : public Topic {
   [[nodiscard]]
   SubscriberType Subscribe(
       T defaultValue, const PubSubOptions& options = kDefaultPubSubOptions) {
-    wpi::ProtobufMessage<T> msg;
+    wpi::util::ProtobufMessage<T> msg;
     auto typeString = msg.GetTypeString();
     return ProtobufSubscriber<T>{
-        ::nt::Subscribe(m_handle, NT_RAW, typeString, options), std::move(msg),
+        ::wpi::nt::Subscribe(m_handle, NT_RAW, typeString, options), std::move(msg),
         std::move(defaultValue)};
   }
 
@@ -399,10 +399,10 @@ class ProtobufTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
-    wpi::ProtobufMessage<T> msg;
+    wpi::util::ProtobufMessage<T> msg;
     auto typeString = msg.GetTypeString();
     return ProtobufPublisher<T>{
-        ::nt::Publish(m_handle, NT_RAW, typeString, options), std::move(msg)};
+        ::wpi::nt::Publish(m_handle, NT_RAW, typeString, options), std::move(msg)};
   }
 
   /**
@@ -424,12 +424,12 @@ class ProtobufTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(
-      const wpi::json& properties,
+      const wpi::util::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions) {
-    wpi::ProtobufMessage<T> msg;
+    wpi::util::ProtobufMessage<T> msg;
     auto typeString = msg.GetTypeString();
     return ProtobufPublisher<T>{
-        ::nt::PublishEx(m_handle, NT_RAW, typeString, properties, options),
+        ::wpi::nt::PublishEx(m_handle, NT_RAW, typeString, properties, options),
         std::move(msg)};
   }
 
@@ -456,12 +456,12 @@ class ProtobufTopic final : public Topic {
   [[nodiscard]]
   EntryType GetEntry(T defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
-    wpi::ProtobufMessage<T> msg;
+    wpi::util::ProtobufMessage<T> msg;
     auto typeString = msg.GetTypeString();
     return ProtobufEntry<T>{
-        ::nt::GetEntry(m_handle, NT_RAW, typeString, options), std::move(msg),
+        ::wpi::nt::GetEntry(m_handle, NT_RAW, typeString, options), std::move(msg),
         std::move(defaultValue)};
   }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp b/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
index 17257eea13..50e91012f2 100644
--- a/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
@@ -23,19 +23,19 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/struct/Struct.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayTopic;
 
 /**
  * NetworkTables struct-encoded value array subscriber.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArraySubscriber : public Subscriber {
-  using S = wpi::Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   using TopicType = StructArrayTopic<T, I...>;
@@ -125,9 +125,9 @@ class StructArraySubscriber : public Subscriber {
              std::convertible_to<std::ranges::range_value_t<U>, T>
 #endif
   TimestampedValueType GetAtomic(U&& defaultValue) const {
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     size_t size = std::apply(S::GetSize, m_info);
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (view.value.size() == 0 || (view.value.size() % size) != 0) {
       return {0, 0, std::forward<U>(defaultValue)};
     }
@@ -154,9 +154,9 @@ class StructArraySubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(std::span<const T> defaultValue) const {
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     size_t size = std::apply(S::GetSize, m_info);
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (view.value.size() == 0 || (view.value.size() % size) != 0) {
       return {0, 0, {defaultValue.begin(), defaultValue.end()}};
     }
@@ -186,7 +186,7 @@ class StructArraySubscriber : public Subscriber {
    *     have been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    auto raw = ::wpi::nt::ReadQueueRaw(m_subHandle);
     std::vector<TimestampedValueType> rv;
     rv.reserve(raw.size());
     size_t size = std::apply(S::GetSize, m_info);
@@ -220,7 +220,7 @@ class StructArraySubscriber : public Subscriber {
     return std::apply(
         [&](const I&... info) {
           return StructArrayTopic<T, I...>{
-              ::nt::GetTopicFromHandle(m_subHandle), info...};
+              ::wpi::nt::GetTopicFromHandle(m_subHandle), info...};
         },
         m_info);
   }
@@ -235,9 +235,9 @@ class StructArraySubscriber : public Subscriber {
  * NetworkTables struct-encoded value array publisher.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayPublisher : public Publisher {
-  using S = wpi::Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   using TopicType = StructArrayTopic<T, I...>;
@@ -297,7 +297,7 @@ class StructArrayPublisher : public Publisher {
           }
           m_buf.Write(
               std::forward<U>(value),
-              [&](auto bytes) { ::nt::SetRaw(m_pubHandle, bytes, time); },
+              [&](auto bytes) { ::wpi::nt::SetRaw(m_pubHandle, bytes, time); },
               info...);
         },
         m_info);
@@ -317,7 +317,7 @@ class StructArrayPublisher : public Publisher {
           }
           m_buf.Write(
               value,
-              [&](auto bytes) { ::nt::SetRaw(m_pubHandle, bytes, time); },
+              [&](auto bytes) { ::wpi::nt::SetRaw(m_pubHandle, bytes, time); },
               info...);
         },
         m_info);
@@ -343,7 +343,7 @@ class StructArrayPublisher : public Publisher {
           }
           m_buf.Write(
               std::forward<U>(value),
-              [&](auto bytes) { ::nt::SetDefaultRaw(m_pubHandle, bytes); },
+              [&](auto bytes) { ::wpi::nt::SetDefaultRaw(m_pubHandle, bytes); },
               info...);
         },
         m_info);
@@ -364,7 +364,7 @@ class StructArrayPublisher : public Publisher {
           }
           m_buf.Write(
               value,
-              [&](auto bytes) { ::nt::SetDefaultRaw(m_pubHandle, bytes); },
+              [&](auto bytes) { ::wpi::nt::SetDefaultRaw(m_pubHandle, bytes); },
               info...);
         },
         m_info);
@@ -379,13 +379,13 @@ class StructArrayPublisher : public Publisher {
     return std::apply(
         [&](const I&... info) {
           return StructArrayTopic<T, I...>{
-              ::nt::GetTopicFromHandle(m_pubHandle), info...};
+              ::wpi::nt::GetTopicFromHandle(m_pubHandle), info...};
         },
         m_info);
   }
 
  private:
-  wpi::StructArrayBuffer<T, I...> m_buf;
+  wpi::util::StructArrayBuffer<T, I...> m_buf;
   std::atomic_bool m_schemaPublished{false};
   [[no_unique_address]]
   std::tuple<I...> m_info;
@@ -397,7 +397,7 @@ class StructArrayPublisher : public Publisher {
  * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayEntry final : public StructArraySubscriber<T, I...>,
                                public StructArrayPublisher<T, I...> {
  public:
@@ -455,14 +455,14 @@ class StructArrayEntry final : public StructArraySubscriber<T, I...>,
   /**
    * Stops publishing the entry if it's published.
    */
-  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+  void Unpublish() { ::wpi::nt::Unpublish(this->m_pubHandle); }
 };
 
 /**
  * NetworkTables struct-encoded value array topic.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructArrayTopic final : public Topic {
  public:
   using SubscriberType = StructArraySubscriber<T, I...>;
@@ -519,9 +519,9 @@ class StructArrayTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructArraySubscriber<T, I...>{
-              ::nt::Subscribe(
+              ::wpi::nt::Subscribe(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   options),
               defaultValue, info...};
@@ -551,9 +551,9 @@ class StructArrayTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructArraySubscriber<T, I...>{
-              ::nt::Subscribe(
+              ::wpi::nt::Subscribe(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   options),
               defaultValue, info...};
@@ -581,9 +581,9 @@ class StructArrayTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructArrayPublisher<T, I...>{
-              ::nt::Publish(
+              ::wpi::nt::Publish(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   options),
               info...};
@@ -610,14 +610,14 @@ class StructArrayTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(
-      const wpi::json& properties,
+      const wpi::util::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return std::apply(
         [&](const I&... info) {
           return StructArrayPublisher<T, I...>{
-              ::nt::PublishEx(
+              ::wpi::nt::PublishEx(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   properties, options),
               info...};
@@ -656,9 +656,9 @@ class StructArrayTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructArrayEntry<T, I...>{
-              ::nt::GetEntry(
+              ::wpi::nt::GetEntry(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   options),
               defaultValue, info...};
@@ -692,9 +692,9 @@ class StructArrayTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructArrayEntry<T, I...>{
-              ::nt::GetEntry(
+              ::wpi::nt::GetEntry(
                   m_handle, NT_RAW,
-                  wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(
+                  wpi::util::MakeStructArrayTypeString<T, std::dynamic_extent>(
                       info...),
                   options),
               defaultValue, info...};
@@ -707,4 +707,4 @@ class StructArrayTopic final : public Topic {
   std::tuple<I...> m_info;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp b/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
index 95ea213f94..ee7d22a470 100644
--- a/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
@@ -22,19 +22,19 @@
 #include "wpi/util/json_fwd.hpp"
 #include "wpi/util/struct/Struct.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructTopic;
 
 /**
  * NetworkTables struct-encoded value subscriber.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructSubscriber : public Subscriber {
-  using S = wpi::Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   using TopicType = StructTopic<T, I...>;
@@ -87,14 +87,14 @@ class StructSubscriber : public Subscriber {
    * @return true if successful
    */
   bool GetInto(T* out) {
-    wpi::SmallVector<uint8_t, 128> buf;
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    wpi::util::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (view.value.size() < std::apply(S::GetSize, m_info)) {
       return false;
     } else {
       std::apply(
           [&](const I&... info) {
-            wpi::UnpackStructInto(out, view.value, info...);
+            wpi::util::UnpackStructInto(out, view.value, info...);
           },
           m_info);
       return true;
@@ -119,8 +119,8 @@ class StructSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(const T& defaultValue) const {
-    wpi::SmallVector<uint8_t, 128> buf;
-    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    wpi::util::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::wpi::nt::GetAtomicRaw(m_subHandle, buf, {});
     if (view.value.size() < std::apply(S::GetSize, m_info)) {
       return {0, 0, defaultValue};
     } else {
@@ -144,7 +144,7 @@ class StructSubscriber : public Subscriber {
    *     have been published since the previous call.
    */
   std::vector<TimestampedValueType> ReadQueue() {
-    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    auto raw = ::wpi::nt::ReadQueueRaw(m_subHandle);
     std::vector<TimestampedValueType> rv;
     rv.reserve(raw.size());
     for (auto&& r : raw) {
@@ -171,7 +171,7 @@ class StructSubscriber : public Subscriber {
   TopicType GetTopic() const {
     return std::apply(
         [&](const I&... info) {
-          return StructTopic<T, I...>{::nt::GetTopicFromHandle(m_subHandle),
+          return StructTopic<T, I...>{::wpi::nt::GetTopicFromHandle(m_subHandle),
                                       info...};
         },
         m_info);
@@ -187,9 +187,9 @@ class StructSubscriber : public Subscriber {
  * NetworkTables struct-encoded value publisher.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructPublisher : public Publisher {
-  using S = wpi::Struct<T, I...>;
+  using S = wpi::util::Struct<T, I...>;
 
  public:
   using TopicType = StructTopic<T, I...>;
@@ -243,17 +243,17 @@ class StructPublisher : public Publisher {
           m_info);
     }
     if constexpr (sizeof...(I) == 0) {
-      if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      if constexpr (wpi::util::is_constexpr([] { S::GetSize(); })) {
         uint8_t buf[S::GetSize()];
         S::Pack(buf, value);
-        ::nt::SetRaw(m_pubHandle, buf, time);
+        ::wpi::nt::SetRaw(m_pubHandle, buf, time);
         return;
       }
     }
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     buf.resize_for_overwrite(std::apply(S::GetSize, m_info));
     std::apply([&](const I&... info) { S::Pack(buf, value, info...); }, m_info);
-    ::nt::SetRaw(m_pubHandle, buf, time);
+    ::wpi::nt::SetRaw(m_pubHandle, buf, time);
   }
 
   /**
@@ -272,17 +272,17 @@ class StructPublisher : public Publisher {
           m_info);
     }
     if constexpr (sizeof...(I) == 0) {
-      if constexpr (wpi::is_constexpr([] { S::GetSize(); })) {
+      if constexpr (wpi::util::is_constexpr([] { S::GetSize(); })) {
         uint8_t buf[S::GetSize()];
         S::Pack(buf, value);
-        ::nt::SetDefaultRaw(m_pubHandle, buf);
+        ::wpi::nt::SetDefaultRaw(m_pubHandle, buf);
         return;
       }
     }
-    wpi::SmallVector<uint8_t, 128> buf;
+    wpi::util::SmallVector<uint8_t, 128> buf;
     buf.resize_for_overwrite(std::apply(S::GetSize, m_info));
     std::apply([&](const I&... info) { S::Pack(buf, value, info...); }, m_info);
-    ::nt::SetDefaultRaw(m_pubHandle, buf);
+    ::wpi::nt::SetDefaultRaw(m_pubHandle, buf);
   }
 
   /**
@@ -293,7 +293,7 @@ class StructPublisher : public Publisher {
   TopicType GetTopic() const {
     return std::apply(
         [&](const I&... info) {
-          return StructTopic<T, I...>{::nt::GetTopicFromHandle(m_pubHandle),
+          return StructTopic<T, I...>{::wpi::nt::GetTopicFromHandle(m_pubHandle),
                                       info...};
         },
         m_info);
@@ -311,7 +311,7 @@ class StructPublisher : public Publisher {
  * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructEntry final : public StructSubscriber<T, I...>,
                           public StructPublisher<T, I...> {
  public:
@@ -361,14 +361,14 @@ class StructEntry final : public StructSubscriber<T, I...>,
   /**
    * Stops publishing the entry if it's published.
    */
-  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+  void Unpublish() { ::wpi::nt::Unpublish(this->m_pubHandle); }
 };
 
 /**
  * NetworkTables struct-encoded value topic.
  */
 template <typename T, typename... I>
-  requires wpi::StructSerializable<T, I...>
+  requires wpi::util::StructSerializable<T, I...>
 class StructTopic final : public Topic {
  public:
   using SubscriberType = StructSubscriber<T, I...>;
@@ -420,8 +420,8 @@ class StructTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructSubscriber<T, I...>{
-              ::nt::Subscribe(m_handle, NT_RAW,
-                              wpi::GetStructTypeString<T, I...>(info...),
+              ::wpi::nt::Subscribe(m_handle, NT_RAW,
+                              wpi::util::GetStructTypeString<T, I...>(info...),
                               options),
               std::move(defaultValue), info...};
         },
@@ -448,8 +448,8 @@ class StructTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructPublisher<T, I...>{
-              ::nt::Publish(m_handle, NT_RAW,
-                            wpi::GetStructTypeString<T, I...>(info...),
+              ::wpi::nt::Publish(m_handle, NT_RAW,
+                            wpi::util::GetStructTypeString<T, I...>(info...),
                             options),
               info...};
         },
@@ -475,13 +475,13 @@ class StructTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(
-      const wpi::json& properties,
+      const wpi::util::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return std::apply(
         [&](const I&... info) {
           return StructPublisher<T, I...>{
-              ::nt::PublishEx(m_handle, NT_RAW,
-                              wpi::GetStructTypeString<T, I...>(info...),
+              ::wpi::nt::PublishEx(m_handle, NT_RAW,
+                              wpi::util::GetStructTypeString<T, I...>(info...),
                               properties, options),
               info...};
         },
@@ -514,8 +514,8 @@ class StructTopic final : public Topic {
     return std::apply(
         [&](const I&... info) {
           return StructEntry<T, I...>{
-              ::nt::GetEntry(m_handle, NT_RAW,
-                             wpi::GetStructTypeString<T, I...>(info...),
+              ::wpi::nt::GetEntry(m_handle, NT_RAW,
+                             wpi::util::GetStructTypeString<T, I...>(info...),
                              options),
               std::move(defaultValue), info...};
         },
@@ -527,4 +527,4 @@ class StructTopic final : public Topic {
   std::tuple<I...> m_info;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/Topic.hpp b/ntcore/src/main/native/include/wpi/nt/Topic.hpp
index d8dcd7cd4c..fd2055d714 100644
--- a/ntcore/src/main/native/include/wpi/nt/Topic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/Topic.hpp
@@ -16,7 +16,7 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class GenericEntry;
 class GenericPublisher;
@@ -55,7 +55,7 @@ class Topic {
    *
    * @return the topic's name
    */
-  std::string GetName() const { return ::nt::GetTopicName(m_handle); }
+  std::string GetName() const { return ::wpi::nt::GetTopicName(m_handle); }
 
   /**
    * Gets the type of the topic.
@@ -63,7 +63,7 @@ class Topic {
    * @return the topic's type
    */
   NetworkTableType GetType() const {
-    return static_cast<NetworkTableType>(::nt::GetTopicType(m_handle));
+    return static_cast<NetworkTableType>(::wpi::nt::GetTopicType(m_handle));
   }
 
   /**
@@ -73,7 +73,7 @@ class Topic {
    * @return the topic's type
    */
   std::string GetTypeString() const {
-    return ::nt::GetTopicTypeString(m_handle);
+    return ::wpi::nt::GetTopicTypeString(m_handle);
   }
 
   /**
@@ -82,7 +82,7 @@ class Topic {
    * @param persistent True for persistent, false for not persistent.
    */
   void SetPersistent(bool persistent) {
-    ::nt::SetTopicPersistent(m_handle, persistent);
+    ::wpi::nt::SetTopicPersistent(m_handle, persistent);
   }
 
   /**
@@ -90,7 +90,7 @@ class Topic {
    *
    * @return True if the value is persistent.
    */
-  bool IsPersistent() const { return ::nt::GetTopicPersistent(m_handle); }
+  bool IsPersistent() const { return ::wpi::nt::GetTopicPersistent(m_handle); }
 
   /**
    * Make the server retain the topic even when there are no publishers.
@@ -98,7 +98,7 @@ class Topic {
    * @param retained True for retained, false for not retained.
    */
   void SetRetained(bool retained) {
-    ::nt::SetTopicRetained(m_handle, retained);
+    ::wpi::nt::SetTopicRetained(m_handle, retained);
   }
 
   /**
@@ -107,7 +107,7 @@ class Topic {
    *
    * @return True if the topic is retained.
    */
-  bool IsRetained() const { return ::nt::GetTopicRetained(m_handle); }
+  bool IsRetained() const { return ::wpi::nt::GetTopicRetained(m_handle); }
 
   /**
    * Allow storage of the topic's last value, allowing the value to be read (and
@@ -115,21 +115,21 @@ class Topic {
    *
    * @param cached True for cached, false for not cached.
    */
-  void SetCached(bool cached) { ::nt::SetTopicCached(m_handle, cached); }
+  void SetCached(bool cached) { ::wpi::nt::SetTopicCached(m_handle, cached); }
 
   /**
    * Returns whether the topic's last value is stored.
    *
    * @return True if the topic is cached.
    */
-  bool IsCached() const { return ::nt::GetTopicCached(m_handle); }
+  bool IsCached() const { return ::wpi::nt::GetTopicCached(m_handle); }
 
   /**
    * Determines if the topic is currently being published.
    *
    * @return True if the topic exists, false otherwise.
    */
-  bool Exists() const { return nt::GetTopicExists(m_handle); }
+  bool Exists() const { return wpi::nt::GetTopicExists(m_handle); }
 
   /**
    * Gets the current value of a property (as a JSON object).
@@ -137,7 +137,7 @@ class Topic {
    * @param name property name
    * @return JSON object; null object if the property does not exist.
    */
-  wpi::json GetProperty(std::string_view name) const;
+  wpi::util::json GetProperty(std::string_view name) const;
 
   /**
    * Sets a property value.
@@ -145,7 +145,7 @@ class Topic {
    * @param name property name
    * @param value property value
    */
-  void SetProperty(std::string_view name, const wpi::json& value);
+  void SetProperty(std::string_view name, const wpi::util::json& value);
 
   /**
    * Deletes a property.  Has no effect if the property does not exist.
@@ -153,7 +153,7 @@ class Topic {
    * @param name property name
    */
   void DeleteProperty(std::string_view name) {
-    ::nt::DeleteTopicProperty(m_handle, name);
+    ::wpi::nt::DeleteTopicProperty(m_handle, name);
   }
 
   /**
@@ -162,7 +162,7 @@ class Topic {
    *
    * @return JSON object
    */
-  wpi::json GetProperties() const;
+  wpi::util::json GetProperties() const;
 
   /**
    * Updates multiple topic properties.  Each key in the passed-in object is
@@ -173,8 +173,8 @@ class Topic {
    * @param properties JSON object with keys to add/update/delete
    * @return False if properties is not an object
    */
-  bool SetProperties(const wpi::json& properties) {
-    return ::nt::SetTopicProperties(m_handle, properties);
+  bool SetProperties(const wpi::util::json& properties) {
+    return ::wpi::nt::SetTopicProperties(m_handle, properties);
   }
 
   /**
@@ -182,7 +182,7 @@ class Topic {
    *
    * @return Topic information
    */
-  TopicInfo GetInfo() const { return ::nt::GetTopicInfo(m_handle); }
+  TopicInfo GetInfo() const { return ::wpi::nt::GetTopicInfo(m_handle); }
 
   /**
    * Create a new subscriber to the topic.
@@ -257,7 +257,7 @@ class Topic {
    */
   [[nodiscard]]
   GenericPublisher GenericPublishEx(
-      std::string_view typeString, const wpi::json& properties,
+      std::string_view typeString, const wpi::util::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
@@ -319,7 +319,7 @@ class Topic {
 /** NetworkTables subscriber. */
 class Subscriber {
  public:
-  virtual ~Subscriber() { ::nt::Release(m_subHandle); }
+  virtual ~Subscriber() { ::wpi::nt::Release(m_subHandle); }
 
   Subscriber(const Subscriber&) = delete;
   Subscriber& operator=(const Subscriber&) = delete;
@@ -330,7 +330,7 @@ class Subscriber {
 
   Subscriber& operator=(Subscriber&& rhs) {
     if (m_subHandle != 0) {
-      ::nt::Release(m_subHandle);
+      ::wpi::nt::Release(m_subHandle);
     }
     m_subHandle = rhs.m_subHandle;
     rhs.m_subHandle = 0;
@@ -356,7 +356,7 @@ class Subscriber {
    *
    * @return True if the topic exists, false otherwise.
    */
-  bool Exists() const { return nt::GetTopicExists(m_subHandle); }
+  bool Exists() const { return wpi::nt::GetTopicExists(m_subHandle); }
 
   /**
    * Gets the last time the value was changed.
@@ -366,7 +366,7 @@ class Subscriber {
    * @return Topic last change time
    */
   int64_t GetLastChange() const {
-    return ::nt::GetEntryLastChange(m_subHandle);
+    return ::wpi::nt::GetEntryLastChange(m_subHandle);
   }
 
   /**
@@ -375,7 +375,7 @@ class Subscriber {
    * @return Topic
    */
   Topic GetTopic() const {
-    return Topic{::nt::GetTopicFromHandle(m_subHandle)};
+    return Topic{::wpi::nt::GetTopicFromHandle(m_subHandle)};
   }
 
  protected:
@@ -391,7 +391,7 @@ class Subscriber {
 /** NetworkTables publisher. */
 class Publisher {
  public:
-  virtual ~Publisher() { ::nt::Release(m_pubHandle); }
+  virtual ~Publisher() { ::wpi::nt::Release(m_pubHandle); }
 
   Publisher(const Publisher&) = delete;
   Publisher& operator=(const Publisher&) = delete;
@@ -402,7 +402,7 @@ class Publisher {
 
   Publisher& operator=(Publisher&& rhs) {
     if (m_pubHandle != 0) {
-      ::nt::Release(m_pubHandle);
+      ::wpi::nt::Release(m_pubHandle);
     }
     m_pubHandle = rhs.m_pubHandle;
     rhs.m_pubHandle = 0;
@@ -429,7 +429,7 @@ class Publisher {
    * @return Topic
    */
   Topic GetTopic() const {
-    return Topic{::nt::GetTopicFromHandle(m_pubHandle)};
+    return Topic{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
   }
 
  protected:
@@ -443,4 +443,4 @@ class Publisher {
   void anchor();
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp b/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
index 1ed11525b0..cc9d99acea 100644
--- a/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
@@ -13,7 +13,7 @@
 #include "wpi/nt/ntcore_cpp.hpp"
 #include "wpi/util/json.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 template <typename T>
 class UnitTopic;
@@ -21,7 +21,7 @@ class UnitTopic;
 /**
  * Timestamped unit.
  *
- * @tparam T unit type, e.g. units::meter_t
+ * @tparam T unit type, e.g. wpi::units::meter_t
  */
 template <typename T>
 struct TimestampedUnit {
@@ -48,7 +48,7 @@ struct TimestampedUnit {
 /**
  * NetworkTables unit-typed subscriber.
  *
- * @tparam T unit type, e.g. units::meter_t
+ * @tparam T unit type, e.g. wpi::units::meter_t
  */
 template <typename T>
 class UnitSubscriber : public Subscriber {
@@ -86,7 +86,7 @@ class UnitSubscriber : public Subscriber {
    * @return value
    */
   ValueType Get(ParamType defaultValue) const {
-    return T{::nt::GetDouble(m_subHandle, defaultValue.value())};
+    return T{::wpi::nt::GetDouble(m_subHandle, defaultValue.value())};
   }
 
   /**
@@ -107,7 +107,7 @@ class UnitSubscriber : public Subscriber {
    * @return timestamped value
    */
   TimestampedValueType GetAtomic(ParamType defaultValue) const {
-    auto doubleVal = ::nt::GetAtomicDouble(m_subHandle, defaultValue.value());
+    auto doubleVal = ::wpi::nt::GetAtomicDouble(m_subHandle, defaultValue.value());
     return {doubleVal.time, doubleVal.serverTime, doubleVal.value};
   }
 
@@ -123,7 +123,7 @@ class UnitSubscriber : public Subscriber {
    */
   std::vector<TimestampedValueType> ReadQueue() {
     std::vector<TimestampedUnit<T>> vals;
-    auto doubleVals = ::nt::ReadQueueDouble(m_subHandle);
+    auto doubleVals = ::wpi::nt::ReadQueueDouble(m_subHandle);
     vals.reserve(doubleVals.size());
     for (auto&& val : doubleVals) {
       vals.emplace_back(val.time, val.serverTime, val.value);
@@ -136,7 +136,7 @@ class UnitSubscriber : public Subscriber {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return UnitTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
+    return UnitTopic<T>{::wpi::nt::GetTopicFromHandle(m_subHandle)};
   }
 
  private:
@@ -146,7 +146,7 @@ class UnitSubscriber : public Subscriber {
 /**
  * NetworkTables unit-typed publisher.
  *
- * @tparam T unit type, e.g. units::meter_t
+ * @tparam T unit type, e.g. wpi::units::meter_t
  */
 template <typename T>
 class UnitPublisher : public Publisher {
@@ -174,7 +174,7 @@ class UnitPublisher : public Publisher {
    * @param time timestamp; 0 indicates current NT time should be used
    */
   void Set(ParamType value, int64_t time = 0) {
-    ::nt::SetDouble(m_pubHandle, value.value(), time);
+    ::wpi::nt::SetDouble(m_pubHandle, value.value(), time);
   }
 
   /**
@@ -185,7 +185,7 @@ class UnitPublisher : public Publisher {
    * @param value value
    */
   void SetDefault(ParamType value) {
-    ::nt::SetDefaultDouble(m_pubHandle, value.value());
+    ::wpi::nt::SetDefaultDouble(m_pubHandle, value.value());
   }
 
   /**
@@ -194,7 +194,7 @@ class UnitPublisher : public Publisher {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return UnitTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
+    return UnitTopic<T>{::wpi::nt::GetTopicFromHandle(m_pubHandle)};
   }
 };
 
@@ -203,7 +203,7 @@ class UnitPublisher : public Publisher {
  *
  * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
  *
- * @tparam T unit type, e.g. units::meter_t
+ * @tparam T unit type, e.g. wpi::units::meter_t
  */
 template <typename T>
 class UnitEntry final : public UnitSubscriber<T>, public UnitPublisher<T> {
@@ -248,13 +248,13 @@ class UnitEntry final : public UnitSubscriber<T>, public UnitPublisher<T> {
    * @return Topic
    */
   TopicType GetTopic() const {
-    return UnitTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
+    return UnitTopic<T>{::wpi::nt::GetTopicFromHandle(this->m_subHandle)};
   }
 
   /**
    * Stops publishing the entry if it's published.
    */
-  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+  void Unpublish() { ::wpi::nt::Unpublish(this->m_pubHandle); }
 };
 
 /**
@@ -263,7 +263,7 @@ class UnitEntry final : public UnitSubscriber<T>, public UnitPublisher<T> {
  * correct behavior the publisher and subscriber must use the same unit type,
  * but this can be checked at runtime using IsMatchingUnit().
  *
- * @tparam T unit type, e.g. units::meter_t
+ * @tparam T unit type, e.g. wpi::units::meter_t
  */
 template <typename T>
 class UnitTopic final : public Topic {
@@ -320,7 +320,7 @@ class UnitTopic final : public Topic {
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return UnitSubscriber<T>{
-        ::nt::Subscribe(m_handle, NT_DOUBLE, "double", options), defaultValue};
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE, "double", options), defaultValue};
   }
 
   /**
@@ -344,7 +344,7 @@ class UnitTopic final : public Topic {
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions) {
     return UnitSubscriber<T>{
-        ::nt::Subscribe(m_handle, NT_DOUBLE, typeString, options),
+        ::wpi::nt::Subscribe(m_handle, NT_DOUBLE, typeString, options),
         defaultValue};
   }
 
@@ -365,7 +365,7 @@ class UnitTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
-    return UnitPublisher<T>{::nt::PublishEx(m_handle, NT_DOUBLE, "double",
+    return UnitPublisher<T>{::wpi::nt::PublishEx(m_handle, NT_DOUBLE, "double",
                                             {{"unit", T{}.name()}}, options)};
   }
 
@@ -389,12 +389,12 @@ class UnitTopic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(
-      std::string_view typeString, const wpi::json& properties,
+      std::string_view typeString, const wpi::util::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions) {
-    wpi::json props = properties;
+    wpi::util::json props = properties;
     props["unit"] = T{}.name();
     return UnitPublisher<T>{
-        ::nt::PublishEx(m_handle, NT_DOUBLE, typeString, props, options)};
+        ::wpi::nt::PublishEx(m_handle, NT_DOUBLE, typeString, props, options)};
   }
 
   /**
@@ -420,7 +420,7 @@ class UnitTopic final : public Topic {
   [[nodiscard]]
   EntryType GetEntry(ParamType defaultValue,
                      const PubSubOptions& options = kDefaultPubSubOptions) {
-    return UnitEntry<T>{::nt::GetEntry(m_handle, NT_DOUBLE, "double", options),
+    return UnitEntry<T>{::wpi::nt::GetEntry(m_handle, NT_DOUBLE, "double", options),
                         defaultValue};
   }
 
@@ -449,8 +449,8 @@ class UnitTopic final : public Topic {
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
                        const PubSubOptions& options = kDefaultPubSubOptions) {
     return UnitEntry<T>{
-        ::nt::GetEntry(m_handle, NT_DOUBLE, typeString, options), defaultValue};
+        ::wpi::nt::GetEntry(m_handle, NT_DOUBLE, typeString, options), defaultValue};
   }
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore_c.h b/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
index ad77fa76c7..75794081bd 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
@@ -198,7 +198,7 @@ struct NT_ConnectionInfo {
 
   /**
    * The last time any update was received from the remote node (same scale as
-   * returned by nt::Now()).
+   * returned by wpi::nt::Now()).
    */
   uint64_t last_update;
 
@@ -1364,7 +1364,7 @@ void NT_SetNow(int64_t timestamp);
 /** @} */
 
 /**
- * @defgroup ntcore_data_logger_cfunc Data Logger Functions
+ * @defgroup ntcore_data_logger_cfunc Data wpi::util::Logger Functions
  * @{
  */
 
@@ -1412,7 +1412,7 @@ void NT_StopConnectionDataLog(NT_ConnectionDataLogger logger);
 /** @} */
 
 /**
- * @defgroup ntcore_logger_cfunc Logger Functions
+ * @defgroup ntcore_logger_cfunc wpi::util::Logger Functions
  * @{
  */
 
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp b/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
index 86ff330694..64b3d6ac82 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
@@ -22,7 +22,7 @@
 #include "wpi/nt/ntcore_cpp_types.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 }  // namespace wpi
@@ -32,7 +32,7 @@ class DataLog;
 }  // namespace wpi::log
 
 /** NetworkTables (ntcore) namespace */
-namespace nt {
+namespace wpi::nt {
 
 /**
  * @defgroup ntcore_cpp_handle_api ntcore C++ API
@@ -103,7 +103,7 @@ struct TopicInfo {
   std::string properties;
 
   /** Get topic properties as a JSON object. */
-  wpi::json GetProperties() const;
+  wpi::util::json GetProperties() const;
 
   friend void swap(TopicInfo& first, TopicInfo& second) {
     using std::swap;
@@ -119,7 +119,7 @@ struct TopicInfo {
 struct ConnectionInfo {
   /**
    * The remote identifier (as set on the remote node by
-   * NetworkTableInstance::StartClient() or nt::StartClient()).
+   * NetworkTableInstance::StartClient() or wpi::nt::StartClient()).
    */
   std::string remote_id;
 
@@ -131,7 +131,7 @@ struct ConnectionInfo {
 
   /**
    * The last time any update was received from the remote node (same scale as
-   * returned by nt::Now()).
+   * returned by wpi::nt::Now()).
    */
   int64_t last_update{0};
 
@@ -733,7 +733,7 @@ bool GetTopicExists(NT_Handle handle);
  * @param name property name
  * @return JSON object; null object if the property does not exist.
  */
-wpi::json GetTopicProperty(NT_Topic topic, std::string_view name);
+wpi::util::json GetTopicProperty(NT_Topic topic, std::string_view name);
 
 /**
  * Sets a property value.
@@ -743,7 +743,7 @@ wpi::json GetTopicProperty(NT_Topic topic, std::string_view name);
  * @param value property value
  */
 void SetTopicProperty(NT_Topic topic, std::string_view name,
-                      const wpi::json& value);
+                      const wpi::util::json& value);
 
 /**
  * Deletes a property.  Has no effect if the property does not exist.
@@ -760,7 +760,7 @@ void DeleteTopicProperty(NT_Topic topic, std::string_view name);
  * @param topic topic handle
  * @return JSON object
  */
-wpi::json GetTopicProperties(NT_Topic topic);
+wpi::util::json GetTopicProperties(NT_Topic topic);
 
 /**
  * Updates multiple topic properties.  Each key in the passed-in object is
@@ -772,7 +772,7 @@ wpi::json GetTopicProperties(NT_Topic topic);
  * @param update JSON object with keys to add/update/delete
  * @return False if update is not a JSON object
  */
-bool SetTopicProperties(NT_Topic topic, const wpi::json& update);
+bool SetTopicProperties(NT_Topic topic, const wpi::util::json& update);
 
 /**
  * Creates a new subscriber to value changes on a topic.
@@ -816,7 +816,7 @@ NT_Publisher Publish(NT_Topic topic, NT_Type type, std::string_view typeStr,
  * @return Publisher handle
  */
 NT_Publisher PublishEx(NT_Topic topic, NT_Type type, std::string_view typeStr,
-                       const wpi::json& properties,
+                       const wpi::util::json& properties,
                        const PubSubOptions& options = kDefaultPubSubOptions);
 
 /**
@@ -1207,7 +1207,7 @@ std::optional<int64_t> GetServerTimeOffset(NT_Inst inst);
 /**
  * Returns monotonic current time in 1 us increments.
  * This is the same time base used for value and connection timestamps.
- * This function by default simply wraps wpi::Now(), but if SetNow() is
+ * This function by default simply wraps wpi::util::Now(), but if SetNow() is
  * called, this function instead returns the value passed to SetNow();
  * this can be used to reduce overhead.
  *
@@ -1219,8 +1219,8 @@ int64_t Now();
  * Sets the current timestamp used for timestamping values that do not
  * provide a timestamp (e.g. a value of 0 is passed).  For consistency,
  * it also results in Now() returning the set value.  This should generally
- * be used only if the overhead of calling wpi::Now() is a concern.
- * If used, it should be called periodically with the value of wpi::Now().
+ * be used only if the overhead of calling wpi::util::Now() is a concern.
+ * If used, it should be called periodically with the value of wpi::util::Now().
  *
  * @param timestamp timestamp (1 us increments)
  */
@@ -1245,7 +1245,7 @@ std::string_view GetStringFromType(NT_Type type);
 /** @} */
 
 /**
- * @defgroup ntcore_data_logger_func Data Logger Functions
+ * @defgroup ntcore_data_logger_func Data wpi::util::Logger Functions
  * @{
  */
 
@@ -1294,7 +1294,7 @@ void StopConnectionDataLog(NT_ConnectionDataLogger logger);
 /** @} */
 
 /**
- * @defgroup ntcore_logger_func Logger Functions
+ * @defgroup ntcore_logger_func wpi::util::Logger Functions
  * @{
  */
 
@@ -1322,7 +1322,7 @@ NT_Listener AddLogger(NT_Inst inst, unsigned int min_level,
  * @param poller        poller handle
  * @param min_level     minimum log level
  * @param max_level     maximum log level
- * @return Logger handle
+ * @return wpi::util::Logger handle
  */
 NT_Listener AddPolledLogger(NT_ListenerPoller poller, unsigned int min_level,
                             unsigned int max_level);
@@ -1505,4 +1505,4 @@ std::optional<std::vector<Client>> DecodeClients(std::span<const uint8_t> data);
 /** @} */
 
 }  // namespace meta
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/main/python/ntcore/src/NetworkTable.cpp.inl b/ntcore/src/main/python/ntcore/src/NetworkTable.cpp.inl
index 1c127232e1..0d9ff95d19 100644
--- a/ntcore/src/main/python/ntcore/src/NetworkTable.cpp.inl
+++ b/ntcore/src/main/python/ntcore/src/NetworkTable.cpp.inl
@@ -1,6 +1,6 @@
 cls_NetworkTable
     .def("getValue", [](const NetworkTable &self, std::string_view key, py::object defaultValue) -> py::object {
-        nt::NetworkTableEntry entry;
+        wpi::nt::NetworkTableEntry entry;
         {
             py::gil_scoped_release release;
             entry = self.GetEntry(key);
@@ -9,48 +9,48 @@ cls_NetworkTable
     }, py::arg("key"), py::arg("value"))
 
     // double overload must come before boolean version
-    .def("putValue", [](nt::NetworkTable *self, std::string_view key, double value) {
-        return self->PutValue(key, nt::Value::MakeDouble(value));
+    .def("putValue", [](wpi::nt::NetworkTable *self, std::string_view key, double value) {
+        return self->PutValue(key, wpi::nt::Value::MakeDouble(value));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("putValue", [](nt::NetworkTable *self, std::string_view key, bool value) {
-        return self->PutValue(key, nt::Value::MakeBoolean(value));
+    .def("putValue", [](wpi::nt::NetworkTable *self, std::string_view key, bool value) {
+        return self->PutValue(key, wpi::nt::Value::MakeBoolean(value));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("putValue", [](nt::NetworkTable *self, std::string_view key, py::bytes value) {
-        auto v = nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
+    .def("putValue", [](wpi::nt::NetworkTable *self, std::string_view key, py::bytes value) {
+        auto v = wpi::nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
         py::gil_scoped_release release;
         return self->PutValue(key, v);
     }, py::arg("key"), py::arg("value"))
-    .def("putValue", [](nt::NetworkTable *self, std::string_view key, std::string value) {
-        return self->PutValue(key, nt::Value::MakeString(std::move(value)));
+    .def("putValue", [](wpi::nt::NetworkTable *self, std::string_view key, std::string value) {
+        return self->PutValue(key, wpi::nt::Value::MakeString(std::move(value)));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("putValue", [](nt::NetworkTable *self, std::string_view key, py::sequence value) {
+    .def("putValue", [](wpi::nt::NetworkTable *self, std::string_view key, py::sequence value) {
         auto v = pyntcore::py2ntvalue(value);
         py::gil_scoped_release release;
         return self->PutValue(key, v);
     }, py::arg("key"), py::arg("value"))
 
     // double overload must come before boolean version
-    .def("setDefaultValue", [](nt::NetworkTable *self, std::string_view key, double value) {
-        return self->SetDefaultValue(key, nt::Value::MakeDouble(value));
+    .def("setDefaultValue", [](wpi::nt::NetworkTable *self, std::string_view key, double value) {
+        return self->SetDefaultValue(key, wpi::nt::Value::MakeDouble(value));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTable *self, std::string_view key, bool value) {
-        return self->SetDefaultValue(key, nt::Value::MakeBoolean(value));
+    .def("setDefaultValue", [](wpi::nt::NetworkTable *self, std::string_view key, bool value) {
+        return self->SetDefaultValue(key, wpi::nt::Value::MakeBoolean(value));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTable *self, std::string_view key, py::bytes value) {
-        auto v = nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
+    .def("setDefaultValue", [](wpi::nt::NetworkTable *self, std::string_view key, py::bytes value) {
+        auto v = wpi::nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
         py::gil_scoped_release release;
         return self->SetDefaultValue(key, v);
     }, py::arg("key"), py::arg("value"))
-    .def("setDefaultValue", [](nt::NetworkTable *self, std::string_view key, std::string value) {
-        return self->SetDefaultValue(key, nt::Value::MakeString(std::move(value)));
+    .def("setDefaultValue", [](wpi::nt::NetworkTable *self, std::string_view key, std::string value) {
+        return self->SetDefaultValue(key, wpi::nt::Value::MakeString(std::move(value)));
     }, py::arg("key"), py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTable *self, std::string_view key, py::sequence value) {
+    .def("setDefaultValue", [](wpi::nt::NetworkTable *self, std::string_view key, py::sequence value) {
         auto v = pyntcore::py2ntvalue(value);
         py::gil_scoped_release release;
         return self->SetDefaultValue(key, v);
     }, py::arg("key"), py::arg("value"))
 
-    .def("__contains__", [](const nt::NetworkTable &self, std::string_view key) -> bool {
+    .def("__contains__", [](const wpi::nt::NetworkTable &self, std::string_view key) -> bool {
         return self.ContainsKey(key);
     }, release_gil())
 ;
diff --git a/ntcore/src/main/python/ntcore/src/NetworkTableEntry.cpp.inl b/ntcore/src/main/python/ntcore/src/NetworkTableEntry.cpp.inl
index a0e0e60a0e..12ab7ab4f1 100644
--- a/ntcore/src/main/python/ntcore/src/NetworkTableEntry.cpp.inl
+++ b/ntcore/src/main/python/ntcore/src/NetworkTableEntry.cpp.inl
@@ -1,6 +1,6 @@
 cls_NetworkTableEntry
-    .def_property_readonly("value", [](const nt::NetworkTableEntry &self) {
-        nt::Value v;
+    .def_property_readonly("value", [](const wpi::nt::NetworkTableEntry &self) {
+        wpi::nt::Value v;
         {
             py::gil_scoped_release release;
             v = self.GetValue();
@@ -9,40 +9,40 @@ cls_NetworkTableEntry
     })
 
     // double overload must come before boolean version
-    .def("setValue", [](nt::NetworkTableEntry *self, double value) {
-        return self->SetValue(nt::Value::MakeDouble(value));
+    .def("setValue", [](wpi::nt::NetworkTableEntry *self, double value) {
+        return self->SetValue(wpi::nt::Value::MakeDouble(value));
     }, py::arg("value"), release_gil())
-    .def("setValue", [](nt::NetworkTableEntry *self, bool value) {
-        return self->SetValue(nt::Value::MakeBoolean(value));
+    .def("setValue", [](wpi::nt::NetworkTableEntry *self, bool value) {
+        return self->SetValue(wpi::nt::Value::MakeBoolean(value));
     }, py::arg("value"), release_gil())
-    .def("setValue", [](nt::NetworkTableEntry *self, py::bytes value) {
-        auto v = nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
+    .def("setValue", [](wpi::nt::NetworkTableEntry *self, py::bytes value) {
+        auto v = wpi::nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
         py::gil_scoped_release release;
         return self->SetValue(v);
     }, py::arg("value"))
-    .def("setValue", [](nt::NetworkTableEntry *self, std::string value) {
-        return self->SetValue(nt::Value::MakeString(value));
+    .def("setValue", [](wpi::nt::NetworkTableEntry *self, std::string value) {
+        return self->SetValue(wpi::nt::Value::MakeString(value));
     }, py::arg("value"), release_gil())
-    .def("setValue", [](nt::NetworkTableEntry *self, py::sequence value) {
+    .def("setValue", [](wpi::nt::NetworkTableEntry *self, py::sequence value) {
         return self->SetValue(pyntcore::py2ntvalue(value));
     }, py::arg("value"))
 
     // double overload must come before boolean version
-    .def("setDefaultValue", [](nt::NetworkTableEntry *self, double value) {
-        return self->SetDefaultValue(nt::Value::MakeDouble(value));
+    .def("setDefaultValue", [](wpi::nt::NetworkTableEntry *self, double value) {
+        return self->SetDefaultValue(wpi::nt::Value::MakeDouble(value));
     }, py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTableEntry *self, bool value) {
-        return self->SetDefaultValue(nt::Value::MakeBoolean(value));
+    .def("setDefaultValue", [](wpi::nt::NetworkTableEntry *self, bool value) {
+        return self->SetDefaultValue(wpi::nt::Value::MakeBoolean(value));
     }, py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTableEntry *self, py::bytes value) {
-        auto v = nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
+    .def("setDefaultValue", [](wpi::nt::NetworkTableEntry *self, py::bytes value) {
+        auto v = wpi::nt::Value::MakeRaw(value.cast<std::span<const uint8_t>>());
         py::gil_scoped_release release;
         return self->SetDefaultValue(v);
     }, py::arg("value"))
-    .def("setDefaultValue", [](nt::NetworkTableEntry *self, std::string value) {
-        return self->SetDefaultValue(nt::Value::MakeString(value));
+    .def("setDefaultValue", [](wpi::nt::NetworkTableEntry *self, std::string value) {
+        return self->SetDefaultValue(wpi::nt::Value::MakeString(value));
     }, py::arg("value"), release_gil())
-    .def("setDefaultValue", [](nt::NetworkTableEntry *self, py::sequence value) {
+    .def("setDefaultValue", [](wpi::nt::NetworkTableEntry *self, py::sequence value) {
         return self->SetDefaultValue(pyntcore::py2ntvalue(value));
     }, py::arg("value"))
 ;
diff --git a/ntcore/src/main/python/ntcore/src/nt_instance.cpp b/ntcore/src/main/python/ntcore/src/nt_instance.cpp
index f42cfd40a7..27eddf868c 100644
--- a/ntcore/src/main/python/ntcore/src/nt_instance.cpp
+++ b/ntcore/src/main/python/ntcore/src/nt_instance.cpp
@@ -9,24 +9,24 @@ static std::set<NT_Inst> g_known_instances;
 
 namespace pyntcore {
 
-void onInstanceStart(nt::NetworkTableInstance *instance) {
+void onInstanceStart(wpi::nt::NetworkTableInstance *instance) {
     g_known_instances.emplace(instance->GetHandle());
 
     py::module::import("ntcore._logutil")
         .attr("NtLogForwarder").attr("onInstanceStart")(instance);
 }
 
-void onInstancePreReset(nt::NetworkTableInstance *instance) {
+void onInstancePreReset(wpi::nt::NetworkTableInstance *instance) {
     py::module::import("ntcore._logutil")
         .attr("NtLogForwarder").attr("onInstanceDestroy")(instance);
 }
 
-void onInstancePostReset(nt::NetworkTableInstance *instance) {
+void onInstancePostReset(wpi::nt::NetworkTableInstance *instance) {
     py::module::import("ntcore.util")
         .attr("_NtProperty").attr("onInstancePostReset")(instance);
 }
 
-void onInstanceDestroy(nt::NetworkTableInstance *instance) {
+void onInstanceDestroy(wpi::nt::NetworkTableInstance *instance) {
     py::module::import("ntcore._logutil")
         .attr("NtLogForwarder").attr("onInstanceDestroy")(instance);
     py::module::import("ntcore.util")
@@ -43,12 +43,12 @@ void resetAllInstances()
     known_instances.swap(g_known_instances);
 
     // always reset the default instance
-    known_instances.emplace(nt::GetDefaultInstance());
+    known_instances.emplace(wpi::nt::GetDefaultInstance());
 
     py::gil_scoped_release unlock;
 
     for (auto &inst: known_instances) {
-        nt::ResetInstance(inst);
+        wpi::nt::ResetInstance(inst);
     }
 }
 
diff --git a/ntcore/src/main/python/ntcore/src/nt_instance.h b/ntcore/src/main/python/ntcore/src/nt_instance.h
index 7f93a8b625..087d9b2e21 100644
--- a/ntcore/src/main/python/ntcore/src/nt_instance.h
+++ b/ntcore/src/main/python/ntcore/src/nt_instance.h
@@ -6,10 +6,10 @@
 
 namespace pyntcore {
 
-void onInstanceStart(nt::NetworkTableInstance *instance);
-void onInstancePreReset(nt::NetworkTableInstance *instance);
-void onInstancePostReset(nt::NetworkTableInstance *instance);
-void onInstanceDestroy(nt::NetworkTableInstance *instance);
+void onInstanceStart(wpi::nt::NetworkTableInstance *instance);
+void onInstancePreReset(wpi::nt::NetworkTableInstance *instance);
+void onInstancePostReset(wpi::nt::NetworkTableInstance *instance);
+void onInstanceDestroy(wpi::nt::NetworkTableInstance *instance);
 
 void resetAllInstances();
 
diff --git a/ntcore/src/main/python/ntcore/src/py2value.cpp b/ntcore/src/main/python/ntcore/src/py2value.cpp
index 0634c40f6f..1dcb4a4bdf 100644
--- a/ntcore/src/main/python/ntcore/src/py2value.cpp
+++ b/ntcore/src/main/python/ntcore/src/py2value.cpp
@@ -41,7 +41,7 @@ const char * nttype2str(NT_Type type) {
 }
 
 
-py::object ntvalue2py(const nt::Value &ntvalue) {
+py::object ntvalue2py(const wpi::nt::Value &ntvalue) {
   auto &v = ntvalue.value();
   switch (v.type) {
   case NT_BOOLEAN:
@@ -109,17 +109,17 @@ py::object ntvalue2py(const nt::Value &ntvalue) {
   }
 }
 
-nt::Value py2ntvalue(py::handle h) {
+wpi::nt::Value py2ntvalue(py::handle h) {
   if (py::isinstance<py::bool_>(h)) {
-    return nt::Value::MakeBoolean(h.cast<bool>());
+    return wpi::nt::Value::MakeBoolean(h.cast<bool>());
   } else if (py::isinstance<py::float_>(h)) {
-    return nt::Value::MakeDouble(h.cast<double>());
+    return wpi::nt::Value::MakeDouble(h.cast<double>());
   } else if (py::isinstance<py::int_>(h)) {
-    return nt::Value::MakeInteger(h.cast<int64_t>());
+    return wpi::nt::Value::MakeInteger(h.cast<int64_t>());
   } else if (py::isinstance<py::str>(h)) {
-    return nt::Value::MakeString(h.cast<std::string>());
+    return wpi::nt::Value::MakeString(h.cast<std::string>());
   } else if (py::isinstance<py::bytes>(h)) {
-    return nt::Value::MakeRaw(h.cast<std::span<const uint8_t>>());
+    return wpi::nt::Value::MakeRaw(h.cast<std::span<const uint8_t>>());
   } else if (py::isinstance<py::none>(h)) {
     throw py::value_error("Cannot put None into NetworkTable");
   }
@@ -132,45 +132,45 @@ nt::Value py2ntvalue(py::handle h) {
   auto i1 = seq[0];
   if (py::isinstance<py::bool_>(i1)) {
     auto v = h.cast<std::vector<int>>();
-    return nt::Value::MakeBooleanArray(v);
+    return wpi::nt::Value::MakeBooleanArray(v);
   } else if (py::isinstance<py::float_>(i1)) {
     auto v = h.cast<std::vector<double>>();
-    return nt::Value::MakeDoubleArray(v);
+    return wpi::nt::Value::MakeDoubleArray(v);
   } else if (py::isinstance<py::int_>(i1)) {
     auto v = h.cast<std::vector<int64_t>>();
-    return nt::Value::MakeIntegerArray(v);
+    return wpi::nt::Value::MakeIntegerArray(v);
   } else if (py::isinstance<py::str>(i1)) {
     auto v = h.cast<std::vector<std::string>>();
-    return nt::Value::MakeStringArray(v);
+    return wpi::nt::Value::MakeStringArray(v);
   } else {
     throw py::value_error("Can only put bool/int/float/str/bytes or lists/tuples of them");
   }
 }
 
-py::function valueFactoryByType(nt::NetworkTableType type) {
+py::function valueFactoryByType(wpi::nt::NetworkTableType type) {
   py::object PyNtValue = py::module::import("ntcore").attr("Value");
   switch (type) {
-  case nt::NetworkTableType::kBoolean:
+  case wpi::nt::NetworkTableType::kBoolean:
     return PyNtValue.attr("makeBoolean");
-  case nt::NetworkTableType::kDouble:
+  case wpi::nt::NetworkTableType::kDouble:
     return PyNtValue.attr("makeDouble");
-  case nt::NetworkTableType::kString:
+  case wpi::nt::NetworkTableType::kString:
     return PyNtValue.attr("makeString");
-  case nt::NetworkTableType::kRaw:
+  case wpi::nt::NetworkTableType::kRaw:
     return PyNtValue.attr("makeRaw");
-  case nt::NetworkTableType::kBooleanArray: 
+  case wpi::nt::NetworkTableType::kBooleanArray: 
     return PyNtValue.attr("makeBooleanArray");
-  case nt::NetworkTableType::kDoubleArray: 
+  case wpi::nt::NetworkTableType::kDoubleArray: 
     return PyNtValue.attr("makeDoubleArray");
-  case nt::NetworkTableType::kStringArray:
+  case wpi::nt::NetworkTableType::kStringArray:
     return PyNtValue.attr("makeStringArray");
-  case nt::NetworkTableType::kInteger:
+  case wpi::nt::NetworkTableType::kInteger:
     return PyNtValue.attr("makeInteger");
-  case nt::NetworkTableType::kFloat:
+  case wpi::nt::NetworkTableType::kFloat:
     return PyNtValue.attr("makeFloat");
-  case nt::NetworkTableType::kIntegerArray:
+  case wpi::nt::NetworkTableType::kIntegerArray:
     return PyNtValue.attr("makeIntegerArray");
-  case nt::NetworkTableType::kFloatArray:
+  case wpi::nt::NetworkTableType::kFloatArray:
     return PyNtValue.attr("makeFloatArray");
   default:
     throw py::type_error("empty nt value");
diff --git a/ntcore/src/main/python/ntcore/src/py2value.h b/ntcore/src/main/python/ntcore/src/py2value.h
index 7858cb5e05..53f144c730 100644
--- a/ntcore/src/main/python/ntcore/src/py2value.h
+++ b/ntcore/src/main/python/ntcore/src/py2value.h
@@ -8,13 +8,13 @@ namespace pyntcore {
 
 const char * nttype2str(NT_Type type);
 
-py::object ntvalue2py(const nt::Value &ntvalue);
+py::object ntvalue2py(const wpi::nt::Value &ntvalue);
 
-nt::Value py2ntvalue(py::handle h);
+wpi::nt::Value py2ntvalue(py::handle h);
 
-py::function valueFactoryByType(nt::NetworkTableType type);
+py::function valueFactoryByType(wpi::nt::NetworkTableType type);
 
-inline void ensure_value_is(NT_Type expected, nt::Value *v) {
+inline void ensure_value_is(NT_Type expected, wpi::nt::Value *v) {
     if (v->type() != expected) {
         throw py::value_error(fmt::format(
             "Value type is {}, not {}", nttype2str(v->type()), nttype2str(expected)
diff --git a/ntcore/src/main/python/ntcore/src/pyentry.cpp b/ntcore/src/main/python/ntcore/src/pyentry.cpp
index f9cad5b33e..c4147953fa 100644
--- a/ntcore/src/main/python/ntcore/src/pyentry.cpp
+++ b/ntcore/src/main/python/ntcore/src/pyentry.cpp
@@ -7,73 +7,73 @@
 
 namespace pyntcore {
 
-py::object GetBooleanEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetBooleanEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_BOOLEAN) return defaultValue;
     return py::cast(value.GetBoolean());
 }
 
-py::object GetDoubleEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetDoubleEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_DOUBLE) return defaultValue;
     return py::cast(value.GetDouble());
 }
 
-py::object GetFloatEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetFloatEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_FLOAT) return defaultValue;
     return py::cast(value.GetFloat());
 }
 
-py::object GetIntegerEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetIntegerEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_INTEGER) return defaultValue;
     return py::cast(value.GetInteger());
 }
 
 
-py::object GetStringEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetStringEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_STRING) return defaultValue;
     auto s = value.GetString();
     return py::str(s.data(), s.size());
 }
 
-py::object GetRawEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetRawEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_RAW) return defaultValue;
     return py::cast(value.GetRaw());
 }
 
-py::object GetBooleanArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetBooleanArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_BOOLEAN_ARRAY) return defaultValue;
     // ntcore will return bit vector by default. Convert to List[bool]
@@ -86,52 +86,52 @@ py::object GetBooleanArrayEntry(const nt::NetworkTableEntry &entry, py::object d
     return std::move(l);
 }
 
-py::object GetDoubleArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetDoubleArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_DOUBLE_ARRAY) return defaultValue;
     return py::cast(value.GetDoubleArray());
 }
 
-py::object GetFloatArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetFloatArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_FLOAT_ARRAY) return defaultValue;
     return py::cast(value.GetFloatArray());
 }
 
-py::object GetIntegerArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetIntegerArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_INTEGER_ARRAY) return defaultValue;
     return py::cast(value.GetIntegerArray());
 }
 
-py::object GetStringArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetStringArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value || value.type() != NT_STRING_ARRAY) return defaultValue;
     std::span<const std::string> rval = value.GetStringArray();
     return py::cast(rval);
 }
 
-py::object GetValueEntry(const nt::NetworkTableEntry &entry, py::object defaultValue) {
-    nt::Value value;
+py::object GetValueEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue) {
+    wpi::nt::Value value;
     {
         py::gil_scoped_release release;
-        value = nt::GetEntryValue(entry.GetHandle());
+        value = wpi::nt::GetEntryValue(entry.GetHandle());
     }
     if (!value) return defaultValue;
     return ntvalue2py(value);
diff --git a/ntcore/src/main/python/ntcore/src/pyentry.h b/ntcore/src/main/python/ntcore/src/pyentry.h
index b3ca524a61..9c2d715635 100644
--- a/ntcore/src/main/python/ntcore/src/pyentry.h
+++ b/ntcore/src/main/python/ntcore/src/pyentry.h
@@ -5,17 +5,17 @@
 
 namespace pyntcore {
 
-py::object GetBooleanEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetDoubleEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetFloatEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetIntegerEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetStringEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetRawEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetBooleanArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetDoubleArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetFloatArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetIntegerArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetStringArrayEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
-py::object GetValueEntry(const nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetBooleanEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetDoubleEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetFloatEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetIntegerEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetStringEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetRawEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetBooleanArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetDoubleArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetFloatArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetIntegerArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetStringArrayEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
+py::object GetValueEntry(const wpi::nt::NetworkTableEntry &entry, py::object defaultValue);
 
 };
diff --git a/ntcore/src/main/python/semiwrap/BooleanArrayTopic.yml b/ntcore/src/main/python/semiwrap/BooleanArrayTopic.yml
index 0133c4ad7d..e2d79b0bdf 100644
--- a/ntcore/src/main/python/semiwrap/BooleanArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/BooleanArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::BooleanArraySubscriber:
+  wpi::nt::BooleanArraySubscriber:
     methods:
       BooleanArraySubscriber:
         overloads:
@@ -11,17 +11,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -37,7 +37,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanArraySubscriber();
       })
-  nt::BooleanArrayPublisher:
+  wpi::nt::BooleanArrayPublisher:
     methods:
       BooleanArrayPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanArrayPublisher();
       })
-  nt::BooleanArrayEntry:
+  wpi::nt::BooleanArrayEntry:
     methods:
       BooleanArrayEntry:
         overloads:
@@ -84,7 +84,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanArrayEntry();
       })
-  nt::BooleanArrayTopic:
+  wpi::nt::BooleanArrayTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/BooleanTopic.yml b/ntcore/src/main/python/semiwrap/BooleanTopic.yml
index 8a4d3ddef5..2de884de87 100644
--- a/ntcore/src/main/python/semiwrap/BooleanTopic.yml
+++ b/ntcore/src/main/python/semiwrap/BooleanTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::BooleanSubscriber:
+  wpi::nt::BooleanSubscriber:
     methods:
       BooleanSubscriber:
         overloads:
@@ -29,7 +29,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanSubscriber();
       })
-  nt::BooleanPublisher:
+  wpi::nt::BooleanPublisher:
     methods:
       BooleanPublisher:
         overloads:
@@ -52,7 +52,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanPublisher();
       })
-  nt::BooleanEntry:
+  wpi::nt::BooleanEntry:
     methods:
       BooleanEntry:
         overloads:
@@ -76,7 +76,7 @@ classes:
         py::gil_scoped_release release;
         *self = BooleanEntry();
       })
-  nt::BooleanTopic:
+  wpi::nt::BooleanTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/DoubleArrayTopic.yml b/ntcore/src/main/python/semiwrap/DoubleArrayTopic.yml
index 52892083ff..a72335071a 100644
--- a/ntcore/src/main/python/semiwrap/DoubleArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/DoubleArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::DoubleArraySubscriber:
+  wpi::nt::DoubleArraySubscriber:
     methods:
       DoubleArraySubscriber:
         overloads:
@@ -11,17 +11,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -37,7 +37,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoubleArraySubscriber();
       })
-  nt::DoubleArrayPublisher:
+  wpi::nt::DoubleArrayPublisher:
     methods:
       DoubleArrayPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoubleArrayPublisher();
       })
-  nt::DoubleArrayEntry:
+  wpi::nt::DoubleArrayEntry:
     methods:
       DoubleArrayEntry:
         overloads:
@@ -84,7 +84,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoubleArrayEntry();
       })
-  nt::DoubleArrayTopic:
+  wpi::nt::DoubleArrayTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/DoubleTopic.yml b/ntcore/src/main/python/semiwrap/DoubleTopic.yml
index de572d690e..2a7bb47e7f 100644
--- a/ntcore/src/main/python/semiwrap/DoubleTopic.yml
+++ b/ntcore/src/main/python/semiwrap/DoubleTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::DoubleSubscriber:
+  wpi::nt::DoubleSubscriber:
     methods:
       DoubleSubscriber:
         overloads:
@@ -29,7 +29,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoubleSubscriber();
       })
-  nt::DoublePublisher:
+  wpi::nt::DoublePublisher:
     methods:
       DoublePublisher:
         overloads:
@@ -52,7 +52,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoublePublisher();
       })
-  nt::DoubleEntry:
+  wpi::nt::DoubleEntry:
     methods:
       DoubleEntry:
         overloads:
@@ -76,7 +76,7 @@ classes:
         py::gil_scoped_release release;
         *self = DoubleEntry();
       })
-  nt::DoubleTopic:
+  wpi::nt::DoubleTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/FloatArrayTopic.yml b/ntcore/src/main/python/semiwrap/FloatArrayTopic.yml
index a00b48bb94..7d4f3eec1a 100644
--- a/ntcore/src/main/python/semiwrap/FloatArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/FloatArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::FloatArraySubscriber:
+  wpi::nt::FloatArraySubscriber:
     methods:
       FloatArraySubscriber:
         overloads:
@@ -11,17 +11,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -37,7 +37,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatArraySubscriber();
       })
-  nt::FloatArrayPublisher:
+  wpi::nt::FloatArrayPublisher:
     methods:
       FloatArrayPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatArrayPublisher();
       })
-  nt::FloatArrayEntry:
+  wpi::nt::FloatArrayEntry:
     methods:
       FloatArrayEntry:
         overloads:
@@ -84,7 +84,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatArrayEntry();
       })
-  nt::FloatArrayTopic:
+  wpi::nt::FloatArrayTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/FloatTopic.yml b/ntcore/src/main/python/semiwrap/FloatTopic.yml
index c0f3e192b3..9d66609c03 100644
--- a/ntcore/src/main/python/semiwrap/FloatTopic.yml
+++ b/ntcore/src/main/python/semiwrap/FloatTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::FloatSubscriber:
+  wpi::nt::FloatSubscriber:
     methods:
       FloatSubscriber:
         overloads:
@@ -29,7 +29,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatSubscriber();
       })
-  nt::FloatPublisher:
+  wpi::nt::FloatPublisher:
     methods:
       FloatPublisher:
         overloads:
@@ -52,7 +52,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatPublisher();
       })
-  nt::FloatEntry:
+  wpi::nt::FloatEntry:
     methods:
       FloatEntry:
         overloads:
@@ -76,7 +76,7 @@ classes:
         py::gil_scoped_release release;
         *self = FloatEntry();
       })
-  nt::FloatTopic:
+  wpi::nt::FloatTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/GenericEntry.yml b/ntcore/src/main/python/semiwrap/GenericEntry.yml
index 3b7335d5c6..643c966371 100644
--- a/ntcore/src/main/python/semiwrap/GenericEntry.yml
+++ b/ntcore/src/main/python/semiwrap/GenericEntry.yml
@@ -2,7 +2,7 @@ extra_includes:
 - src/nt_type_caster.h
 
 classes:
-  nt::GenericSubscriber:
+  wpi::nt::GenericSubscriber:
     methods:
       GenericSubscriber:
         overloads:
@@ -24,7 +24,7 @@ classes:
       GetStringArray:
       ReadQueue:
       GetTopic:
-  nt::GenericPublisher:
+  wpi::nt::GenericPublisher:
     methods:
       GenericPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
       SetDefaultDoubleArray:
       SetDefaultStringArray:
       GetTopic:
-  nt::GenericEntry:
+  wpi::nt::GenericEntry:
     methods:
       GenericEntry:
         overloads:
diff --git a/ntcore/src/main/python/semiwrap/IntegerArrayTopic.yml b/ntcore/src/main/python/semiwrap/IntegerArrayTopic.yml
index 2582c32de9..9816cf3db7 100644
--- a/ntcore/src/main/python/semiwrap/IntegerArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/IntegerArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::IntegerArraySubscriber:
+  wpi::nt::IntegerArraySubscriber:
     methods:
       IntegerArraySubscriber:
         overloads:
@@ -11,17 +11,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -37,7 +37,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerArraySubscriber();
       })
-  nt::IntegerArrayPublisher:
+  wpi::nt::IntegerArrayPublisher:
     methods:
       IntegerArrayPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerArrayPublisher();
       })
-  nt::IntegerArrayEntry:
+  wpi::nt::IntegerArrayEntry:
     methods:
       IntegerArrayEntry:
         overloads:
@@ -84,7 +84,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerArrayEntry();
       })
-  nt::IntegerArrayTopic:
+  wpi::nt::IntegerArrayTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/IntegerTopic.yml b/ntcore/src/main/python/semiwrap/IntegerTopic.yml
index 07b6859cd0..f39a7aa003 100644
--- a/ntcore/src/main/python/semiwrap/IntegerTopic.yml
+++ b/ntcore/src/main/python/semiwrap/IntegerTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::IntegerSubscriber:
+  wpi::nt::IntegerSubscriber:
     methods:
       IntegerSubscriber:
         overloads:
@@ -29,7 +29,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerSubscriber();
       })
-  nt::IntegerPublisher:
+  wpi::nt::IntegerPublisher:
     methods:
       IntegerPublisher:
         overloads:
@@ -52,7 +52,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerPublisher();
       })
-  nt::IntegerEntry:
+  wpi::nt::IntegerEntry:
     methods:
       IntegerEntry:
         overloads:
@@ -76,7 +76,7 @@ classes:
         py::gil_scoped_release release;
         *self = IntegerEntry();
       })
-  nt::IntegerTopic:
+  wpi::nt::IntegerTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/MultiSubscriber.yml b/ntcore/src/main/python/semiwrap/MultiSubscriber.yml
index a980e9b5a5..1c0dd49196 100644
--- a/ntcore/src/main/python/semiwrap/MultiSubscriber.yml
+++ b/ntcore/src/main/python/semiwrap/MultiSubscriber.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::MultiSubscriber:
+  wpi::nt::MultiSubscriber:
     methods:
       MultiSubscriber:
         overloads:
diff --git a/ntcore/src/main/python/semiwrap/NTSendable.yml b/ntcore/src/main/python/semiwrap/NTSendable.yml
index 57ad364839..7ec37cc71a 100644
--- a/ntcore/src/main/python/semiwrap/NTSendable.yml
+++ b/ntcore/src/main/python/semiwrap/NTSendable.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/nt/NTSendableBuilder.hpp
 
 classes:
-  nt::NTSendable:
+  wpi::nt::NTSendable:
     methods:
       InitSendable:
         overloads:
@@ -12,7 +12,7 @@ classes:
                 auto builderHandle = py::cast(builder, py::return_value_policy::reference);
                 fn(builderHandle);
               }
-          wpi::SendableBuilder&:
+          wpi::util::SendableBuilder&:
             virtual_xform: |
               [&](py::function fn) {
                 auto builderHandle = py::cast(builder, py::return_value_policy::reference);
diff --git a/ntcore/src/main/python/semiwrap/NTSendableBuilder.yml b/ntcore/src/main/python/semiwrap/NTSendableBuilder.yml
index afa178a30b..ac842df6d9 100644
--- a/ntcore/src/main/python/semiwrap/NTSendableBuilder.yml
+++ b/ntcore/src/main/python/semiwrap/NTSendableBuilder.yml
@@ -1,9 +1,9 @@
 classes:
-  nt::NTSendableBuilder:
+  wpi::nt::NTSendableBuilder:
     force_type_casters:
     - std::function
     typealias:
-    - BackendKind = wpi::SendableBuilder::BackendKind
+    - BackendKind = wpi::util::SendableBuilder::BackendKind
     methods:
       SetUpdateTable:
         cpp_code: |
diff --git a/ntcore/src/main/python/semiwrap/NetworkTable.yml b/ntcore/src/main/python/semiwrap/NetworkTable.yml
index 9967873efe..09f0649cab 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTable.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTable.yml
@@ -19,7 +19,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  nt::NetworkTable:
+  wpi::nt::NetworkTable:
     attributes:
       PATH_SEPARATOR_CHAR:
     methods:
@@ -27,7 +27,7 @@ classes:
       NormalizeKey:
         overloads:
           std::string_view, bool:
-          std::string_view, wpi::SmallVectorImpl<char>&, bool:
+          std::string_view, wpi::util::SmallVectorImpl<char>&, bool:
             ignore: true
       GetHierarchy:
       NetworkTable:
@@ -81,7 +81,7 @@ classes:
       GetNumber:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -93,7 +93,7 @@ classes:
       GetString:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -105,7 +105,7 @@ classes:
       GetBoolean:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -117,7 +117,7 @@ classes:
       GetBooleanArray:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -129,7 +129,7 @@ classes:
       GetNumberArray:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -141,7 +141,7 @@ classes:
       GetStringArray:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
@@ -153,7 +153,7 @@ classes:
       GetRaw:
         cpp_code: |
           [](NetworkTable * table, std::string_view key, py::object defaultValue) -> py::object {
-            nt::NetworkTableEntry entry;
+            wpi::nt::NetworkTableEntry entry;
             {
               py::gil_scoped_release release;
               entry = table->GetEntry(key);
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml b/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
index 8ba9f8788c..d38054f9f4 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
@@ -7,7 +7,7 @@ extra_includes:
 inline_code: |
   #include <src/NetworkTableEntry.cpp.inl>
 classes:
-  nt::NetworkTableEntry:
+  wpi::nt::NetworkTableEntry:
     methods:
       NetworkTableEntry:
         overloads:
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml b/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
index 84f7e39f7f..2bf33daa1b 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
@@ -20,7 +20,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  nt::NetworkTableInstance:
+  wpi::nt::NetworkTableInstance:
     force_type_casters:
     - std::function
     attributes:
@@ -29,7 +29,7 @@ classes:
       NetworkMode:
         arithmetic: true
         inline_code: |
-          .value("kNetModeStarting", (nt::NetworkTableInstance::NetworkMode)NT_NET_MODE_STARTING)
+          .value("kNetModeStarting", (wpi::nt::NetworkTableInstance::NetworkMode)NT_NET_MODE_STARTING)
       LogLevel:
     methods:
       NetworkTableInstance:
@@ -175,7 +175,7 @@ classes:
         pyntcore::onInstancePreReset(self);
         {
           py::gil_scoped_release release;
-          nt::ResetInstance(self->GetHandle());
+          wpi::nt::ResetInstance(self->GetHandle());
         }
         pyntcore::onInstancePostReset(self);
       })
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableListener.yml b/ntcore/src/main/python/semiwrap/NetworkTableListener.yml
index e96cfabe8f..daa8537e72 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableListener.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableListener.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::NetworkTableListener:
+  wpi::nt::NetworkTableListener:
     force_type_casters:
     - std::function
     methods:
@@ -30,7 +30,7 @@ classes:
         py::gil_scoped_release release;
         *self = NetworkTableListener();
       })
-  nt::NetworkTableListenerPoller:
+  wpi::nt::NetworkTableListenerPoller:
     methods:
       NetworkTableListenerPoller:
         overloads:
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableValue.yml b/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
index f114ecfa49..f1317289ce 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
@@ -7,7 +7,7 @@ functions:
     ignore: true
 
 classes:
-  nt::Value:
+  wpi::nt::Value:
     methods:
       Value:
         overloads:
@@ -174,7 +174,7 @@ classes:
       .def_static("makeValue", [](py::handle value) {
           return pyntcore::py2ntvalue(value);
         }, py::arg("value"))
-      .def_static("getFactoryByType", [](nt::NetworkTableType type) {
+      .def_static("getFactoryByType", [](wpi::nt::NetworkTableType type) {
         return pyntcore::valueFactoryByType(type);
       }, py::arg("type"))
       .def("__repr__", [](const Value &self) -> py::str {
diff --git a/ntcore/src/main/python/semiwrap/RawTopic.yml b/ntcore/src/main/python/semiwrap/RawTopic.yml
index a7a844d4c3..66329b62c1 100644
--- a/ntcore/src/main/python/semiwrap/RawTopic.yml
+++ b/ntcore/src/main/python/semiwrap/RawTopic.yml
@@ -2,7 +2,7 @@ extra_includes:
 - src/nt_type_caster.h
 
 classes:
-  nt::RawSubscriber:
+  wpi::nt::RawSubscriber:
     methods:
       RawSubscriber:
         overloads:
@@ -14,17 +14,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -40,7 +40,7 @@ classes:
         py::gil_scoped_release release;
         *self = RawSubscriber();
       })
-  nt::RawPublisher:
+  wpi::nt::RawPublisher:
     methods:
       RawPublisher:
         overloads:
@@ -63,7 +63,7 @@ classes:
         py::gil_scoped_release release;
         *self = RawPublisher();
       })
-  nt::RawEntry:
+  wpi::nt::RawEntry:
     methods:
       RawEntry:
         overloads:
@@ -87,7 +87,7 @@ classes:
         py::gil_scoped_release release;
         *self = RawEntry();
       })
-  nt::RawTopic:
+  wpi::nt::RawTopic:
     methods:
       RawTopic:
         overloads:
diff --git a/ntcore/src/main/python/semiwrap/StringArrayTopic.yml b/ntcore/src/main/python/semiwrap/StringArrayTopic.yml
index c55444273e..0ac466ed6f 100644
--- a/ntcore/src/main/python/semiwrap/StringArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/StringArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::StringArraySubscriber:
+  wpi::nt::StringArraySubscriber:
     methods:
       StringArraySubscriber:
         overloads:
@@ -29,7 +29,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringArraySubscriber();
       })
-  nt::StringArrayPublisher:
+  wpi::nt::StringArrayPublisher:
     methods:
       StringArrayPublisher:
         overloads:
@@ -52,7 +52,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringArrayPublisher();
       })
-  nt::StringArrayEntry:
+  wpi::nt::StringArrayEntry:
     methods:
       StringArrayEntry:
         overloads:
@@ -76,7 +76,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringArrayEntry();
       })
-  nt::StringArrayTopic:
+  wpi::nt::StringArrayTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/StringTopic.yml b/ntcore/src/main/python/semiwrap/StringTopic.yml
index fc908747e5..aae37909b4 100644
--- a/ntcore/src/main/python/semiwrap/StringTopic.yml
+++ b/ntcore/src/main/python/semiwrap/StringTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::StringSubscriber:
+  wpi::nt::StringSubscriber:
     methods:
       StringSubscriber:
         overloads:
@@ -11,17 +11,17 @@ classes:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       GetAtomic:
         overloads:
           '[const]':
           ParamType [const]:
-          wpi::SmallVectorImpl<SmallElemType>& [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>& [const]:
             ignore: true
-          wpi::SmallVectorImpl<SmallElemType>&, ParamType [const]:
+          wpi::util::SmallVectorImpl<SmallElemType>&, ParamType [const]:
             ignore: true
       ReadQueue:
       GetTopic:
@@ -37,7 +37,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringSubscriber();
       })
-  nt::StringPublisher:
+  wpi::nt::StringPublisher:
     methods:
       StringPublisher:
         overloads:
@@ -60,7 +60,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringPublisher();
       })
-  nt::StringEntry:
+  wpi::nt::StringEntry:
     methods:
       StringEntry:
         overloads:
@@ -84,7 +84,7 @@ classes:
         py::gil_scoped_release release;
         *self = StringEntry();
       })
-  nt::StringTopic:
+  wpi::nt::StringTopic:
     attributes:
       kTypeString:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/StructArrayTopic.yml b/ntcore/src/main/python/semiwrap/StructArrayTopic.yml
index 88960b4992..57e538fd9d 100644
--- a/ntcore/src/main/python/semiwrap/StructArrayTopic.yml
+++ b/ntcore/src/main/python/semiwrap/StructArrayTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::StructArraySubscriber:
+  wpi::nt::StructArraySubscriber:
     template_params:
     - T
     - I
@@ -25,18 +25,18 @@ classes:
       ReadQueue:
       GetTopic:
     inline_code: |
-      .def("close", [](nt::StructArraySubscriber<T, I> *self) {
+      .def("close", [](wpi::nt::StructArraySubscriber<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructArraySubscriber<T, I>();
+        *self = wpi::nt::StructArraySubscriber<T, I>();
       }, py::doc("Destroys the subscriber"))
-      .def("__enter__", [](nt::StructArraySubscriber<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructArraySubscriber<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructArraySubscriber<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructArraySubscriber<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructArraySubscriber<T, I>();
+        *self = wpi::nt::StructArraySubscriber<T, I>();
       })
-  nt::StructArrayPublisher:
+  wpi::nt::StructArrayPublisher:
     template_params:
     - T
     - I
@@ -59,24 +59,24 @@ classes:
           std::span<const T>:
       GetTopic:
     inline_code: |
-      .def("close", [](nt::StructArrayPublisher<T, I> *self) {
+      .def("close", [](wpi::nt::StructArrayPublisher<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayPublisher<T, I>();
+        *self = wpi::nt::StructArrayPublisher<T, I>();
       }, py::doc("Destroys the publisher"))
-      .def("__enter__", [](nt::StructArrayPublisher<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructArrayPublisher<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructArrayPublisher<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructArrayPublisher<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayPublisher<T, I>();
+        *self = wpi::nt::StructArrayPublisher<T, I>();
       })
-  nt::StructArrayEntry:
+  wpi::nt::StructArrayEntry:
     template_params:
     - T
     - I
     base_qualnames:
-      StructArraySubscriber: nt::StructArraySubscriber<T, I>
-      StructArrayPublisher: nt::StructArrayPublisher<T, I>
+      StructArraySubscriber: wpi::nt::StructArraySubscriber<T, I>
+      StructArrayPublisher: wpi::nt::StructArrayPublisher<T, I>
     methods:
       StructArrayEntry:
         overloads:
@@ -89,18 +89,18 @@ classes:
       GetTopic:
       Unpublish:
     inline_code: |
-      .def("close", [](nt::StructArrayEntry<T, I> *self) {
+      .def("close", [](wpi::nt::StructArrayEntry<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayEntry<T, I>();
+        *self = wpi::nt::StructArrayEntry<T, I>();
       }, py::doc("Destroys the entry"))
-      .def("__enter__", [](nt::StructArrayEntry<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructArrayEntry<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructArrayEntry<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructArrayEntry<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayEntry<T, I>();
+        *self = wpi::nt::StructArrayEntry<T, I>();
       })
-  nt::StructArrayTopic:
+  wpi::nt::StructArrayTopic:
     template_params:
     - T
     - I
@@ -118,7 +118,7 @@ classes:
             cpp_code: |
               [](Topic topic, const py::type &t) {
                 WPyStructInfo info(t);
-                return nt::StructArrayTopic<T, I>(topic, info);
+                return wpi::nt::StructArrayTopic<T, I>(topic, info);
               }
       Subscribe:
         overloads:
@@ -133,35 +133,35 @@ classes:
             ignore: true
           std::span<const T>, const PubSubOptions&:
     inline_code: |
-      .def("close", [](nt::StructArrayTopic<T, I> *self) {
+      .def("close", [](wpi::nt::StructArrayTopic<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayTopic<T, I>();
+        *self = wpi::nt::StructArrayTopic<T, I>();
       }, py::doc("Destroys the topic"))
-      .def("__enter__", [](nt::StructArrayTopic<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructArrayTopic<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructArrayTopic<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructArrayTopic<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructArrayTopic<T, I>();
+        *self = wpi::nt::StructArrayTopic<T, I>();
       })
 templates:
   StructArraySubscriber:
-    qualname: nt::StructArraySubscriber
+    qualname: wpi::nt::StructArraySubscriber
     params:
     - WPyStruct
     - WPyStructInfo
   StructArrayPublisher:
-    qualname: nt::StructArrayPublisher
+    qualname: wpi::nt::StructArrayPublisher
     params:
     - WPyStruct
     - WPyStructInfo
   StructArrayEntry:
-    qualname: nt::StructArrayEntry
+    qualname: wpi::nt::StructArrayEntry
     params:
     - WPyStruct
     - WPyStructInfo
   StructArrayTopic:
-    qualname: nt::StructArrayTopic
+    qualname: wpi::nt::StructArrayTopic
     params:
     - WPyStruct
     - WPyStructInfo
diff --git a/ntcore/src/main/python/semiwrap/StructTopic.yml b/ntcore/src/main/python/semiwrap/StructTopic.yml
index 694f0af8da..8ff5ad5a77 100644
--- a/ntcore/src/main/python/semiwrap/StructTopic.yml
+++ b/ntcore/src/main/python/semiwrap/StructTopic.yml
@@ -1,5 +1,5 @@
 classes:
-  nt::StructSubscriber:
+  wpi::nt::StructSubscriber:
     template_params:
     - T
     - I
@@ -23,18 +23,18 @@ classes:
       ReadQueue:
       GetTopic:
     inline_code: |
-      .def("close", [](nt::StructSubscriber<T, I> *self) {
+      .def("close", [](wpi::nt::StructSubscriber<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructSubscriber<T, I>();
+        *self = wpi::nt::StructSubscriber<T, I>();
       }, py::doc("Destroys the subscriber"))
-      .def("__enter__", [](nt::StructSubscriber<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructSubscriber<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructSubscriber<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructSubscriber<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructSubscriber<T, I>();
+        *self = wpi::nt::StructSubscriber<T, I>();
       })
-  nt::StructPublisher:
+  wpi::nt::StructPublisher:
     template_params:
     - T
     - I
@@ -49,24 +49,24 @@ classes:
       SetDefault:
       GetTopic:
     inline_code: |
-      .def("close", [](nt::StructPublisher<T, I> *self) {
+      .def("close", [](wpi::nt::StructPublisher<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructPublisher<T, I>();
+        *self = wpi::nt::StructPublisher<T, I>();
       }, py::doc("Destroys the publisher"))
-      .def("__enter__", [](nt::StructPublisher<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructPublisher<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructPublisher<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructPublisher<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructPublisher<T, I>();
+        *self = wpi::nt::StructPublisher<T, I>();
       })
-  nt::StructEntry:
+  wpi::nt::StructEntry:
     template_params:
     - T
     - I
     base_qualnames:
-      StructSubscriber: nt::StructSubscriber<T, I>
-      StructPublisher: nt::StructPublisher<T, I>
+      StructSubscriber: wpi::nt::StructSubscriber<T, I>
+      StructPublisher: wpi::nt::StructPublisher<T, I>
     methods:
       StructEntry:
         overloads:
@@ -79,18 +79,18 @@ classes:
       GetTopic:
       Unpublish:
     inline_code: |
-      .def("close", [](nt::StructEntry<T, I> *self) {
+      .def("close", [](wpi::nt::StructEntry<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructEntry<T, I>();
+        *self = wpi::nt::StructEntry<T, I>();
       }, py::doc("Destroys the entry"))
-      .def("__enter__", [](nt::StructEntry<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructEntry<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructEntry<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructEntry<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructEntry<T, I>();
+        *self = wpi::nt::StructEntry<T, I>();
       })
-  nt::StructTopic:
+  wpi::nt::StructTopic:
     template_params:
     - T
     - I
@@ -108,42 +108,42 @@ classes:
             cpp_code: |
               [](Topic topic, const py::type &t) {
                 WPyStructInfo info(t);
-                return nt::StructTopic<T, I>(topic, info);
+                return wpi::nt::StructTopic<T, I>(topic, info);
               }
       Subscribe:
       Publish:
       PublishEx:
       GetEntry:
     inline_code: |
-      .def("close", [](nt::StructTopic<T, I> *self) {
+      .def("close", [](wpi::nt::StructTopic<T, I> *self) {
         py::gil_scoped_release release;
-        *self = nt::StructTopic<T, I>();
+        *self = wpi::nt::StructTopic<T, I>();
       }, py::doc("Destroys the topic"))
-      .def("__enter__", [](nt::StructTopic<T, I> *self) {
+      .def("__enter__", [](wpi::nt::StructTopic<T, I> *self) {
         return self;
       })
-      .def("__exit__", [](nt::StructTopic<T, I> *self, py::args args) {
+      .def("__exit__", [](wpi::nt::StructTopic<T, I> *self, py::args args) {
         py::gil_scoped_release release;
-        *self = nt::StructTopic<T, I>();
+        *self = wpi::nt::StructTopic<T, I>();
       })
 templates:
   StructSubscriber:
-    qualname: nt::StructSubscriber
+    qualname: wpi::nt::StructSubscriber
     params:
     - WPyStruct
     - WPyStructInfo
   StructPublisher:
-    qualname: nt::StructPublisher
+    qualname: wpi::nt::StructPublisher
     params:
     - WPyStruct
     - WPyStructInfo
   StructEntry:
-    qualname: nt::StructEntry
+    qualname: wpi::nt::StructEntry
     params:
     - WPyStruct
     - WPyStructInfo
   StructTopic:
-    qualname: nt::StructTopic
+    qualname: wpi::nt::StructTopic
     params:
     - WPyStruct
     - WPyStructInfo
diff --git a/ntcore/src/main/python/semiwrap/Topic.yml b/ntcore/src/main/python/semiwrap/Topic.yml
index aca537746e..bb52df81e4 100644
--- a/ntcore/src/main/python/semiwrap/Topic.yml
+++ b/ntcore/src/main/python/semiwrap/Topic.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/nt/NetworkTableInstance.hpp
 
 classes:
-  nt::Topic:
+  wpi::nt::Topic:
     methods:
       Topic:
         overloads:
@@ -47,7 +47,7 @@ classes:
         std::string name = self.cast<Topic>().GetName();
         return py::str("<{} {!r}>").format(type_name, name);
       })
-  nt::Subscriber:
+  wpi::nt::Subscriber:
     attributes:
       m_subHandle:
     methods:
@@ -68,7 +68,7 @@ classes:
         auto topic = self.cast<const Subscriber&>().GetTopic();
         return py::str("<{} {!r}>").format(type_name, topic.GetName());
       })
-  nt::Publisher:
+  wpi::nt::Publisher:
     attributes:
       m_pubHandle:
     methods:
diff --git a/ntcore/src/main/python/semiwrap/ntcore_cpp.yml b/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
index 360e2c47af..6a7e938289 100644
--- a/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
+++ b/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
@@ -28,7 +28,7 @@ functions:
   DecodeClients:
     subpackage: meta
 classes:
-  nt::EventFlags:
+  wpi::nt::EventFlags:
     attributes:
       kNone:
       kImmediate:
@@ -44,7 +44,7 @@ classes:
       kValueAll:
       kLogMessage:
       kTimeSync:
-  nt::TopicInfo:
+  wpi::nt::TopicInfo:
     attributes:
       name:
       type_str:
@@ -57,16 +57,16 @@ classes:
       GetProperties:
     inline_code: |
       .def_property_readonly("topic", [](const TopicInfo &self) {
-        return std::make_shared<nt::Topic>(self.topic);
+        return std::make_shared<wpi::nt::Topic>(self.topic);
       })
       .def_property_readonly("type", [](const TopicInfo &self) {
-        return nt::NetworkTableType(self.type);
+        return wpi::nt::NetworkTableType(self.type);
       })
       .def("__repr__", [](const TopicInfo &self) -> py::str {
         return py::str("<TopicInfo name={} type={}>")
           .format(self.name, self.type_str);
       })
-  nt::ConnectionInfo:
+  wpi::nt::ConnectionInfo:
     attributes:
       remote_id:
       remote_ip:
@@ -79,7 +79,7 @@ classes:
           .format(self.remote_id, self.remote_ip, self.remote_port, 
                   self.last_update, self.protocol_version);
       })
-  nt::ValueEventData:
+  wpi::nt::ValueEventData:
     attributes:
       topic:
         ignore: true
@@ -95,14 +95,14 @@ classes:
             ignore: true
     inline_code: |
       .def_property_readonly("topic", [](const ValueEventData &self) {
-        return std::make_shared<nt::Topic>(self.topic);
+        return std::make_shared<wpi::nt::Topic>(self.topic);
       })
       .def("__repr__", [](const ValueEventData &self) -> py::str {
-        auto topicInfo = nt::GetTopicInfo(self.topic);
+        auto topicInfo = wpi::nt::GetTopicInfo(self.topic);
         return py::str("<ValueEventData topic_name=\"{}\" topic_type={} value={}>")
           .format(topicInfo.name, topicInfo.type_str, self.value);
       })
-  nt::LogMessage:
+  wpi::nt::LogMessage:
     attributes:
       level:
       filename:
@@ -115,7 +115,7 @@ classes:
             ignore: true
           unsigned int, std::string_view, unsigned int, std::string_view:
             ignore: true
-  nt::TimeSyncEventData:
+  wpi::nt::TimeSyncEventData:
     attributes:
       serverTimeOffset:
       rtt2:
@@ -126,7 +126,7 @@ classes:
           '':
             ignore: true
           int64_t, int64_t, bool:
-  nt::Event:
+  wpi::nt::Event:
     attributes:
       listener:
       flags:
@@ -184,14 +184,14 @@ classes:
           '':
             ignore: true
     inline_code: |
-      .def_property_readonly("data", [](nt::Event *self){
+      .def_property_readonly("data", [](wpi::nt::Event *self){
         return self->data;
       })
-      .def("__repr__", [](const nt::Event &self) -> py::str {
+      .def("__repr__", [](const wpi::nt::Event &self) -> py::str {
         return py::str("<Event listener={} flags={} data={}>")
           .format(self.listener, self.flags, self.data);
       })
-  nt::PubSubOptions:
+  wpi::nt::PubSubOptions:
     force_no_default_constructor: true
     attributes:
       kDefaultPeriodic:
@@ -213,7 +213,7 @@ classes:
       .def(py::init([](
         unsigned int pollStorage,
         double periodic,
-        std::optional<std::shared_ptr<nt::Publisher>> excludePublisher,
+        std::optional<std::shared_ptr<wpi::nt::Publisher>> excludePublisher,
         bool sendAll,
         bool topicsOnly,
         bool keepDuplicates,
@@ -222,8 +222,8 @@ classes:
         bool disableLocal,
         bool excludeSelf,
         bool hidden
-      ) -> nt::PubSubOptions {
-        return nt::PubSubOptions{
+      ) -> wpi::nt::PubSubOptions {
+        return wpi::nt::PubSubOptions{
           .pollStorage = pollStorage,
           .periodic = periodic,
           .excludePublisher = excludePublisher.has_value() ? excludePublisher.value()->GetHandle() : 0,
@@ -239,7 +239,7 @@ classes:
       }),
         py::kw_only(),
         py::arg("pollStorage") = 0,
-        py::arg("periodic") = nt::PubSubOptions::kDefaultPeriodic,
+        py::arg("periodic") = wpi::nt::PubSubOptions::kDefaultPeriodic,
         py::arg("excludePublisher") = std::nullopt,
         py::arg("sendAll") = false,
         py::arg("topicsOnly") = false,
@@ -280,36 +280,36 @@ classes:
                                      will not appear in metatopics.
         )"
       )
-  nt::meta::SubscriberOptions:
+  wpi::nt::meta::SubscriberOptions:
     subpackage: meta
     attributes:
       periodic:
       topicsOnly:
       sendAll:
       prefixMatch:
-  nt::meta::TopicPublisher:
+  wpi::nt::meta::TopicPublisher:
     subpackage: meta
     attributes:
       client:
       pubuid:
-  nt::meta::TopicSubscriber:
+  wpi::nt::meta::TopicSubscriber:
     subpackage: meta
     attributes:
       client:
       subuid:
       options:
-  nt::meta::ClientPublisher:
+  wpi::nt::meta::ClientPublisher:
     subpackage: meta
     attributes:
       uid:
       topic:
-  nt::meta::ClientSubscriber:
+  wpi::nt::meta::ClientSubscriber:
     subpackage: meta
     attributes:
       uid:
       topics:
       options:
-  nt::meta::Client:
+  wpi::nt::meta::Client:
     subpackage: meta
     attributes:
       id:
diff --git a/ntcore/src/main/python/semiwrap/ntcore_cpp_types.yml b/ntcore/src/main/python/semiwrap/ntcore_cpp_types.yml
index 0fddb11e91..aa31e612c7 100644
--- a/ntcore/src/main/python/semiwrap/ntcore_cpp_types.yml
+++ b/ntcore/src/main/python/semiwrap/ntcore_cpp_types.yml
@@ -6,7 +6,7 @@ defaults:
   report_ignored_missing: false
 
 classes:
-  nt::Timestamped:
+  wpi::nt::Timestamped:
     template_params:
     - T
     attributes:
@@ -29,54 +29,54 @@ classes:
 
 templates:
   TimestampedBoolean:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - bool
   TimestampedInteger:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - int64_t
   TimestampedFloat:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - float
   TimestampedDouble:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - double
   TimestampedString:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::string
   TimestampedRaw:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<uint8_t>
   TimestampedBooleanArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<int>
   TimestampedIntegerArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<int64_t>
   TimestampedFloatArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<float>
   TimestampedDoubleArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<double>
   TimestampedStringArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<std::string>
   TimestampedStruct:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - WPyStruct
   TimestampedStructArray:
-    qualname: nt::Timestamped
+    qualname: wpi::nt::Timestamped
     params:
     - std::vector<WPyStruct>
diff --git a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
index 186f61c0b8..209601f563 100644
--- a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
@@ -16,11 +16,11 @@
 class ConnectionListenerTest : public ::testing::Test {
  public:
   ConnectionListenerTest()
-      : server_inst(nt::CreateInstance()), client_inst(nt::CreateInstance()) {}
+      : server_inst(wpi::nt::CreateInstance()), client_inst(wpi::nt::CreateInstance()) {}
 
   ~ConnectionListenerTest() override {
-    nt::DestroyInstance(server_inst);
-    nt::DestroyInstance(client_inst);
+    wpi::nt::DestroyInstance(server_inst);
+    wpi::nt::DestroyInstance(client_inst);
   }
 
   void Connect(const char* address, unsigned int port4);
@@ -31,13 +31,13 @@ class ConnectionListenerTest : public ::testing::Test {
 };
 
 void ConnectionListenerTest::Connect(const char* address, unsigned int port4) {
-  nt::StartServer(server_inst, "connectionlistenertest.ini", address, port4);
-  nt::StartClient(client_inst, "client");
-  nt::SetServer(client_inst, address, port4);
+  wpi::nt::StartServer(server_inst, "connectionlistenertest.ini", address, port4);
+  wpi::nt::StartClient(client_inst, "client");
+  wpi::nt::SetServer(client_inst, address, port4);
 
   // wait for client to report it's connected, then wait another 0.1 sec
   int count = 0;
-  while (!nt::IsConnected(client_inst)) {
+  while (!wpi::nt::IsConnected(client_inst)) {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     if (++count > 30) {
       FAIL() << "timed out waiting for client to start";
@@ -48,10 +48,10 @@ void ConnectionListenerTest::Connect(const char* address, unsigned int port4) {
 
 TEST_F(ConnectionListenerTest, Polled) {
   // set up the poller
-  NT_ListenerPoller poller = nt::CreateListenerPoller(server_inst);
+  NT_ListenerPoller poller = wpi::nt::CreateListenerPoller(server_inst);
   ASSERT_NE(poller, 0u);
   NT_Listener handle =
-      nt::AddPolledListener(poller, server_inst, nt::EventFlags::kConnection);
+      wpi::nt::AddPolledListener(poller, server_inst, wpi::nt::EventFlags::kConnection);
   ASSERT_NE(handle, 0u);
 
   // trigger a connect event
@@ -59,27 +59,27 @@ TEST_F(ConnectionListenerTest, Polled) {
 
   // get the event
   bool timed_out = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timed_out));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timed_out));
   ASSERT_FALSE(timed_out);
-  auto result = nt::ReadListenerQueue(poller);
+  auto result = wpi::nt::ReadListenerQueue(poller);
   ASSERT_EQ(result.size(), 1u);
   EXPECT_EQ(handle, result[0].listener);
   EXPECT_TRUE(result[0].GetConnectionInfo());
-  EXPECT_EQ(result[0].flags, nt::EventFlags::kConnected);
+  EXPECT_EQ(result[0].flags, wpi::nt::EventFlags::kConnected);
 
   // trigger a disconnect event
-  nt::StopClient(client_inst);
+  wpi::nt::StopClient(client_inst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   // get the event
   timed_out = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timed_out));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timed_out));
   ASSERT_FALSE(timed_out);
-  result = nt::ReadListenerQueue(poller);
+  result = wpi::nt::ReadListenerQueue(poller);
   ASSERT_EQ(result.size(), 1u);
   EXPECT_EQ(handle, result[0].listener);
   EXPECT_TRUE(result[0].GetConnectionInfo());
-  EXPECT_EQ(result[0].flags, nt::EventFlags::kDisconnected);
+  EXPECT_EQ(result[0].flags, wpi::nt::EventFlags::kDisconnected);
 }
 
 class ConnectionListenerVariantTest
@@ -87,9 +87,9 @@ class ConnectionListenerVariantTest
       public ::testing::WithParamInterface<std::pair<const char*, int>> {};
 
 TEST_P(ConnectionListenerVariantTest, Threaded) {
-  wpi::mutex m;
-  std::vector<nt::Event> result;
-  auto handle = nt::AddListener(server_inst, nt::EventFlags::kConnection,
+  wpi::util::mutex m;
+  std::vector<wpi::nt::Event> result;
+  auto handle = wpi::nt::AddListener(server_inst, wpi::nt::EventFlags::kConnection,
                                 [&](auto& event) {
                                   std::scoped_lock lock{m};
                                   result.push_back(event);
@@ -99,7 +99,7 @@ TEST_P(ConnectionListenerVariantTest, Threaded) {
   Connect(GetParam().first, 20001 + GetParam().second);
 
   bool timed_out = false;
-  ASSERT_TRUE(wpi::WaitForObject(handle, 1.0, &timed_out));
+  ASSERT_TRUE(wpi::util::WaitForObject(handle, 1.0, &timed_out));
   ASSERT_FALSE(timed_out);
 
   // get the event
@@ -108,16 +108,16 @@ TEST_P(ConnectionListenerVariantTest, Threaded) {
     ASSERT_EQ(result.size(), 1u);
     EXPECT_EQ(handle, result[0].listener);
     EXPECT_TRUE(result[0].GetConnectionInfo());
-    EXPECT_EQ(result[0].flags, nt::EventFlags::kConnected);
+    EXPECT_EQ(result[0].flags, wpi::nt::EventFlags::kConnected);
     result.clear();
   }
 
   // trigger a disconnect event
-  nt::StopClient(client_inst);
+  wpi::nt::StopClient(client_inst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   // wait for thread
-  nt::WaitForListenerQueue(server_inst, 1.0);
+  wpi::nt::WaitForListenerQueue(server_inst, 1.0);
 
   // get the event
   {
@@ -125,7 +125,7 @@ TEST_P(ConnectionListenerVariantTest, Threaded) {
     ASSERT_EQ(result.size(), 1u);
     EXPECT_EQ(handle, result[0].listener);
     EXPECT_TRUE(result[0].GetConnectionInfo());
-    EXPECT_EQ(result[0].flags, nt::EventFlags::kDisconnected);
+    EXPECT_EQ(result[0].flags, wpi::nt::EventFlags::kDisconnected);
   }
 }
 
diff --git a/ntcore/src/test/native/cpp/LocalStorageTest.cpp b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
index 28f8ad015b..bae92b07f8 100644
--- a/ntcore/src/test/native/cpp/LocalStorageTest.cpp
+++ b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
@@ -28,7 +28,7 @@ using ::testing::IsEmpty;
 using ::testing::Property;
 using ::testing::Return;
 
-namespace nt {
+namespace wpi::nt {
 
 ::testing::Matcher<const PubSubOptionsImpl&> IsPubSubOptions(
     const PubSubOptionsImpl& good) {
@@ -80,7 +80,7 @@ TEST_F(LocalStorageTest, GetEntryEmptyName) {
 }
 
 TEST_F(LocalStorageTest, GetEntryCached) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"tocache"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"tocache"}}),
                                        IsDefaultPubSubOptions()));
 
   auto entry1 = storage.GetEntry("tocache");
@@ -109,8 +109,8 @@ TEST_F(LocalStorageTest, DefaultProps) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
-  storage.Publish(fooTopic, NT_BOOLEAN, "boolean", wpi::json::object(), {});
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
+  storage.Publish(fooTopic, NT_BOOLEAN, "boolean", wpi::util::json::object(), {});
 
   EXPECT_FALSE(storage.GetTopicPersistent(fooTopic));
   EXPECT_FALSE(storage.GetTopicRetained(fooTopic));
@@ -121,8 +121,8 @@ TEST_F(LocalStorageTest, PublishNewNoProps) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
-  storage.Publish(fooTopic, NT_BOOLEAN, "boolean", wpi::json::object(), {});
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
+  storage.Publish(fooTopic, NT_BOOLEAN, "boolean", wpi::util::json::object(), {});
 
   auto info = storage.GetTopicInfo(fooTopic);
   EXPECT_EQ(info.properties, "{}");
@@ -132,7 +132,7 @@ TEST_F(LocalStorageTest, PublishNewNoPropsNull) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
   auto info = storage.GetTopicInfo(fooTopic);
@@ -140,7 +140,7 @@ TEST_F(LocalStorageTest, PublishNewNoPropsNull) {
 }
 
 TEST_F(LocalStorageTest, PublishNew) {
-  wpi::json properties = {{"persistent", true}};
+  wpi::util::json properties = {{"persistent", true}};
   EXPECT_CALL(network, ClientPublish(_, std::string_view{"foo"},
                                      std::string_view{"boolean"}, properties,
                                      IsDefaultPubSubOptions()));
@@ -159,14 +159,14 @@ TEST_F(LocalStorageTest, PublishNew) {
 }
 
 TEST_F(LocalStorageTest, SubscribeNoTypeLocalPubPost) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto sub = storage.Subscribe(fooTopic, NT_UNASSIGNED, "", {});
 
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub = storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
   auto val = Value::MakeBoolean(true, 5);
@@ -199,14 +199,14 @@ TEST_F(LocalStorageTest, SubscribeNoTypeLocalPubPre) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub = storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
   auto val = Value::MakeBoolean(true, 5);
   EXPECT_CALL(network, ClientSetValue(Handle{pub}.GetIndex(), val));
   storage.SetEntryValue(pub, val);
 
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto sub = storage.Subscribe(fooTopic, NT_UNASSIGNED, "", {});
 
@@ -221,7 +221,7 @@ TEST_F(LocalStorageTest, SubscribeNoTypeLocalPubPre) {
 }
 
 TEST_F(LocalStorageTest, EntryNoTypeLocalSet) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto entry = storage.GetEntry(fooTopic, NT_UNASSIGNED, "", {});
 
@@ -230,7 +230,7 @@ TEST_F(LocalStorageTest, EntryNoTypeLocalSet) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   EXPECT_CALL(network, ClientSetValue(_, val));
   EXPECT_TRUE(storage.SetEntryValue(entry, val));
 
@@ -268,14 +268,14 @@ TEST_F(LocalStorageTest, EntryNoTypeLocalSet) {
 }
 
 TEST_F(LocalStorageTest, PubUnpubPub) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto sub = storage.Subscribe(fooTopic, NT_INTEGER, "int", {});
 
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   EXPECT_CALL(logger,
               Call(NT_LOG_INFO, _, _,
                    std::string_view{
@@ -302,7 +302,7 @@ TEST_F(LocalStorageTest, PubUnpubPub) {
 
   EXPECT_CALL(network,
               ClientPublish(_, std::string_view{"foo"}, std::string_view{"int"},
-                            wpi::json::object(), IsDefaultPubSubOptions()));
+                            wpi::util::json::object(), IsDefaultPubSubOptions()));
   pub = storage.Publish(fooTopic, NT_INTEGER, "int", {}, {});
 
   val = Value::MakeInteger(3, 5);
@@ -320,7 +320,7 @@ TEST_F(LocalStorageTest, LocalPubConflict) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub1 = storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
   EXPECT_CALL(
@@ -343,7 +343,7 @@ TEST_F(LocalStorageTest, LocalPubConflict) {
   EXPECT_CALL(network, ClientUnpublish(Handle{pub1}.GetIndex()));
   EXPECT_CALL(network,
               ClientPublish(_, std::string_view{"foo"}, std::string_view{"int"},
-                            wpi::json::object(), IsDefaultPubSubOptions()));
+                            wpi::util::json::object(), IsDefaultPubSubOptions()));
   storage.Unpublish(pub1);
 
   EXPECT_EQ(storage.GetTopicType(fooTopic), NT_INTEGER);
@@ -360,10 +360,10 @@ TEST_F(LocalStorageTest, LocalSubConflict) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   EXPECT_CALL(logger,
               Call(NT_LOG_INFO, _, _,
@@ -377,7 +377,7 @@ TEST_F(LocalStorageTest, RemotePubConflict) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
 
   storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
@@ -387,7 +387,7 @@ TEST_F(LocalStorageTest, RemotePubConflict) {
                        "network announce of 'foo' overriding local publish "
                        "(was 'boolean', now 'int')"}));
 
-  auto id = storage.ServerAnnounce("foo", 0, "int", wpi::json::object(),
+  auto id = storage.ServerAnnounce("foo", 0, "int", wpi::util::json::object(),
                                    std::nullopt);
 
   // network overrides local
@@ -398,7 +398,7 @@ TEST_F(LocalStorageTest, RemotePubConflict) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
 
   storage.ServerUnannounce("foo", id);
 
@@ -409,14 +409,14 @@ TEST_F(LocalStorageTest, RemotePubConflict) {
 
 TEST_F(LocalStorageTest, SubNonExist) {
   // makes sure no warning is emitted
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   storage.Subscribe(fooTopic, NT_BOOLEAN, "boolean", {});
 }
 
 TEST_F(LocalStorageTest, SetDefaultSubscribe) {
   // no publish, no value on wire, this is just handled locally
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto sub = storage.Subscribe(fooTopic, NT_BOOLEAN, "boolean", {});
   EXPECT_TRUE(storage.SetDefaultEntryValue(sub, Value::MakeBoolean(true)));
@@ -430,7 +430,7 @@ TEST_F(LocalStorageTest, SetDefaultPublish) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub = storage.Publish(fooTopic, NT_BOOLEAN, "boolean", {}, {});
 
   // expect a value across the wire
@@ -447,7 +447,7 @@ TEST_F(LocalStorageTest, SetDefaultPublish) {
 }
 
 TEST_F(LocalStorageTest, SetDefaultEntry) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto entry = storage.GetEntry(fooTopic, NT_BOOLEAN, "boolean", {});
 
@@ -455,7 +455,7 @@ TEST_F(LocalStorageTest, SetDefaultEntry) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto expectVal = Value::MakeBoolean(true, 0);
   EXPECT_CALL(network, ClientSetValue(_, expectVal));
   EXPECT_TRUE(storage.SetDefaultEntryValue(entry, Value::MakeBoolean(true)));
@@ -467,7 +467,7 @@ TEST_F(LocalStorageTest, SetDefaultEntry) {
 }
 
 TEST_F(LocalStorageTest, SetDefaultEntryUnassigned) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto entry = storage.GetEntry(fooTopic, NT_UNASSIGNED, "", {});
 
@@ -475,7 +475,7 @@ TEST_F(LocalStorageTest, SetDefaultEntryUnassigned) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"boolean"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto expectVal = Value::MakeBoolean(true, 0);
   EXPECT_CALL(network, ClientSetValue(_, expectVal));
   EXPECT_TRUE(storage.SetDefaultEntryValue(entry, Value::MakeBoolean(true)));
@@ -491,7 +491,7 @@ TEST_F(LocalStorageTest, SetDefaultEntryDiffType) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"string"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub = storage.Publish(fooTopic, NT_STRING, "string", {}, {});
 
   EXPECT_FALSE(storage.SetDefaultEntryValue(pub, Value::MakeBoolean(true)));
@@ -502,14 +502,14 @@ TEST_F(LocalStorageTest, SetValueEmptyValue) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"string"},
-                    wpi::json::object(), IsDefaultPubSubOptions()));
+                    wpi::util::json::object(), IsDefaultPubSubOptions()));
   auto pub = storage.Publish(fooTopic, NT_STRING, "string", {}, {});
 
   EXPECT_FALSE(storage.SetEntryValue(pub, {}));
 }
 
 TEST_F(LocalStorageTest, SetValueEmptyUntypedEntry) {
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsDefaultPubSubOptions()));
   auto entry = storage.GetEntry(fooTopic, NT_UNASSIGNED, "", {});
   EXPECT_FALSE(storage.SetEntryValue(entry, {}));
@@ -546,14 +546,14 @@ void LocalStorageDuplicatesTest::SetupPubSub(bool keepPub, bool keepSub) {
   EXPECT_CALL(
       network,
       ClientPublish(_, std::string_view{"foo"}, std::string_view{"double"},
-                    wpi::json::object(), IsPubSubOptions(pubOptions)));
+                    wpi::util::json::object(), IsPubSubOptions(pubOptions)));
   pub = storage.Publish(fooTopic, NT_DOUBLE, "double", {},
                         {.keepDuplicates = keepPub});
 
   PubSubOptionsImpl subOptions;
   subOptions.pollStorage = 10;
   subOptions.keepDuplicates = keepSub;
-  EXPECT_CALL(network, ClientSubscribe(_, wpi::SpanEq({std::string{"foo"}}),
+  EXPECT_CALL(network, ClientSubscribe(_, wpi::util::SpanEq({std::string{"foo"}}),
                                        IsPubSubOptions(subOptions)));
   sub = storage.Subscribe(fooTopic, NT_DOUBLE, "double",
                           {.pollStorage = 10, .keepDuplicates = keepSub});
@@ -836,7 +836,7 @@ TEST_F(LocalStorageNumberVariantsTest, GetAtomic) {
 template <typename T, typename U>
 ::testing::Matcher<const T&> TSSpanEq(std::span<U> value, int64_t time) {
   return AllOf(
-      Field("value", &T::value, wpi::SpanEq(std::span<const U>(value))),
+      Field("value", &T::value, wpi::util::SpanEq(std::span<const U>(value))),
       Field("time", &T::time, time));
 }
 
@@ -927,15 +927,15 @@ TEST_F(LocalStorageTest, MultiSubSpecial) {
 
   EXPECT_CALL(
       listenerStorage,
-      Notify(wpi::SpanEq(std::span<const NT_Listener>{{2}}), _, _, _, _));
+      Notify(wpi::util::SpanEq(std::span<const NT_Listener>{{2}}), _, _, _, _));
   storage.SetEntryValue(pubspecial, Value::MakeDouble(1.0, 30));
 
   EXPECT_CALL(
       listenerStorage,
-      Notify(wpi::SpanEq(std::span<const NT_Listener>{{1}}), _, _, _, _));
+      Notify(wpi::util::SpanEq(std::span<const NT_Listener>{{1}}), _, _, _, _));
   EXPECT_CALL(
       listenerStorage,
-      Notify(wpi::SpanEq(std::span<const NT_Listener>{{2}}), _, _, _, _));
+      Notify(wpi::util::SpanEq(std::span<const NT_Listener>{{2}}), _, _, _, _));
   storage.SetEntryValue(pubnormal, Value::MakeDouble(2.0, 40));
 }
 
@@ -943,7 +943,7 @@ TEST_F(LocalStorageTest, NetworkDuplicateDetect) {
   EXPECT_CALL(network, ClientPublish(_, _, _, _, _));
   auto pub = storage.Publish(fooTopic, NT_DOUBLE, "double", {}, {});
   auto remoteTopic = storage.ServerAnnounce("foo", 0, "double",
-                                            wpi::json::object(), std::nullopt);
+                                            wpi::util::json::object(), std::nullopt);
 
   // local set
   EXPECT_CALL(network, ClientSetValue(_, _));
@@ -969,7 +969,7 @@ TEST_F(LocalStorageTest, ReadQueueLocalRemote) {
       storage.Subscribe(fooTopic, NT_DOUBLE, "double", {.disableLocal = true});
   auto pub = storage.Publish(fooTopic, NT_DOUBLE, "double", {}, {});
   auto remoteTopic = storage.ServerAnnounce("foo", 0, "double",
-                                            wpi::json::object(), std::nullopt);
+                                            wpi::util::json::object(), std::nullopt);
 
   // local set
   EXPECT_CALL(network, ClientSetValue(_, _));
@@ -998,7 +998,7 @@ TEST_F(LocalStorageTest, SubExcludePub) {
   auto subExclude = storage.Subscribe(fooTopic, NT_DOUBLE, "double",
                                       {.excludePublisher = pub});
   auto remoteTopic = storage.ServerAnnounce("foo", 0, "double",
-                                            wpi::json::object(), std::nullopt);
+                                            wpi::util::json::object(), std::nullopt);
 
   // local set
   EXPECT_CALL(network, ClientSetValue(_, _));
@@ -1021,7 +1021,7 @@ TEST_F(LocalStorageTest, EntryExcludeSelf) {
   auto entry =
       storage.GetEntry(fooTopic, NT_DOUBLE, "double", {.excludeSelf = true});
   auto remoteTopic = storage.ServerAnnounce("foo", 0, "double",
-                                            wpi::json::object(), std::nullopt);
+                                            wpi::util::json::object(), std::nullopt);
 
   // local set
   EXPECT_CALL(network, ClientPublish(_, _, _, _, _));
@@ -1061,7 +1061,7 @@ TEST_F(LocalStorageTest, ReadQueueInitialRemote) {
   EXPECT_CALL(network, ClientSubscribe(_, _, _)).Times(3);
 
   auto remoteTopic = storage.ServerAnnounce("foo", 0, "double",
-                                            wpi::json::object(), std::nullopt);
+                                            wpi::util::json::object(), std::nullopt);
   storage.ServerSetValue(remoteTopic, Value::MakeDouble(2.0, 60));
 
   auto subBoth =
@@ -1079,4 +1079,4 @@ TEST_F(LocalStorageTest, ReadQueueInitialRemote) {
   EXPECT_THAT(storage.ReadQueue<double>(subLocal), IsEmpty());
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/LoggerTest.cpp b/ntcore/src/test/native/cpp/LoggerTest.cpp
index 488098022d..9a7fc19382 100644
--- a/ntcore/src/test/native/cpp/LoggerTest.cpp
+++ b/ntcore/src/test/native/cpp/LoggerTest.cpp
@@ -13,12 +13,12 @@
 
 class LoggerTest : public ::testing::Test {
  public:
-  LoggerTest() : m_inst(nt::CreateInstance()) {}
+  LoggerTest() : m_inst(wpi::nt::CreateInstance()) {}
 
-  ~LoggerTest() override { nt::DestroyInstance(m_inst); }
+  ~LoggerTest() override { wpi::nt::DestroyInstance(m_inst); }
 
   void Generate();
-  void Check(const std::vector<nt::Event>& events, NT_Listener handle,
+  void Check(const std::vector<wpi::nt::Event>& events, NT_Listener handle,
              bool infoMsg, bool errMsg);
 
  protected:
@@ -27,21 +27,21 @@ class LoggerTest : public ::testing::Test {
 
 void LoggerTest::Generate() {
   // generate info message
-  nt::StartClient(m_inst, "");
+  wpi::nt::StartClient(m_inst, "");
 
   // generate error message
-  nt::Publish(nt::Handle(nt::Handle{m_inst}.GetInst(), 5, nt::Handle::kTopic),
+  wpi::nt::Publish(wpi::nt::Handle(wpi::nt::Handle{m_inst}.GetInst(), 5, wpi::nt::Handle::kTopic),
               NT_DOUBLE, "");
 }
 
-void LoggerTest::Check(const std::vector<nt::Event>& events, NT_Listener handle,
+void LoggerTest::Check(const std::vector<wpi::nt::Event>& events, NT_Listener handle,
                        bool infoMsg, bool errMsg) {
   size_t count = (infoMsg ? 1u : 0u) + (errMsg ? 1u : 0u);
   ASSERT_EQ(events.size(), count);
   for (size_t i = 0; i < count; ++i) {
     ASSERT_EQ(events[i].listener, handle);
-    ASSERT_EQ(events[i].flags & nt::EventFlags::kLogMessage,
-              nt::EventFlags::kLogMessage);
+    ASSERT_EQ(events[i].flags & wpi::nt::EventFlags::kLogMessage,
+              wpi::nt::EventFlags::kLogMessage);
     auto log = events[i].GetLogMessage();
     ASSERT_TRUE(log);
     if (infoMsg) {
@@ -58,41 +58,41 @@ void LoggerTest::Check(const std::vector<nt::Event>& events, NT_Listener handle,
 }
 
 TEST_F(LoggerTest, DefaultLogRange) {
-  auto poller = nt::CreateListenerPoller(m_inst);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
   auto handle =
-      nt::AddPolledListener(poller, m_inst, nt::EventFlags::kLogMessage);
+      wpi::nt::AddPolledListener(poller, m_inst, wpi::nt::EventFlags::kLogMessage);
 
   Generate();
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
 
   Check(events, handle, true, true);
 }
 
 TEST_F(LoggerTest, InfoOnly) {
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto handle = nt::AddPolledLogger(poller, NT_LOG_INFO, NT_LOG_INFO);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto handle = wpi::nt::AddPolledLogger(poller, NT_LOG_INFO, NT_LOG_INFO);
 
   Generate();
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
 
   Check(events, handle, true, false);
 }
 
 TEST_F(LoggerTest, Error) {
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto handle = nt::AddPolledLogger(poller, NT_LOG_ERROR, 100);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto handle = wpi::nt::AddPolledLogger(poller, NT_LOG_ERROR, 100);
 
   Generate();
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
 
   Check(events, handle, false, true);
 }
diff --git a/ntcore/src/test/native/cpp/MockConnectionList.hpp b/ntcore/src/test/native/cpp/MockConnectionList.hpp
index 97c5f6f109..837526208a 100644
--- a/ntcore/src/test/native/cpp/MockConnectionList.hpp
+++ b/ntcore/src/test/native/cpp/MockConnectionList.hpp
@@ -9,7 +9,7 @@
 #include "IConnectionList.hpp"
 #include "gmock/gmock.h"
 
-namespace nt {
+namespace wpi::nt {
 
 class MockConnectionList : public IConnectionList {
  public:
@@ -21,4 +21,4 @@ class MockConnectionList : public IConnectionList {
   MOCK_METHOD(bool, IsConnected, (), (const, override));
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/MockListenerStorage.hpp b/ntcore/src/test/native/cpp/MockListenerStorage.hpp
index 370923e9e0..8a5e081c98 100644
--- a/ntcore/src/test/native/cpp/MockListenerStorage.hpp
+++ b/ntcore/src/test/native/cpp/MockListenerStorage.hpp
@@ -11,7 +11,7 @@
 #include "IListenerStorage.hpp"
 #include "gmock/gmock.h"
 
-namespace nt {
+namespace wpi::nt {
 
 class MockListenerStorage : public IListenerStorage {
  public:
@@ -42,4 +42,4 @@ class MockListenerStorage : public IListenerStorage {
               (override));
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/MockLogger.hpp b/ntcore/src/test/native/cpp/MockLogger.hpp
index 616abb08d8..9aeeee31a9 100644
--- a/ntcore/src/test/native/cpp/MockLogger.hpp
+++ b/ntcore/src/test/native/cpp/MockLogger.hpp
@@ -9,7 +9,7 @@
 
 namespace wpi {
 
-class MockLogger : public Logger,
+class MockLogger : public wpi::util::Logger,
                    public ::testing::MockFunction<void(
                        unsigned int level, std::string_view file,
                        unsigned int line, std::string_view msg)> {
diff --git a/ntcore/src/test/native/cpp/NetworkTableTest.cpp b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
index 9ffab514d0..3b3fd0371d 100644
--- a/ntcore/src/test/native/cpp/NetworkTableTest.cpp
+++ b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
@@ -14,94 +14,94 @@
 class NetworkTableTest : public ::testing::Test {};
 
 TEST_F(NetworkTableTest, BasenameKey) {
-  EXPECT_EQ("simple", nt::NetworkTable::BasenameKey("simple"));
-  EXPECT_EQ("simple", nt::NetworkTable::BasenameKey("one/two/many/simple"));
+  EXPECT_EQ("simple", wpi::nt::NetworkTable::BasenameKey("simple"));
+  EXPECT_EQ("simple", wpi::nt::NetworkTable::BasenameKey("one/two/many/simple"));
   EXPECT_EQ("simple",
-            nt::NetworkTable::BasenameKey("//////an/////awful/key////simple"));
+            wpi::nt::NetworkTable::BasenameKey("//////an/////awful/key////simple"));
 }
 
 TEST_F(NetworkTableTest, NormalizeKeySlash) {
-  EXPECT_EQ("/", nt::NetworkTable::NormalizeKey("///"));
-  EXPECT_EQ("/no/normal/req", nt::NetworkTable::NormalizeKey("/no/normal/req"));
+  EXPECT_EQ("/", wpi::nt::NetworkTable::NormalizeKey("///"));
+  EXPECT_EQ("/no/normal/req", wpi::nt::NetworkTable::NormalizeKey("/no/normal/req"));
   EXPECT_EQ("/no/leading/slash",
-            nt::NetworkTable::NormalizeKey("no/leading/slash"));
-  EXPECT_EQ("/what/an/awful/key/", nt::NetworkTable::NormalizeKey(
+            wpi::nt::NetworkTable::NormalizeKey("no/leading/slash"));
+  EXPECT_EQ("/what/an/awful/key/", wpi::nt::NetworkTable::NormalizeKey(
                                        "//////what////an/awful/////key///"));
 }
 
 TEST_F(NetworkTableTest, NormalizeKeyNoSlash) {
-  EXPECT_EQ("a", nt::NetworkTable::NormalizeKey("a", false));
-  EXPECT_EQ("a", nt::NetworkTable::NormalizeKey("///a", false));
+  EXPECT_EQ("a", wpi::nt::NetworkTable::NormalizeKey("a", false));
+  EXPECT_EQ("a", wpi::nt::NetworkTable::NormalizeKey("///a", false));
   EXPECT_EQ("leading/slash",
-            nt::NetworkTable::NormalizeKey("/leading/slash", false));
+            wpi::nt::NetworkTable::NormalizeKey("/leading/slash", false));
   EXPECT_EQ("no/leading/slash",
-            nt::NetworkTable::NormalizeKey("no/leading/slash", false));
+            wpi::nt::NetworkTable::NormalizeKey("no/leading/slash", false));
   EXPECT_EQ("what/an/awful/key/",
-            nt::NetworkTable::NormalizeKey("//////what////an/awful/////key///",
+            wpi::nt::NetworkTable::NormalizeKey("//////what////an/awful/////key///",
                                            false));
 }
 
 TEST_F(NetworkTableTest, GetHierarchyEmpty) {
   std::vector<std::string> expected{"/"};
-  ASSERT_EQ(expected, nt::NetworkTable::GetHierarchy(""));
+  ASSERT_EQ(expected, wpi::nt::NetworkTable::GetHierarchy(""));
 }
 
 TEST_F(NetworkTableTest, GetHierarchyRoot) {
   std::vector<std::string> expected{"/"};
-  ASSERT_EQ(expected, nt::NetworkTable::GetHierarchy("/"));
+  ASSERT_EQ(expected, wpi::nt::NetworkTable::GetHierarchy("/"));
 }
 
 TEST_F(NetworkTableTest, GetHierarchyNormal) {
   std::vector<std::string> expected{"/", "/foo", "/foo/bar", "/foo/bar/baz"};
-  ASSERT_EQ(expected, nt::NetworkTable::GetHierarchy("/foo/bar/baz"));
+  ASSERT_EQ(expected, wpi::nt::NetworkTable::GetHierarchy("/foo/bar/baz"));
 }
 
 TEST_F(NetworkTableTest, GetHierarchyTrailingSlash) {
   std::vector<std::string> expected{"/", "/foo", "/foo/bar", "/foo/bar/"};
-  ASSERT_EQ(expected, nt::NetworkTable::GetHierarchy("/foo/bar/"));
+  ASSERT_EQ(expected, wpi::nt::NetworkTable::GetHierarchy("/foo/bar/"));
 }
 
 TEST_F(NetworkTableTest, ContainsKey) {
-  auto inst = nt::NetworkTableInstance::Create();
+  auto inst = wpi::nt::NetworkTableInstance::Create();
   auto nt = inst.GetTable("containskey");
   ASSERT_FALSE(nt->ContainsKey("testkey"));
   nt->PutNumber("testkey", 5);
   ASSERT_TRUE(nt->ContainsKey("testkey"));
   ASSERT_TRUE(inst.GetEntry("/containskey/testkey").Exists());
   ASSERT_FALSE(inst.GetEntry("containskey/testkey").Exists());
-  nt::NetworkTableInstance::Destroy(inst);
+  wpi::nt::NetworkTableInstance::Destroy(inst);
 }
 
 TEST_F(NetworkTableTest, LeadingSlash) {
-  auto inst = nt::NetworkTableInstance::Create();
+  auto inst = wpi::nt::NetworkTableInstance::Create();
   auto nt = inst.GetTable("leadingslash");
   auto nt2 = inst.GetTable("/leadingslash");
   ASSERT_FALSE(nt->ContainsKey("testkey"));
   nt2->PutNumber("testkey", 5);
   ASSERT_TRUE(nt->ContainsKey("testkey"));
   ASSERT_TRUE(inst.GetEntry("/leadingslash/testkey").Exists());
-  nt::NetworkTableInstance::Destroy(inst);
+  wpi::nt::NetworkTableInstance::Destroy(inst);
 }
 
 TEST_F(NetworkTableTest, EmptyOrNoSlash) {
-  auto inst = nt::NetworkTableInstance::Create();
+  auto inst = wpi::nt::NetworkTableInstance::Create();
   auto nt = inst.GetTable("/");
   auto nt2 = inst.GetTable("");
   ASSERT_FALSE(nt->ContainsKey("testkey"));
   nt2->PutNumber("testkey", 5);
   ASSERT_TRUE(nt->ContainsKey("testkey"));
   ASSERT_TRUE(inst.GetEntry("/testkey").Exists());
-  nt::NetworkTableInstance::Destroy(inst);
+  wpi::nt::NetworkTableInstance::Destroy(inst);
 }
 
 TEST_F(NetworkTableTest, ResetInstance) {
-  auto inst = nt::NetworkTableInstance::Create();
+  auto inst = wpi::nt::NetworkTableInstance::Create();
   auto nt = inst.GetTable("containskey");
   ASSERT_FALSE(nt->ContainsKey("testkey"));
   nt->PutNumber("testkey", 5);
   ASSERT_TRUE(nt->ContainsKey("testkey"));
   ASSERT_TRUE(inst.GetEntry("/containskey/testkey").Exists());
-  nt::ResetInstance(inst.GetHandle());
+  wpi::nt::ResetInstance(inst.GetHandle());
   ASSERT_FALSE(nt->ContainsKey("testkey"));
-  nt::NetworkTableInstance::Destroy(inst);
+  wpi::nt::NetworkTableInstance::Destroy(inst);
 }
diff --git a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
index 6f7f5489d3..95670f3492 100644
--- a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
+++ b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
@@ -6,7 +6,7 @@
 
 #include "TestPrinters.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 bool PubSubOptionsMatcher::MatchAndExplain(
     const PubSubOptionsImpl& val,
@@ -40,4 +40,4 @@ void PubSubOptionsMatcher::DescribeNegationTo(::std::ostream* os) const {
   PrintTo(good, os);
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
index b43da2d7c9..c42ff995be 100644
--- a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
+++ b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
@@ -10,7 +10,7 @@
 #include "PubSubOptions.hpp"
 #include "gmock/gmock.h"
 
-namespace nt {
+namespace wpi::nt {
 
 class PubSubOptionsMatcher
     : public ::testing::MatcherInterface<const PubSubOptionsImpl&> {
@@ -32,4 +32,4 @@ inline ::testing::Matcher<const PubSubOptionsImpl&> PubSubOptionsEq(
   return ::testing::MakeMatcher(new PubSubOptionsMatcher(std::move(good)));
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/StorageTest.hpp b/ntcore/src/test/native/cpp/StorageTest.hpp
index c80fbf1891..cb662be149 100644
--- a/ntcore/src/test/native/cpp/StorageTest.hpp
+++ b/ntcore/src/test/native/cpp/StorageTest.hpp
@@ -12,7 +12,7 @@
 #include "MockDispatcher.h"
 #include "Storage.h"
 
-namespace nt {
+namespace wpi::nt {
 
 class StorageTest {
  public:
@@ -28,10 +28,10 @@ class StorageTest {
 
   void HookOutgoing(bool server) { storage.SetDispatcher(&dispatcher, server); }
 
-  wpi::Logger logger;
+  wpi::util::Logger logger;
   ::testing::StrictMock<MockDispatcher> dispatcher;
   Storage storage;
   Storage::Entry tmp_entry;
 };
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/StructTest.cpp b/ntcore/src/test/native/cpp/StructTest.cpp
index b0c36b586e..b263c09fff 100644
--- a/ntcore/src/test/native/cpp/StructTest.cpp
+++ b/ntcore/src/test/native/cpp/StructTest.cpp
@@ -45,85 +45,85 @@ struct Info1 {
 }  // namespace
 
 template <>
-struct wpi::Struct<Inner> {
+struct wpi::util::Struct<Inner> {
   static constexpr std::string_view GetTypeName() { return "Inner"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "int32 a; int32 b"; }
 
   static Inner Unpack(std::span<const uint8_t> data) {
-    return {wpi::UnpackStruct<int32_t, 0>(data),
-            wpi::UnpackStruct<int32_t, 4>(data)};
+    return {wpi::util::UnpackStruct<int32_t, 0>(data),
+            wpi::util::UnpackStruct<int32_t, 4>(data)};
   }
   static void Pack(std::span<uint8_t> data, const Inner& value) {
-    wpi::PackStruct<0>(data, value.a);
-    wpi::PackStruct<4>(data, value.b);
+    wpi::util::PackStruct<0>(data, value.a);
+    wpi::util::PackStruct<4>(data, value.b);
   }
 };
 
 template <>
-struct wpi::Struct<Outer> {
+struct wpi::util::Struct<Outer> {
   static constexpr std::string_view GetTypeName() { return "Outer"; }
-  static constexpr size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
+  static constexpr size_t GetSize() { return wpi::util::GetStructSize<Inner>() + 4; }
   static constexpr std::string_view GetSchema() {
     return "Inner inner; int32 c";
   }
 
   static Outer Unpack(std::span<const uint8_t> data) {
-    constexpr size_t innerSize = wpi::GetStructSize<Inner>();
-    return {wpi::UnpackStruct<Inner, 0>(data),
-            wpi::UnpackStruct<int32_t, innerSize>(data)};
+    constexpr size_t innerSize = wpi::util::GetStructSize<Inner>();
+    return {wpi::util::UnpackStruct<Inner, 0>(data),
+            wpi::util::UnpackStruct<int32_t, innerSize>(data)};
   }
   static void Pack(std::span<uint8_t> data, const Outer& value) {
-    constexpr size_t innerSize = wpi::GetStructSize<Inner>();
-    wpi::PackStruct<0>(data, value.inner);
-    wpi::PackStruct<innerSize>(data, value.c);
+    constexpr size_t innerSize = wpi::util::GetStructSize<Inner>();
+    wpi::util::PackStruct<0>(data, value.inner);
+    wpi::util::PackStruct<innerSize>(data, value.c);
   }
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<Inner>(fn);
+    wpi::util::ForEachStructSchema<Inner>(fn);
   }
 };
 
 template <>
-struct wpi::Struct<Inner2> {
+struct wpi::util::Struct<Inner2> {
   static std::string_view GetTypeName() { return "Inner2"; }
   static size_t GetSize() { return 8; }
   static std::string_view GetSchema() { return "int32 a; int32 b"; }
 
   static Inner2 Unpack(std::span<const uint8_t> data) {
-    return {wpi::UnpackStruct<int32_t, 0>(data),
-            wpi::UnpackStruct<int32_t, 4>(data)};
+    return {wpi::util::UnpackStruct<int32_t, 0>(data),
+            wpi::util::UnpackStruct<int32_t, 4>(data)};
   }
   static void Pack(std::span<uint8_t> data, const Inner2& value) {
-    wpi::PackStruct<0>(data, value.a);
-    wpi::PackStruct<4>(data, value.b);
+    wpi::util::PackStruct<0>(data, value.a);
+    wpi::util::PackStruct<4>(data, value.b);
   }
 };
 
 template <>
-struct wpi::Struct<Outer2> {
+struct wpi::util::Struct<Outer2> {
   static std::string_view GetTypeName() { return "Outer2"; }
-  static size_t GetSize() { return wpi::GetStructSize<Inner>() + 4; }
+  static size_t GetSize() { return wpi::util::GetStructSize<Inner>() + 4; }
   static std::string_view GetSchema() { return "Inner2 inner; int32 c"; }
 
   static Outer2 Unpack(std::span<const uint8_t> data) {
-    size_t innerSize = wpi::GetStructSize<Inner2>();
-    return {wpi::UnpackStruct<Inner2, 0>(data),
-            wpi::UnpackStruct<int32_t>(data.subspan(innerSize))};
+    size_t innerSize = wpi::util::GetStructSize<Inner2>();
+    return {wpi::util::UnpackStruct<Inner2, 0>(data),
+            wpi::util::UnpackStruct<int32_t>(data.subspan(innerSize))};
   }
   static void Pack(std::span<uint8_t> data, const Outer2& value) {
-    size_t innerSize = wpi::GetStructSize<Inner2>();
-    wpi::PackStruct<0>(data, value.inner);
-    wpi::PackStruct(data.subspan(innerSize), value.c);
+    size_t innerSize = wpi::util::GetStructSize<Inner2>();
+    wpi::util::PackStruct<0>(data, value.inner);
+    wpi::util::PackStruct(data.subspan(innerSize), value.c);
   }
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<Inner2>(fn);
+    wpi::util::ForEachStructSchema<Inner2>(fn);
   }
 };
 
 template <>
-struct wpi::Struct<ThingA> {
+struct wpi::util::Struct<ThingA> {
   static constexpr std::string_view GetTypeName() { return "ThingA"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
@@ -136,7 +136,7 @@ struct wpi::Struct<ThingA> {
 };
 
 template <>
-struct wpi::Struct<ThingB, Info1> {
+struct wpi::util::Struct<ThingB, Info1> {
   static constexpr std::string_view GetTypeName(const Info1&) {
     return "ThingB";
   }
@@ -152,20 +152,20 @@ struct wpi::Struct<ThingB, Info1> {
   }
 };
 
-namespace nt {
+namespace wpi::nt {
 
 class StructTest : public ::testing::Test {
  public:
-  StructTest() { inst = nt::NetworkTableInstance::Create(); }
-  ~StructTest() override { nt::NetworkTableInstance::Destroy(inst); }
+  StructTest() { inst = wpi::nt::NetworkTableInstance::Create(); }
+  ~StructTest() override { wpi::nt::NetworkTableInstance::Destroy(inst); }
 
-  nt::NetworkTableInstance inst;
+  wpi::nt::NetworkTableInstance inst;
 };
 
 TEST_F(StructTest, InnerConstexpr) {
-  nt::StructTopic<Inner> topic = inst.GetStructTopic<Inner>("inner");
-  nt::StructPublisher<Inner> pub = topic.Publish();
-  nt::StructSubscriber<Inner> sub = topic.Subscribe({});
+  wpi::nt::StructTopic<Inner> topic = inst.GetStructTopic<Inner>("inner");
+  wpi::nt::StructPublisher<Inner> pub = topic.Publish();
+  wpi::nt::StructSubscriber<Inner> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Inner");
 
@@ -191,9 +191,9 @@ TEST_F(StructTest, InnerConstexpr) {
 }
 
 TEST_F(StructTest, InnerNonconstexpr) {
-  nt::StructTopic<Inner2> topic = inst.GetStructTopic<Inner2>("inner2");
-  nt::StructPublisher<Inner2> pub = topic.Publish();
-  nt::StructSubscriber<Inner2> sub = topic.Subscribe({});
+  wpi::nt::StructTopic<Inner2> topic = inst.GetStructTopic<Inner2>("inner2");
+  wpi::nt::StructPublisher<Inner2> pub = topic.Publish();
+  wpi::nt::StructSubscriber<Inner2> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Inner2");
 
@@ -219,9 +219,9 @@ TEST_F(StructTest, InnerNonconstexpr) {
 }
 
 TEST_F(StructTest, OuterConstexpr) {
-  nt::StructTopic<Outer> topic = inst.GetStructTopic<Outer>("outer");
-  nt::StructPublisher<Outer> pub = topic.Publish();
-  nt::StructSubscriber<Outer> sub = topic.Subscribe({});
+  wpi::nt::StructTopic<Outer> topic = inst.GetStructTopic<Outer>("outer");
+  wpi::nt::StructPublisher<Outer> pub = topic.Publish();
+  wpi::nt::StructSubscriber<Outer> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Outer");
 
@@ -251,9 +251,9 @@ TEST_F(StructTest, OuterConstexpr) {
 }
 
 TEST_F(StructTest, OuterNonconstexpr) {
-  nt::StructTopic<Outer2> topic = inst.GetStructTopic<Outer2>("outer2");
-  nt::StructPublisher<Outer2> pub = topic.Publish();
-  nt::StructSubscriber<Outer2> sub = topic.Subscribe({});
+  wpi::nt::StructTopic<Outer2> topic = inst.GetStructTopic<Outer2>("outer2");
+  wpi::nt::StructPublisher<Outer2> pub = topic.Publish();
+  wpi::nt::StructSubscriber<Outer2> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Outer2");
 
@@ -283,9 +283,9 @@ TEST_F(StructTest, OuterNonconstexpr) {
 }
 
 TEST_F(StructTest, InnerArrayConstexpr) {
-  nt::StructArrayTopic<Inner> topic = inst.GetStructArrayTopic<Inner>("innerA");
-  nt::StructArrayPublisher<Inner> pub = topic.Publish();
-  nt::StructArraySubscriber<Inner> sub = topic.Subscribe({});
+  wpi::nt::StructArrayTopic<Inner> topic = inst.GetStructArrayTopic<Inner>("innerA");
+  wpi::nt::StructArrayPublisher<Inner> pub = topic.Publish();
+  wpi::nt::StructArraySubscriber<Inner> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Inner[]");
 
@@ -309,10 +309,10 @@ TEST_F(StructTest, InnerArrayConstexpr) {
 }
 
 TEST_F(StructTest, InnerArrayNonconstexpr) {
-  nt::StructArrayTopic<Inner2> topic =
+  wpi::nt::StructArrayTopic<Inner2> topic =
       inst.GetStructArrayTopic<Inner2>("innerA2");
-  nt::StructArrayPublisher<Inner2> pub = topic.Publish();
-  nt::StructArraySubscriber<Inner2> sub = topic.Subscribe({});
+  wpi::nt::StructArrayPublisher<Inner2> pub = topic.Publish();
+  wpi::nt::StructArraySubscriber<Inner2> sub = topic.Subscribe({});
 
   ASSERT_EQ(topic.GetTypeString(), "struct:Inner2[]");
 
@@ -336,11 +336,11 @@ TEST_F(StructTest, InnerArrayNonconstexpr) {
 }
 
 TEST_F(StructTest, StructA) {
-  nt::StructTopic<ThingA> topic = inst.GetStructTopic<ThingA>("a");
-  nt::StructPublisher<ThingA> pub = topic.Publish();
-  nt::StructPublisher<ThingA> pub2 = topic.PublishEx({{}});
-  nt::StructSubscriber<ThingA> sub = topic.Subscribe({});
-  nt::StructEntry<ThingA> entry = topic.GetEntry({});
+  wpi::nt::StructTopic<ThingA> topic = inst.GetStructTopic<ThingA>("a");
+  wpi::nt::StructPublisher<ThingA> pub = topic.Publish();
+  wpi::nt::StructPublisher<ThingA> pub2 = topic.PublishEx({{}});
+  wpi::nt::StructSubscriber<ThingA> sub = topic.Subscribe({});
+  wpi::nt::StructEntry<ThingA> entry = topic.GetEntry({});
   pub.SetDefault({});
   pub.Set({}, 5);
   sub.Get();
@@ -353,11 +353,11 @@ TEST_F(StructTest, StructA) {
 }
 
 TEST_F(StructTest, StructArrayA) {
-  nt::StructArrayTopic<ThingA> topic = inst.GetStructArrayTopic<ThingA>("a");
-  nt::StructArrayPublisher<ThingA> pub = topic.Publish();
-  nt::StructArrayPublisher<ThingA> pub2 = topic.PublishEx({{}});
-  nt::StructArraySubscriber<ThingA> sub = topic.Subscribe({});
-  nt::StructArrayEntry<ThingA> entry = topic.GetEntry({});
+  wpi::nt::StructArrayTopic<ThingA> topic = inst.GetStructArrayTopic<ThingA>("a");
+  wpi::nt::StructArrayPublisher<ThingA> pub = topic.Publish();
+  wpi::nt::StructArrayPublisher<ThingA> pub2 = topic.PublishEx({{}});
+  wpi::nt::StructArraySubscriber<ThingA> sub = topic.Subscribe({});
+  wpi::nt::StructArrayEntry<ThingA> entry = topic.GetEntry({});
   pub.SetDefault({{ThingA{}, ThingA{}}});
   pub.Set({{ThingA{}, ThingA{}}}, 5);
   sub.Get();
@@ -370,12 +370,12 @@ TEST_F(StructTest, StructArrayA) {
 }
 
 TEST_F(StructTest, StructFixedArrayA) {
-  nt::StructTopic<std::array<ThingA, 2>> topic =
+  wpi::nt::StructTopic<std::array<ThingA, 2>> topic =
       inst.GetStructTopic<std::array<ThingA, 2>>("a");
-  nt::StructPublisher<std::array<ThingA, 2>> pub = topic.Publish();
-  nt::StructPublisher<std::array<ThingA, 2>> pub2 = topic.PublishEx({{}});
-  nt::StructSubscriber<std::array<ThingA, 2>> sub = topic.Subscribe({});
-  nt::StructEntry<std::array<ThingA, 2>> entry = topic.GetEntry({});
+  wpi::nt::StructPublisher<std::array<ThingA, 2>> pub = topic.Publish();
+  wpi::nt::StructPublisher<std::array<ThingA, 2>> pub2 = topic.PublishEx({{}});
+  wpi::nt::StructSubscriber<std::array<ThingA, 2>> sub = topic.Subscribe({});
+  wpi::nt::StructEntry<std::array<ThingA, 2>> entry = topic.GetEntry({});
   std::array<ThingA, 2> arr;
   pub.SetDefault(arr);
   pub.Set(arr, 5);
@@ -390,12 +390,12 @@ TEST_F(StructTest, StructFixedArrayA) {
 
 TEST_F(StructTest, StructB) {
   Info1 info;
-  nt::StructTopic<ThingB, Info1> topic =
+  wpi::nt::StructTopic<ThingB, Info1> topic =
       inst.GetStructTopic<ThingB, Info1>("b", info);
-  nt::StructPublisher<ThingB, Info1> pub = topic.Publish();
-  nt::StructPublisher<ThingB, Info1> pub2 = topic.PublishEx({{}});
-  nt::StructSubscriber<ThingB, Info1> sub = topic.Subscribe({});
-  nt::StructEntry<ThingB, Info1> entry = topic.GetEntry({});
+  wpi::nt::StructPublisher<ThingB, Info1> pub = topic.Publish();
+  wpi::nt::StructPublisher<ThingB, Info1> pub2 = topic.PublishEx({{}});
+  wpi::nt::StructSubscriber<ThingB, Info1> sub = topic.Subscribe({});
+  wpi::nt::StructEntry<ThingB, Info1> entry = topic.GetEntry({});
   pub.SetDefault({});
   pub.Set({}, 5);
   sub.Get();
@@ -409,12 +409,12 @@ TEST_F(StructTest, StructB) {
 
 TEST_F(StructTest, StructArrayB) {
   Info1 info;
-  nt::StructArrayTopic<ThingB, Info1> topic =
+  wpi::nt::StructArrayTopic<ThingB, Info1> topic =
       inst.GetStructArrayTopic<ThingB, Info1>("b", info);
-  nt::StructArrayPublisher<ThingB, Info1> pub = topic.Publish();
-  nt::StructArrayPublisher<ThingB, Info1> pub2 = topic.PublishEx({{}});
-  nt::StructArraySubscriber<ThingB, Info1> sub = topic.Subscribe({});
-  nt::StructArrayEntry<ThingB, Info1> entry = topic.GetEntry({});
+  wpi::nt::StructArrayPublisher<ThingB, Info1> pub = topic.Publish();
+  wpi::nt::StructArrayPublisher<ThingB, Info1> pub2 = topic.PublishEx({{}});
+  wpi::nt::StructArraySubscriber<ThingB, Info1> sub = topic.Subscribe({});
+  wpi::nt::StructArrayEntry<ThingB, Info1> entry = topic.GetEntry({});
   pub.SetDefault({{ThingB{}, ThingB{}}});
   pub.Set({{ThingB{}, ThingB{}}}, 5);
   sub.Get();
@@ -428,13 +428,13 @@ TEST_F(StructTest, StructArrayB) {
 
 TEST_F(StructTest, StructFixedArrayB) {
   Info1 info;
-  nt::StructTopic<std::array<ThingB, 2>, Info1> topic =
+  wpi::nt::StructTopic<std::array<ThingB, 2>, Info1> topic =
       inst.GetStructTopic<std::array<ThingB, 2>, Info1>("b", info);
-  nt::StructPublisher<std::array<ThingB, 2>, Info1> pub = topic.Publish();
-  nt::StructPublisher<std::array<ThingB, 2>, Info1> pub2 =
+  wpi::nt::StructPublisher<std::array<ThingB, 2>, Info1> pub = topic.Publish();
+  wpi::nt::StructPublisher<std::array<ThingB, 2>, Info1> pub2 =
       topic.PublishEx({{}});
-  nt::StructSubscriber<std::array<ThingB, 2>, Info1> sub = topic.Subscribe({});
-  nt::StructEntry<std::array<ThingB, 2>, Info1> entry = topic.GetEntry({});
+  wpi::nt::StructSubscriber<std::array<ThingB, 2>, Info1> sub = topic.Subscribe({});
+  wpi::nt::StructEntry<std::array<ThingB, 2>, Info1> entry = topic.GetEntry({});
   std::array<ThingB, 2> arr;
   pub.SetDefault(arr);
   pub.Set(arr, 5);
@@ -447,4 +447,4 @@ TEST_F(StructTest, StructFixedArrayB) {
   entry.Get(arr);
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/TableListenerTest.cpp b/ntcore/src/test/native/cpp/TableListenerTest.cpp
index 55586ee455..09f95baae3 100644
--- a/ntcore/src/test/native/cpp/TableListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/TableListenerTest.cpp
@@ -15,24 +15,24 @@
 using ::testing::_;
 
 using MockTableEventListener = testing::MockFunction<void(
-    nt::NetworkTable* table, std::string_view key, const nt::Event& event)>;
+    wpi::nt::NetworkTable* table, std::string_view key, const wpi::nt::Event& event)>;
 using MockSubTableListener =
-    testing::MockFunction<void(nt::NetworkTable* parent, std::string_view name,
-                               std::shared_ptr<nt::NetworkTable> table)>;
+    testing::MockFunction<void(wpi::nt::NetworkTable* parent, std::string_view name,
+                               std::shared_ptr<wpi::nt::NetworkTable> table)>;
 
 class TableListenerTest : public ::testing::Test {
  public:
-  TableListenerTest() : m_inst(nt::NetworkTableInstance::Create()) {}
+  TableListenerTest() : m_inst(wpi::nt::NetworkTableInstance::Create()) {}
 
-  ~TableListenerTest() override { nt::NetworkTableInstance::Destroy(m_inst); }
+  ~TableListenerTest() override { wpi::nt::NetworkTableInstance::Destroy(m_inst); }
 
   void PublishTopics();
 
  protected:
-  nt::NetworkTableInstance m_inst;
-  nt::DoublePublisher m_foovalue;
-  nt::DoublePublisher m_barvalue;
-  nt::DoublePublisher m_bazvalue;
+  wpi::nt::NetworkTableInstance m_inst;
+  wpi::nt::DoublePublisher m_foovalue;
+  wpi::nt::DoublePublisher m_barvalue;
+  wpi::nt::DoublePublisher m_bazvalue;
 };
 
 void TableListenerTest::PublishTopics() {
diff --git a/ntcore/src/test/native/cpp/TestPrinters.cpp b/ntcore/src/test/native/cpp/TestPrinters.cpp
index 896d759ce6..4ee35168eb 100644
--- a/ntcore/src/test/native/cpp/TestPrinters.cpp
+++ b/ntcore/src/test/native/cpp/TestPrinters.cpp
@@ -10,7 +10,7 @@
 #include "wpi/nt/NetworkTableValue.hpp"
 #include "wpi/nt/ntcore_cpp.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 void PrintTo(const Event& event, std::ostream* os) {
   *os << "Event{listener=";
@@ -105,4 +105,4 @@ void PrintTo(const PubSubOptionsImpl& options, std::ostream* os) {
       << ", keepDuplicates=" << options.keepDuplicates << '}';
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/TestPrinters.hpp b/ntcore/src/test/native/cpp/TestPrinters.hpp
index d51905c1f8..171ad77c48 100644
--- a/ntcore/src/test/native/cpp/TestPrinters.hpp
+++ b/ntcore/src/test/native/cpp/TestPrinters.hpp
@@ -13,7 +13,7 @@
 
 #include "wpi/util/TestPrinters.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 namespace net3 {
 class Message3;
@@ -37,4 +37,4 @@ void PrintTo(const net::ServerMessage& msg, std::ostream* os);
 void PrintTo(const Value& value, std::ostream* os);
 void PrintTo(const PubSubOptionsImpl& options, std::ostream* os);
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/TimeSyncTest.cpp b/ntcore/src/test/native/cpp/TimeSyncTest.cpp
index 0f815b36ef..72d2b832b4 100644
--- a/ntcore/src/test/native/cpp/TimeSyncTest.cpp
+++ b/ntcore/src/test/native/cpp/TimeSyncTest.cpp
@@ -9,12 +9,12 @@
 
 class TimeSyncTest : public ::testing::Test {
  public:
-  TimeSyncTest() : m_inst(nt::NetworkTableInstance::Create()) {}
+  TimeSyncTest() : m_inst(wpi::nt::NetworkTableInstance::Create()) {}
 
-  ~TimeSyncTest() override { nt::NetworkTableInstance::Destroy(m_inst); }
+  ~TimeSyncTest() override { wpi::nt::NetworkTableInstance::Destroy(m_inst); }
 
  protected:
-  nt::NetworkTableInstance m_inst;
+  wpi::nt::NetworkTableInstance m_inst;
 };
 
 TEST_F(TimeSyncTest, TestLocal) {
@@ -23,7 +23,7 @@ TEST_F(TimeSyncTest, TestLocal) {
 }
 
 TEST_F(TimeSyncTest, TestServer) {
-  nt::NetworkTableListenerPoller poller{m_inst};
+  wpi::nt::NetworkTableListenerPoller poller{m_inst};
   poller.AddTimeSyncListener(false);
 
   m_inst.StartServer("timesynctest.json", "127.0.0.1", 10030);
diff --git a/ntcore/src/test/native/cpp/TopicListenerTest.cpp b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
index b7722ccd65..c512fb1f01 100644
--- a/ntcore/src/test/native/cpp/TopicListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
@@ -19,14 +19,14 @@
 class TopicListenerTest : public ::testing::Test {
  public:
   TopicListenerTest()
-      : m_serverInst(nt::CreateInstance()), m_clientInst(nt::CreateInstance()) {
+      : m_serverInst(wpi::nt::CreateInstance()), m_clientInst(wpi::nt::CreateInstance()) {
 #if 0
-    nt::AddLogger(m_serverInst, 0, UINT_MAX, [](auto& event) {
+    wpi::nt::AddLogger(m_serverInst, 0, UINT_MAX, [](auto& event) {
       if (auto msg = event.GetLogMessage()) {
         std::fprintf(stderr, "SERVER: %s\n", msg->message.c_str());
       }
     });
-    nt::AddLogger(m_clientInst, 0, UINT_MAX, [](auto& event) {
+    wpi::nt::AddLogger(m_clientInst, 0, UINT_MAX, [](auto& event) {
       if (auto msg = event.GetLogMessage()) {
         std::fprintf(stderr, "CLIENT: %s\n", msg.message.c_str());
       }
@@ -35,13 +35,13 @@ class TopicListenerTest : public ::testing::Test {
   }
 
   ~TopicListenerTest() override {
-    nt::DestroyInstance(m_serverInst);
-    nt::DestroyInstance(m_clientInst);
+    wpi::nt::DestroyInstance(m_serverInst);
+    wpi::nt::DestroyInstance(m_clientInst);
   }
 
   void Connect(unsigned int port);
   static void PublishTopics(NT_Inst inst);
-  void CheckEvents(const std::vector<nt::Event>& events, NT_Listener handle,
+  void CheckEvents(const std::vector<wpi::nt::Event>& events, NT_Listener handle,
                    unsigned int flags, std::string_view topicName = "/foo/bar");
 
  protected:
@@ -50,26 +50,26 @@ class TopicListenerTest : public ::testing::Test {
 };
 
 void TopicListenerTest::Connect(unsigned int port) {
-  nt::StartServer(m_serverInst, "topiclistenertest.json", "127.0.0.1", port);
-  nt::StartClient(m_clientInst, "client");
-  nt::SetServer(m_clientInst, "127.0.0.1", port);
+  wpi::nt::StartServer(m_serverInst, "topiclistenertest.json", "127.0.0.1", port);
+  wpi::nt::StartClient(m_clientInst, "client");
+  wpi::nt::SetServer(m_clientInst, "127.0.0.1", port);
 
   // Use connection listener to ensure we've connected
-  NT_ListenerPoller poller = nt::CreateListenerPoller(m_clientInst);
-  nt::AddPolledListener(poller, m_clientInst, nt::EventFlags::kConnected);
+  NT_ListenerPoller poller = wpi::nt::CreateListenerPoller(m_clientInst);
+  wpi::nt::AddPolledListener(poller, m_clientInst, wpi::nt::EventFlags::kConnected);
   bool timedOut = false;
-  if (!wpi::WaitForObject(poller, 1.0, &timedOut)) {
+  if (!wpi::util::WaitForObject(poller, 1.0, &timedOut)) {
     FAIL() << "client didn't connect to server";
   }
 }
 
 void TopicListenerTest::PublishTopics(NT_Inst inst) {
-  nt::Publish(nt::GetTopic(inst, "/foo/bar"), NT_DOUBLE, "double");
-  nt::Publish(nt::GetTopic(inst, "/foo"), NT_DOUBLE, "double");
-  nt::Publish(nt::GetTopic(inst, "/baz"), NT_DOUBLE, "double");
+  wpi::nt::Publish(wpi::nt::GetTopic(inst, "/foo/bar"), NT_DOUBLE, "double");
+  wpi::nt::Publish(wpi::nt::GetTopic(inst, "/foo"), NT_DOUBLE, "double");
+  wpi::nt::Publish(wpi::nt::GetTopic(inst, "/baz"), NT_DOUBLE, "double");
 }
 
-void TopicListenerTest::CheckEvents(const std::vector<nt::Event>& events,
+void TopicListenerTest::CheckEvents(const std::vector<wpi::nt::Event>& events,
                                     NT_Listener handle, unsigned int flags,
                                     std::string_view topicName) {
   ASSERT_EQ(events.size(), 1u);
@@ -77,21 +77,21 @@ void TopicListenerTest::CheckEvents(const std::vector<nt::Event>& events,
   ASSERT_EQ(events[0].flags, flags);
   auto topicInfo = events[0].GetTopicInfo();
   ASSERT_TRUE(topicInfo);
-  ASSERT_EQ(topicInfo->topic, nt::GetTopic(m_serverInst, topicName));
+  ASSERT_EQ(topicInfo->topic, wpi::nt::GetTopic(m_serverInst, topicName));
   ASSERT_EQ(topicInfo->name, topicName);
 }
 
 TEST_F(TopicListenerTest, TopicNewLocal) {
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
-      poller, nt::GetTopic(m_serverInst, "/foo"), nt::EventFlags::kPublish);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
+      poller, wpi::nt::GetTopic(m_serverInst, "/foo"), wpi::nt::EventFlags::kPublish);
 
   PublishTopics(m_serverInst);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kPublish, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kPublish, "/foo");
 }
 
 TEST_F(TopicListenerTest, DISABLED_TopicNewRemote) {
@@ -99,65 +99,65 @@ TEST_F(TopicListenerTest, DISABLED_TopicNewRemote) {
   if (HasFatalFailure()) {
     return;
   }
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
-      poller, nt::GetTopic(m_serverInst, "/foo"), nt::EventFlags::kPublish);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
+      poller, wpi::nt::GetTopic(m_serverInst, "/foo"), wpi::nt::EventFlags::kPublish);
 
   PublishTopics(m_clientInst);
 
-  nt::Flush(m_clientInst);
+  wpi::nt::Flush(m_clientInst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kPublish, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kPublish, "/foo");
 }
 
 TEST_F(TopicListenerTest, TopicPublishImm) {
   PublishTopics(m_serverInst);
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
-      poller, nt::GetTopic(m_serverInst, "/foo"),
-      nt::EventFlags::kPublish | nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
+      poller, wpi::nt::GetTopic(m_serverInst, "/foo"),
+      wpi::nt::EventFlags::kPublish | wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
   CheckEvents(events, handle,
-              nt::EventFlags::kPublish | nt::EventFlags::kImmediate, "/foo");
+              wpi::nt::EventFlags::kPublish | wpi::nt::EventFlags::kImmediate, "/foo");
 }
 
 TEST_F(TopicListenerTest, TopicUnpublishPropsImm) {
   PublishTopics(m_serverInst);
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  nt::AddPolledListener(poller, nt::GetTopic(m_serverInst, "/foo"),
-                        nt::EventFlags::kUnpublish |
-                            nt::EventFlags::kProperties |
-                            nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  wpi::nt::AddPolledListener(poller, wpi::nt::GetTopic(m_serverInst, "/foo"),
+                        wpi::nt::EventFlags::kUnpublish |
+                            wpi::nt::EventFlags::kProperties |
+                            wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_FALSE(wpi::WaitForObject(poller, 0.02, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_FALSE(wpi::util::WaitForObject(poller, 0.02, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
   ASSERT_TRUE(events.empty());
 }
 
 TEST_F(TopicListenerTest, TopicUnpublishLocal) {
-  auto topic = nt::GetTopic(m_serverInst, "/foo");
+  auto topic = wpi::nt::GetTopic(m_serverInst, "/foo");
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
   auto handle =
-      nt::AddPolledListener(poller, topic, nt::EventFlags::kUnpublish);
+      wpi::nt::AddPolledListener(poller, topic, wpi::nt::EventFlags::kUnpublish);
 
-  auto pub = nt::Publish(topic, NT_DOUBLE, "double");
-  nt::Unpublish(pub);
+  auto pub = wpi::nt::Publish(topic, NT_DOUBLE, "double");
+  wpi::nt::Unpublish(pub);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kUnpublish, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kUnpublish, "/foo");
 }
 
 TEST_F(TopicListenerTest, DISABLED_TopicUnpublishRemote) {
@@ -165,39 +165,39 @@ TEST_F(TopicListenerTest, DISABLED_TopicUnpublishRemote) {
   if (HasFatalFailure()) {
     return;
   }
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
-      poller, nt::GetTopic(m_serverInst, "/foo"), nt::EventFlags::kUnpublish);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
+      poller, wpi::nt::GetTopic(m_serverInst, "/foo"), wpi::nt::EventFlags::kUnpublish);
 
   auto pub =
-      nt::Publish(nt::GetTopic(m_clientInst, "/foo"), NT_DOUBLE, "double");
-  nt::Flush(m_clientInst);
+      wpi::nt::Publish(wpi::nt::GetTopic(m_clientInst, "/foo"), NT_DOUBLE, "double");
+  wpi::nt::Flush(m_clientInst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
-  nt::Unpublish(pub);
+  wpi::nt::Unpublish(pub);
 
-  nt::Flush(m_clientInst);
+  wpi::nt::Flush(m_clientInst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kUnpublish, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kUnpublish, "/foo");
 }
 
 TEST_F(TopicListenerTest, TopicPropertiesLocal) {
-  auto topic = nt::GetTopic(m_serverInst, "/foo");
+  auto topic = wpi::nt::GetTopic(m_serverInst, "/foo");
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
   auto handle =
-      nt::AddPolledListener(poller, topic, nt::EventFlags::kProperties);
+      wpi::nt::AddPolledListener(poller, topic, wpi::nt::EventFlags::kProperties);
 
-  nt::SetTopicProperty(topic, "foo", 5);
+  wpi::nt::SetTopicProperty(topic, "foo", 5);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kProperties, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kProperties, "/foo");
 }
 
 TEST_F(TopicListenerTest, DISABLED_TopicPropertiesRemote) {
@@ -206,34 +206,34 @@ TEST_F(TopicListenerTest, DISABLED_TopicPropertiesRemote) {
     return;
   }
   // the topic needs to actually exist
-  nt::Publish(nt::GetTopic(m_serverInst, "/foo"), NT_BOOLEAN, "boolean");
+  wpi::nt::Publish(wpi::nt::GetTopic(m_serverInst, "/foo"), NT_BOOLEAN, "boolean");
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
-      poller, nt::GetTopic(m_serverInst, "/foo"), nt::EventFlags::kProperties);
-  nt::FlushLocal(m_serverInst);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
+      poller, wpi::nt::GetTopic(m_serverInst, "/foo"), wpi::nt::EventFlags::kProperties);
+  wpi::nt::FlushLocal(m_serverInst);
 
-  nt::SetTopicProperty(nt::GetTopic(m_clientInst, "/foo"), "foo", 5);
-  nt::Flush(m_clientInst);
+  wpi::nt::SetTopicProperty(wpi::nt::GetTopic(m_clientInst, "/foo"), "foo", 5);
+  wpi::nt::Flush(m_clientInst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kProperties, "/foo");
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kProperties, "/foo");
 }
 
 TEST_F(TopicListenerTest, PrefixPublishLocal) {
-  auto poller = nt::CreateListenerPoller(m_serverInst);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
   auto handle =
-      nt::AddPolledListener(poller, {{"/foo/"}}, nt::EventFlags::kPublish);
+      wpi::nt::AddPolledListener(poller, {{"/foo/"}}, wpi::nt::EventFlags::kPublish);
 
   PublishTopics(m_serverInst);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kPublish);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kPublish);
 }
 
 TEST_F(TopicListenerTest, DISABLED_PrefixPublishRemote) {
@@ -241,47 +241,47 @@ TEST_F(TopicListenerTest, DISABLED_PrefixPublishRemote) {
   if (HasFatalFailure()) {
     return;
   }
-  auto poller = nt::CreateListenerPoller(m_serverInst);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
   auto handle =
-      nt::AddPolledListener(poller, {{"/foo/"}}, nt::EventFlags::kPublish);
+      wpi::nt::AddPolledListener(poller, {{"/foo/"}}, wpi::nt::EventFlags::kPublish);
 
   PublishTopics(m_clientInst);
 
-  nt::Flush(m_clientInst);
+  wpi::nt::Flush(m_clientInst);
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
-  CheckEvents(events, handle, nt::EventFlags::kPublish);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
+  CheckEvents(events, handle, wpi::nt::EventFlags::kPublish);
 }
 
 TEST_F(TopicListenerTest, PrefixPublishImm) {
   PublishTopics(m_serverInst);
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  auto handle = nt::AddPolledListener(
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  auto handle = wpi::nt::AddPolledListener(
       poller, {{"/foo/"}},
-      nt::EventFlags::kPublish | nt::EventFlags::kImmediate);
+      wpi::nt::EventFlags::kPublish | wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
   CheckEvents(events, handle,
-              nt::EventFlags::kPublish | nt::EventFlags::kImmediate);
+              wpi::nt::EventFlags::kPublish | wpi::nt::EventFlags::kImmediate);
 }
 
 TEST_F(TopicListenerTest, PrefixUnpublishPropsImm) {
   PublishTopics(m_serverInst);
 
-  auto poller = nt::CreateListenerPoller(m_serverInst);
-  nt::AddPolledListener(poller, {{"/foo/"}},
-                        nt::EventFlags::kUnpublish |
-                            nt::EventFlags::kProperties |
-                            nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_serverInst);
+  wpi::nt::AddPolledListener(poller, {{"/foo/"}},
+                        wpi::nt::EventFlags::kUnpublish |
+                            wpi::nt::EventFlags::kProperties |
+                            wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_FALSE(wpi::WaitForObject(poller, 0.02, &timedOut));
-  auto events = nt::ReadListenerQueue(poller);
+  ASSERT_FALSE(wpi::util::WaitForObject(poller, 0.02, &timedOut));
+  auto events = wpi::nt::ReadListenerQueue(poller);
   ASSERT_TRUE(events.empty());
 }
diff --git a/ntcore/src/test/native/cpp/ValueListenerTest.cpp b/ntcore/src/test/native/cpp/ValueListenerTest.cpp
index 86dc41f1aa..acf268e6bc 100644
--- a/ntcore/src/test/native/cpp/ValueListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueListenerTest.cpp
@@ -16,394 +16,394 @@ using ::testing::AnyNumber;
 using ::testing::IsNull;
 using ::testing::Return;
 
-namespace nt {
+namespace wpi::nt {
 
 // Test only local here; it's more reliable to mock the network
 class ValueListenerTest : public ::testing::Test {
  public:
-  ValueListenerTest() : m_inst{nt::CreateInstance()} {}
+  ValueListenerTest() : m_inst{wpi::nt::CreateInstance()} {}
 
-  ~ValueListenerTest() override { nt::DestroyInstance(m_inst); }
+  ~ValueListenerTest() override { wpi::nt::DestroyInstance(m_inst); }
 
  protected:
   NT_Inst m_inst;
 };
 
 TEST_F(ValueListenerTest, MultiPollSub) {
-  auto topic = nt::GetTopic(m_inst, "foo");
-  auto pub = nt::Publish(topic, NT_DOUBLE, "double");
-  auto sub = nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto topic = wpi::nt::GetTopic(m_inst, "foo");
+  auto pub = wpi::nt::Publish(topic, NT_DOUBLE, "double");
+  auto sub = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
 
-  auto poller1 = nt::CreateListenerPoller(m_inst);
-  auto poller2 = nt::CreateListenerPoller(m_inst);
-  auto poller3 = nt::CreateListenerPoller(m_inst);
-  auto h1 = nt::AddPolledListener(poller1, sub, nt::EventFlags::kValueLocal);
-  auto h2 = nt::AddPolledListener(poller2, sub, nt::EventFlags::kValueLocal);
-  auto h3 = nt::AddPolledListener(poller3, sub, nt::EventFlags::kValueLocal);
+  auto poller1 = wpi::nt::CreateListenerPoller(m_inst);
+  auto poller2 = wpi::nt::CreateListenerPoller(m_inst);
+  auto poller3 = wpi::nt::CreateListenerPoller(m_inst);
+  auto h1 = wpi::nt::AddPolledListener(poller1, sub, wpi::nt::EventFlags::kValueLocal);
+  auto h2 = wpi::nt::AddPolledListener(poller2, sub, wpi::nt::EventFlags::kValueLocal);
+  auto h3 = wpi::nt::AddPolledListener(poller3, sub, wpi::nt::EventFlags::kValueLocal);
 
-  nt::SetDouble(pub, 0);
+  wpi::nt::SetDouble(pub, 0);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller1, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller1, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  ASSERT_TRUE(wpi::WaitForObject(poller2, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller2, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  ASSERT_TRUE(wpi::WaitForObject(poller3, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller3, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results1 = nt::ReadListenerQueue(poller1);
-  auto results2 = nt::ReadListenerQueue(poller2);
-  auto results3 = nt::ReadListenerQueue(poller3);
+  auto results1 = wpi::nt::ReadListenerQueue(poller1);
+  auto results2 = wpi::nt::ReadListenerQueue(poller2);
+  auto results3 = wpi::nt::ReadListenerQueue(poller3);
 
   ASSERT_EQ(results1.size(), 1u);
-  EXPECT_EQ(results1[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results1[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results1[0].listener, h1);
   auto valueData = results1[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
   ASSERT_EQ(results2.size(), 1u);
-  EXPECT_EQ(results2[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results2[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results2[0].listener, h2);
   valueData = results2[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
   ASSERT_EQ(results3.size(), 1u);
-  EXPECT_EQ(results3[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results3[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results3[0].listener, h3);
   valueData = results3[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, PollMultiSub) {
-  auto topic = nt::GetTopic(m_inst, "foo");
-  auto pub = nt::Publish(topic, NT_DOUBLE, "double");
-  auto sub1 = nt::Subscribe(topic, NT_DOUBLE, "double");
-  auto sub2 = nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto topic = wpi::nt::GetTopic(m_inst, "foo");
+  auto pub = wpi::nt::Publish(topic, NT_DOUBLE, "double");
+  auto sub1 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto sub2 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h1 = nt::AddPolledListener(poller, sub1, nt::EventFlags::kValueLocal);
-  auto h2 = nt::AddPolledListener(poller, sub2, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h1 = wpi::nt::AddPolledListener(poller, sub1, wpi::nt::EventFlags::kValueLocal);
+  auto h2 = wpi::nt::AddPolledListener(poller, sub2, wpi::nt::EventFlags::kValueLocal);
 
-  nt::SetDouble(pub, 0);
+  wpi::nt::SetDouble(pub, 0);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 2u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h1);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub1);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
-  EXPECT_EQ(results[1].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[1].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[1].listener, h2);
   valueData = results[1].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub2);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, PollMultiSubTopic) {
-  auto topic1 = nt::GetTopic(m_inst, "foo");
-  auto topic2 = nt::GetTopic(m_inst, "bar");
-  auto pub1 = nt::Publish(topic1, NT_DOUBLE, "double");
-  auto pub2 = nt::Publish(topic2, NT_DOUBLE, "double");
-  auto sub1 = nt::Subscribe(topic1, NT_DOUBLE, "double");
-  auto sub2 = nt::Subscribe(topic2, NT_DOUBLE, "double");
+  auto topic1 = wpi::nt::GetTopic(m_inst, "foo");
+  auto topic2 = wpi::nt::GetTopic(m_inst, "bar");
+  auto pub1 = wpi::nt::Publish(topic1, NT_DOUBLE, "double");
+  auto pub2 = wpi::nt::Publish(topic2, NT_DOUBLE, "double");
+  auto sub1 = wpi::nt::Subscribe(topic1, NT_DOUBLE, "double");
+  auto sub2 = wpi::nt::Subscribe(topic2, NT_DOUBLE, "double");
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h1 = nt::AddPolledListener(poller, sub1, nt::EventFlags::kValueLocal);
-  auto h2 = nt::AddPolledListener(poller, sub2, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h1 = wpi::nt::AddPolledListener(poller, sub1, wpi::nt::EventFlags::kValueLocal);
+  auto h2 = wpi::nt::AddPolledListener(poller, sub2, wpi::nt::EventFlags::kValueLocal);
 
-  nt::SetDouble(pub1, 0);
-  nt::SetDouble(pub2, 1);
+  wpi::nt::SetDouble(pub1, 0);
+  wpi::nt::SetDouble(pub2, 1);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 2u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h1);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub1);
   EXPECT_EQ(valueData->topic, topic1);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
-  EXPECT_EQ(results[1].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[1].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[1].listener, h2);
   valueData = results[1].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub2);
   EXPECT_EQ(valueData->topic, topic2);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(1.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(1.0));
 }
 
 TEST_F(ValueListenerTest, PollSubMultiple) {
-  auto topic1 = nt::GetTopic(m_inst, "foo/1");
-  auto topic2 = nt::GetTopic(m_inst, "foo/2");
-  auto pub1 = nt::Publish(topic1, NT_DOUBLE, "double");
-  auto pub2 = nt::Publish(topic2, NT_DOUBLE, "double");
-  auto sub = nt::SubscribeMultiple(m_inst, {{"foo"}});
+  auto topic1 = wpi::nt::GetTopic(m_inst, "foo/1");
+  auto topic2 = wpi::nt::GetTopic(m_inst, "foo/2");
+  auto pub1 = wpi::nt::Publish(topic1, NT_DOUBLE, "double");
+  auto pub2 = wpi::nt::Publish(topic2, NT_DOUBLE, "double");
+  auto sub = wpi::nt::SubscribeMultiple(m_inst, {{"foo"}});
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(poller, sub, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(poller, sub, wpi::nt::EventFlags::kValueLocal);
 
-  nt::SetDouble(pub1, 0);
-  nt::SetDouble(pub2, 1);
+  wpi::nt::SetDouble(pub1, 0);
+  wpi::nt::SetDouble(pub2, 1);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 2u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic1);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
-  EXPECT_EQ(results[1].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[1].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[1].listener, h);
   valueData = results[1].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic2);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(1.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(1.0));
 }
 
 TEST_F(ValueListenerTest, PollSubPrefixCreated) {
-  auto poller = nt::CreateListenerPoller(m_inst);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
   auto h =
-      nt::AddPolledListener(poller, {{"foo"}}, nt::EventFlags::kValueLocal);
+      wpi::nt::AddPolledListener(poller, {{"foo"}}, wpi::nt::EventFlags::kValueLocal);
 
-  auto topic1 = nt::GetTopic(m_inst, "foo/1");
-  auto topic2 = nt::GetTopic(m_inst, "foo/2");
-  auto topic3 = nt::GetTopic(m_inst, "bar/3");
-  auto pub1 = nt::Publish(topic1, NT_DOUBLE, "double");
-  auto pub2 = nt::Publish(topic2, NT_DOUBLE, "double");
-  auto pub3 = nt::Publish(topic3, NT_DOUBLE, "double");
+  auto topic1 = wpi::nt::GetTopic(m_inst, "foo/1");
+  auto topic2 = wpi::nt::GetTopic(m_inst, "foo/2");
+  auto topic3 = wpi::nt::GetTopic(m_inst, "bar/3");
+  auto pub1 = wpi::nt::Publish(topic1, NT_DOUBLE, "double");
+  auto pub2 = wpi::nt::Publish(topic2, NT_DOUBLE, "double");
+  auto pub3 = wpi::nt::Publish(topic3, NT_DOUBLE, "double");
 
-  nt::SetDouble(pub1, 0);
-  nt::SetDouble(pub2, 1);
-  nt::SetDouble(pub3, 1);
+  wpi::nt::SetDouble(pub1, 0);
+  wpi::nt::SetDouble(pub2, 1);
+  wpi::nt::SetDouble(pub3, 1);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 2u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->topic, topic1);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
-  EXPECT_EQ(results[1].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[1].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[1].listener, h);
   valueData = results[1].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->topic, topic2);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(1.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(1.0));
 }
 
 TEST_F(ValueListenerTest, PollEntry) {
-  auto entry = nt::GetEntry(m_inst, "foo");
+  auto entry = wpi::nt::GetEntry(m_inst, "foo");
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(poller, entry, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(poller, entry, wpi::nt::EventFlags::kValueLocal);
 
-  ASSERT_TRUE(nt::SetDouble(entry, 0));
+  ASSERT_TRUE(wpi::nt::SetDouble(entry, 0));
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 1u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, entry);
-  EXPECT_EQ(valueData->topic, nt::GetTopic(m_inst, "foo"));
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->topic, wpi::nt::GetTopic(m_inst, "foo"));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, PollImmediate) {
-  auto entry = nt::GetEntry(m_inst, "foo");
-  ASSERT_TRUE(nt::SetDouble(entry, 0));
+  auto entry = wpi::nt::GetEntry(m_inst, "foo");
+  ASSERT_TRUE(wpi::nt::SetDouble(entry, 0));
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(
-      poller, entry, nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(
+      poller, entry, wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 1u);
   EXPECT_EQ(results[0].flags &
-                (nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate),
-            nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+                (wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate),
+            wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, entry);
-  EXPECT_EQ(valueData->topic, nt::GetTopic(m_inst, "foo"));
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->topic, wpi::nt::GetTopic(m_inst, "foo"));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, PollImmediateNoValue) {
-  auto entry = nt::GetEntry(m_inst, "foo");
+  auto entry = wpi::nt::GetEntry(m_inst, "foo");
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(
-      poller, entry, nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(
+      poller, entry, wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_FALSE(wpi::WaitForObject(poller, 0.02, &timedOut));
+  ASSERT_FALSE(wpi::util::WaitForObject(poller, 0.02, &timedOut));
   ASSERT_TRUE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
   ASSERT_TRUE(results.empty());
 
   // now set a value
-  ASSERT_TRUE(nt::SetDouble(entry, 0));
+  ASSERT_TRUE(wpi::nt::SetDouble(entry, 0));
 
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
-  results = nt::ReadListenerQueue(poller);
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
+  results = wpi::nt::ReadListenerQueue(poller);
   ASSERT_FALSE(timedOut);
 
   ASSERT_EQ(results.size(), 1u);
-  EXPECT_EQ(results[0].flags, nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags, wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, entry);
-  EXPECT_EQ(valueData->topic, nt::GetTopic(m_inst, "foo"));
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->topic, wpi::nt::GetTopic(m_inst, "foo"));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, PollImmediateSubMultiple) {
-  auto topic1 = nt::GetTopic(m_inst, "foo/1");
-  auto topic2 = nt::GetTopic(m_inst, "foo/2");
-  auto pub1 = nt::Publish(topic1, NT_DOUBLE, "double");
-  auto pub2 = nt::Publish(topic2, NT_DOUBLE, "double");
-  auto sub = nt::SubscribeMultiple(m_inst, {{"foo"}});
-  nt::SetDouble(pub1, 0);
-  nt::SetDouble(pub2, 1);
+  auto topic1 = wpi::nt::GetTopic(m_inst, "foo/1");
+  auto topic2 = wpi::nt::GetTopic(m_inst, "foo/2");
+  auto pub1 = wpi::nt::Publish(topic1, NT_DOUBLE, "double");
+  auto pub2 = wpi::nt::Publish(topic2, NT_DOUBLE, "double");
+  auto sub = wpi::nt::SubscribeMultiple(m_inst, {{"foo"}});
+  wpi::nt::SetDouble(pub1, 0);
+  wpi::nt::SetDouble(pub2, 1);
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(
-      poller, sub, nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(
+      poller, sub, wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 2u);
   EXPECT_EQ(results[0].flags &
-                (nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate),
-            nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+                (wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate),
+            wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic1);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 
   EXPECT_EQ(results[1].flags &
-                (nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate),
-            nt::EventFlags::kValueLocal | nt::EventFlags::kImmediate);
+                (wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate),
+            wpi::nt::EventFlags::kValueLocal | wpi::nt::EventFlags::kImmediate);
   EXPECT_EQ(results[1].listener, h);
   valueData = results[1].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub);
   EXPECT_EQ(valueData->topic, topic2);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(1.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(1.0));
 }
 
 TEST_F(ValueListenerTest, TwoSubOneListener) {
-  auto topic = nt::GetTopic(m_inst, "foo");
-  auto pub = nt::Publish(topic, NT_DOUBLE, "double");
-  auto sub1 = nt::Subscribe(topic, NT_DOUBLE, "double");
-  auto sub2 = nt::Subscribe(topic, NT_DOUBLE, "double");
-  auto sub3 = nt::SubscribeMultiple(m_inst, {{"foo"}});
+  auto topic = wpi::nt::GetTopic(m_inst, "foo");
+  auto pub = wpi::nt::Publish(topic, NT_DOUBLE, "double");
+  auto sub1 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto sub2 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto sub3 = wpi::nt::SubscribeMultiple(m_inst, {{"foo"}});
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(poller, sub1, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(poller, sub1, wpi::nt::EventFlags::kValueLocal);
   (void)sub2;
   (void)sub3;
 
-  nt::SetDouble(pub, 0);
+  wpi::nt::SetDouble(pub, 0);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 1u);
-  EXPECT_EQ(results[0].flags & nt::EventFlags::kValueLocal,
-            nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags & wpi::nt::EventFlags::kValueLocal,
+            wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub1);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
 TEST_F(ValueListenerTest, TwoSubOneMultiListener) {
-  auto topic = nt::GetTopic(m_inst, "foo");
-  auto pub = nt::Publish(topic, NT_DOUBLE, "double");
-  auto sub1 = nt::Subscribe(topic, NT_DOUBLE, "double");
-  auto sub2 = nt::Subscribe(topic, NT_DOUBLE, "double");
-  auto sub3 = nt::SubscribeMultiple(m_inst, {{"foo"}});
+  auto topic = wpi::nt::GetTopic(m_inst, "foo");
+  auto pub = wpi::nt::Publish(topic, NT_DOUBLE, "double");
+  auto sub1 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto sub2 = wpi::nt::Subscribe(topic, NT_DOUBLE, "double");
+  auto sub3 = wpi::nt::SubscribeMultiple(m_inst, {{"foo"}});
 
-  auto poller = nt::CreateListenerPoller(m_inst);
-  auto h = nt::AddPolledListener(poller, sub3, nt::EventFlags::kValueLocal);
+  auto poller = wpi::nt::CreateListenerPoller(m_inst);
+  auto h = wpi::nt::AddPolledListener(poller, sub3, wpi::nt::EventFlags::kValueLocal);
   (void)sub1;
   (void)sub2;
 
-  nt::SetDouble(pub, 0);
+  wpi::nt::SetDouble(pub, 0);
 
   bool timedOut = false;
-  ASSERT_TRUE(wpi::WaitForObject(poller, 1.0, &timedOut));
+  ASSERT_TRUE(wpi::util::WaitForObject(poller, 1.0, &timedOut));
   ASSERT_FALSE(timedOut);
-  auto results = nt::ReadListenerQueue(poller);
+  auto results = wpi::nt::ReadListenerQueue(poller);
 
   ASSERT_EQ(results.size(), 1u);
-  EXPECT_EQ(results[0].flags & nt::EventFlags::kValueLocal,
-            nt::EventFlags::kValueLocal);
+  EXPECT_EQ(results[0].flags & wpi::nt::EventFlags::kValueLocal,
+            wpi::nt::EventFlags::kValueLocal);
   EXPECT_EQ(results[0].listener, h);
   auto valueData = results[0].GetValueEventData();
   ASSERT_TRUE(valueData);
   EXPECT_EQ(valueData->subentry, sub3);
   EXPECT_EQ(valueData->topic, topic);
-  EXPECT_EQ(valueData->value, nt::Value::MakeDouble(0.0));
+  EXPECT_EQ(valueData->value, wpi::nt::Value::MakeDouble(0.0));
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/ValueMatcher.cpp b/ntcore/src/test/native/cpp/ValueMatcher.cpp
index 8a7106ff1b..c9b9a09a88 100644
--- a/ntcore/src/test/native/cpp/ValueMatcher.cpp
+++ b/ntcore/src/test/native/cpp/ValueMatcher.cpp
@@ -6,7 +6,7 @@
 
 #include "TestPrinters.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 bool ValueMatcher::MatchAndExplain(
     Value val, ::testing::MatchResultListener* listener) const {
@@ -26,4 +26,4 @@ void ValueMatcher::DescribeNegationTo(::std::ostream* os) const {
   PrintTo(goodval, os);
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/ValueMatcher.hpp b/ntcore/src/test/native/cpp/ValueMatcher.hpp
index d82ab055cc..0232e8f3fb 100644
--- a/ntcore/src/test/native/cpp/ValueMatcher.hpp
+++ b/ntcore/src/test/native/cpp/ValueMatcher.hpp
@@ -11,7 +11,7 @@
 #include "gmock/gmock.h"
 #include "wpi/nt/NetworkTableValue.hpp"
 
-namespace nt {
+namespace wpi::nt {
 
 class ValueMatcher : public ::testing::MatcherInterface<Value> {
  public:
@@ -30,4 +30,4 @@ inline ::testing::Matcher<Value> ValueEq(const Value& goodval) {
   return ::testing::MakeMatcher(new ValueMatcher(goodval));
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/ValueTest.cpp b/ntcore/src/test/native/cpp/ValueTest.cpp
index 4e5f13867a..480356c236 100644
--- a/ntcore/src/test/native/cpp/ValueTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueTest.cpp
@@ -26,7 +26,7 @@ inline bool operator==(std::span<T> lhs, std::span<U> rhs) {
 }
 }  // namespace std
 
-namespace nt {
+namespace wpi::nt {
 
 class ValueTest : public ::testing::Test {};
 
@@ -87,7 +87,7 @@ TEST_F(ValueTest, String) {
   NT_InitValue(&cv);
   ConvertToC(v, &cv);
   ASSERT_EQ(NT_STRING, cv.type);
-  ASSERT_EQ("hello"sv, wpi::to_string_view(&cv.data.v_string));
+  ASSERT_EQ("hello"sv, wpi::util::to_string_view(&cv.data.v_string));
   ASSERT_EQ(5u, cv.data.v_string.len);
 
   v = Value::MakeString("goodbye");
@@ -96,7 +96,7 @@ TEST_F(ValueTest, String) {
   NT_DisposeValue(&cv);
   ConvertToC(v, &cv);
   ASSERT_EQ(NT_STRING, cv.type);
-  ASSERT_EQ("goodbye"sv, wpi::to_string_view(&cv.data.v_string));
+  ASSERT_EQ("goodbye"sv, wpi::util::to_string_view(&cv.data.v_string));
   ASSERT_EQ(7u, cv.data.v_string.len);
 
   NT_DisposeValue(&cv);
@@ -229,9 +229,9 @@ TEST_F(ValueTest, StringArray) {
   ConvertToC(v, &cv);
   ASSERT_EQ(NT_STRING_ARRAY, cv.type);
   ASSERT_EQ(3u, cv.data.arr_string.size);
-  ASSERT_EQ("hello"sv, wpi::to_string_view(&cv.data.arr_string.arr[0]));
-  ASSERT_EQ("goodbye"sv, wpi::to_string_view(&cv.data.arr_string.arr[1]));
-  ASSERT_EQ("string"sv, wpi::to_string_view(&cv.data.arr_string.arr[2]));
+  ASSERT_EQ("hello"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[0]));
+  ASSERT_EQ("goodbye"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[1]));
+  ASSERT_EQ("string"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[2]));
 
   // assign with same size
   vec.clear();
@@ -248,9 +248,9 @@ TEST_F(ValueTest, StringArray) {
   ConvertToC(v, &cv);
   ASSERT_EQ(NT_STRING_ARRAY, cv.type);
   ASSERT_EQ(3u, cv.data.arr_string.size);
-  ASSERT_EQ("s1"sv, wpi::to_string_view(&cv.data.arr_string.arr[0]));
-  ASSERT_EQ("str2"sv, wpi::to_string_view(&cv.data.arr_string.arr[1]));
-  ASSERT_EQ("string3"sv, wpi::to_string_view(&cv.data.arr_string.arr[2]));
+  ASSERT_EQ("s1"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[0]));
+  ASSERT_EQ("str2"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[1]));
+  ASSERT_EQ("string3"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[2]));
 
   // assign with different size
   vec.clear();
@@ -265,8 +265,8 @@ TEST_F(ValueTest, StringArray) {
   ConvertToC(v, &cv);
   ASSERT_EQ(NT_STRING_ARRAY, cv.type);
   ASSERT_EQ(2u, cv.data.arr_string.size);
-  ASSERT_EQ("short"sv, wpi::to_string_view(&cv.data.arr_string.arr[0]));
-  ASSERT_EQ("er"sv, wpi::to_string_view(&cv.data.arr_string.arr[1]));
+  ASSERT_EQ("short"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[0]));
+  ASSERT_EQ("er"sv, wpi::util::to_string_view(&cv.data.arr_string.arr[1]));
 
   NT_DisposeValue(&cv);
 }
@@ -463,4 +463,4 @@ TEST_F(ValueTest, StringArrayComparison) {
   ASSERT_EQ(v1, v2);
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/main.cpp b/ntcore/src/test/native/cpp/main.cpp
index 6332a300a4..01d1bec3ab 100644
--- a/ntcore/src/test/native/cpp/main.cpp
+++ b/ntcore/src/test/native/cpp/main.cpp
@@ -10,7 +10,7 @@
 #include "wpi/util/timestamp.h"
 
 int main(int argc, char** argv) {
-  nt::AddLogger(nt::GetDefaultInstance(), 0, UINT_MAX, [](auto& event) {
+  wpi::nt::AddLogger(wpi::nt::GetDefaultInstance(), 0, UINT_MAX, [](auto& event) {
     if (auto msg = event.GetLogMessage()) {
       std::fputs(msg->message.c_str(), stderr);
       std::fputc('\n', stderr);
diff --git a/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
index c290810de0..486a8916ec 100644
--- a/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
+++ b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
@@ -11,7 +11,7 @@
 #include "net/ClientMessageQueue.hpp"
 #include "net/Message.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class MockClientMessageQueue : public net::ClientMessageQueue {
  public:
@@ -30,4 +30,4 @@ class MockClientMessageQueue : public net::ClientMessageQueue {
   std::vector<ClientMessage> msgs;
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp b/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
index cb4d3d67e7..8b47a37bcc 100644
--- a/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
+++ b/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
@@ -11,17 +11,17 @@
 #include "net/MessageHandler.hpp"
 #include "wpi/util/json.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class MockClientMessageHandler : public net::ClientMessageHandler {
  public:
   MOCK_METHOD(void, ClientPublish,
               (int pubuid, std::string_view name, std::string_view typeStr,
-               const wpi::json& properties, const PubSubOptionsImpl& options),
+               const wpi::util::json& properties, const PubSubOptionsImpl& options),
               (override));
   MOCK_METHOD(void, ClientUnpublish, (int pubuid), (override));
   MOCK_METHOD(void, ClientSetProperties,
-              (std::string_view name, const wpi::json& update), (override));
+              (std::string_view name, const wpi::util::json& update), (override));
   MOCK_METHOD(void, ClientSubscribe,
               (int subuid, std::span<const std::string> prefixes,
                const PubSubOptionsImpl& options),
@@ -35,15 +35,15 @@ class MockServerMessageHandler : public net::ServerMessageHandler {
  public:
   MOCK_METHOD(int, ServerAnnounce,
               (std::string_view name, int id, std::string_view typeStr,
-               const wpi::json& properties, std::optional<int> pubuid),
+               const wpi::util::json& properties, std::optional<int> pubuid),
               (override));
   MOCK_METHOD(void, ServerUnannounce, (std::string_view name, int id),
               (override));
   MOCK_METHOD(void, ServerPropertiesUpdate,
-              (std::string_view name, const wpi::json& update, bool ack),
+              (std::string_view name, const wpi::util::json& update, bool ack),
               (override));
   MOCK_METHOD(void, ServerSetValue, (int topicuid, const Value& value),
               (override));
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp b/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
index ff50a19c1c..8453a4765f 100644
--- a/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
+++ b/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
@@ -8,18 +8,18 @@
 #include "net/NetworkInterface.hpp"
 #include "wpi/util/json.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class MockLocalStorage : public ILocalStorage {
  public:
   MOCK_METHOD(int, ServerAnnounce,
               (std::string_view name, int id, std::string_view typeStr,
-               const wpi::json& properties, std::optional<int> pubuid),
+               const wpi::util::json& properties, std::optional<int> pubuid),
               (override));
   MOCK_METHOD(void, ServerUnannounce, (std::string_view name, int id),
               (override));
   MOCK_METHOD(void, ServerPropertiesUpdate,
-              (std::string_view name, const wpi::json& update, bool ack),
+              (std::string_view name, const wpi::util::json& update, bool ack),
               (override));
   MOCK_METHOD(void, ServerSetValue, (int topicId, const Value& value),
               (override));
@@ -27,4 +27,4 @@ class MockLocalStorage : public ILocalStorage {
   MOCK_METHOD(void, ClearNetwork, (), (override));
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/test/native/cpp/net/MockWireConnection.hpp b/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
index 8072823f62..ebb937c264 100644
--- a/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
+++ b/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
@@ -15,7 +15,7 @@
 #include "net/WireConnection.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace nt::net {
+namespace wpi::nt::net {
 
 class MockWireConnection : public WireConnection {
  public:
@@ -25,30 +25,30 @@ class MockWireConnection : public WireConnection {
 
   MOCK_METHOD(bool, Ready, (), (const, override));
 
-  int WriteText(wpi::function_ref<void(wpi::raw_ostream& os)> writer) override {
+  int WriteText(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) override {
     std::string text;
-    wpi::raw_string_ostream os{text};
+    wpi::util::raw_string_ostream os{text};
     writer(os);
     return DoWriteText(text);
   }
   int WriteBinary(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) override {
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) override {
     std::vector<uint8_t> binary;
-    wpi::raw_uvector_ostream os{binary};
+    wpi::util::raw_uvector_ostream os{binary};
     writer(os);
     return DoWriteBinary(binary);
   }
 
-  void SendText(wpi::function_ref<void(wpi::raw_ostream& os)> writer) override {
+  void SendText(wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) override {
     std::string text;
-    wpi::raw_string_ostream os{text};
+    wpi::util::raw_string_ostream os{text};
     writer(os);
     DoSendText(text);
   }
   void SendBinary(
-      wpi::function_ref<void(wpi::raw_ostream& os)> writer) override {
+      wpi::util::function_ref<void(wpi::util::raw_ostream& os)> writer) override {
     std::vector<uint8_t> binary;
-    wpi::raw_uvector_ostream os{binary};
+    wpi::util::raw_uvector_ostream os{binary};
     writer(os);
     DoSendBinary(binary);
   }
@@ -70,4 +70,4 @@ class MockWireConnection : public WireConnection {
   MOCK_METHOD(void, Disconnect, (std::string_view reason), (override));
 };
 
-}  // namespace nt::net
+}  // namespace wpi::nt::net
diff --git a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp b/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
index 379fcde909..95de5b6cb1 100644
--- a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
+++ b/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
@@ -23,7 +23,7 @@ using testing::_;
 using testing::MockFunction;
 using testing::StrictMock;
 
-namespace nt {
+namespace wpi::nt {
 
 class WireDecodeTextClientTest : public ::testing::Test {
  public:
@@ -110,7 +110,7 @@ TEST_F(WireDecodeTextClientTest, ErrorUnknownMethod) {
 TEST_F(WireDecodeTextClientTest, PublishPropsEmpty) {
   EXPECT_CALL(handler, ClientPublish(5, std::string_view{"test"},
                                      std::string_view{"double"},
-                                     wpi::json::object(), PubSubOptionsEq({})));
+                                     wpi::util::json::object(), PubSubOptionsEq({})));
   net::WireDecodeText(
       "[{\"method\":\"publish\",\"params\":{"
       "\"name\":\"test\",\"properties\":{},\"pubuid\":5,\"type\":\"double\"}}]",
@@ -118,7 +118,7 @@ TEST_F(WireDecodeTextClientTest, PublishPropsEmpty) {
 
   EXPECT_CALL(handler, ClientPublish(5, std::string_view{"test"},
                                      std::string_view{"double"},
-                                     wpi::json::object(), PubSubOptionsEq({})));
+                                     wpi::util::json::object(), PubSubOptionsEq({})));
   net::WireDecodeText(
       "[{\"method\":\"publish\",\"params\":{"
       "\"name\":\"test\",\"pubuid\":5,\"type\":\"double\"}}]",
@@ -126,7 +126,7 @@ TEST_F(WireDecodeTextClientTest, PublishPropsEmpty) {
 }
 
 TEST_F(WireDecodeTextClientTest, PublishProps) {
-  wpi::json props = {{"k", 6}};
+  wpi::util::json props = {{"k", 6}};
   EXPECT_CALL(handler, ClientPublish(5, std::string_view{"test"},
                                      std::string_view{"double"}, props,
                                      PubSubOptionsEq({})));
@@ -192,4 +192,4 @@ TEST_F(WireDecodeTextClientTest, UnpublishError) {
       logger);
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp b/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
index 4a8378cd9c..ab49ff5981 100644
--- a/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
+++ b/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
@@ -22,23 +22,23 @@
 
 using namespace std::string_view_literals;
 
-namespace nt {
+namespace wpi::nt {
 
 class WireEncoderTextTest : public ::testing::Test {
  protected:
   std::string out;
-  wpi::raw_string_ostream os{out};
-  wpi::json GetJson() { return wpi::json::parse(os.str()); }
+  wpi::util::raw_string_ostream os{out};
+  wpi::util::json GetJson() { return wpi::util::json::parse(os.str()); }
 };
 
 class WireEncoderBinaryTest : public ::testing::Test {
  protected:
   std::vector<uint8_t> out;
-  wpi::raw_uvector_ostream os{out};
+  wpi::util::raw_uvector_ostream os{out};
 };
 
 TEST_F(WireEncoderTextTest, PublishPropsEmpty) {
-  net::WireEncodePublish(os, 5, "test", "double", wpi::json::object());
+  net::WireEncodePublish(os, 5, "test", "double", wpi::util::json::object());
   ASSERT_EQ(
       os.str(),
       "{\"method\":\"publish\",\"params\":{"
@@ -113,7 +113,7 @@ TEST_F(WireEncoderTextTest, Unsubscribe) {
 }
 
 TEST_F(WireEncoderTextTest, Announce) {
-  net::WireEncodeAnnounce(os, "test", 5, "double", wpi::json::object(),
+  net::WireEncodeAnnounce(os, "test", 5, "double", wpi::util::json::object(),
                           std::nullopt);
   ASSERT_EQ(os.str(),
             "{\"method\":\"announce\",\"params\":{\"id\":5,\"name\":\"test\","
@@ -128,7 +128,7 @@ TEST_F(WireEncoderTextTest, AnnounceProperties) {
 }
 
 TEST_F(WireEncoderTextTest, AnnouncePubuid) {
-  net::WireEncodeAnnounce(os, "test", 5, "double", wpi::json::object(), 6);
+  net::WireEncodeAnnounce(os, "test", 5, "double", wpi::util::json::object(), 6);
   ASSERT_EQ(os.str(),
             "{\"method\":\"announce\",\"params\":{\"id\":5,\"name\":\"test\","
             "\"properties\":{},\"pubuid\":6,\"type\":\"double\"}}");
@@ -180,7 +180,7 @@ TEST_F(WireEncoderTextTest, MessageUnsubscribe) {
 
 TEST_F(WireEncoderTextTest, MessageAnnounce) {
   net::ServerMessage msg{
-      net::AnnounceMsg{"test", 5, "double", std::nullopt, wpi::json::object()}};
+      net::AnnounceMsg{"test", 5, "double", std::nullopt, wpi::util::json::object()}};
   ASSERT_TRUE(net::WireEncodeText(os, msg));
   ASSERT_EQ(os.str(),
             "{\"method\":\"announce\",\"params\":{\"id\":5,\"name\":\"test\","
@@ -198,7 +198,7 @@ TEST_F(WireEncoderTextTest, MessageAnnounceProperties) {
 
 TEST_F(WireEncoderTextTest, MessageAnnouncePubuid) {
   net::ServerMessage msg{
-      net::AnnounceMsg{"test", 5, "double", 6, wpi::json::object()}};
+      net::AnnounceMsg{"test", 5, "double", 6, wpi::util::json::object()}};
   ASSERT_TRUE(net::WireEncodeText(os, msg));
   ASSERT_EQ(os.str(),
             "{\"method\":\"announce\",\"params\":{\"id\":5,\"name\":\"test\","
@@ -224,49 +224,49 @@ TEST_F(WireEncoderTextTest, ServerMessageValue) {
 
 TEST_F(WireEncoderBinaryTest, Boolean) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeBoolean(true));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x00\xc3"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x00\xc3"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, Integer) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeInteger(7));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x02\x07"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x02\x07"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, Float) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeFloat(2.5));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x03\xca\x40\x20\x00\x00"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x03\xca\x40\x20\x00\x00"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, Double) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeDouble(2.5));
   ASSERT_THAT(
       out,
-      wpi::SpanEq("\x94\x05\x06\x01\xcb\x40\x04\x00\x00\x00\x00\x00\x00"_us));
+      wpi::util::SpanEq("\x94\x05\x06\x01\xcb\x40\x04\x00\x00\x00\x00\x00\x00"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, String) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeString("hello"));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x04\xa5hello"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x04\xa5hello"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, Raw) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeRaw("hello"_us));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x05\xc4\x05hello"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x05\xc4\x05hello"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, BooleanArray) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeBooleanArray({true, false, true}));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x10\x93\xc3\xc2\xc3"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x10\x93\xc3\xc2\xc3"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, IntegerArray) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeIntegerArray({1, 2, 4}));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x12\x93\x01\x02\x04"_us));
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x12\x93\x01\x02\x04"_us));
 }
 
 TEST_F(WireEncoderBinaryTest, FloatArray) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeFloatArray({1, 2, 3}));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x13\x93"
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x13\x93"
                                "\xca\x3f\x80\x00\x00"
                                "\xca\x40\x00\x00\x00"
                                "\xca\x40\x40\x00\x00"_us));
@@ -274,7 +274,7 @@ TEST_F(WireEncoderBinaryTest, FloatArray) {
 
 TEST_F(WireEncoderBinaryTest, DoubleArray) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeDoubleArray({1, 2, 3}));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x11\x93"
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x11\x93"
                                "\xcb\x3f\xf0\x00\x00\x00\x00\x00\x00"
                                "\xcb\x40\x00\x00\x00\x00\x00\x00\x00"
                                "\xcb\x40\x08\x00\x00\x00\x00\x00\x00"_us));
@@ -282,8 +282,8 @@ TEST_F(WireEncoderBinaryTest, DoubleArray) {
 
 TEST_F(WireEncoderBinaryTest, StringArray) {
   net::WireEncodeBinary(os, 5, 6, Value::MakeStringArray({"hello", "bye"}));
-  ASSERT_THAT(out, wpi::SpanEq("\x94\x05\x06\x14\x92\xa5hello\xa3"
+  ASSERT_THAT(out, wpi::util::SpanEq("\x94\x05\x06\x14\x92\xa5hello\xa3"
                                "bye"_us));
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcore/src/test/native/cpp/server/ServerImplTest.cpp b/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
index 207d182445..401414699c 100644
--- a/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
+++ b/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
@@ -41,7 +41,7 @@ using MockSetPeriodicFunc = ::testing::MockFunction<void(uint32_t repeatMs)>;
 using MockConnected3Func =
     ::testing::MockFunction<void(std::string_view name, uint16_t proto)>;
 
-namespace nt {
+namespace wpi::nt {
 
 class ServerImplTest : public ::testing::Test {
  public:
@@ -85,7 +85,7 @@ TEST_F(ServerImplTest, AddClient3) {}
 template <typename T>
 static std::string EncodeText1(const T& msg) {
   std::string data;
-  wpi::raw_string_ostream os{data};
+  wpi::util::raw_string_ostream os{data};
   net::WireEncodeText(os, msg);
   return data;
 }
@@ -93,7 +93,7 @@ static std::string EncodeText1(const T& msg) {
 template <typename T>
 static std::string EncodeText(const T& msgs) {
   std::string data;
-  wpi::raw_string_ostream os{data};
+  wpi::util::raw_string_ostream os{data};
   bool first = true;
   for (auto&& msg : msgs) {
     if (first) {
@@ -111,7 +111,7 @@ static std::string EncodeText(const T& msgs) {
 template <typename T>
 static std::vector<uint8_t> EncodeServerBinary1(const T& msg) {
   std::vector<uint8_t> data;
-  wpi::raw_uvector_ostream os{data};
+  wpi::util::raw_uvector_ostream os{data};
   if constexpr (std::same_as<T, net::ServerMessage>) {
     if (auto m = std::get_if<net::ServerValueMsg>(&msg.contents)) {
       net::WireEncodeBinary(os, m->topic, m->value.time(), m->value);
@@ -128,7 +128,7 @@ static std::vector<uint8_t> EncodeServerBinary1(const T& msg) {
 template <typename T>
 static std::vector<uint8_t> EncodeServerBinary(const T& msgs) {
   std::vector<uint8_t> data;
-  wpi::raw_uvector_ostream os{data};
+  wpi::util::raw_uvector_ostream os{data};
   for (auto&& msg : msgs) {
     if constexpr (std::same_as<typename T::value_type, net::ServerMessage>) {
       if (auto m = std::get_if<net::ServerValueMsg>(&msg.contents)) {
@@ -155,20 +155,20 @@ TEST_F(ServerImplTest, PublishLocal) {
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{pubuid}));
+                       wpi::util::json::object(), std::optional<int>{pubuid}));
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test2"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{pubuid2}));
+                       wpi::util::json::object(), std::optional<int>{pubuid2}));
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test3"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{pubuid3}));
+                       wpi::util::json::object(), std::optional<int>{pubuid3}));
   }
 
   {
     queue.msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid, "test", "double", wpi::util::json::object(), {}}});
     EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
@@ -187,17 +187,17 @@ TEST_F(ServerImplTest, PublishLocal) {
     EXPECT_CALL(wire, Ready()).WillOnce(Return(true));  // SendControl()
     EXPECT_CALL(
         wire, DoWriteText(StrEq(EncodeText1(net::ServerMessage{net::AnnounceMsg{
-                  "test", 3, "double", std::nullopt, wpi::json::object()}}))))
+                  "test", 3, "double", std::nullopt, wpi::util::json::object()}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(
         wire, DoWriteText(StrEq(EncodeText1(net::ServerMessage{net::AnnounceMsg{
-                  "test2", 8, "double", std::nullopt, wpi::json::object()}}))))
+                  "test2", 8, "double", std::nullopt, wpi::util::json::object()}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(wire, Flush()).WillOnce(Return(0));     // SendControl()
     EXPECT_CALL(wire, Ready()).WillOnce(Return(true));  // SendControl()
     EXPECT_CALL(
         wire, DoWriteText(StrEq(EncodeText1(net::ServerMessage{net::AnnounceMsg{
-                  "test3", 11, "double", std::nullopt, wpi::json::object()}}))))
+                  "test3", 11, "double", std::nullopt, wpi::util::json::object()}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(wire, Flush()).WillOnce(Return(0));  // SendControl()
   }
@@ -215,7 +215,7 @@ TEST_F(ServerImplTest, PublishLocal) {
   // publish before send control
   {
     queue.msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid2, "test2", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid2, "test2", "double", wpi::util::json::object(), {}}});
     EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
@@ -224,7 +224,7 @@ TEST_F(ServerImplTest, PublishLocal) {
   // publish after send control
   {
     queue.msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid3, "test3", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid3, "test3", "double", wpi::util::json::object(), {}}});
     EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
@@ -238,11 +238,11 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
   EXPECT_CALL(
       local,
       ServerAnnounce(std::string_view{"test"}, 0, std::string_view{"double"},
-                     wpi::json::object(), std::optional<int>{pubuid}));
+                     wpi::util::json::object(), std::optional<int>{pubuid}));
 
   {
     queue.msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid, "test", "double", wpi::util::json::object(), {}}});
     queue.msgs.emplace_back(net::ClientMessage{
         net::ClientValueMsg{pubuid, Value::MakeDouble(1.0, 10)}});
     EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
@@ -261,14 +261,14 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
     EXPECT_CALL(wire, Ready()).WillOnce(Return(true));  // SendValues()
     EXPECT_CALL(
         wire, DoWriteText(StrEq(EncodeText1(net::ServerMessage{net::AnnounceMsg{
-                  "test", 3, "double", std::nullopt, wpi::json::object()}}))))
+                  "test", 3, "double", std::nullopt, wpi::util::json::object()}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(wire, Flush()).WillOnce(Return(0));  // SendValues()
     EXPECT_CALL(setPeriodic, Call(100));             // ClientSubscribe()
     // EXPECT_CALL(wire, Flush()).WillOnce(Return(0));     // ClientSubscribe()
     EXPECT_CALL(wire, Ready()).WillOnce(Return(true));  // SendValues()
     EXPECT_CALL(
-        wire, DoWriteBinary(wpi::SpanEq(EncodeServerBinary1(net::ServerMessage{
+        wire, DoWriteBinary(wpi::util::SpanEq(EncodeServerBinary1(net::ServerMessage{
                   net::ServerValueMsg{3, Value::MakeDouble(1.0, 10)}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(wire, Flush());  // SendValues()
@@ -312,17 +312,17 @@ TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test2"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{pubuidLocal}));
+                       wpi::util::json::object(), std::optional<int>{pubuidLocal}));
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{}));
+                       wpi::util::json::object(), std::optional<int>{}));
     EXPECT_CALL(local, ServerUnannounce(std::string_view{"test"}, 0));
   }
 
   {
     queue.msgs.emplace_back(net::ClientMessage{net::PublishMsg{
-        pubuidLocal, "test2", "double", wpi::json::object(), {}}});
+        pubuidLocal, "test2", "double", wpi::util::json::object(), {}}});
     queue.msgs.emplace_back(net::ClientMessage{
         net::ClientValueMsg{pubuidLocal, Value::MakeDouble(1.0, 10)}});
     EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
@@ -344,7 +344,7 @@ TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
     EXPECT_CALL(wire, Ready()).WillOnce(Return(true));  // SendValues()
     EXPECT_CALL(
         wire, DoWriteText(StrEq(EncodeText1(net::ServerMessage{net::AnnounceMsg{
-                  "test", 8, "double", 1, wpi::json::object()}}))))
+                  "test", 8, "double", 1, wpi::util::json::object()}}))))
         .WillOnce(Return(0));
     EXPECT_CALL(wire, Flush());  // SendValues()
   }
@@ -358,7 +358,7 @@ TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
     constexpr int pubuid = 1;
     std::vector<net::ClientMessage> msgs;
     msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid, "test", "double", wpi::util::json::object(), {}}});
     server.ProcessIncomingText(id, EncodeText(msgs));
   }
 
@@ -372,7 +372,7 @@ TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
   // publish before client connect
   server.SetLocal(&local, &queue);
   constexpr int pubuid = 1;
-  NT_Topic topicHandle = nt::Handle{0, 1, nt::Handle::kTopic};
+  NT_Topic topicHandle = wpi::nt::Handle{0, 1, wpi::nt::Handle::kTopic};
   constexpr int subuid = 1;
   Value defaultValue = Value::MakeDouble(1.0, 10);
   defaultValue.SetTime(0);
@@ -383,7 +383,7 @@ TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
     EXPECT_CALL(
         local,
         ServerAnnounce(std::string_view{"test"}, 0, std::string_view{"double"},
-                       wpi::json::object(), std::optional<int>{pubuid}))
+                       wpi::util::json::object(), std::optional<int>{pubuid}))
         .WillOnce(Return(topicHandle));
     EXPECT_CALL(local, ServerSetValue(topicHandle, defaultValue));
     EXPECT_CALL(local, ServerSetValue(topicHandle, value));
@@ -391,7 +391,7 @@ TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
 
   {
     queue.msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid, "test", "double", wpi::util::json::object(), {}}});
     queue.msgs.emplace_back(
         net::ClientMessage{net::ClientValueMsg{pubuid, defaultValue}});
     queue.msgs.emplace_back(
@@ -415,7 +415,7 @@ TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
     constexpr int pubuid2 = 2;
     std::vector<net::ClientMessage> msgs;
     msgs.emplace_back(net::ClientMessage{
-        net::PublishMsg{pubuid2, "test", "double", wpi::json::object(), {}}});
+        net::PublishMsg{pubuid2, "test", "double", wpi::util::json::object(), {}}});
     server.ProcessIncomingText(id, EncodeText(msgs));
     msgs.clear();
     msgs.emplace_back(net::ClientMessage{net::ClientValueMsg{pubuid2, value}});
@@ -439,4 +439,4 @@ TEST_F(ServerImplTest, InvalidPubUid) {
       "\"myvalue\",\"pubuid\":2147483647,\"properties\":{}}}]");
 }
 
-}  // namespace nt
+}  // namespace wpi::nt
diff --git a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
index 737e55f048..6f5498a74b 100644
--- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
+++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
@@ -185,7 +185,7 @@ inline void RemoveRefreshedDataEventHandle(WPI_EventHandle event) {}
 // }  // namespace RobotBase
 // #endif
 
-struct Thread final : public wpi::SafeThread {
+struct Thread final : public wpi::util::SafeThread {
   Thread(std::string_view dir, std::string_view filename, double period);
   ~Thread() override;
 
@@ -209,7 +209,7 @@ struct Thread final : public wpi::SafeThread {
 
 struct Instance {
   Instance(std::string_view dir, std::string_view filename, double period);
-  wpi::SafeThreadOwner<Thread> owner;
+  wpi::util::SafeThreadOwner<Thread> owner;
 };
 
 }  // namespace
@@ -287,9 +287,9 @@ void Thread::Main() {
       std::vector<fs::directory_entry> entries;
       for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
         auto stem = entry.path().stem().string();
-        if (wpi::starts_with(stem, "FRC_") &&
+        if (wpi::util::starts_with(stem, "FRC_") &&
             entry.path().extension() == ".wpilog" &&
-            !wpi::starts_with(stem, "FRC_TBD_")) {
+            !wpi::util::starts_with(stem, "FRC_TBD_")) {
           entries.emplace_back(entry);
         }
       }
@@ -313,7 +313,7 @@ void Thread::Main() {
             break;
           }
         } else {
-          wpi::print(stderr, "DataLogManager: could not delete {}\n",
+          wpi::util::print(stderr, "DataLogManager: could not delete {}\n",
                      entry.path().string());
         }
       }
@@ -338,13 +338,13 @@ void Thread::Main() {
       m_log, "systemTime",
       "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}"};
 
-  wpi::Event newDataEvent;
+  wpi::util::Event newDataEvent;
   DriverStation::ProvideRefreshedDataEventHandle(newDataEvent.GetHandle());
 
   for (;;) {
     bool timedOut = false;
     bool newData =
-        wpi::WaitForObject(newDataEvent.GetHandle(), 0.25, &timedOut);
+        wpi::util::WaitForObject(newDataEvent.GetHandle(), 0.25, &timedOut);
     if (!m_active) {
       break;
     }
@@ -429,7 +429,7 @@ void Thread::Main() {
     if (sysTimeCount >= 250) {
       sysTimeCount = 0;
       if (RobotController::IsSystemTimeValid()) {
-        sysTimeEntry.Append(wpi::GetSystemTime(), wpi::Now());
+        sysTimeEntry.Append(wpi::util::GetSystemTime(), wpi::util::Now());
       }
     }
   }
@@ -475,10 +475,10 @@ Instance::Instance(std::string_view dir, std::string_view filename,
   auto logDir = MakeLogDir(dir);
   std::error_code ec;
   for (auto&& entry : fs::directory_iterator{logDir, ec}) {
-    if (wpi::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
+    if (wpi::util::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
         entry.path().extension() == ".wpilog") {
       if (!fs::remove(entry, ec)) {
-        wpi::print(stderr, "DataLogManager: could not delete {}\n",
+        wpi::util::print(stderr, "DataLogManager: could not delete {}\n",
                    entry.path().string());
       }
     }
@@ -510,7 +510,7 @@ void DataLogManager::Stop() {
 
 void DataLogManager::Log(std::string_view message) {
   GetInstance().owner.GetThread()->m_messageLog.Append(message);
-  wpi::print("{}\n", message);
+  wpi::util::print("{}\n", message);
 }
 
 wpi::log::DataLog& DataLogManager::GetLog() {
@@ -542,14 +542,14 @@ void DataLogManager::LogConsoleOutput(bool enabled) {
 }
 
 void DataLogManager::SignalNewDSDataOccur() {
-  wpi::SetSignalObject(DriverStation::gNewDataEvent);
+  wpi::util::SetSignalObject(DriverStation::gNewDataEvent);
 }
 
 extern "C" {
 
 void DLM_Start(const struct WPI_String* dir, const struct WPI_String* filename,
                double period) {
-  DataLogManager::Start(wpi::to_string_view(dir), wpi::to_string_view(filename),
+  DataLogManager::Start(wpi::util::to_string_view(dir), wpi::util::to_string_view(filename),
                         period);
 }
 
@@ -558,7 +558,7 @@ void DLM_Stop(void) {
 }
 
 void DLM_Log(const struct WPI_String* message) {
-  DataLogManager::Log(wpi::to_string_view(message));
+  DataLogManager::Log(wpi::util::to_string_view(message));
 }
 
 WPI_DataLog* DLM_GetLog(void) {
diff --git a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
index 47db61f7bd..6bc7e67d5d 100644
--- a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
@@ -11,18 +11,18 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/Timer.hpp"
 
-using namespace frc;
+using namespace wpi::romi;
 
 OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
   if (dio1 == ChannelMode::INPUT) {
-    m_buttonB = std::make_unique<frc::DigitalInput>(1);
+    m_buttonB = std::make_unique<wpi::DigitalInput>(1);
   } else {
-    m_greenLed = std::make_unique<frc::DigitalOutput>(1);
+    m_greenLed = std::make_unique<wpi::DigitalOutput>(1);
   }
   if (dio2 == ChannelMode::INPUT) {
-    m_buttonC = std::make_unique<frc::DigitalInput>(2);
+    m_buttonC = std::make_unique<wpi::DigitalInput>(2);
   } else {
-    m_redLed = std::make_unique<frc::DigitalOutput>(2);
+    m_redLed = std::make_unique<wpi::DigitalOutput>(2);
   }
 }
 
@@ -35,9 +35,9 @@ bool OnBoardIO::GetButtonBPressed() {
     return m_buttonB->Get();
   }
 
-  auto currentTime = frc::Timer::GetTimestamp();
+  auto currentTime = wpi::Timer::GetTimestamp();
   if (currentTime > m_nextMessageTime) {
-    FRC_ReportError(frc::err::Error, "{}", "Button B was not configured");
+    FRC_ReportError(wpi::err::Error, "{}", "Button B was not configured");
     m_nextMessageTime = currentTime + kMessageInterval;
   }
   return false;
@@ -48,9 +48,9 @@ bool OnBoardIO::GetButtonCPressed() {
     return m_buttonC->Get();
   }
 
-  auto currentTime = frc::Timer::GetTimestamp();
+  auto currentTime = wpi::Timer::GetTimestamp();
   if (currentTime > m_nextMessageTime) {
-    FRC_ReportError(frc::err::Error, "{}", "Button C was not configured");
+    FRC_ReportError(wpi::err::Error, "{}", "Button C was not configured");
     m_nextMessageTime = currentTime + kMessageInterval;
   }
   return false;
@@ -60,9 +60,9 @@ void OnBoardIO::SetGreenLed(bool value) {
   if (m_greenLed) {
     m_greenLed->Set(value);
   } else {
-    auto currentTime = frc::Timer::GetTimestamp();
+    auto currentTime = wpi::Timer::GetTimestamp();
     if (currentTime > m_nextMessageTime) {
-      FRC_ReportError(frc::err::Error, "{}", "Green LED was not configured");
+      FRC_ReportError(wpi::err::Error, "{}", "Green LED was not configured");
       m_nextMessageTime = currentTime + kMessageInterval;
     }
   }
@@ -72,9 +72,9 @@ void OnBoardIO::SetRedLed(bool value) {
   if (m_redLed) {
     m_redLed->Set(value);
   } else {
-    auto currentTime = frc::Timer::GetTimestamp();
+    auto currentTime = wpi::Timer::GetTimestamp();
     if (currentTime > m_nextMessageTime) {
-      FRC_ReportError(frc::err::Error, "{}", "Red LED was not configured");
+      FRC_ReportError(wpi::err::Error, "{}", "Red LED was not configured");
       m_nextMessageTime = currentTime + kMessageInterval;
     }
   }
diff --git a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
index 0db60092ce..2ef94c0157 100644
--- a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/romi/RomiGyro.hpp"
 
-using namespace frc;
+using namespace wpi::romi;
 
 RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
   if (m_simDevice) {
@@ -24,57 +24,57 @@ RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
   }
 }
 
-units::radian_t RomiGyro::GetAngle() const {
+wpi::units::radian_t RomiGyro::GetAngle() const {
   return GetAngleZ();
 }
 
-units::radians_per_second_t RomiGyro::GetRate() const {
+wpi::units::radians_per_second_t RomiGyro::GetRate() const {
   return GetRateZ();
 }
 
-units::radians_per_second_t RomiGyro::GetRateX() const {
+wpi::units::radians_per_second_t RomiGyro::GetRateX() const {
   if (m_simRateX) {
-    return units::degrees_per_second_t{m_simRateX.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateX.Get()};
   }
 
   return 0.0_rad_per_s;
 }
 
-units::radians_per_second_t RomiGyro::GetRateY() const {
+wpi::units::radians_per_second_t RomiGyro::GetRateY() const {
   if (m_simRateY) {
-    return units::degrees_per_second_t{m_simRateY.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateY.Get()};
   }
 
   return 0.0_rad_per_s;
 }
 
-units::radians_per_second_t RomiGyro::GetRateZ() const {
+wpi::units::radians_per_second_t RomiGyro::GetRateZ() const {
   if (m_simRateZ) {
-    return units::degrees_per_second_t{m_simRateZ.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateZ.Get()};
   }
 
   return 0.0_rad_per_s;
 }
 
-units::radian_t RomiGyro::GetAngleX() const {
+wpi::units::radian_t RomiGyro::GetAngleX() const {
   if (m_simAngleX) {
-    return units::degree_t{m_simAngleX.Get() - m_angleXOffset};
+    return wpi::units::degree_t{m_simAngleX.Get() - m_angleXOffset};
   }
 
   return 0.0_rad;
 }
 
-units::radian_t RomiGyro::GetAngleY() const {
+wpi::units::radian_t RomiGyro::GetAngleY() const {
   if (m_simAngleY) {
-    return units::degree_t{m_simAngleY.Get() - m_angleYOffset};
+    return wpi::units::degree_t{m_simAngleY.Get() - m_angleYOffset};
   }
 
   return 0.0_rad;
 }
 
-units::radian_t RomiGyro::GetAngleZ() const {
+wpi::units::radian_t RomiGyro::GetAngleZ() const {
   if (m_simAngleZ) {
-    return units::degree_t{m_simAngleZ.Get() - m_angleZOffset};
+    return wpi::units::degree_t{m_simAngleZ.Get() - m_angleZOffset};
   }
 
   return 0.0_rad;
diff --git a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
index 071e820043..b31ab0bfd9 100644
--- a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/romi/RomiMotor.hpp"
 
-using namespace frc;
+using namespace wpi::romi;
 
 RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
   m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
diff --git a/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp b/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
index 72530cd32c..4451575710 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
@@ -10,7 +10,7 @@
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::romi {
 
 /**
  * @ingroup romi_api
@@ -34,7 +34,7 @@ class OnBoardIO {
   OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
 
   static constexpr auto kMessageInterval = 1_s;
-  units::second_t m_nextMessageTime = 0_s;
+  wpi::units::second_t m_nextMessageTime = 0_s;
 
   /**
    * Gets if the A button is pressed.
@@ -67,18 +67,18 @@ class OnBoardIO {
   void SetYellowLed(bool value);
 
  private:
-  frc::DigitalInput m_buttonA{0};
-  frc::DigitalOutput m_yellowLed{3};
+  wpi::DigitalInput m_buttonA{0};
+  wpi::DigitalOutput m_yellowLed{3};
 
   // DIO 1
-  std::unique_ptr<frc::DigitalInput> m_buttonB;
-  std::unique_ptr<frc::DigitalOutput> m_greenLed;
+  std::unique_ptr<wpi::DigitalInput> m_buttonB;
+  std::unique_ptr<wpi::DigitalOutput> m_greenLed;
 
   // DIO 2
-  std::unique_ptr<frc::DigitalInput> m_buttonC;
-  std::unique_ptr<frc::DigitalOutput> m_redLed;
+  std::unique_ptr<wpi::DigitalInput> m_buttonC;
+  std::unique_ptr<wpi::DigitalOutput> m_redLed;
 };
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::romi
diff --git a/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp b/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
index cc468a6bdd..3179b784a9 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
@@ -8,7 +8,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-namespace frc {
+namespace wpi::romi {
 
 /**
  * @ingroup romi_api
@@ -35,7 +35,7 @@ class RomiGyro {
    *
    * @return The current heading of the robot.
    */
-  units::radian_t GetAngle() const;
+  wpi::units::radian_t GetAngle() const;
 
   /**
    * Return the rate of rotation of the gyro
@@ -44,49 +44,49 @@ class RomiGyro {
    *
    * @return The current rate.
    */
-  units::radians_per_second_t GetRate() const;
+  wpi::units::radians_per_second_t GetRate() const;
 
   /**
    * Get the rate of turn in around the X-axis.
    *
    * @return Rate of turn.
    */
-  units::radians_per_second_t GetRateX() const;
+  wpi::units::radians_per_second_t GetRateX() const;
 
   /**
    * Get the rate of turn in around the Y-axis.
    *
    * @return Rate of turn.
    */
-  units::radians_per_second_t GetRateY() const;
+  wpi::units::radians_per_second_t GetRateY() const;
 
   /**
    * Get the rate of turn around the Z-axis.
    *
    * @return Rate of turn.
    */
-  units::radians_per_second_t GetRateZ() const;
+  wpi::units::radians_per_second_t GetRateZ() const;
 
   /**
    * Get the currently reported angle around the X-axis.
    *
    * @return Current angle around X-axis.
    */
-  units::radian_t GetAngleX() const;
+  wpi::units::radian_t GetAngleX() const;
 
   /**
    * Get the currently reported angle around the Y-axis.
    *
    * @return Current angle around Y-axis.
    */
-  units::radian_t GetAngleY() const;
+  wpi::units::radian_t GetAngleY() const;
 
   /**
    * Get the currently reported angle around the Z-axis.
    *
    * @return Current angle around Z-axis.
    */
-  units::radian_t GetAngleZ() const;
+  wpi::units::radian_t GetAngleZ() const;
 
   /**
    * Resets the gyro
@@ -109,4 +109,4 @@ class RomiGyro {
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::romi
diff --git a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
index 7542c7a72d..505735718f 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi::romi {
 
 /**
  * @defgroup romi_api Romi Hardware API
@@ -34,4 +34,4 @@ class RomiMotor : public PWMMotorController {
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::romi
diff --git a/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml b/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
index 53fea27ab8..3f94510d8e 100644
--- a/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
+++ b/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::OnBoardIO:
+  wpi::OnBoardIO:
     attributes:
       kMessageInterval:
       m_nextMessageTime:
diff --git a/romiVendordep/src/main/python/semiwrap/RomiGyro.yml b/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
index 4544bd5fd0..246fba0e22 100644
--- a/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
+++ b/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::RomiGyro:
+  wpi::RomiGyro:
     methods:
       RomiGyro:
       GetAngle:
diff --git a/romiVendordep/src/main/python/semiwrap/RomiMotor.yml b/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
index b75fa2c5ad..34dbf5ee48 100644
--- a/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
+++ b/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::RomiMotor:
+  wpi::RomiMotor:
     methods:
       RomiMotor:
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
index 9cb84afdc5..6f94dc16fd 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -281,12 +281,12 @@ void DSCommPacket::SendJoysticks(void) {
   }
 }
 
-void DSCommPacket::SetupSendBuffer(wpi::raw_uv_ostream& buf) {
+void DSCommPacket::SetupSendBuffer(wpi::net::raw_uv_ostream& buf) {
   SetupSendHeader(buf);
   SetupJoystickTag(buf);
 }
 
-void DSCommPacket::SetupSendHeader(wpi::raw_uv_ostream& buf) {
+void DSCommPacket::SetupSendHeader(wpi::net::raw_uv_ostream& buf) {
   static constexpr uint8_t kCommVersion = 0x01;
 
   // High low packet index, comm version
@@ -303,7 +303,7 @@ void DSCommPacket::SetupSendHeader(wpi::raw_uv_ostream& buf) {
   buf << static_cast<uint8_t>(0);
 }
 
-void DSCommPacket::SetupJoystickTag(wpi::raw_uv_ostream& buf) {
+void DSCommPacket::SetupJoystickTag(wpi::net::raw_uv_ostream& buf) {
   static constexpr uint8_t kHIDTag = 0x01;
 
   // HID tags are sent 1 per device
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
index 4fc36af0d8..9934110cbd 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -34,14 +34,14 @@
 #pragma comment(lib, "Ws2_32.lib")
 #endif
 
-using namespace wpi::uv;
+using namespace wpi::net::uv;
 
 static std::unique_ptr<Buffer> singleByte;
 static std::atomic<bool> gDSConnected = false;
 
 namespace {
 struct DataStore {
-  wpi::SmallVector<uint8_t, 128> m_frame;
+  wpi::util::SmallVector<uint8_t, 128> m_frame;
   size_t m_frameSize = (std::numeric_limits<size_t>::max)();
   halsim::DSCommPacket* dsPacket;
 };
@@ -83,7 +83,7 @@ static void HandleTcpDataStream(Buffer& buf, size_t size, DataStore& store) {
   }
 }
 
-static void SetupTcp(wpi::uv::Loop& loop) {
+static void SetupTcp(wpi::net::uv::Loop& loop) {
   auto tcp = Tcp::Create(loop);
   auto tcpWaitTimer = Timer::Create(loop);
 
@@ -109,8 +109,8 @@ static void SetupTcp(wpi::uv::Loop& loop) {
   });
 }
 
-static void SetupUdp(wpi::uv::Loop& loop) {
-  auto udp = wpi::uv::Udp::Create(loop);
+static void SetupUdp(wpi::net::uv::Loop& loop) {
+  auto udp = wpi::net::uv::Udp::Create(loop);
   udp->Bind("0.0.0.0", 1110);
 
   // Simulation mode packet
@@ -120,7 +120,7 @@ static void SetupUdp(wpi::uv::Loop& loop) {
   simLoopTimer->timeout.connect([udpLocal = udp.get(), simAddr] {
     udpLocal->Send(simAddr, {singleByte.get(), 1}, [](auto buf, Error err) {
       if (err) {
-        wpi::print(stderr, "{}\n", err.str());
+        wpi::util::print(stderr, "{}\n", err.str());
         std::fflush(stderr);
       }
     });
@@ -132,7 +132,7 @@ static void SetupUdp(wpi::uv::Loop& loop) {
     try {
       timeoutMs = std::stoi(envTimeout);
     } catch (const std::exception& e) {
-      wpi::print(stderr, "Error parsing DS_TIMEOUT_MS: {}\n", e.what());
+      wpi::util::print(stderr, "Error parsing DS_TIMEOUT_MS: {}\n", e.what());
     }
   }
   auto autoDisableTimer = Timer::Create(loop);
@@ -151,15 +151,15 @@ static void SetupUdp(wpi::uv::Loop& loop) {
         outAddr.sin_family = PF_INET;
         outAddr.sin_port = htons(1150);
 
-        wpi::SmallVector<wpi::uv::Buffer, 4> sendBufs;
-        wpi::raw_uv_ostream stream{sendBufs,
+        wpi::util::SmallVector<wpi::net::uv::Buffer, 4> sendBufs;
+        wpi::net::raw_uv_ostream stream{sendBufs,
                                    [] { return GetBufferPool().Allocate(); }};
         ds->SetupSendBuffer(stream);
 
         udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {
           GetBufferPool().Release(bufs);
           if (err) {
-            wpi::print(stderr, "{}\n", err.str());
+            wpi::util::print(stderr, "{}\n", err.str());
             std::fflush(stderr);
           }
         });
@@ -169,14 +169,14 @@ static void SetupUdp(wpi::uv::Loop& loop) {
   udp->StartRecv();
 }
 
-static void SetupEventLoop(wpi::uv::Loop& loop) {
+static void SetupEventLoop(wpi::net::uv::Loop& loop) {
   auto loopData = std::make_shared<halsim::DSCommPacket>();
   loop.SetData(loopData);
   SetupUdp(loop);
   SetupTcp(loop);
 }
 
-static std::unique_ptr<wpi::EventLoopRunner> eventLoopRunner;
+static std::unique_ptr<wpi::net::EventLoopRunner> eventLoopRunner;
 
 /*----------------------------------------------------------------------------
 ** Main entry point.  We will start listen threads going, processing
@@ -201,7 +201,7 @@ int HALSIM_InitExtension(void) {
 
   singleByte = std::make_unique<Buffer>("0");
 
-  eventLoopRunner = std::make_unique<wpi::EventLoopRunner>();
+  eventLoopRunner = std::make_unique<wpi::net::EventLoopRunner>();
 
   eventLoopRunner->ExecAsync(SetupEventLoop);
 
diff --git a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
index 327adcd25f..0a55c01ffa 100644
--- a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
+++ b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
@@ -23,7 +23,7 @@ class DSCommPacket {
   void DecodeTCP(std::span<const uint8_t> packet);
   void DecodeUDP(std::span<const uint8_t> packet);
   void SendUDPToHALSim(void);
-  void SetupSendBuffer(wpi::raw_uv_ostream& buf);
+  void SetupSendBuffer(wpi::net::raw_uv_ostream& buf);
 
   /* TCP Tags */
   static const uint8_t kGameDataTag = 0x0e;
@@ -51,8 +51,8 @@ class DSCommPacket {
   void SendJoysticks(void);
   void SetControl(uint8_t control, uint8_t request);
   void SetAlliance(uint8_t station_code);
-  void SetupSendHeader(wpi::raw_uv_ostream& buf);
-  void SetupJoystickTag(wpi::raw_uv_ostream& buf);
+  void SetupSendHeader(wpi::net::raw_uv_ostream& buf);
+  void SetupJoystickTag(wpi::net::raw_uv_ostream& buf);
   void ReadMatchtimeTag(std::span<const uint8_t> tagData);
   void ReadJoystickTag(std::span<const uint8_t> data, int index);
   void ReadNewMatchInfoTag(std::span<const uint8_t> data);
diff --git a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
index 15f0a592fb..9ee2cade12 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -17,7 +17,7 @@
 using namespace halsimgui;
 
 namespace {
-class AddressableLEDModel : public glass::LEDDisplayModel {
+class AddressableLEDModel : public wpi::glass::LEDDisplayModel {
  public:
   explicit AddressableLEDModel(int32_t channel) : m_channel{channel} {}
 
@@ -26,7 +26,7 @@ class AddressableLEDModel : public glass::LEDDisplayModel {
     return HALSIM_GetAddressableLEDInitialized(m_channel);
   }
 
-  std::span<const Data> GetData(wpi::SmallVectorImpl<Data>&) override {
+  std::span<const Data> GetData(wpi::util::SmallVectorImpl<Data>&) override {
     size_t length = HALSIM_GetAddressableLEDData(
         HALSIM_GetAddressableLEDStart(m_channel),
         HALSIM_GetAddressableLEDLength(m_channel), m_data);
@@ -39,7 +39,7 @@ class AddressableLEDModel : public glass::LEDDisplayModel {
   HAL_AddressableLEDData m_data[HAL_kAddressableLEDMaxLength];
 };
 
-class AddressableLEDsModel : public glass::LEDDisplaysModel {
+class AddressableLEDsModel : public wpi::glass::LEDDisplaysModel {
  public:
   AddressableLEDsModel() : m_models(HAL_GetNumAddressableLEDs()) {}
 
@@ -49,7 +49,7 @@ class AddressableLEDsModel : public glass::LEDDisplaysModel {
   size_t GetNumLEDDisplays() override { return m_models.size(); }
 
   void ForEachLEDDisplay(
-      wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func)
+      wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func)
       override;
 
  private:
@@ -83,7 +83,7 @@ bool AddressableLEDsModel::Exists() {
 }
 
 void AddressableLEDsModel::ForEachLEDDisplay(
-    wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func) {
+    wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func) {
   for (int i = 0; i < static_cast<int>(m_models.size()); ++i) {
     if (m_models[i]) {
       func(*m_models[i], i);
@@ -105,11 +105,11 @@ void AddressableLEDGui::Initialize() {
   HALSimGui::halProvider->Register(
       "Addressable LEDs", [] { return AddressableLEDsExists(); },
       [] { return std::make_unique<AddressableLEDsModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(290, 100);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayLEDDisplays(static_cast<AddressableLEDsModel*>(model));
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayLEDDisplays(static_cast<AddressableLEDsModel*>(model));
         });
       });
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
index 3faa56a9bd..992064a485 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
@@ -20,7 +20,7 @@ using namespace halsimgui;
 namespace {
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogInVoltage, "AIn");
 
-class AnalogInputSimModel : public glass::AnalogInputModel {
+class AnalogInputSimModel : public wpi::glass::AnalogInputModel {
  public:
   explicit AnalogInputSimModel(int32_t index)
       : m_index{index}, m_voltageData{m_index} {}
@@ -37,7 +37,7 @@ class AnalogInputSimModel : public glass::AnalogInputModel {
     }
   }
 
-  glass::DoubleSource* GetVoltageData() override { return &m_voltageData; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltageData; }
 
   void SetVoltage(double val) override {
     HALSIM_SetAnalogInVoltage(m_index, val);
@@ -48,7 +48,7 @@ class AnalogInputSimModel : public glass::AnalogInputModel {
   AnalogInVoltageSource m_voltageData;
 };
 
-class AnalogInputsSimModel : public glass::AnalogInputsModel {
+class AnalogInputsSimModel : public wpi::glass::AnalogInputsModel {
  public:
   AnalogInputsSimModel() : m_models(HAL_GetNumAnalogInputs()) {}
 
@@ -57,7 +57,7 @@ class AnalogInputsSimModel : public glass::AnalogInputsModel {
   bool Exists() override { return true; }
 
   void ForEachAnalogInput(
-      wpi::function_ref<void(glass::AnalogInputModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func)
       override;
 
  private:
@@ -81,7 +81,7 @@ void AnalogInputsSimModel::Update() {
 }
 
 void AnalogInputsSimModel::ForEachAnalogInput(
-    wpi::function_ref<void(glass::AnalogInputModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func) {
   for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
        ++i) {
     if (auto model = m_models[i].get()) {
@@ -104,11 +104,11 @@ void AnalogInputSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "Analog Inputs", AnalogInputsAnyInitialized,
       [] { return std::make_unique<AnalogInputsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(640, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayAnalogInputs(static_cast<AnalogInputsSimModel*>(model));
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayAnalogInputs(static_cast<AnalogInputsSimModel*>(model));
         });
       });
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
index 73dc70cc28..45620ccc50 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
@@ -26,7 +26,7 @@ HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(DIOValue, "DIO");
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DigitalPWMDutyCycle, "DPWM");
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DutyCycleOutput, "DutyCycle");
 
-class DPWMSimModel : public glass::DPWMModel {
+class DPWMSimModel : public wpi::glass::DPWMModel {
  public:
   DPWMSimModel(int32_t index, int32_t dioChannel)
       : m_dioChannel{dioChannel}, m_index{index}, m_valueData{index} {}
@@ -43,7 +43,7 @@ class DPWMSimModel : public glass::DPWMModel {
     }
   }
 
-  glass::DoubleSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::DoubleSource* GetValueData() override { return &m_valueData; }
 
   void SetValue(double val) override {
     HALSIM_SetDigitalPWMDutyCycle(m_index, val);
@@ -55,7 +55,7 @@ class DPWMSimModel : public glass::DPWMModel {
   DigitalPWMDutyCycleSource m_valueData;
 };
 
-class DutyCycleSimModel : public glass::DutyCycleModel {
+class DutyCycleSimModel : public wpi::glass::DutyCycleModel {
  public:
   explicit DutyCycleSimModel(int32_t index)
       : m_index{index}, m_valueData{index} {}
@@ -72,7 +72,7 @@ class DutyCycleSimModel : public glass::DutyCycleModel {
     }
   }
 
-  glass::DoubleSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::DoubleSource* GetValueData() override { return &m_valueData; }
 
   void SetValue(double val) override {
     HALSIM_SetDutyCycleOutput(m_index, val);
@@ -83,7 +83,7 @@ class DutyCycleSimModel : public glass::DutyCycleModel {
   DutyCycleOutputSource m_valueData;
 };
 
-class DIOSimModel : public glass::DIOModel {
+class DIOSimModel : public wpi::glass::DIOModel {
  public:
   explicit DIOSimModel(int32_t channel)
       : m_channel{channel}, m_valueData{channel} {}
@@ -106,15 +106,15 @@ class DIOSimModel : public glass::DIOModel {
 
   DPWMSimModel* GetDPWM() override { return m_dpwmSource; }
   DutyCycleSimModel* GetDutyCycle() override { return m_dutyCycleSource; }
-  glass::EncoderModel* GetEncoder() override { return m_encoderSource; }
+  wpi::glass::EncoderModel* GetEncoder() override { return m_encoderSource; }
 
   void SetDPWM(DPWMSimModel* model) { m_dpwmSource = model; }
   void SetDutyCycle(DutyCycleSimModel* model) { m_dutyCycleSource = model; }
-  void SetEncoder(glass::EncoderModel* model) { m_encoderSource = model; }
+  void SetEncoder(wpi::glass::EncoderModel* model) { m_encoderSource = model; }
 
   bool IsInput() const override { return HALSIM_GetDIOIsInput(m_channel); }
 
-  glass::BooleanSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::BooleanSource* GetValueData() override { return &m_valueData; }
 
   void SetValue(bool val) override { HALSIM_SetDIOValue(m_channel, val); }
 
@@ -123,10 +123,10 @@ class DIOSimModel : public glass::DIOModel {
   DIOValueSource m_valueData;
   DPWMSimModel* m_dpwmSource = nullptr;
   DutyCycleSimModel* m_dutyCycleSource = nullptr;
-  glass::EncoderModel* m_encoderSource = nullptr;
+  wpi::glass::EncoderModel* m_encoderSource = nullptr;
 };
 
-class DIOsSimModel : public glass::DIOsModel {
+class DIOsSimModel : public wpi::glass::DIOsModel {
  public:
   DIOsSimModel()
       : m_dioModels(HAL_GetNumDigitalChannels()),
@@ -138,7 +138,7 @@ class DIOsSimModel : public glass::DIOsModel {
   bool Exists() override { return true; }
 
   void ForEachDIO(
-      wpi::function_ref<void(glass::DIOModel& model, int index)> func) override;
+      wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) override;
 
  private:
   // indexed by channel
@@ -210,7 +210,7 @@ void DIOsSimModel::Update() {
 }
 
 void DIOsSimModel::ForEachDIO(
-    wpi::function_ref<void(glass::DIOModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) {
   const int32_t numDIO = m_dioModels.size();
   for (int32_t i = 0; i < numDIO; ++i) {
     if (auto model = m_dioModels[i].get()) {
@@ -232,11 +232,11 @@ static bool DIOAnyInitialized() {
 void DIOSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "DIO", DIOAnyInitialized, [] { return std::make_unique<DIOsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(470, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
                              HALSimGui::halProvider->AreOutputsEnabled());
         });
       });
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index b6be9790e7..25aaab7325 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -94,7 +94,7 @@ class GlfwSystemJoystick : public SystemJoystick {
 
 class KeyboardJoystick : public SystemJoystick {
  public:
-  KeyboardJoystick(glass::Storage& storage, int index);
+  KeyboardJoystick(wpi::glass::Storage& storage, int index);
 
   void SettingsDisplay() override;
   void Update() override;
@@ -124,7 +124,7 @@ class KeyboardJoystick : public SystemJoystick {
   int& m_povCount;
 
   struct AxisConfig {
-    explicit AxisConfig(glass::Storage& storage);
+    explicit AxisConfig(wpi::glass::Storage& storage);
 
     int& incKey;
     int& decKey;
@@ -133,14 +133,14 @@ class KeyboardJoystick : public SystemJoystick {
     float& maxAbsValue;
   };
 
-  std::vector<std::unique_ptr<glass::Storage>>& m_axisStorage;
+  std::vector<std::unique_ptr<wpi::glass::Storage>>& m_axisStorage;
   std::vector<AxisConfig> m_axisConfig;
 
   static constexpr int kMaxButtonCount = 32;
   std::vector<int>& m_buttonKey;
 
   struct PovConfig {
-    explicit PovConfig(glass::Storage& storage);
+    explicit PovConfig(wpi::glass::Storage& storage);
 
     int& keyUp;
     int& keyUpRight;
@@ -152,21 +152,21 @@ class KeyboardJoystick : public SystemJoystick {
     int& keyUpLeft;
   };
 
-  std::vector<std::unique_ptr<glass::Storage>>& m_povStorage;
+  std::vector<std::unique_ptr<wpi::glass::Storage>>& m_povStorage;
   std::vector<PovConfig> m_povConfig;
 };
 
 class GlfwKeyboardJoystick : public KeyboardJoystick {
  public:
-  GlfwKeyboardJoystick(glass::Storage& storage, int index);
+  GlfwKeyboardJoystick(wpi::glass::Storage& storage, int index);
 
   const char* GetKeyName(int key) const override;
 };
 
 struct RobotJoystick {
-  explicit RobotJoystick(glass::Storage& storage);
+  explicit RobotJoystick(wpi::glass::Storage& storage);
 
-  glass::NameSetting name;
+  wpi::glass::NameSetting name;
   std::string& guid;
   const SystemJoystick* sys = nullptr;
   bool& useGamepad;  // = false;
@@ -197,11 +197,11 @@ class JoystickModel {
   int axisCount;
   int buttonCount;
   int povCount;
-  std::unique_ptr<glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
+  std::unique_ptr<wpi::glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
   // use pointer instead of unique_ptr to allow it to be passed directly
   // to DrawLEDSources()
-  glass::BooleanSource* buttons[32];
-  std::unique_ptr<glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];
+  wpi::glass::BooleanSource* buttons[32];
+  std::unique_ptr<wpi::glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];
 
  private:
   static void CallbackFunc(const char*, void* param, const HAL_Value*);
@@ -210,21 +210,21 @@ class JoystickModel {
   int32_t m_callback;
 };
 
-class FMSSimModel : public glass::FMSModel {
+class FMSSimModel : public wpi::glass::FMSModel {
  public:
   FMSSimModel();
 
-  glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
-  glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
-  glass::IntegerSource* GetAllianceStationIdData() override {
+  wpi::glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
+  wpi::glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
+  wpi::glass::IntegerSource* GetAllianceStationIdData() override {
     return &m_allianceStationId;
   }
-  glass::DoubleSource* GetMatchTimeData() override { return &m_matchTime; }
-  glass::BooleanSource* GetEStopData() override { return &m_estop; }
-  glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
-  glass::BooleanSource* GetTestData() override { return &m_test; }
-  glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
-  glass::StringSource* GetGameSpecificMessageData() override {
+  wpi::glass::DoubleSource* GetMatchTimeData() override { return &m_matchTime; }
+  wpi::glass::BooleanSource* GetEStopData() override { return &m_estop; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
+  wpi::glass::BooleanSource* GetTestData() override { return &m_test; }
+  wpi::glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
+  wpi::glass::StringSource* GetGameSpecificMessageData() override {
     return &m_gameMessage;
   }
 
@@ -251,16 +251,16 @@ class FMSSimModel : public glass::FMSModel {
   bool IsReadOnly() override;
 
  private:
-  glass::BooleanSource m_fmsAttached{"FMS:FMSAttached"};
-  glass::BooleanSource m_dsAttached{"FMS:DSAttached"};
-  glass::IntegerSource m_allianceStationId{"FMS:AllianceStationID"};
-  glass::DoubleSource m_matchTime{"FMS:MatchTime"};
-  glass::BooleanSource m_estop{"FMS:EStop"};
-  glass::BooleanSource m_enabled{"FMS:RobotEnabled"};
-  glass::BooleanSource m_test{"FMS:TestMode"};
-  glass::BooleanSource m_autonomous{"FMS:AutonomousMode"};
+  wpi::glass::BooleanSource m_fmsAttached{"FMS:FMSAttached"};
+  wpi::glass::BooleanSource m_dsAttached{"FMS:DSAttached"};
+  wpi::glass::IntegerSource m_allianceStationId{"FMS:AllianceStationID"};
+  wpi::glass::DoubleSource m_matchTime{"FMS:MatchTime"};
+  wpi::glass::BooleanSource m_estop{"FMS:EStop"};
+  wpi::glass::BooleanSource m_enabled{"FMS:RobotEnabled"};
+  wpi::glass::BooleanSource m_test{"FMS:TestMode"};
+  wpi::glass::BooleanSource m_autonomous{"FMS:AutonomousMode"};
   double m_startMatchTime = -1.0;
-  glass::StringSource m_gameMessage{"FMS:GameSpecificMessage"};
+  wpi::glass::StringSource m_gameMessage{"FMS:GameSpecificMessage"};
 };
 
 }  // namespace
@@ -296,7 +296,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
   HALSIM_GetJoystickAxes(index, &halAxes);
   axisCount = static_cast<uint8_t>(16 - std::countl_zero(halAxes.available));
   for (int i = 0; i < axisCount; ++i) {
-    axes[i] = std::make_unique<glass::DoubleSource>(
+    axes[i] = std::make_unique<wpi::glass::DoubleSource>(
         fmt::format("Joystick[{}] Axis[{}]", index, i));
   }
 
@@ -305,7 +305,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
   buttonCount =
       static_cast<uint8_t>(64 - std::countl_zero(halButtons.available));
   for (int i = 0; i < buttonCount; ++i) {
-    buttons[i] = new glass::BooleanSource(
+    buttons[i] = new wpi::glass::BooleanSource(
         fmt::format("Joystick[{}] Button[{}]", index, i + 1));
   }
   for (int i = buttonCount; i < 64; ++i) {
@@ -316,7 +316,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
   HALSIM_GetJoystickPOVs(index, &halPOVs);
   povCount = static_cast<uint8_t>(8 - std::countl_zero(halPOVs.available));
   for (int i = 0; i < povCount; ++i) {
-    povs[i] = std::make_unique<glass::IntegerSource>(
+    povs[i] = std::make_unique<wpi::glass::IntegerSource>(
         fmt::format("Joystick[{}] POV [{}]", index, i));
   }
 
@@ -468,7 +468,7 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
   }
 }
 
-KeyboardJoystick::AxisConfig::AxisConfig(glass::Storage& storage)
+KeyboardJoystick::AxisConfig::AxisConfig(wpi::glass::Storage& storage)
     : incKey{storage.GetInt("incKey", -1)},
       decKey{storage.GetInt("decKey", -1)},
       keyRate{storage.GetFloat("keyRate", 0.05f)},
@@ -483,7 +483,7 @@ KeyboardJoystick::AxisConfig::AxisConfig(glass::Storage& storage)
   }
 }
 
-KeyboardJoystick::PovConfig::PovConfig(glass::Storage& storage)
+KeyboardJoystick::PovConfig::PovConfig(wpi::glass::Storage& storage)
     : keyUp{storage.GetInt("keyUp", -1)},
       keyUpRight{storage.GetInt("keyUpRight", -1)},
       keyRight{storage.GetInt("keyRight", -1)},
@@ -519,7 +519,7 @@ KeyboardJoystick::PovConfig::PovConfig(glass::Storage& storage)
   }
 }
 
-KeyboardJoystick::KeyboardJoystick(glass::Storage& storage, int index)
+KeyboardJoystick::KeyboardJoystick(wpi::glass::Storage& storage, int index)
     : m_index{index},
       m_axisCount{storage.GetInt("axisCount", -1)},
       m_buttonCount{storage.GetInt("buttonCount", -1)},
@@ -527,8 +527,8 @@ KeyboardJoystick::KeyboardJoystick(glass::Storage& storage, int index)
       m_axisStorage{storage.GetChildArray("axisConfig")},
       m_buttonKey{storage.GetIntArray("buttonKeys")},
       m_povStorage{storage.GetChildArray("povConfig")} {
-  wpi::format_to_n_c_str(m_name, sizeof(m_name), "Keyboard {}", index);
-  wpi::format_to_n_c_str(m_guid, sizeof(m_guid), "Keyboard{}", index);
+  wpi::util::format_to_n_c_str(m_name, sizeof(m_name), "Keyboard {}", index);
+  wpi::util::format_to_n_c_str(m_guid, sizeof(m_guid), "Keyboard{}", index);
 
   // init axes
   for (auto&& axisConfig : m_axisStorage) {
@@ -562,9 +562,9 @@ void KeyboardJoystick::EditKey(const char* label, int* key) {
 
   char editLabel[32];
   if (s_keyEdit == key) {
-    wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "(press key)###edit");
+    wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "(press key)###edit");
   } else {
-    wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
+    wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
                            GetKeyName(*key));
   }
 
@@ -608,11 +608,11 @@ void KeyboardJoystick::SettingsDisplay() {
       }
     }
     while (m_axisCount > static_cast<int>(m_axisConfig.size())) {
-      m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
       m_axisConfig.emplace_back(*m_axisStorage.back());
     }
     for (int i = 0; i < m_axisCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "Axis {}", i);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "Axis {}", i);
 
       if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
         EditKey("Increase", &m_axisConfig[i].incKey);
@@ -646,7 +646,7 @@ void KeyboardJoystick::SettingsDisplay() {
       m_buttonKey.emplace_back(-1);
     }
     for (int i = 0; i < m_buttonCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "Button {}", i + 1);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "Button {}", i + 1);
 
       EditKey(label, &m_buttonKey[i]);
     }
@@ -665,11 +665,11 @@ void KeyboardJoystick::SettingsDisplay() {
       }
     }
     while (m_povCount > static_cast<int>(m_povConfig.size())) {
-      m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_povStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
       m_povConfig.emplace_back(*m_povStorage.back());
     }
     for (int i = 0; i < m_povCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "POV {}", i);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "POV {}", i);
 
       if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
         EditKey("        Up", &m_povConfig[i].keyUp);
@@ -842,14 +842,14 @@ void KeyboardJoystick::ClearKey(int key) {
   }
 }
 
-GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
+GlfwKeyboardJoystick::GlfwKeyboardJoystick(wpi::glass::Storage& storage, int index)
     : KeyboardJoystick{storage, index} {
   // set up a default keyboard config for 0, 1, and 2
   if (index == 0) {
     if (m_axisCount == -1 && m_axisStorage.empty()) {
       m_axisCount = 3;
       for (int i = 0; i < 3; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
         m_axisConfig.emplace_back(*m_axisStorage.back());
       }
       m_axisConfig[0].incKey = GLFW_KEY_D;
@@ -871,7 +871,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
     }
     if (m_povCount == -1 && m_povStorage.empty()) {
       m_povCount = 1;
-      m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_povStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
       m_povConfig.emplace_back(*m_povStorage.back());
       m_povConfig[0].keyUp = GLFW_KEY_KP_8;
       m_povConfig[0].keyUpRight = GLFW_KEY_KP_9;
@@ -886,7 +886,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
     if (m_axisCount == -1 && m_axisStorage.empty()) {
       m_axisCount = 2;
       for (int i = 0; i < 2; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
         m_axisConfig.emplace_back(*m_axisStorage.back());
       }
       m_axisConfig[0].incKey = GLFW_KEY_L;
@@ -906,7 +906,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
     if (m_axisCount == -1 && m_axisStorage.empty()) {
       m_axisCount = 2;
       for (int i = 0; i < 2; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
         m_axisConfig.emplace_back(*m_axisStorage.back());
       }
       m_axisConfig[0].incKey = GLFW_KEY_RIGHT;
@@ -961,7 +961,7 @@ const char* GlfwKeyboardJoystick::GetKeyName(int key) const {
   return "(Unknown)";
 }
 
-RobotJoystick::RobotJoystick(glass::Storage& storage)
+RobotJoystick::RobotJoystick(wpi::glass::Storage& storage)
     : name{storage.GetString("name")},
       guid{storage.GetString("guid")},
       useGamepad{storage.GetBool("useGamepad")} {}
@@ -1040,11 +1040,11 @@ static void DriverStationExecute() {
   bool disableDS = IsDSDisabled();
   if (disableDS && !prevDisableDS) {
     if (auto win = DriverStationGui::dsManager->GetWindow("System Joysticks")) {
-      win->SetVisibility(glass::Window::kDisabled);
+      win->SetVisibility(wpi::glass::Window::kDisabled);
     }
   } else if (!disableDS && prevDisableDS) {
     if (auto win = DriverStationGui::dsManager->GetWindow("System Joysticks")) {
-      win->SetVisibility(glass::Window::kShow);
+      win->SetVisibility(wpi::glass::Window::kShow);
     }
   }
   prevDisableDS = disableDS;
@@ -1166,7 +1166,7 @@ void FMSSimModel::UpdateHAL() {
   HALSIM_SetDriverStationTest(m_test.GetValue());
   HALSIM_SetDriverStationAutonomous(m_autonomous.GetValue());
   HALSIM_SetDriverStationMatchTime(m_matchTime.GetValue());
-  auto str = wpi::make_string(m_gameMessage.GetValue());
+  auto str = wpi::util::make_string(m_gameMessage.GetValue());
   HALSIM_SetGameSpecificMessage(&str);
   HALSIM_SetDriverStationDsAttached(m_dsAttached.GetValue());
 }
@@ -1216,7 +1216,7 @@ bool FMSSimModel::IsReadOnly() {
 
 static void DisplaySystemJoystick(SystemJoystick& joy, int i) {
   char label[64];
-  wpi::format_to_n_c_str(label, sizeof(label), "{}: {}", i, joy.GetName());
+  wpi::util::format_to_n_c_str(label, sizeof(label), "{}: {}", i, joy.GetName());
 
   // highlight if any buttons pressed
   bool anyButtonPressed = joy.IsAnyButtonPressed();
@@ -1250,7 +1250,7 @@ static void DisplaySystemJoysticks() {
     DisplaySystemJoystick(*joy, i + GLFW_JOYSTICK_LAST + 1);
     if (ImGui::BeginPopupContextItem()) {
       char buf[64];
-      wpi::format_to_n_c_str(buf, sizeof(buf), "{} Settings", joy->GetName());
+      wpi::util::format_to_n_c_str(buf, sizeof(buf), "{} Settings", joy->GetName());
 
       if (ImGui::MenuItem(buf)) {
         if (auto win = DriverStationGui::dsManager->GetWindow(buf)) {
@@ -1301,7 +1301,7 @@ static void DisplayJoysticks() {
         joy.guid = payload_sys->GetGUID();
         std::string_view name{payload_sys->GetName()};
         joy.useGamepad =
-            wpi::starts_with(name, "Xbox") || wpi::contains(name, "pad");
+            wpi::util::starts_with(name, "Xbox") || wpi::util::contains(name, "pad");
       }
       ImGui::EndDragDropTarget();
     }
@@ -1339,7 +1339,7 @@ static void DisplayJoysticks() {
       for (int j = 0; j < axesCount; ++j) {
         if (source && source->axes[j]) {
           char label[64];
-          wpi::format_to_n_c_str(label, sizeof(label), "Axis[{}]", j);
+          wpi::util::format_to_n_c_str(label, sizeof(label), "Axis[{}]", j);
 
           ImGui::Selectable(label);
           source->axes[j]->EmitDrag();
@@ -1356,7 +1356,7 @@ static void DisplayJoysticks() {
       for (int j = 0; j < povCount; ++j) {
         if (source && source->povs[j]) {
           char label[64];
-          wpi::format_to_n_c_str(label, sizeof(label), "POVs[{}]", j);
+          wpi::util::format_to_n_c_str(label, sizeof(label), "POVs[{}]", j);
 
           ImGui::Selectable(label);
           source->povs[j]->EmitDrag();
@@ -1372,7 +1372,7 @@ static void DisplayJoysticks() {
 
       // show buttons as multiple lines of LED indicators, 8 per line
       static const ImU32 color = IM_COL32(255, 255, 102, 255);
-      wpi::SmallVector<int, 64> buttons;
+      wpi::util::SmallVector<int, 64> buttons;
       buttons.resize(buttonCount);
       for (int j = 0; j < buttonCount; ++j) {
         buttons[j] = joy.IsButtonPressed(j) ? 1 : -1;
@@ -1415,7 +1415,7 @@ void DSManager::DisplayMenu() {
 }
 
 void DriverStationGui::GlobalInit() {
-  auto& storageRoot = glass::GetStorageRoot("ds");
+  auto& storageRoot = wpi::glass::GetStorageRoot("ds");
   dsManager = std::make_unique<DSManager>(storageRoot);
 
   // set up system joysticks (both GLFW and keyboard)
@@ -1441,7 +1441,7 @@ void DriverStationGui::GlobalInit() {
     keyboardStorage.resize(4);
     for (int i = 0; i < 4; ++i) {
       if (!keyboardStorage[i]) {
-        keyboardStorage[i] = std::make_unique<glass::Storage>();
+        keyboardStorage[i] = std::make_unique<wpi::glass::Storage>();
       }
       gKeyboardJoysticks.emplace_back(
           std::make_unique<GlfwKeyboardJoystick>(*keyboardStorage[i], i));
@@ -1451,7 +1451,7 @@ void DriverStationGui::GlobalInit() {
     robotJoystickStorage.resize(HAL_kMaxJoysticks);
     for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
       if (!robotJoystickStorage[i]) {
-        robotJoystickStorage[i] = std::make_unique<glass::Storage>();
+        robotJoystickStorage[i] = std::make_unique<wpi::glass::Storage>();
       }
       gRobotJoysticks.emplace_back(*robotJoystickStorage[i]);
     }
@@ -1459,12 +1459,12 @@ void DriverStationGui::GlobalInit() {
     int i = 0;
     for (auto&& joy : gKeyboardJoysticks) {
       char label[64];
-      wpi::format_to_n_c_str(label, sizeof(label), "{} Settings",
+      wpi::util::format_to_n_c_str(label, sizeof(label), "{} Settings",
                              joy->GetName());
 
       if (auto win = dsManager->AddWindow(
               label, [j = joy.get()] { j->SettingsDisplay(); },
-              glass::Window::kHide)) {
+              wpi::glass::Window::kHide)) {
         win->DisableRenamePopup();
         win->SetDefaultPos(10 + 310 * i++, 50);
         if (i > 3) {
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
index a544d192f4..a839c79052 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
@@ -11,9 +11,9 @@
 
 namespace halsimgui {
 
-class DSManager : public glass::WindowManager {
+class DSManager : public wpi::glass::WindowManager {
  public:
-  explicit DSManager(glass::Storage& storage) : WindowManager{storage} {}
+  explicit DSManager(wpi::glass::Storage& storage) : WindowManager{storage} {}
 
   void DisplayMenu() override;
 };
diff --git a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
index f1e6838d12..3313a38706 100644
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
@@ -24,7 +24,7 @@ using namespace halsimgui;
 
 namespace {
 
-class EncoderSimModel : public glass::EncoderModel {
+class EncoderSimModel : public wpi::glass::EncoderModel {
  public:
   EncoderSimModel(std::string_view id, int32_t index, int channelA,
                   int channelB)
@@ -88,14 +88,14 @@ class EncoderSimModel : public glass::EncoderModel {
   int GetChannelA() const override { return m_channelA; }
   int GetChannelB() const override { return m_channelB; }
 
-  glass::DoubleSource* GetDistancePerPulseData() override {
+  wpi::glass::DoubleSource* GetDistancePerPulseData() override {
     return &m_distancePerPulse;
   }
-  glass::IntegerSource* GetCountData() override { return &m_count; }
-  glass::DoubleSource* GetPeriodData() override { return &m_period; }
-  glass::BooleanSource* GetDirectionData() override { return &m_direction; }
-  glass::DoubleSource* GetDistanceData() override { return &m_distance; }
-  glass::DoubleSource* GetRateData() override { return &m_rate; }
+  wpi::glass::IntegerSource* GetCountData() override { return &m_count; }
+  wpi::glass::DoubleSource* GetPeriodData() override { return &m_period; }
+  wpi::glass::BooleanSource* GetDirectionData() override { return &m_direction; }
+  wpi::glass::DoubleSource* GetDistanceData() override { return &m_distance; }
+  wpi::glass::DoubleSource* GetRateData() override { return &m_rate; }
 
   double GetMaxPeriod() override { return HALSIM_GetEncoderMaxPeriod(m_index); }
   bool GetReverseDirection() override {
@@ -176,12 +176,12 @@ class EncoderSimModel : public glass::EncoderModel {
     }
   }
 
-  glass::DoubleSource m_distancePerPulse;
-  glass::IntegerSource m_count;
-  glass::DoubleSource m_period;
-  glass::BooleanSource m_direction;
-  glass::DoubleSource m_distance;
-  glass::DoubleSource m_rate;
+  wpi::glass::DoubleSource m_distancePerPulse;
+  wpi::glass::IntegerSource m_count;
+  wpi::glass::DoubleSource m_period;
+  wpi::glass::BooleanSource m_direction;
+  wpi::glass::DoubleSource m_distance;
+  wpi::glass::DoubleSource m_rate;
 
   int32_t m_index;
   int m_channelA;
@@ -192,7 +192,7 @@ class EncoderSimModel : public glass::EncoderModel {
   int32_t m_directionCallback;
 };
 
-class EncodersSimModel : public glass::EncodersModel {
+class EncodersSimModel : public wpi::glass::EncodersModel {
  public:
   EncodersSimModel() : m_models(HAL_GetNumEncoders()) {}
 
@@ -201,7 +201,7 @@ class EncodersSimModel : public glass::EncodersModel {
   bool Exists() override { return true; }
 
   void ForEachEncoder(
-      wpi::function_ref<void(glass::EncoderModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func)
       override;
 
  private:
@@ -224,7 +224,7 @@ void EncodersSimModel::Update() {
 }
 
 void EncodersSimModel::ForEachEncoder(
-    wpi::function_ref<void(glass::EncoderModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func) {
   for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
        ++i) {
     if (auto model = m_models[i].get()) {
@@ -247,16 +247,16 @@ void EncoderSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "Encoders", EncodersAnyInitialized,
       [] { return std::make_unique<EncodersSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(5, 250);
-        return glass::MakeFunctionView(
+        return wpi::glass::MakeFunctionView(
             [=] { DisplayEncoders(static_cast<EncodersSimModel*>(model)); });
       });
 }
 
-glass::EncodersModel& EncoderSimGui::GetEncodersModel() {
+wpi::glass::EncodersModel& EncoderSimGui::GetEncodersModel() {
   static auto model = HALSimGui::halProvider->GetModel("Encoders");
   assert(model);
-  return *static_cast<glass::EncodersModel*>(model);
+  return *static_cast<wpi::glass::EncodersModel*>(model);
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
index f27d1801d6..410e4d40d3 100644
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace glass {
+namespace wpi::glass {
 class EncodersModel;
 }  // namespace glass
 
@@ -13,7 +13,7 @@ namespace halsimgui {
 class EncoderSimGui {
  public:
   static void Initialize();
-  static glass::EncodersModel& GetEncodersModel();
+  static wpi::glass::EncodersModel& GetEncodersModel();
 };
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
index 4bc821c241..7e727e0a5d 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -15,7 +15,7 @@ using namespace halsimgui;
 
 static bool gDisableOutputsOnDSDisable = true;
 
-HALProvider::HALProvider(glass::Storage& storage) : Provider{storage} {
+HALProvider::HALProvider(wpi::glass::Storage& storage) : Provider{storage} {
   storage.SetCustomApply([this] {
     for (auto&& childIt : m_storage.GetChildren()) {
       auto it = FindViewEntry(childIt.key());
@@ -65,7 +65,7 @@ void HALProvider::DisplayMenu() {
   }
 }
 
-glass::Model* HALProvider::GetModel(std::string_view name) {
+wpi::glass::Model* HALProvider::GetModel(std::string_view name) {
   auto it = FindModelEntry(name);
   if (it == m_modelEntries.end() || (*it)->name != name) {
     return nullptr;
@@ -79,7 +79,7 @@ glass::Model* HALProvider::GetModel(std::string_view name) {
   return entry->model.get();
 }
 
-void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
+void HALProvider::Show(ViewEntry* entry, wpi::glass::Window* window) {
   // if there's already a window, we're done
   if (entry->window) {
     return;
@@ -97,7 +97,7 @@ void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
   if (!window) {
     window = GetOrAddWindow(
         entry->name, true,
-        entry->showDefault ? glass::Window::kShow : glass::Window::kHide);
+        entry->showDefault ? wpi::glass::Window::kShow : wpi::glass::Window::kHide);
   }
   if (!window) {
     return;
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
index 4402f47c6d..48bf8348f1 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -15,25 +15,25 @@
 
 using namespace halsimgui;
 
-glass::MainMenuBar HALSimGui::mainMenu;
-std::unique_ptr<glass::WindowManager> HALSimGui::manager;
+wpi::glass::MainMenuBar HALSimGui::mainMenu;
+std::unique_ptr<wpi::glass::WindowManager> HALSimGui::manager;
 std::unique_ptr<HALProvider> HALSimGui::halProvider;
-std::unique_ptr<glass::NetworkTablesProvider> HALSimGui::ntProvider;
+std::unique_ptr<wpi::glass::NetworkTablesProvider> HALSimGui::ntProvider;
 
 void HALSimGui::GlobalInit() {
-  manager = std::make_unique<glass::WindowManager>(
-      glass::GetStorageRoot().GetChild("SimWindow"));
+  manager = std::make_unique<wpi::glass::WindowManager>(
+      wpi::glass::GetStorageRoot().GetChild("SimWindow"));
   manager->GlobalInit();
   halProvider = std::make_unique<HALProvider>(
-      glass::GetStorageRoot().GetChild("HALProvider"));
+      wpi::glass::GetStorageRoot().GetChild("HALProvider"));
   halProvider->GlobalInit();
-  ntProvider = std::make_unique<glass::NetworkTablesProvider>(
-      glass::GetStorageRoot().GetChild("NTProvider"));
+  ntProvider = std::make_unique<wpi::glass::NetworkTablesProvider>(
+      wpi::glass::GetStorageRoot().GetChild("NTProvider"));
   ntProvider->GlobalInit();
 
   wpi::gui::AddLateExecute([] { mainMenu.Display(); });
 
-  glass::AddStandardNetworkTablesViews(*ntProvider);
+  wpi::glass::AddStandardNetworkTablesViews(*ntProvider);
 }
 
 namespace halsimgui {
diff --git a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
index 0ee72f9d8a..4e2816d205 100644
--- a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -14,32 +14,32 @@
 
 using namespace halsimgui;
 
-static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
-static std::unique_ptr<glass::Window> gNetworkTablesWindow;
-static std::unique_ptr<glass::Window> gNetworkTablesInfoWindow;
+static std::unique_ptr<wpi::glass::NetworkTablesModel> gNetworkTablesModel;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesInfoWindow;
 
 void NetworkTablesSimGui::Initialize() {
-  gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
+  gNetworkTablesModel = std::make_unique<wpi::glass::NetworkTablesModel>();
   wpi::gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
 
-  gNetworkTablesWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
+  gNetworkTablesWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
   gNetworkTablesWindow->SetView(
-      std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get()));
+      std::make_unique<wpi::glass::NetworkTablesView>(gNetworkTablesModel.get()));
   gNetworkTablesWindow->SetDefaultPos(250, 277);
   gNetworkTablesWindow->SetDefaultSize(750, 185);
   gNetworkTablesWindow->DisableRenamePopup();
   wpi::gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
 
   // NetworkTables info window
-  gNetworkTablesInfoWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables Info"),
+  gNetworkTablesInfoWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Info"),
       "NetworkTables Info");
-  gNetworkTablesInfoWindow->SetView(glass::MakeFunctionView(
-      [&] { glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
+  gNetworkTablesInfoWindow->SetView(wpi::glass::MakeFunctionView(
+      [&] { wpi::glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
   gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
   gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
-  gNetworkTablesInfoWindow->SetDefaultVisibility(glass::Window::kHide);
+  gNetworkTablesInfoWindow->SetDefaultVisibility(wpi::glass::Window::kHide);
   gNetworkTablesInfoWindow->DisableRenamePopup();
   wpi::gui::AddLateExecute([] { gNetworkTablesInfoWindow->Display(); });
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
index 90e3fbd6a1..ee663207f2 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
@@ -27,7 +27,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(CTREPCMCompressorCurrent,
                                     "Compressor Current");
 HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(CTREPCMSolenoidOutput, "Solenoid");
 
-class CompressorSimModel : public glass::CompressorModel {
+class CompressorSimModel : public wpi::glass::CompressorModel {
  public:
   explicit CompressorSimModel(int32_t index)
       : m_index{index},
@@ -40,12 +40,12 @@ class CompressorSimModel : public glass::CompressorModel {
 
   bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }
 
-  glass::BooleanSource* GetRunningData() override { return &m_running; }
-  glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
-  glass::BooleanSource* GetPressureSwitchData() override {
+  wpi::glass::BooleanSource* GetRunningData() override { return &m_running; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
+  wpi::glass::BooleanSource* GetPressureSwitchData() override {
     return &m_pressureSwitch;
   }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }
 
   void SetRunning(bool val) override {
     HALSIM_SetCTREPCMCompressorOn(m_index, val);
@@ -68,7 +68,7 @@ class CompressorSimModel : public glass::CompressorModel {
   CTREPCMCompressorCurrentSource m_current;
 };
 
-class SolenoidSimModel : public glass::SolenoidModel {
+class SolenoidSimModel : public wpi::glass::SolenoidModel {
  public:
   SolenoidSimModel(int32_t index, int32_t channel)
       : m_index{index}, m_channel{channel}, m_output{index, channel} {}
@@ -77,7 +77,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
 
   bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }
 
-  glass::BooleanSource* GetOutputData() override { return &m_output; }
+  wpi::glass::BooleanSource* GetOutputData() override { return &m_output; }
 
   void SetOutput(bool val) override {
     HALSIM_SetCTREPCMSolenoidOutput(m_index, m_channel, val);
@@ -89,7 +89,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
   CTREPCMSolenoidOutputSource m_output;
 };
 
-class PCMSimModel : public glass::PneumaticControlModel {
+class PCMSimModel : public wpi::glass::PneumaticControlModel {
  public:
   explicit PCMSimModel(int32_t index)
       : m_index{index},
@@ -103,7 +103,7 @@ class PCMSimModel : public glass::PneumaticControlModel {
   CompressorSimModel* GetCompressor() override { return &m_compressor; }
 
   void ForEachSolenoid(
-      wpi::function_ref<void(glass::SolenoidModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
       override;
 
   std::string_view GetName() override { return "PCM"; }
@@ -117,7 +117,7 @@ class PCMSimModel : public glass::PneumaticControlModel {
   int m_solenoidInitCount = 0;
 };
 
-class PCMsSimModel : public glass::PneumaticControlsModel {
+class PCMsSimModel : public wpi::glass::PneumaticControlsModel {
  public:
   PCMsSimModel() : m_models(HAL_GetNumCTREPCMModules()) {}
 
@@ -126,7 +126,7 @@ class PCMsSimModel : public glass::PneumaticControlsModel {
   bool Exists() override { return true; }
 
   void ForEachPneumaticControl(
-      wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
           func) override;
 
  private:
@@ -151,7 +151,7 @@ void PCMSimModel::Update() {
 }
 
 void PCMSimModel::ForEachSolenoid(
-    wpi::function_ref<void(glass::SolenoidModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
   if (m_solenoidInitCount == 0) {
     return;
   }
@@ -179,7 +179,7 @@ void PCMsSimModel::Update() {
 }
 
 void PCMsSimModel::ForEachPneumaticControl(
-    wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
         func) {
   int32_t numCTREPCMs = m_models.size();
   for (int32_t i = 0; i < numCTREPCMs; ++i) {
@@ -199,10 +199,10 @@ bool PCMSimGui::PCMsAnyInitialized() {
   return false;
 }
 
-bool PCMSimGui::PCMsAnySolenoids(glass::PneumaticControlsModel* model) {
+bool PCMSimGui::PCMsAnySolenoids(wpi::glass::PneumaticControlsModel* model) {
   bool any = false;
   static_cast<PCMsSimModel*>(model)->ForEachPneumaticControl(
-      [&](glass::PneumaticControlModel& CTREPCM, int) {
+      [&](wpi::glass::PneumaticControlModel& CTREPCM, int) {
         if (static_cast<PCMSimModel*>(&CTREPCM)->GetNumSolenoids() > 0) {
           any = true;
         }
@@ -210,7 +210,7 @@ bool PCMSimGui::PCMsAnySolenoids(glass::PneumaticControlsModel* model) {
   return any;
 }
 
-std::unique_ptr<glass::PneumaticControlsModel> PCMSimGui::GetPCMsModel() {
+std::unique_ptr<wpi::glass::PneumaticControlsModel> PCMSimGui::GetPCMsModel() {
   return std::make_unique<PCMsSimModel>();
 }
 
@@ -220,8 +220,8 @@ void PCMSimGui::Initialize() {
       [] { return std::make_unique<PCMsSimModel>(); });
 
   SimDeviceGui::GetDeviceTree().Add(
-      HALSimGui::halProvider->GetModel("CTREPCMs"), [](glass::Model* model) {
-        glass::DisplayCompressorsDevice(
+      HALSimGui::halProvider->GetModel("CTREPCMs"), [](wpi::glass::Model* model) {
+        wpi::glass::DisplayCompressorsDevice(
             static_cast<PCMsSimModel*>(model),
             HALSimGui::halProvider->AreOutputsEnabled());
       });
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
index 31d43597d7..465487aba1 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
@@ -13,8 +13,8 @@ class PCMSimGui {
  public:
   static void Initialize();
   static bool PCMsAnyInitialized();
-  static bool PCMsAnySolenoids(glass::PneumaticControlsModel* model);
-  static std::unique_ptr<glass::PneumaticControlsModel> GetPCMsModel();
+  static bool PCMsAnySolenoids(wpi::glass::PneumaticControlsModel* model);
+  static std::unique_ptr<wpi::glass::PneumaticControlsModel> GetPCMsModel();
 };
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
index 31701b041d..d0a5ac1fb3 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
@@ -26,7 +26,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(REVPHCompressorCurrent,
                                     "Compressor Current");
 HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(REVPHSolenoidOutput, "Solenoid");
 
-class CompressorSimModel : public glass::CompressorModel {
+class CompressorSimModel : public wpi::glass::CompressorModel {
  public:
   explicit CompressorSimModel(int32_t index)
       : m_index{index},
@@ -38,12 +38,12 @@ class CompressorSimModel : public glass::CompressorModel {
 
   bool Exists() override { return HALSIM_GetREVPHInitialized(m_index); }
 
-  glass::BooleanSource* GetRunningData() override { return &m_running; }
-  glass::BooleanSource* GetEnabledData() override { return nullptr; }
-  glass::BooleanSource* GetPressureSwitchData() override {
+  wpi::glass::BooleanSource* GetRunningData() override { return &m_running; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return nullptr; }
+  wpi::glass::BooleanSource* GetPressureSwitchData() override {
     return &m_pressureSwitch;
   }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }
 
   void SetRunning(bool val) override {
     HALSIM_SetREVPHCompressorOn(m_index, val);
@@ -63,7 +63,7 @@ class CompressorSimModel : public glass::CompressorModel {
   REVPHCompressorCurrentSource m_current;
 };
 
-class SolenoidSimModel : public glass::SolenoidModel {
+class SolenoidSimModel : public wpi::glass::SolenoidModel {
  public:
   SolenoidSimModel(int32_t index, int32_t channel)
       : m_index{index}, m_channel{channel}, m_output{index, channel} {}
@@ -72,7 +72,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
 
   bool Exists() override { return HALSIM_GetREVPHInitialized(m_index); }
 
-  glass::BooleanSource* GetOutputData() override { return &m_output; }
+  wpi::glass::BooleanSource* GetOutputData() override { return &m_output; }
 
   void SetOutput(bool val) override {
     HALSIM_SetREVPHSolenoidOutput(m_index, m_channel, val);
@@ -84,7 +84,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
   REVPHSolenoidOutputSource m_output;
 };
 
-class PHSimModel : public glass::PneumaticControlModel {
+class PHSimModel : public wpi::glass::PneumaticControlModel {
  public:
   explicit PHSimModel(int32_t index)
       : m_index{index},
@@ -98,7 +98,7 @@ class PHSimModel : public glass::PneumaticControlModel {
   CompressorSimModel* GetCompressor() override { return &m_compressor; }
 
   void ForEachSolenoid(
-      wpi::function_ref<void(glass::SolenoidModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
       override;
 
   std::string_view GetName() override { return "PH"; }
@@ -112,7 +112,7 @@ class PHSimModel : public glass::PneumaticControlModel {
   int m_solenoidInitCount = 0;
 };
 
-class PHsSimModel : public glass::PneumaticControlsModel {
+class PHsSimModel : public wpi::glass::PneumaticControlsModel {
  public:
   PHsSimModel() : m_models(HAL_GetNumREVPHModules()) {}
 
@@ -121,7 +121,7 @@ class PHsSimModel : public glass::PneumaticControlsModel {
   bool Exists() override { return true; }
 
   void ForEachPneumaticControl(
-      wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
           func) override;
 
  private:
@@ -146,7 +146,7 @@ void PHSimModel::Update() {
 }
 
 void PHSimModel::ForEachSolenoid(
-    wpi::function_ref<void(glass::SolenoidModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
   if (m_solenoidInitCount == 0) {
     return;
   }
@@ -174,7 +174,7 @@ void PHsSimModel::Update() {
 }
 
 void PHsSimModel::ForEachPneumaticControl(
-    wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
         func) {
   int32_t numREVPHs = m_models.size();
   for (int32_t i = 0; i < numREVPHs; ++i) {
@@ -194,10 +194,10 @@ bool PHSimGui::PHsAnyInitialized() {
   return false;
 }
 
-bool PHSimGui::PHsAnySolenoids(glass::PneumaticControlsModel* model) {
+bool PHSimGui::PHsAnySolenoids(wpi::glass::PneumaticControlsModel* model) {
   bool any = false;
   static_cast<PHsSimModel*>(model)->ForEachPneumaticControl(
-      [&](glass::PneumaticControlModel& REVPH, int) {
+      [&](wpi::glass::PneumaticControlModel& REVPH, int) {
         if (static_cast<PHSimModel*>(&REVPH)->GetNumSolenoids() > 0) {
           any = true;
         }
@@ -205,7 +205,7 @@ bool PHSimGui::PHsAnySolenoids(glass::PneumaticControlsModel* model) {
   return any;
 }
 
-std::unique_ptr<glass::PneumaticControlsModel> PHSimGui::GetPHsModel() {
+std::unique_ptr<wpi::glass::PneumaticControlsModel> PHSimGui::GetPHsModel() {
   return std::make_unique<PHsSimModel>();
 }
 
@@ -215,8 +215,8 @@ void PHSimGui::Initialize() {
       [] { return std::make_unique<PHsSimModel>(); });
 
   SimDeviceGui::GetDeviceTree().Add(
-      HALSimGui::halProvider->GetModel("REVPHs"), [](glass::Model* model) {
-        glass::DisplayCompressorsDevice(
+      HALSimGui::halProvider->GetModel("REVPHs"), [](wpi::glass::Model* model) {
+        wpi::glass::DisplayCompressorsDevice(
             static_cast<PHsSimModel*>(model),
             HALSimGui::halProvider->AreOutputsEnabled());
       });
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
index 159e409e04..7c742d46e5 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
@@ -13,8 +13,8 @@ class PHSimGui {
  public:
   static void Initialize();
   static bool PHsAnyInitialized();
-  static bool PHsAnySolenoids(glass::PneumaticControlsModel* model);
-  static std::unique_ptr<glass::PneumaticControlsModel> GetPHsModel();
+  static bool PHsAnySolenoids(wpi::glass::PneumaticControlsModel* model);
+  static std::unique_ptr<wpi::glass::PneumaticControlsModel> GetPHsModel();
 };
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
index f857a74fe3..295223f337 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
@@ -19,7 +19,7 @@ using namespace halsimgui;
 namespace {
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMPulseMicrosecond, "PWM");
 
-class PWMSimModel : public glass::PWMModel {
+class PWMSimModel : public wpi::glass::PWMModel {
  public:
   explicit PWMSimModel(int32_t index) : m_index{index}, m_speed{m_index} {}
 
@@ -27,7 +27,7 @@ class PWMSimModel : public glass::PWMModel {
 
   bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }
 
-  glass::DoubleSource* GetSpeedData() override { return &m_speed; }
+  wpi::glass::DoubleSource* GetSpeedData() override { return &m_speed; }
 
   void SetSpeed(double val) override {
     HALSIM_SetPWMPulseMicrosecond(m_index, val);
@@ -38,7 +38,7 @@ class PWMSimModel : public glass::PWMModel {
   PWMPulseMicrosecondSource m_speed;
 };
 
-class PWMsSimModel : public glass::PWMsModel {
+class PWMsSimModel : public wpi::glass::PWMsModel {
  public:
   PWMsSimModel() : m_sources(HAL_GetNumPWMChannels()) {}
 
@@ -47,7 +47,7 @@ class PWMsSimModel : public glass::PWMsModel {
   bool Exists() override { return true; }
 
   void ForEachPWM(
-      wpi::function_ref<void(glass::PWMModel& model, int index)> func) override;
+      wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) override;
 
  private:
   // indexed by channel
@@ -70,7 +70,7 @@ void PWMsSimModel::Update() {
 }
 
 void PWMsSimModel::ForEachPWM(
-    wpi::function_ref<void(glass::PWMModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) {
   const int32_t numPWM = m_sources.size();
   for (int32_t i = 0; i < numPWM; ++i) {
     if (auto model = m_sources[i].get()) {
@@ -93,11 +93,11 @@ void PWMSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "PWM Outputs", PWMsAnyInitialized,
       [] { return std::make_unique<PWMsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(910, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
                              HALSimGui::halProvider->AreOutputsEnabled());
         });
       });
diff --git a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
index f3adf2d6c5..eeaa7b4d4b 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
@@ -25,7 +25,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PowerDistributionVoltage,
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED2(PowerDistributionCurrent,
                                      "Power Distribution Current");
 
-class PowerDistributionSimModel : public glass::PowerDistributionModel {
+class PowerDistributionSimModel : public wpi::glass::PowerDistributionModel {
  public:
   explicit PowerDistributionSimModel(int32_t index)
       : m_index{index}, m_temp{index}, m_voltage{index} {
@@ -46,9 +46,9 @@ class PowerDistributionSimModel : public glass::PowerDistributionModel {
 
   int GetNumChannels() const override { return m_currents.size(); }
 
-  glass::DoubleSource* GetTemperatureData() override { return &m_temp; }
-  glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
-  glass::DoubleSource* GetCurrentData(int channel) override {
+  wpi::glass::DoubleSource* GetTemperatureData() override { return &m_temp; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
+  wpi::glass::DoubleSource* GetCurrentData(int channel) override {
     return m_currents[channel].get();
   }
 
@@ -69,7 +69,7 @@ class PowerDistributionSimModel : public glass::PowerDistributionModel {
   std::vector<std::unique_ptr<PowerDistributionCurrentSource>> m_currents;
 };
 
-class PowerDistributionsSimModel : public glass::PowerDistributionsModel {
+class PowerDistributionsSimModel : public wpi::glass::PowerDistributionsModel {
  public:
   PowerDistributionsSimModel() : m_models(HAL_GetNumREVPDHModules()) {}
 
@@ -78,7 +78,7 @@ class PowerDistributionsSimModel : public glass::PowerDistributionsModel {
   bool Exists() override { return true; }
 
   void ForEachPowerDistribution(
-      wpi::function_ref<void(glass::PowerDistributionModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
           func) override;
 
  private:
@@ -101,7 +101,7 @@ void PowerDistributionsSimModel::Update() {
 }
 
 void PowerDistributionsSimModel::ForEachPowerDistribution(
-    wpi::function_ref<void(glass::PowerDistributionModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
         func) {
   for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
        ++i) {
@@ -125,9 +125,9 @@ void PowerDistributionSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "PowerDistributions", PowerDistributionsAnyInitialized,
       [] { return std::make_unique<PowerDistributionsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetDefaultPos(245, 155);
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
           DisplayPowerDistributions(
               static_cast<PowerDistributionsSimModel*>(model));
         });
diff --git a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
index 8229c16838..dfadcc3c98 100644
--- a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
@@ -21,14 +21,14 @@ HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive3V3, "Rio 3.3V Active");
 HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults3V3, "Rio 3.3V Faults");
 HALSIMGUI_DATASOURCE_DOUBLE(RoboRioBrownoutVoltage, "Rio Brownout Voltage");
 
-class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
+class RoboRioUser3V3RailSimModel : public wpi::glass::RoboRioRailModel {
  public:
   void Update() override {}
   bool Exists() override { return true; }
-  glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
-  glass::BooleanSource* GetActiveData() override { return &m_active; }
-  glass::IntegerSource* GetFaultsData() override { return &m_faults; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::BooleanSource* GetActiveData() override { return &m_active; }
+  wpi::glass::IntegerSource* GetFaultsData() override { return &m_faults; }
 
   void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage3V3(val); }
   void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent3V3(val); }
@@ -42,16 +42,16 @@ class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
   RoboRioUserFaults3V3Source m_faults;
 };
 
-class RoboRioSimModel : public glass::RoboRioModel {
+class RoboRioSimModel : public wpi::glass::RoboRioModel {
  public:
   void Update() override {}
 
   bool Exists() override { return true; }
 
-  glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
+  wpi::glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
 
-  glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
-  glass::DoubleSource* GetBrownoutVoltage() override {
+  wpi::glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
+  wpi::glass::DoubleSource* GetBrownoutVoltage() override {
     return &m_brownoutVoltage;
   }
 
@@ -71,10 +71,10 @@ void RoboRioSimGui::Initialize() {
   HALSimGui::halProvider->Register(
       "RoboRIO", [] { return true; },
       [] { return std::make_unique<RoboRioSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(5, 125);
-        return glass::MakeFunctionView(
+        return wpi::glass::MakeFunctionView(
             [=] { DisplayRoboRio(static_cast<RoboRioSimModel*>(model)); });
       });
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
index cc97333267..23dd7d2e4a 100644
--- a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -23,7 +23,7 @@ using namespace halsimgui;
 
 namespace {
 #define DEFINE_SIMVALUESOURCE(Type, TYPE, v_type)                          \
-  class Sim##Type##ValueSource : public glass::Type##Source {              \
+  class Sim##Type##ValueSource : public wpi::glass::Type##Source {              \
    public:                                                                 \
     explicit Sim##Type##ValueSource(HAL_SimValueHandle handle,             \
                                     const char* device, const char* name)  \
@@ -51,7 +51,7 @@ namespace {
 DEFINE_SIMVALUESOURCE(Boolean, BOOLEAN, boolean)
 DEFINE_SIMVALUESOURCE(Double, DOUBLE, double)
 
-class SimIntegerValueSource : public glass::IntegerSource {
+class SimIntegerValueSource : public wpi::glass::IntegerSource {
  public:
   explicit SimIntegerValueSource(HAL_SimValueHandle handle, const char* device,
                                  const char* name)
@@ -80,17 +80,17 @@ class SimIntegerValueSource : public glass::IntegerSource {
   int32_t m_callback;
 };
 
-class SimDevicesModel : public glass::Model {
+class SimDevicesModel : public wpi::glass::Model {
  public:
   void Update() override;
   bool Exists() override { return true; }
 
-  glass::DataSource* GetSource(HAL_SimValueHandle handle) {
+  wpi::glass::DataSource* GetSource(HAL_SimValueHandle handle) {
     return m_sources[handle].get();
   }
 
  private:
-  wpi::DenseMap<HAL_SimValueHandle, std::unique_ptr<glass::DataSource>>
+  wpi::util::DenseMap<HAL_SimValueHandle, std::unique_ptr<wpi::glass::DataSource>>
       m_sources;
 };
 }  // namespace
@@ -150,7 +150,7 @@ static void DisplaySimValue(const char* name, void* data,
   switch (value->type) {
     case HAL_BOOLEAN: {
       bool v = value->data.v_boolean;
-      if (glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
+      if (wpi::glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
                                model->GetSource(handle))) {
         valueCopy.data.v_boolean = v ? 1 : 0;
         HAL_SetSimValue(handle, valueCopy);
@@ -158,7 +158,7 @@ static void DisplaySimValue(const char* name, void* data,
       break;
     }
     case HAL_DOUBLE:
-      if (glass::DeviceDouble(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceDouble(name, direction == HAL_SimValueOutput,
                               &valueCopy.data.v_double,
                               model->GetSource(handle))) {
         HAL_SetSimValue(handle, valueCopy);
@@ -167,7 +167,7 @@ static void DisplaySimValue(const char* name, void* data,
     case HAL_ENUM: {
       int32_t numOptions = 0;
       const char** options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
-      if (glass::DeviceEnum(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceEnum(name, direction == HAL_SimValueOutput,
                             &valueCopy.data.v_enum, options, numOptions,
                             model->GetSource(handle))) {
         HAL_SetSimValue(handle, valueCopy);
@@ -175,13 +175,13 @@ static void DisplaySimValue(const char* name, void* data,
       break;
     }
     case HAL_INT:
-      if (glass::DeviceInt(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceInt(name, direction == HAL_SimValueOutput,
                            &valueCopy.data.v_int, model->GetSource(handle))) {
         HAL_SetSimValue(handle, valueCopy);
       }
       break;
     case HAL_LONG:
-      if (glass::DeviceLong(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceLong(name, direction == HAL_SimValueOutput,
                             &valueCopy.data.v_long, model->GetSource(handle))) {
         HAL_SetSimValue(handle, valueCopy);
       }
@@ -197,49 +197,49 @@ static void DisplaySimDevice(const char* name, void* data,
   if (!gSimDevicesShowPrefix) {
     // only show "Foo" portion of "Accel:Foo"
     std::string_view type;
-    std::tie(type, id) = wpi::split(id, ':');
+    std::tie(type, id) = wpi::util::split(id, ':');
     if (id.empty()) {
       id = type;
     }
   }
-  if (glass::BeginDevice(id.data())) {
+  if (wpi::glass::BeginDevice(id.data())) {
     HALSIM_EnumerateSimValues(handle, data, DisplaySimValue);
-    glass::EndDevice();
+    wpi::glass::EndDevice();
   }
 }
 
 void SimDeviceGui::Initialize() {
   HALSimGui::halProvider->Register(
       "Other Devices", [] { return true; },
-      [] { return std::make_unique<glass::DeviceTreeModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [] { return std::make_unique<wpi::glass::DeviceTreeModel>(); },
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetDefaultPos(1025, 20);
         win->SetDefaultSize(250, 695);
         win->DisableRenamePopup();
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
           if (ImGui::BeginPopupContextItem()) {
             ImGui::Checkbox("Show prefix", &gSimDevicesShowPrefix);
             ImGui::EndPopup();
           }
-          static_cast<glass::DeviceTreeModel*>(model)->Display();
+          static_cast<wpi::glass::DeviceTreeModel*>(model)->Display();
         });
       });
   HALSimGui::halProvider->ShowDefault("Other Devices");
 
   auto model = std::make_unique<SimDevicesModel>();
   gSimDevicesModel = model.get();
-  GetDeviceTree().Add(std::move(model), [](glass::Model* model) {
+  GetDeviceTree().Add(std::move(model), [](wpi::glass::Model* model) {
     HALSIM_EnumerateSimDevices("", static_cast<SimDevicesModel*>(model),
                                DisplaySimDevice);
   });
 }
 
-glass::DataSource* SimDeviceGui::GetValueSource(HAL_SimValueHandle handle) {
+wpi::glass::DataSource* SimDeviceGui::GetValueSource(HAL_SimValueHandle handle) {
   return gSimDevicesModel->GetSource(handle);
 }
 
-glass::DeviceTreeModel& SimDeviceGui::GetDeviceTree() {
+wpi::glass::DeviceTreeModel& SimDeviceGui::GetDeviceTree() {
   static auto model = HALSimGui::halProvider->GetModel("Other Devices");
   assert(model);
-  return *static_cast<glass::DeviceTreeModel*>(model);
+  return *static_cast<wpi::glass::DeviceTreeModel*>(model);
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
index 92a5d17e64..41331b38ab 100644
--- a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
@@ -21,7 +21,7 @@
 using namespace halsimgui;
 
 namespace {
-class TimingModel : public glass::Model {
+class TimingModel : public wpi::glass::Model {
  public:
   void Update() override {}
   bool Exists() override { return true; }
@@ -74,11 +74,11 @@ void TimingGui::Initialize() {
   HALSimGui::halProvider->Register(
       "Timing", [] { return true; },
       [] { return std::make_unique<TimingModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->DisableRenamePopup();
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(5, 150);
-        return glass::MakeFunctionView(DisplayTiming);
+        return wpi::glass::MakeFunctionView(DisplayTiming);
       });
   HALSimGui::halProvider->ShowDefault("Timing");
 }
diff --git a/simulation/halsim_gui/src/main/native/cpp/main.cpp b/simulation/halsim_gui/src/main/native/cpp/main.cpp
index c708914c7b..651e1715c6 100644
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -35,7 +35,7 @@ using namespace halsimgui;
 
 namespace gui = wpi::gui;
 
-static std::unique_ptr<glass::PlotProvider> gPlotProvider;
+static std::unique_ptr<wpi::glass::PlotProvider> gPlotProvider;
 
 extern "C" {
 #if defined(WIN32) || defined(_WIN32)
@@ -45,9 +45,9 @@ int HALSIM_InitExtension(void) {
   std::puts("Simulator GUI Initializing.");
 
   gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();
 
-  glass::SetStorageName("simgui");
+  wpi::glass::SetStorageName("simgui");
 
   gui::AddInit([] { ImGui::GetIO().ConfigDockingWithShift = true; });
 
@@ -66,12 +66,12 @@ int HALSIM_InitExtension(void) {
       reinterpret_cast<void*>((GetGuiContextFn)&gui::GetCurrentContext));
   HAL_RegisterExtension(
       HALSIMGUI_EXT_GETGLASSCONTEXT,
-      reinterpret_cast<void*>((GetGlassContextFn)&glass::GetCurrentContext));
+      reinterpret_cast<void*>((GetGlassContextFn)&wpi::glass::GetCurrentContext));
 
   HALSimGui::GlobalInit();
   DriverStationGui::GlobalInit();
-  gPlotProvider = std::make_unique<glass::PlotProvider>(
-      glass::GetStorageRoot().GetChild("Plot"));
+  gPlotProvider = std::make_unique<wpi::glass::PlotProvider>(
+      wpi::glass::GetStorageRoot().GetChild("Plot"));
   gPlotProvider->GlobalInit();
 
   // These need to initialize first
@@ -95,28 +95,28 @@ int HALSIM_InitExtension(void) {
         return PCMSimGui::PCMsAnyInitialized() || PHSimGui::PHsAnyInitialized();
       },
       [] {
-        return std::make_unique<glass::AllPneumaticControlsModel>(
+        return std::make_unique<wpi::glass::AllPneumaticControlsModel>(
             PCMSimGui::GetPCMsModel(), PHSimGui::GetPHsModel());
       });
 
   HALSimGui::halProvider->RegisterView(
       "Solenoids", "AllPneumaticControls",
-      [](glass::Model* model) {
+      [](wpi::glass::Model* model) {
         auto pneumaticModel =
-            static_cast<glass::AllPneumaticControlsModel*>(model);
+            static_cast<wpi::glass::AllPneumaticControlsModel*>(model);
         return PCMSimGui::PCMsAnySolenoids(pneumaticModel->pcms.get()) ||
                PHSimGui::PHsAnySolenoids(pneumaticModel->phs.get());
       },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
         win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
         win->SetDefaultPos(290, 20);
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
           auto pneumaticModel =
-              static_cast<glass::AllPneumaticControlsModel*>(model);
-          glass::DisplayPneumaticControlsSolenoids(
+              static_cast<wpi::glass::AllPneumaticControlsModel*>(model);
+          wpi::glass::DisplayPneumaticControlsSolenoids(
               pneumaticModel->pcms.get(),
               HALSimGui::halProvider->AreOutputsEnabled());
-          glass::DisplayPneumaticControlsSolenoids(
+          wpi::glass::DisplayPneumaticControlsSolenoids(
               pneumaticModel->phs.get(),
               HALSimGui::halProvider->AreOutputsEnabled());
         });
@@ -169,7 +169,7 @@ int HALSIM_InitExtension(void) {
       nullptr,
       [](void*) {
         gui::Main();
-        glass::DestroyContext();
+        wpi::glass::DestroyContext();
         gui::DestroyContext();
       },
       [](void*) { gui::Exit(); });
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
index 0de9290032..ba69301d6f 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
@@ -7,7 +7,7 @@
 #include "wpi/glass/DataSource.hpp"
 
 #define HALSIMGUI_DATASOURCE(cbname, id, TYPE, Type, vtype)                   \
-  class cbname##Source : public ::glass::Type##Source {                       \
+  class cbname##Source : public ::wpi::glass::Type##Source {                       \
    public:                                                                    \
     cbname##Source()                                                          \
         : Type##Source{id},                                                   \
@@ -39,10 +39,10 @@
   HALSIMGUI_DATASOURCE(cbname, id, INT, Integer, int)
 
 #define HALSIMGUI_DATASOURCE_INDEXED(cbname, id, TYPE, Type, vtype)           \
-  class cbname##Source : public ::glass::Type##Source {                       \
+  class cbname##Source : public ::wpi::glass::Type##Source {                       \
    public:                                                                    \
     explicit cbname##Source(int32_t index, int channel = -1)                  \
-        : Type##Source{::glass::MakeSourceId(id,                              \
+        : Type##Source{::wpi::glass::MakeSourceId(id,                              \
                                              channel < 0 ? index : channel)}, \
           m_index{index},                                                     \
           m_channel{channel < 0 ? index : channel},                           \
@@ -77,10 +77,10 @@
   HALSIMGUI_DATASOURCE_INDEXED(cbname, id, DOUBLE, Double, double)
 
 #define HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, TYPE, Type, vtype)          \
-  class cbname##Source : public ::glass::Type##Source {                       \
+  class cbname##Source : public ::wpi::glass::Type##Source {                       \
    public:                                                                    \
     explicit cbname##Source(int32_t index, int32_t channel)                   \
-        : Type##Source{::glass::MakeSourceId(id, index, channel)},            \
+        : Type##Source{::wpi::glass::MakeSourceId(id, index, channel)},            \
           m_index{index},                                                     \
           m_channel{channel},                                                 \
           m_callback{HALSIM_Register##cbname##Callback(                       \
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
index a8fdfd2f75..646e4203d7 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
@@ -15,9 +15,9 @@
 
 namespace halsimgui {
 
-class HALProvider : private glass::Provider<> {
+class HALProvider : private wpi::glass::Provider<> {
  public:
-  explicit HALProvider(glass::Storage& storage);
+  explicit HALProvider(wpi::glass::Storage& storage);
 
   using Provider::GlobalInit;
   using Provider::Register;
@@ -27,7 +27,7 @@ class HALProvider : private glass::Provider<> {
 
   void DisplayMenu() override;
 
-  glass::Model* GetModel(std::string_view name);
+  wpi::glass::Model* GetModel(std::string_view name);
 
   /**
    * Returns true if outputs are disabled.
@@ -44,7 +44,7 @@ class HALProvider : private glass::Provider<> {
   static bool AreOutputsEnabled() { return !AreOutputsDisabled(); }
 
  private:
-  void Show(ViewEntry* entry, glass::Window* window) override;
+  void Show(ViewEntry* entry, wpi::glass::Window* window) override;
 };
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
index 21a38c485a..e52a5ae31f 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
@@ -18,11 +18,11 @@ class HALSimGui {
  public:
   static void GlobalInit();
 
-  static glass::MainMenuBar mainMenu;
-  static std::unique_ptr<glass::WindowManager> manager;
+  static wpi::glass::MainMenuBar mainMenu;
+  static std::unique_ptr<wpi::glass::WindowManager> manager;
 
   static std::unique_ptr<HALProvider> halProvider;
-  static std::unique_ptr<glass::NetworkTablesProvider> ntProvider;
+  static std::unique_ptr<wpi::glass::NetworkTablesProvider> ntProvider;
 };
 
 void AddGuiInit(std::function<void()> initialize);
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGuiExt.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGuiExt.hpp
index 377518f6db..a1a2e9fda5 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGuiExt.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGuiExt.hpp
@@ -8,7 +8,7 @@
 
 struct ImGuiContext;
 
-namespace glass {
+namespace wpi::glass {
 class Context;
 }  // namespace glass
 
@@ -40,6 +40,6 @@ using GetImguiContextFn = ImGuiContext* (*)();
 using GetGuiContextFn = wpi::gui::Context* (*)();
 
 #define HALSIMGUI_EXT_GETGLASSCONTEXT "halsimgui::GetGlassContext"
-using GetGlassContextFn = glass::Context* (*)();
+using GetGlassContextFn = wpi::glass::Context* (*)();
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
index a80f5bdebe..0c32a893af 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hal/SimDevice.h"
 
-namespace glass {
+namespace wpi::glass {
 class DataSource;
 class DeviceTreeModel;
 }  // namespace glass
@@ -16,8 +16,8 @@ namespace halsimgui {
 class SimDeviceGui {
  public:
   static void Initialize();
-  static glass::DataSource* GetValueSource(HAL_SimValueHandle handle);
-  static glass::DeviceTreeModel& GetDeviceTree();
+  static wpi::glass::DataSource* GetValueSource(HAL_SimValueHandle handle);
+  static wpi::glass::DeviceTreeModel& GetDeviceTree();
 };
 
 }  // namespace halsimgui
diff --git a/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp b/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
index 0f8d4ee5e0..f15a149385 100644
--- a/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
@@ -21,9 +21,9 @@ int main() {
   while (cycleCount < 100) {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     cycleCount++;
-    wpi::print("Count: {}\n", cycleCount);
+    wpi::util::print("Count: {}\n", cycleCount);
   }
 
-  wpi::print("DONE\n");
+  wpi::util::print("DONE\n");
   HAL_ExitMain();
 }
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
index 2c8ae0d901..2575f592ac 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
@@ -16,17 +16,17 @@
 
 static constexpr int kTcpConnectAttemptTimeout = 1000;
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibws;
 
-HALSimWS::HALSimWS(wpi::uv::Loop& loop, ProviderContainer& providers,
+HALSimWS::HALSimWS(wpi::net::uv::Loop& loop, ProviderContainer& providers,
                    HALSimWSProviderSimDevices& simDevicesProvider)
     : m_loop(loop),
       m_providers(providers),
       m_simDevicesProvider(simDevicesProvider) {
   m_loop.error.connect([](uv::Error err) {
-    wpi::print(stderr, "HALSim WS Client libuv Error: {}\n", err.str());
+    wpi::util::print(stderr, "HALSim WS Client libuv Error: {}\n", err.str());
   });
 
   m_tcp_client = uv::Tcp::Create(m_loop);
@@ -54,7 +54,7 @@ bool HALSimWS::Initialize() {
     try {
       m_port = std::stoi(port);
     } catch (const std::invalid_argument& err) {
-      wpi::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
+      wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
       return false;
     }
   } else {
@@ -71,8 +71,8 @@ bool HALSimWS::Initialize() {
   const char* msgFilters = std::getenv("HALSIMWS_FILTERS");
   if (msgFilters != nullptr) {
     m_useMsgFiltering = true;
-    wpi::split(wpi::trim(msgFilters), ',', -1, false,
-               [&](auto val) { m_msgFilters[wpi::trim(val)] = true; });
+    wpi::util::split(wpi::util::trim(msgFilters), ',', -1, false,
+               [&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
   } else {
     m_useMsgFiltering = false;
   }
@@ -85,7 +85,7 @@ void HALSimWS::Start() {
 
   // Hook up TCP client events
   m_tcp_client->error.connect(
-      [this, socket = m_tcp_client.get()](wpi::uv::Error err) {
+      [this, socket = m_tcp_client.get()](wpi::net::uv::Error err) {
         if (m_tcp_connected) {
           m_tcp_connected = false;
           m_connect_attempts = 0;
@@ -102,16 +102,16 @@ void HALSimWS::Start() {
 
   // Print any filters we are using
   if (m_useMsgFiltering) {
-    wpi::print("WS Message Filters:");
+    wpi::util::print("WS Message Filters:");
     for (auto&& filter : m_msgFilters) {
-      wpi::print("* \"{}\"\n", filter.first);
+      wpi::util::print("* \"{}\"\n", filter.first);
     }
   } else {
-    wpi::print("No WS Message Filters specified");
+    wpi::util::print("No WS Message Filters specified");
   }
 
   // Set up the connection timer
-  wpi::print("Will attempt to connect to ws://{}:{}{}\n", m_host, m_port,
+  wpi::util::print("Will attempt to connect to ws://{}:{}{}\n", m_host, m_port,
              m_uri);
 
   // Set up the timer to attempt connection
@@ -125,7 +125,7 @@ void HALSimWS::Start() {
 void HALSimWS::AttemptConnect() {
   m_connect_attempts++;
 
-  wpi::print("Connection Attempt {}\n", m_connect_attempts);
+  wpi::util::print("Connection Attempt {}\n", m_connect_attempts);
 
   struct sockaddr_in dest;
   uv::NameToAddr(m_host, m_port, &dest);
@@ -170,7 +170,7 @@ void HALSimWS::CloseWebsocket(
   }
 }
 
-void HALSimWS::OnNetValueChanged(const wpi::json& msg) {
+void HALSimWS::OnNetValueChanged(const wpi::util::json& msg) {
   // Look for "type" and "device" fields so that we can
   // generate the key
 
@@ -178,7 +178,7 @@ void HALSimWS::OnNetValueChanged(const wpi::json& msg) {
     auto& type = msg.at("type").get_ref<const std::string&>();
     auto& device = msg.at("device").get_ref<const std::string&>();
 
-    wpi::SmallString<64> key;
+    wpi::util::SmallString<64> key;
     key.append(type);
     if (!device.empty()) {
       key.append("/");
@@ -189,8 +189,8 @@ void HALSimWS::OnNetValueChanged(const wpi::json& msg) {
     if (provider) {
       provider->OnNetValueChanged(msg.at("data"));
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with incoming message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with incoming message: {}\n", e.what());
   }
 }
 
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
index 29ee16458d..e0a71d7e8a 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
@@ -25,7 +25,7 @@ using namespace wpilibws;
 
 bool HALSimWSClient::Initialize() {
   bool result = true;
-  runner.ExecSync([&](wpi::uv::Loop& loop) {
+  runner.ExecSync([&](wpi::net::uv::Loop& loop) {
     simws = std::make_shared<HALSimWS>(loop, providers, simDevices);
 
     if (!simws->Initialize()) {
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
index a26c45938b..c7203587af 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
@@ -13,7 +13,7 @@
 #include "wpi/net/raw_uv_ostream.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibws;
 
@@ -21,7 +21,7 @@ void HALSimWSClientConnection::Initialize() {
   // Get a shared pointer to ourselves
   auto self = this->shared_from_this();
 
-  auto ws = wpi::WebSocket::CreateClient(
+  auto ws = wpi::net::WebSocket::CreateClient(
       *m_stream, m_client->GetTargetUri(),
       fmt::format("{}:{}", m_client->GetTargetHost(),
                   m_client->GetTargetPort()));
@@ -48,13 +48,13 @@ void HALSimWSClientConnection::Initialize() {
       return;
     }
 
-    wpi::json j;
+    wpi::util::json j;
     try {
-      j = wpi::json::parse(msg);
-    } catch (const wpi::json::parse_error& e) {
+      j = wpi::util::json::parse(msg);
+    } catch (const wpi::util::json::parse_error& e) {
       std::string err("JSON parse failed: ");
       err += e.what();
-      wpi::print(stderr, "{}\n", err);
+      wpi::util::print(stderr, "{}\n", err);
       m_websocket->Fail(1003, err);
       return;
     }
@@ -72,7 +72,7 @@ void HALSimWSClientConnection::Initialize() {
   });
 }
 
-void HALSimWSClientConnection::OnSimValueChanged(const wpi::json& msg) {
+void HALSimWSClientConnection::OnSimValueChanged(const wpi::util::json& msg) {
   if (msg.empty()) {
     return;
   }
@@ -83,12 +83,12 @@ void HALSimWSClientConnection::OnSimValueChanged(const wpi::json& msg) {
     if (!m_client->CanSendMessage(type)) {
       return;
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with message: {}\n", e.what());
   }
 
-  wpi::SmallVector<uv::Buffer, 4> sendBufs;
-  wpi::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
+  wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
+  wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
                            std::lock_guard lock(m_buffers_mutex);
                            return m_buffers.Allocate();
                          }};
@@ -98,14 +98,14 @@ void HALSimWSClientConnection::OnSimValueChanged(const wpi::json& msg) {
   // Call the websocket send function on the uv loop
   m_client->GetExec().Send([self = shared_from_this(), sendBufs] {
     self->m_websocket->SendText(sendBufs,
-                                [self](auto bufs, wpi::uv::Error err) {
+                                [self](auto bufs, wpi::net::uv::Error err) {
                                   {
                                     std::lock_guard lock(self->m_buffers_mutex);
                                     self->m_buffers.Release(bufs);
                                   }
 
                                   if (err) {
-                                    wpi::print(stderr, "{}\n", err.str());
+                                    wpi::util::print(stderr, "{}\n", err.str());
                                     std::fflush(stderr);
                                   }
                                 });
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
index 0235d720a5..ca8ec6df2a 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
@@ -25,9 +25,9 @@ class HALSimWSClientConnection;
 class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
  public:
   using LoopFunc = std::function<void()>;
-  using UvExecFunc = wpi::uv::Async<LoopFunc>;
+  using UvExecFunc = wpi::net::uv::Async<LoopFunc>;
 
-  HALSimWS(wpi::uv::Loop& loop, ProviderContainer& providers,
+  HALSimWS(wpi::net::uv::Loop& loop, ProviderContainer& providers,
            HALSimWSProviderSimDevices& simDevicesProvider);
   HALSimWS(const HALSimWS&) = delete;
   HALSimWS& operator=(const HALSimWS&) = delete;
@@ -38,14 +38,14 @@ class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
   bool RegisterWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
   void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
 
-  void OnNetValueChanged(const wpi::json& msg);
+  void OnNetValueChanged(const wpi::util::json& msg);
 
   bool CanSendMessage(std::string_view type);
 
   const std::string& GetTargetHost() const { return m_host; }
   const std::string& GetTargetUri() const { return m_uri; }
   int GetTargetPort() const { return m_port; }
-  wpi::uv::Loop& GetLoop() { return m_loop; }
+  wpi::net::uv::Loop& GetLoop() { return m_loop; }
 
   UvExecFunc& GetExec() { return *m_exec; }
 
@@ -53,13 +53,13 @@ class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
   void AttemptConnect();
 
   bool m_tcp_connected = false;
-  std::shared_ptr<wpi::uv::Timer> m_connect_timer;
+  std::shared_ptr<wpi::net::uv::Timer> m_connect_timer;
   int m_connect_attempts = 0;
 
   std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
 
-  wpi::uv::Loop& m_loop;
-  std::shared_ptr<wpi::uv::Tcp> m_tcp_client;
+  wpi::net::uv::Loop& m_loop;
+  std::shared_ptr<wpi::net::uv::Tcp> m_tcp_client;
   std::shared_ptr<UvExecFunc> m_exec;
 
   ProviderContainer& m_providers;
@@ -70,7 +70,7 @@ class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
   int m_port;
 
   bool m_useMsgFiltering;
-  wpi::StringMap<bool> m_msgFilters;
+  wpi::util::StringMap<bool> m_msgFilters;
 };
 
 }  // namespace wpilibws
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
index 505cb7ccec..b4efdc674b 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
@@ -23,7 +23,7 @@ class HALSimWSClient {
 
   ProviderContainer providers;
   HALSimWSProviderSimDevices simDevices{providers};
-  wpi::EventLoopRunner runner;
+  wpi::net::EventLoopRunner runner;
   std::shared_ptr<HALSimWS> simws;
 };
 
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
index bdc9f0b46e..573efac95d 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
@@ -24,23 +24,23 @@ class HALSimWSClientConnection
       public std::enable_shared_from_this<HALSimWSClientConnection> {
  public:
   explicit HALSimWSClientConnection(std::shared_ptr<HALSimWS> client,
-                                    std::shared_ptr<wpi::uv::Stream> stream)
+                                    std::shared_ptr<wpi::net::uv::Stream> stream)
       : m_client(std::move(client)),
         m_stream(std::move(stream)),
         m_buffers(128) {}
 
  public:
-  void OnSimValueChanged(const wpi::json& msg) override;
+  void OnSimValueChanged(const wpi::util::json& msg) override;
   void Initialize();
 
  private:
   std::shared_ptr<HALSimWS> m_client;
-  std::shared_ptr<wpi::uv::Stream> m_stream;
+  std::shared_ptr<wpi::net::uv::Stream> m_stream;
 
   bool m_ws_connected = false;
-  wpi::WebSocket* m_websocket = nullptr;
+  wpi::net::WebSocket* m_websocket = nullptr;
 
-  wpi::uv::SimpleBufferPool<4> m_buffers;
+  wpi::net::uv::SimpleBufferPool<4> m_buffers;
   std::mutex m_buffers_mutex;
 };
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
index 42bf642d5f..d325a116fd 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
@@ -12,7 +12,7 @@ HALSimWSBaseProvider::HALSimWSBaseProvider(std::string_view key,
                                            std::string_view type)
     : m_key(key), m_type(type) {}
 
-void HALSimWSBaseProvider::OnNetValueChanged(const wpi::json& json) {
+void HALSimWSBaseProvider::OnNetValueChanged(const wpi::util::json& json) {
   // empty
 }
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
index d53afb3ae2..bd8b83dfa5 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
@@ -24,10 +24,10 @@ void HALSimWSHalProvider::OnNetworkDisconnected() {
   CancelCallbacks();
 }
 
-void HALSimWSHalProvider::ProcessHalCallback(const wpi::json& payload) {
+void HALSimWSHalProvider::ProcessHalCallback(const wpi::util::json& payload) {
   auto ws = m_ws.lock();
   if (ws) {
-    wpi::json netValue = {
+    wpi::util::json netValue = {
         {"type", m_type}, {"device", m_deviceId}, {"data", payload}};
     ws->OnSimValueChanged(netValue);
   }
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
index b68a4f5c3f..4b4baa80bb 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
@@ -43,14 +43,14 @@ void HALSimWSProviderAddressableLED::RegisterCallbacks() {
         const HAL_AddressableLEDData* data =
             reinterpret_cast<const HAL_AddressableLEDData*>(buffer);
 
-        std::vector<wpi::json> jsonData;
+        std::vector<wpi::util::json> jsonData;
 
         for (size_t i = 0; i < numLeds; ++i) {
           jsonData.push_back(
               {{"r", data[i].r}, {"g", data[i].g}, {"b", data[i].b}});
         }
 
-        wpi::json payload;
+        wpi::util::json payload;
         payload["<data"] = jsonData;
 
         provider->ProcessHalCallback(payload);
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
index afb56587a2..423fe8a570 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
@@ -53,8 +53,8 @@ void HALSimWSProviderAnalogIn::DoCancelCallbacks() {
   m_voltageCbKey = 0;
 }
 
-void HALSimWSProviderAnalogIn::OnNetValueChanged(const wpi::json& json) {
-  wpi::json::const_iterator it;
+void HALSimWSProviderAnalogIn::OnNetValueChanged(const wpi::util::json& json) {
+  wpi::util::json::const_iterator it;
   if ((it = json.find(">voltage")) != json.end()) {
     HALSIM_SetAnalogInVoltage(m_channel, it.value());
   }
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
index 4366775ad2..68a86632b5 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
@@ -50,8 +50,8 @@ void HALSimWSProviderDIO::DoCancelCallbacks() {
   m_inputCbKey = 0;
 }
 
-void HALSimWSProviderDIO::OnNetValueChanged(const wpi::json& json) {
-  wpi::json::const_iterator it;
+void HALSimWSProviderDIO::OnNetValueChanged(const wpi::util::json& json) {
+  wpi::util::json::const_iterator it;
   if ((it = json.find("<>value")) != json.end()) {
     HALSIM_SetDIOValue(m_channel, static_cast<bool>(it.value()));
   }
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
index 51f148e20d..02bcdd06e3 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
@@ -122,13 +122,13 @@ void HALSimWSProviderDriverStation::DoCancelCallbacks() {
   m_matchTimeCbKey = 0;
 }
 
-void HALSimWSProviderDriverStation::OnNetValueChanged(const wpi::json& json) {
+void HALSimWSProviderDriverStation::OnNetValueChanged(const wpi::util::json& json) {
   // ignore if DS connected
   if (gDSSocketConnected && *gDSSocketConnected) {
     return;
   }
 
-  wpi::json::const_iterator it;
+  wpi::util::json::const_iterator it;
   if ((it = json.find(">enabled")) != json.end()) {
     HALSIM_SetDriverStationEnabled(it.value());
   }
@@ -170,7 +170,7 @@ void HALSimWSProviderDriverStation::OnNetValueChanged(const wpi::json& json) {
   }
   if ((it = json.find(">game_data")) != json.end()) {
     std::string message = it.value().get_ref<const std::string&>();
-    auto str = wpi::make_string(message);
+    auto str = wpi::util::make_string(message);
     HALSIM_SetGameSpecificMessage(&str);
   }
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
index 29ad8aba74..0d1dd33ada 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
@@ -36,7 +36,7 @@ void HALSimWSProviderEncoder::RegisterCallbacks() {
         auto provider = static_cast<HALSimWSProviderEncoder*>(param);
         bool init = static_cast<bool>(value->data.v_boolean);
 
-        wpi::json payload = {{"<init", init}};
+        wpi::util::json payload = {{"<init", init}};
 
         if (init) {
           payload["<channel_a"] =
@@ -95,8 +95,8 @@ void HALSimWSProviderEncoder::DoCancelCallbacks() {
   m_samplesCbKey = 0;
 }
 
-void HALSimWSProviderEncoder::OnNetValueChanged(const wpi::json& json) {
-  wpi::json::const_iterator it;
+void HALSimWSProviderEncoder::OnNetValueChanged(const wpi::util::json& json) {
+  wpi::util::json::const_iterator it;
   if ((it = json.find(">count")) != json.end()) {
     HALSIM_SetEncoderCount(m_channel,
                            static_cast<int32_t>(it.value()) - m_countOffset);
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
index d43a2523ac..04aae13c6c 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
@@ -52,7 +52,7 @@ void HALSimWSProviderHAL::DoCancelCallbacks() {
   m_simPeriodicAfterCbKey = 0;
 }
 
-void HALSimWSProviderHAL::OnNetValueChanged(const wpi::json& json) {
+void HALSimWSProviderHAL::OnNetValueChanged(const wpi::util::json& json) {
   // no-op. This is all one way
 }
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
index 88df204857..c9570c16a1 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
@@ -30,7 +30,7 @@ void HALSimWSProviderJoystick::RegisterCallbacks() {
         auto provider = static_cast<HALSimWSProviderJoystick*>(param);
 
         // Grab all joystick data and send it at once
-        wpi::json payload;
+        wpi::util::json payload;
 
         // Axes data
         HAL_JoystickAxes axes{};
@@ -93,20 +93,20 @@ void HALSimWSProviderJoystick::DoCancelCallbacks() {
   m_dsNewDataCbKey = 0;
 }
 
-void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::json& json) {
+void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::util::json& json) {
   // ignore if DS connected
   if (gDSSocketConnected && *gDSSocketConnected) {
     return;
   }
 
-  wpi::json::const_iterator it;
+  wpi::util::json::const_iterator it;
   if ((it = json.find(">axes")) != json.end()) {
     HAL_JoystickAxes axes{};
-    wpi::json::size_type axesCount =
+    wpi::util::json::size_type axesCount =
         std::min(it.value().size(),
-                 static_cast<wpi::json::size_type>(HAL_kMaxJoystickAxes));
+                 static_cast<wpi::util::json::size_type>(HAL_kMaxJoystickAxes));
     axes.available = (1 << axesCount) - 1;
-    for (wpi::json::size_type i = 0; i < axesCount; i++) {
+    for (wpi::util::json::size_type i = 0; i < axesCount; i++) {
       axes.axes[i] = it.value()[i];
     }
 
@@ -115,14 +115,14 @@ void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::json& json) {
 
   if ((it = json.find(">buttons")) != json.end()) {
     HAL_JoystickButtons buttons{};
-    wpi::json::size_type buttonsCount =
-        std::min(it.value().size(), static_cast<wpi::json::size_type>(64));
+    wpi::util::json::size_type buttonsCount =
+        std::min(it.value().size(), static_cast<wpi::util::json::size_type>(64));
     if (buttonsCount < 64) {
       buttons.available = (1ULL << buttonsCount) - 1;
     } else {
       buttons.available = (std::numeric_limits<uint64_t>::max)();
     }
-    for (wpi::json::size_type i = 0; i < buttonsCount; i++) {
+    for (wpi::util::json::size_type i = 0; i < buttonsCount; i++) {
       if (it.value()[i]) {
         buttons.buttons |= 1llu << i;
       }
@@ -133,11 +133,11 @@ void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::json& json) {
 
   if ((it = json.find(">povs")) != json.end()) {
     HAL_JoystickPOVs povs{};
-    wpi::json::size_type povsCount =
+    wpi::util::json::size_type povsCount =
         std::min(it.value().size(),
-                 static_cast<wpi::json::size_type>(HAL_kMaxJoystickPOVs));
+                 static_cast<wpi::util::json::size_type>(HAL_kMaxJoystickPOVs));
     povs.available = (1 << povsCount) - 1;
-    for (wpi::json::size_type i = 0; i < povsCount; i++) {
+    for (wpi::util::json::size_type i = 0; i < povsCount; i++) {
       povs.povs[i] = it.value()[i];
     }
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
index 7a1e0bf028..3f660b2dfd 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
@@ -53,8 +53,8 @@ void HALSimWSProviderRoboRIO::DoCancelCallbacks() {
   m_3v3VoltageCbKey = 0;
 }
 
-void HALSimWSProviderRoboRIO::OnNetValueChanged(const wpi::json& json) {
-  wpi::json::const_iterator it;
+void HALSimWSProviderRoboRIO::OnNetValueChanged(const wpi::util::json& json) {
+  wpi::util::json::const_iterator it;
   if ((it = json.find(">vin_voltage")) != json.end()) {
     HALSIM_SetRoboRioVInVoltage(it.value());
   }
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
index fbfca9c02e..8141821323 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
@@ -61,7 +61,7 @@ void HALSimWSProviderSimDevice::CancelCallbacks() {
   m_simValueChangedCbKeys.clear();
 }
 
-void HALSimWSProviderSimDevice::OnNetValueChanged(const wpi::json& json) {
+void HALSimWSProviderSimDevice::OnNetValueChanged(const wpi::util::json& json) {
   auto it = json.cbegin();
   auto end = json.cend();
 
@@ -250,10 +250,10 @@ void HALSimWSProviderSimDevice::OnValueReset(SimDeviceValueData* valueData,
   }
 }
 
-void HALSimWSProviderSimDevice::ProcessHalCallback(const wpi::json& payload) {
+void HALSimWSProviderSimDevice::ProcessHalCallback(const wpi::util::json& payload) {
   auto ws = m_ws.lock();
   if (ws) {
-    wpi::json netValue = {
+    wpi::util::json netValue = {
         {"type", m_type}, {"device", m_deviceId}, {"data", payload}};
     ws->OnSimValueChanged(netValue);
   }
@@ -266,7 +266,7 @@ HALSimWSProviderSimDevices::~HALSimWSProviderSimDevices() {
 void HALSimWSProviderSimDevices::DeviceCreatedCallback(
     const char* name, HAL_SimDeviceHandle handle) {
   // Map "Accel:Foo" -> type=Accel, device=Foo
-  auto [type, id] = wpi::split(name, ':');
+  auto [type, id] = wpi::util::split(name, ':');
   std::shared_ptr<HALSimWSProviderSimDevice> dev;
   if (id.empty()) {
     auto key = fmt::format("SimDevice/{}", type);
@@ -289,7 +289,7 @@ void HALSimWSProviderSimDevices::DeviceFreedCallback(
   m_providers.Delete(name);
 }
 
-void HALSimWSProviderSimDevices::Initialize(wpi::uv::Loop& loop) {
+void HALSimWSProviderSimDevices::Initialize(wpi::net::uv::Loop& loop) {
   m_deviceCreatedCbKey = HALSIM_RegisterSimDeviceCreatedCallback(
       "", this, HALSimWSProviderSimDevices::DeviceCreatedCallbackStatic, 1);
   m_deviceFreedCbKey = HALSIM_RegisterSimDeviceFreedCallback(
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
index d17ad019c0..90930ec443 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
@@ -12,7 +12,7 @@ namespace wpilibws {
 
 class HALSimBaseWebSocketConnection {
  public:
-  virtual void OnSimValueChanged(const wpi::json& msg) = 0;
+  virtual void OnSimValueChanged(const wpi::util::json& msg) = 0;
 
  protected:
   virtual ~HALSimBaseWebSocketConnection() = default;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
index 854248436c..7434385ca9 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
@@ -33,7 +33,7 @@ class HALSimWSBaseProvider {
   virtual void OnNetworkDisconnected() = 0;
 
   // network -> sim
-  virtual void OnNetValueChanged(const wpi::json& json);
+  virtual void OnNetValueChanged(const wpi::util::json& json);
 
   const std::string& GetDeviceType() { return m_type; }
   const std::string& GetDeviceId() { return m_deviceId; }
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
index 730b0d34a0..5c7d5f62b0 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
@@ -33,7 +33,7 @@ class HALSimWSHalProvider : public HALSimWSBaseProvider {
       std::shared_ptr<HALSimBaseWebSocketConnection> ws) override;
   void OnNetworkDisconnected() override;
 
-  void ProcessHalCallback(const wpi::json& payload);
+  void ProcessHalCallback(const wpi::util::json& payload);
 
  protected:
   virtual void RegisterCallbacks() = 0;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
index 341c67e7ef..abb3b2ae2b 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
@@ -51,7 +51,7 @@ class ProviderContainer {
 
  private:
   std::shared_mutex m_mutex;
-  wpi::StringMap<std::shared_ptr<HALSimWSBaseProvider>> m_providers;
+  wpi::util::StringMap<std::shared_ptr<HALSimWSBaseProvider>> m_providers;
 };
 
 }  // namespace wpilibws
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
index 53e56f9282..97f63a3b7c 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderAnalogIn : public HALSimWSHalChanProvider {
   using HALSimWSHalChanProvider::HALSimWSHalChanProvider;
   ~HALSimWSProviderAnalogIn() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
index cdc0a3d3cc..85c27fcc90 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderDIO : public HALSimWSHalChanProvider {
   using HALSimWSHalChanProvider::HALSimWSHalChanProvider;
   ~HALSimWSProviderDIO() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
index c297189f64..e4f3da8952 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderDriverStation : public HALSimWSHalProvider {
   using HALSimWSHalProvider::HALSimWSHalProvider;
   ~HALSimWSProviderDriverStation() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
index 5601e40da9..271020350c 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderEncoder : public HALSimWSHalChanProvider {
   using HALSimWSHalChanProvider::HALSimWSHalChanProvider;
   ~HALSimWSProviderEncoder() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
index 48cdd6ada6..8055445f59 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderHAL : public HALSimWSHalProvider {
   using HALSimWSHalProvider::HALSimWSHalProvider;
   ~HALSimWSProviderHAL() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
index d69a44ce4a..5016185ca3 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderJoystick : public HALSimWSHalChanProvider {
   using HALSimWSHalChanProvider::HALSimWSHalChanProvider;
   ~HALSimWSProviderJoystick() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
index c95e279ce7..1a35d3cbd8 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
@@ -17,7 +17,7 @@ class HALSimWSProviderRoboRIO : public HALSimWSHalProvider {
   using HALSimWSHalProvider::HALSimWSHalProvider;
   ~HALSimWSProviderRoboRIO() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
  protected:
   void RegisterCallbacks() override;
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
index 45ae515be5..3e0b302954 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
@@ -48,9 +48,9 @@ class HALSimWSProviderSimDevice : public HALSimWSBaseProvider {
 
   void OnNetworkDisconnected() override;
 
-  void OnNetValueChanged(const wpi::json& json) override;
+  void OnNetValueChanged(const wpi::util::json& json) override;
 
-  void ProcessHalCallback(const wpi::json& payload);
+  void ProcessHalCallback(const wpi::util::json& payload);
 
  private:
   static void OnValueCreatedStatic(const char* name, void* param,
@@ -73,7 +73,7 @@ class HALSimWSProviderSimDevice : public HALSimWSBaseProvider {
 
   void CancelCallbacks();
 
-  wpi::StringMap<SimDeviceValueData> m_valueHandles;
+  wpi::util::StringMap<SimDeviceValueData> m_valueHandles;
   std::shared_mutex m_vhLock;
 
   HAL_SimDeviceHandle m_handle;
@@ -81,19 +81,19 @@ class HALSimWSProviderSimDevice : public HALSimWSBaseProvider {
   std::shared_ptr<HALSimWSProviderSimDevices> m_simDevicesBase;
 
   int32_t m_simValueCreatedCbKey = 0;
-  wpi::StringMap<int32_t> m_simValueChangedCbKeys;
+  wpi::util::StringMap<int32_t> m_simValueChangedCbKeys;
 };
 
 class HALSimWSProviderSimDevices {
  public:
   using LoopFn = std::function<void()>;
-  using UvExecFn = wpi::uv::AsyncFunction<void(LoopFn)>;
+  using UvExecFn = wpi::net::uv::AsyncFunction<void(LoopFn)>;
 
   explicit HALSimWSProviderSimDevices(ProviderContainer& providers)
       : m_providers(providers) {}
   ~HALSimWSProviderSimDevices();
 
-  void Initialize(wpi::uv::Loop& loop);
+  void Initialize(wpi::net::uv::Loop& loop);
 
   void OnNetworkConnected(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
   void OnNetworkDisconnected();
diff --git a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
index 669548f13d..34a121b065 100644
--- a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
@@ -24,7 +24,7 @@ int main() {
   while (cycleCount < 1000) {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     cycleCount++;
-    wpi::print("Count: {}\n", cycleCount);
+    wpi::util::print("Count: {}\n", cycleCount);
   }
 
   std::puts("DONE");
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
index 59532fb3a8..26a022e07d 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
@@ -20,7 +20,7 @@
 #include "wpi/util/fs.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibws;
 
@@ -54,10 +54,10 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
       return;
     }
 
-    wpi::json j;
+    wpi::util::json j;
     try {
-      j = wpi::json::parse(msg);
-    } catch (const wpi::json::parse_error& e) {
+      j = wpi::util::json::parse(msg);
+    } catch (const wpi::util::json::parse_error& e) {
       std::string err("JSON parse failed: ");
       err += e.what();
       m_websocket->Fail(400, err);
@@ -77,20 +77,20 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
   });
 }
 
-void HALSimHttpConnection::OnSimValueChanged(const wpi::json& msg) {
+void HALSimHttpConnection::OnSimValueChanged(const wpi::util::json& msg) {
   // Skip sending if this message is not in the allowed filter list
   try {
     auto& type = msg.at("type").get_ref<const std::string&>();
     if (!m_server->CanSendMessage(type)) {
       return;
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with message: {}\n", e.what());
   }
 
   // render json to buffers
-  wpi::SmallVector<uv::Buffer, 4> sendBufs;
-  wpi::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
+  wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
+  wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
                            std::lock_guard lock(m_buffers_mutex);
                            return m_buffers.Allocate();
                          }};
@@ -99,14 +99,14 @@ void HALSimHttpConnection::OnSimValueChanged(const wpi::json& msg) {
   // call the websocket send function on the uv loop
   m_server->GetExec().Send([self = shared_from_this(), sendBufs] {
     self->m_websocket->SendText(sendBufs,
-                                [self](auto bufs, wpi::uv::Error err) {
+                                [self](auto bufs, wpi::net::uv::Error err) {
                                   {
                                     std::lock_guard lock(self->m_buffers_mutex);
                                     self->m_buffers.Release(bufs);
                                   }
 
                                   if (err) {
-                                    wpi::print(stderr, "{}\n", err.str());
+                                    wpi::util::print(stderr, "{}\n", err.str());
                                     std::fflush(stderr);
                                   }
                                 });
@@ -127,22 +127,22 @@ void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
   }
 
   // open file
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(filename);
   if (!fileBuffer) {
     MySendError(404, "error opening file");
     return;
   }
 
-  wpi::SmallVector<uv::Buffer, 4> toSend;
-  wpi::raw_uv_ostream os{toSend, 4096};
+  wpi::util::SmallVector<uv::Buffer, 4> toSend;
+  wpi::net::raw_uv_ostream os{toSend, 4096};
   BuildHeader(os, code, codeText, contentType, size, extraHeader);
   SendData(os.bufs(), false);
 
   Log(code);
 
   // Read the file byte by byte
-  wpi::SmallVector<uv::Buffer, 4> bodyData;
-  wpi::raw_uv_ostream bodyOs{bodyData, 4096};
+  wpi::util::SmallVector<uv::Buffer, 4> bodyData;
+  wpi::net::raw_uv_ostream bodyOs{bodyData, 4096};
 
   bodyOs << fileBuffer.value()->GetBuffer();
 
@@ -153,8 +153,8 @@ void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
 }
 
 void HALSimHttpConnection::ProcessRequest() {
-  wpi::UrlParser url{m_request.GetUrl(),
-                     m_request.GetMethod() == wpi::HTTP_CONNECT};
+  wpi::net::UrlParser url{m_request.GetUrl(),
+                     m_request.GetMethod() == wpi::net::HTTP_CONNECT};
   if (!url.IsValid()) {
     // failed to parse URL
     MySendError(400, "Invalid URL");
@@ -166,17 +166,17 @@ void HALSimHttpConnection::ProcessRequest() {
     path = url.GetPath();
   }
 
-  if (m_request.GetMethod() == wpi::HTTP_GET && wpi::starts_with(path, '/') &&
-      !wpi::contains(path, "..") && !wpi::contains(path, "//")) {
+  if (m_request.GetMethod() == wpi::net::HTTP_GET && wpi::util::starts_with(path, '/') &&
+      !wpi::util::contains(path, "..") && !wpi::util::contains(path, "//")) {
     // convert to fs native representation
     fs::path nativePath;
-    if (auto userPath = wpi::remove_prefix(path, "/user/")) {
+    if (auto userPath = wpi::util::remove_prefix(path, "/user/")) {
       nativePath = fs::path{m_server->GetWebrootSys()} /
                    fs::path{*userPath, fs::path::format::generic_format};
     } else {
       nativePath =
           fs::path{m_server->GetWebrootSys()} /
-          fs::path{wpi::drop_front(path), fs::path::format::generic_format};
+          fs::path{wpi::util::drop_front(path), fs::path::format::generic_format};
     }
 
     if (fs::is_directory(nativePath)) {
@@ -186,7 +186,7 @@ void HALSimHttpConnection::ProcessRequest() {
     if (!fs::exists(nativePath) || fs::is_directory(nativePath)) {
       MySendError(404, fmt::format("Resource '{}' not found", path));
     } else {
-      auto contentType = wpi::MimeTypeFromPath(nativePath.string());
+      auto contentType = wpi::net::MimeTypeFromPath(nativePath.string());
       SendFileResponse(200, "OK", contentType, nativePath.string());
     }
   } else {
@@ -200,7 +200,7 @@ void HALSimHttpConnection::MySendError(int code, std::string_view message) {
 }
 
 void HALSimHttpConnection::Log(int code) {
-  auto method = wpi::http_method_str(m_request.GetMethod());
-  wpi::print(stderr, "{} {} HTTP/{}.{} {}\n", method, m_request.GetUrl(),
+  auto method = wpi::net::http_method_str(m_request.GetMethod());
+  wpi::util::print(stderr, "{} {} HTTP/{}.{} {}\n", method, m_request.GetUrl(),
              m_request.GetMajor(), m_request.GetMinor(), code);
 }
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
index 286788dd08..a4fad4bc9c 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
@@ -24,7 +24,7 @@ using namespace wpilibws;
 
 bool HALSimWSServer::Initialize() {
   bool result = true;
-  runner.ExecSync([&](wpi::uv::Loop& loop) {
+  runner.ExecSync([&](wpi::net::uv::Loop& loop) {
     simWeb = std::make_shared<HALSimWeb>(loop, providers, simDevices);
 
     if (!simWeb->Initialize()) {
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
index 1a9eff2507..af3b4f4f04 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
@@ -17,17 +17,17 @@
 #include "wpi/util/fs.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibws;
 
-HALSimWeb::HALSimWeb(wpi::uv::Loop& loop, ProviderContainer& providers,
+HALSimWeb::HALSimWeb(wpi::net::uv::Loop& loop, ProviderContainer& providers,
                      HALSimWSProviderSimDevices& simDevicesProvider)
     : m_loop(loop),
       m_providers(providers),
       m_simDevicesProvider(simDevicesProvider) {
   m_loop.error.connect([](uv::Error err) {
-    wpi::print(stderr, "HALSim WS Server libuv ERROR: {}\n", err.str());
+    wpi::util::print(stderr, "HALSim WS Server libuv ERROR: {}\n", err.str());
   });
 
   m_server = uv::Tcp::Create(m_loop);
@@ -72,7 +72,7 @@ bool HALSimWeb::Initialize() {
     try {
       m_port = std::stoi(port);
     } catch (const std::invalid_argument& err) {
-      wpi::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
+      wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
       return false;
     }
   } else {
@@ -82,8 +82,8 @@ bool HALSimWeb::Initialize() {
   const char* msgFilters = std::getenv("HALSIMWS_FILTERS");
   if (msgFilters != nullptr) {
     m_useMsgFiltering = true;
-    wpi::split(wpi::trim(msgFilters), ',', -1, false,
-               [&](auto val) { m_msgFilters[wpi::trim(val)] = true; });
+    wpi::util::split(wpi::util::trim(msgFilters), ',', -1, false,
+               [&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
   } else {
     m_useMsgFiltering = false;
   }
@@ -109,17 +109,17 @@ void HALSimWeb::Start() {
 
   // start listening for incoming connections
   m_server->Listen();
-  wpi::print("Listening at http://localhost:{}\n", m_port);
-  wpi::print("WebSocket URI: {}\n", m_uri);
+  wpi::util::print("Listening at http://localhost:{}\n", m_port);
+  wpi::util::print("WebSocket URI: {}\n", m_uri);
 
   // Print any filters we are using
   if (m_useMsgFiltering) {
-    wpi::print("WS Message Filters:");
+    wpi::util::print("WS Message Filters:");
     for (auto&& filter : m_msgFilters) {
-      wpi::print("* \"{}\"\n", filter.first);
+      wpi::util::print("* \"{}\"\n", filter.first);
     }
   } else {
-    wpi::print("No WS Message Filters specified");
+    wpi::util::print("No WS Message Filters specified");
   }
 }
 
@@ -155,7 +155,7 @@ void HALSimWeb::CloseWebsocket(
   }
 }
 
-void HALSimWeb::OnNetValueChanged(const wpi::json& msg) {
+void HALSimWeb::OnNetValueChanged(const wpi::util::json& msg) {
   // Look for "type" and "device" fields so that we can
   // generate the key
 
@@ -163,7 +163,7 @@ void HALSimWeb::OnNetValueChanged(const wpi::json& msg) {
     auto& type = msg.at("type").get_ref<const std::string&>();
     auto& device = msg.at("device").get_ref<const std::string&>();
 
-    wpi::SmallString<64> key;
+    wpi::util::SmallString<64> key;
     key.append(type);
     if (!device.empty()) {
       key.append("/");
@@ -174,8 +174,8 @@ void HALSimWeb::OnNetValueChanged(const wpi::json& msg) {
     if (provider) {
       provider->OnNetValueChanged(msg.at("data"));
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with incoming message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with incoming message: {}\n", e.what());
   }
 }
 
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
index 8fec5cc299..0ee5c96216 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
@@ -20,18 +20,18 @@
 namespace wpilibws {
 
 class HALSimHttpConnection
-    : public wpi::HttpWebSocketServerConnection<HALSimHttpConnection>,
+    : public wpi::net::HttpWebSocketServerConnection<HALSimHttpConnection>,
       public HALSimBaseWebSocketConnection {
  public:
   HALSimHttpConnection(std::shared_ptr<HALSimWeb> server,
-                       std::shared_ptr<wpi::uv::Stream> stream)
-      : wpi::HttpWebSocketServerConnection<HALSimHttpConnection>(stream, {}),
+                       std::shared_ptr<wpi::net::uv::Stream> stream)
+      : wpi::net::HttpWebSocketServerConnection<HALSimHttpConnection>(stream, {}),
         m_server(std::move(server)),
         m_buffers(128) {}
 
  public:
   // callable from any thread
-  void OnSimValueChanged(const wpi::json& msg) override;
+  void OnSimValueChanged(const wpi::util::json& msg) override;
 
  protected:
   void ProcessRequest() override;
@@ -51,7 +51,7 @@ class HALSimHttpConnection
   bool m_isWsConnected = false;
 
   // these are only valid if the websocket is connected
-  wpi::uv::SimpleBufferPool<4> m_buffers;
+  wpi::net::uv::SimpleBufferPool<4> m_buffers;
   std::mutex m_buffers_mutex;
 };
 
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
index 22a2d536ae..a23bb0da54 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
@@ -23,7 +23,7 @@ class HALSimWSServer {
 
   ProviderContainer providers;
   HALSimWSProviderSimDevices simDevices{providers};
-  wpi::EventLoopRunner runner;
+  wpi::net::EventLoopRunner runner;
   std::shared_ptr<HALSimWeb> simWeb;
 };
 
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
index e57556430a..0fa352424c 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
@@ -23,9 +23,9 @@ namespace wpilibws {
 class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
  public:
   using LoopFunc = std::function<void()>;
-  using UvExecFunc = wpi::uv::Async<LoopFunc>;
+  using UvExecFunc = wpi::net::uv::Async<LoopFunc>;
 
-  HALSimWeb(wpi::uv::Loop& loop, ProviderContainer& providers,
+  HALSimWeb(wpi::net::uv::Loop& loop, ProviderContainer& providers,
             HALSimWSProviderSimDevices& simDevicesProvider);
 
   HALSimWeb(const HALSimWeb&) = delete;
@@ -38,7 +38,7 @@ class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
   void CloseWebsocket(std::shared_ptr<HALSimBaseWebSocketConnection> hws);
 
   // network -> sim
-  void OnNetValueChanged(const wpi::json& msg);
+  void OnNetValueChanged(const wpi::util::json& msg);
 
   bool CanSendMessage(std::string_view type);
 
@@ -46,7 +46,7 @@ class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
   const std::string& GetWebrootUser() const { return m_webroot_user; }
   const std::string& GetServerUri() const { return m_uri; }
   int GetServerPort() const { return m_port; }
-  wpi::uv::Loop& GetLoop() { return m_loop; }
+  wpi::net::uv::Loop& GetLoop() { return m_loop; }
 
   UvExecFunc& GetExec() { return *m_exec; }
 
@@ -54,8 +54,8 @@ class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
   // connected http connection that contains active websocket
   std::weak_ptr<HALSimBaseWebSocketConnection> m_hws;
 
-  wpi::uv::Loop& m_loop;
-  std::shared_ptr<wpi::uv::Tcp> m_server;
+  wpi::net::uv::Loop& m_loop;
+  std::shared_ptr<wpi::net::uv::Tcp> m_server;
   std::shared_ptr<UvExecFunc> m_exec;
 
   // list of providers
@@ -72,7 +72,7 @@ class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
   int m_port;
 
   bool m_useMsgFiltering;
-  wpi::StringMap<bool> m_msgFilters;
+  wpi::util::StringMap<bool> m_msgFilters;
 };
 
 }  // namespace wpilibws
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
index e31dbb1bcd..127359c577 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
@@ -17,15 +17,15 @@
 
 static constexpr int kTcpConnectAttemptTimeout = 1000;
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 namespace wpilibws {
 
 // Create Web Socket and specify event callbacks
 void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
                                               const std::string& uri) {
-  wpi::print("Will attempt to connect to: {}:{}{}\n", host, port, uri);
-  m_websocket = wpi::WebSocket::CreateClient(*m_tcp_client.get(), uri,
+  wpi::util::print("Will attempt to connect to: {}:{}{}\n", host, port, uri);
+  m_websocket = wpi::net::WebSocket::CreateClient(*m_tcp_client.get(), uri,
                                              fmt::format("{}:{}", host, port));
 
   // Hook up events
@@ -44,13 +44,13 @@ void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
   });
 
   m_websocket->text.connect([this](auto msg, bool) {
-    wpi::json j;
+    wpi::util::json j;
     try {
-      j = wpi::json::parse(msg);
-    } catch (const wpi::json::parse_error& e) {
+      j = wpi::util::json::parse(msg);
+    } catch (const wpi::util::json::parse_error& e) {
       std::string err("JSON parse failed: ");
       err += e.what();
-      wpi::print(stderr, "{}\n", err);
+      wpi::util::print(stderr, "{}\n", err);
       m_websocket->Fail(1003, err);
       return;
     }
@@ -69,7 +69,7 @@ void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
 // Create tcp client, specify callbacks, and create timers for loop
 bool WebServerClientTest::Initialize() {
   m_loop.error.connect(
-      [](uv::Error err) { wpi::print(stderr, "uv Error: {}\n", err.str()); });
+      [](uv::Error err) { wpi::util::print(stderr, "uv Error: {}\n", err.str()); });
 
   m_tcp_client = uv::Tcp::Create(m_loop);
   if (!m_tcp_client) {
@@ -79,7 +79,7 @@ bool WebServerClientTest::Initialize() {
 
   // Hook up TCP client events
   m_tcp_client->error.connect(
-      [this, socket = m_tcp_client.get()](wpi::uv::Error err) {
+      [this, socket = m_tcp_client.get()](wpi::net::uv::Error err) {
         if (m_tcp_connected) {
           m_tcp_connected = false;
           m_connect_attempts = 0;
@@ -110,7 +110,7 @@ bool WebServerClientTest::Initialize() {
 
 void WebServerClientTest::AttemptConnect() {
   m_connect_attempts++;
-  wpi::print("Test Client Connection Attempt {}\n", m_connect_attempts);
+  wpi::util::print("Test Client Connection Attempt {}\n", m_connect_attempts);
 
   if (m_connect_attempts >= 5) {
     std::fputs("Test Client Timeout. Unable to connect\n", stderr);
@@ -126,15 +126,15 @@ void WebServerClientTest::AttemptConnect() {
   });
 }
 
-void WebServerClientTest::SendMessage(const wpi::json& msg) {
+void WebServerClientTest::SendMessage(const wpi::util::json& msg) {
   if (msg.empty()) {
     std::fputs("Message to send is empty\n", stderr);
     return;
   }
 
-  wpi::SmallVector<uv::Buffer, 4> sendBufs;
+  wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
 
-  wpi::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
+  wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
                            std::lock_guard lock(m_buffers_mutex);
                            return m_buffers->Allocate();
                          }};
@@ -142,20 +142,20 @@ void WebServerClientTest::SendMessage(const wpi::json& msg) {
 
   // Call the websocket send function on the uv loop
   m_exec->Call([this, sendBufs]() mutable {
-    m_websocket->SendText(sendBufs, [this](auto bufs, wpi::uv::Error err) {
+    m_websocket->SendText(sendBufs, [this](auto bufs, wpi::net::uv::Error err) {
       {
         std::lock_guard lock(m_buffers_mutex);
         m_buffers->Release(bufs);
       }
       if (err) {
-        wpi::print(stderr, "{}\n", err.str());
+        wpi::util::print(stderr, "{}\n", err.str());
         std::fflush(stderr);
       }
     });
   });
 }
 
-const wpi::json& WebServerClientTest::GetLastMessage() {
+const wpi::util::json& WebServerClientTest::GetLastMessage() {
   return m_json;
 }
 
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
index 45f35f74fe..1a7109a647 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
@@ -17,7 +17,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibws;
 
@@ -51,13 +51,13 @@ TEST_F(WebServerIntegrationTest, DISABLED_DigitalOutput) {
 
   // Attach timer to loop for test function
   m_server.runner.ExecSync([&](auto& loop) {
-    auto timer = wpi::uv::Timer::Create(loop);
+    auto timer = wpi::net::uv::Timer::Create(loop);
     timer->timeout.connect([&] {
       if (done) {
         return;
       }
       if (IsConnectedClientWS()) {
-        wpi::print("***** Setting DIO value for pin {} to {}\n", PIN,
+        wpi::util::print("***** Setting DIO value for pin {} to {}\n", PIN,
                    (EXPECTED_VALUE ? "true" : "false"));
         HALSIM_SetDIOValue(PIN, EXPECTED_VALUE);
         done = true;
@@ -80,12 +80,12 @@ TEST_F(WebServerIntegrationTest, DISABLED_DigitalOutput) {
     test_type = msg.at("type").get_ref<const std::string&>();
     test_device = msg.at("device").get_ref<const std::string&>();
     auto& data = msg.at("data");
-    wpi::json::const_iterator it = data.find("<>value");
+    wpi::util::json::const_iterator it = data.find("<>value");
     if (it != data.end()) {
       test_value = it.value();
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with incoming message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with incoming message: {}\n", e.what());
   }
 
   // Compare results
@@ -102,16 +102,16 @@ TEST_F(WebServerIntegrationTest, DISABLED_DigitalInput) {
 
   // Attach timer to loop for test function
   m_server.runner.ExecSync([&](auto& loop) {
-    auto timer = wpi::uv::Timer::Create(loop);
+    auto timer = wpi::net::uv::Timer::Create(loop);
     timer->timeout.connect([&] {
       if (done) {
         return;
       }
       if (IsConnectedClientWS()) {
-        wpi::json msg = {{"type", "DIO"},
+        wpi::util::json msg = {{"type", "DIO"},
                          {"device", std::to_string(PIN)},
                          {"data", {{"<>value", EXPECTED_VALUE}}}};
-        wpi::print("***** Input JSON: {}\n", msg.dump());
+        wpi::util::print("***** Input JSON: {}\n", msg.dump());
         m_webserverClient->SendMessage(msg);
         done = true;
       }
@@ -136,17 +136,17 @@ TEST_F(WebServerIntegrationTest, DriverStation) {
 
   // Attach timer to loop for test function
   m_server.runner.ExecSync([&](auto& loop) {
-    auto timer = wpi::uv::Timer::Create(loop);
+    auto timer = wpi::net::uv::Timer::Create(loop);
     timer->timeout.connect([&] {
       if (done) {
         return;
       }
       if (IsConnectedClientWS()) {
-        wpi::json msg = {
+        wpi::util::json msg = {
             {"type", "DriverStation"},
             {"device", ""},
             {"data", {{">enabled", EXPECTED_VALUE}, {">new_data", true}}}};
-        wpi::print("***** Input JSON: {}\n", msg.dump());
+        wpi::util::print("***** Input JSON: {}\n", msg.dump());
         m_webserverClient->SendMessage(msg);
         done = true;
       }
diff --git a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
index fec11d9234..c5d07ce630 100644
--- a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
+++ b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
@@ -21,19 +21,19 @@ namespace wpilibws {
 
 class WebServerClientTest {
  public:
-  using BufferPool = wpi::uv::SimpleBufferPool<4>;
+  using BufferPool = wpi::net::uv::SimpleBufferPool<4>;
   using LoopFunc = std::function<void()>;
-  using UvExecFunc = wpi::uv::AsyncFunction<void(LoopFunc)>;
+  using UvExecFunc = wpi::net::uv::AsyncFunction<void(LoopFunc)>;
 
-  explicit WebServerClientTest(wpi::uv::Loop& loop) : m_loop(loop) {}
+  explicit WebServerClientTest(wpi::net::uv::Loop& loop) : m_loop(loop) {}
   WebServerClientTest(const WebServerClientTest&) = delete;
   WebServerClientTest& operator=(const WebServerClientTest&) = delete;
 
   bool Initialize();
   void AttemptConnect();
 
-  void SendMessage(const wpi::json& msg);
-  const wpi::json& GetLastMessage();
+  void SendMessage(const wpi::util::json& msg);
+  const wpi::util::json& GetLastMessage();
   bool IsConnectedWS() { return m_ws_connected; }
 
  private:
@@ -41,14 +41,14 @@ class WebServerClientTest {
                            const std::string& uri);
 
   bool m_tcp_connected = false;
-  std::shared_ptr<wpi::uv::Timer> m_connect_timer;
+  std::shared_ptr<wpi::net::uv::Timer> m_connect_timer;
   int m_connect_attempts = 0;
-  wpi::uv::Loop& m_loop;
-  std::shared_ptr<wpi::uv::Tcp> m_tcp_client;
-  wpi::json m_json;
+  wpi::net::uv::Loop& m_loop;
+  std::shared_ptr<wpi::net::uv::Tcp> m_tcp_client;
+  wpi::util::json m_json;
 
   bool m_ws_connected = false;
-  std::shared_ptr<wpi::WebSocket> m_websocket;
+  std::shared_ptr<wpi::net::WebSocket> m_websocket;
   std::shared_ptr<UvExecFunc> m_exec;
   std::unique_ptr<BufferPool> m_buffers;
   std::mutex m_buffers_mutex;
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
index 2d73c9aa2f..54a5118ce6 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
@@ -14,18 +14,18 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 using namespace wpilibxrp;
 
-HALSimXRP::HALSimXRP(wpi::uv::Loop& loop,
+HALSimXRP::HALSimXRP(wpi::net::uv::Loop& loop,
                      wpilibws::ProviderContainer& providers,
                      wpilibws::HALSimWSProviderSimDevices& simDevicesProvider)
     : m_loop(loop),
       m_providers(providers),
       m_simDevicesProvider(simDevicesProvider) {
   m_loop.error.connect([](uv::Error err) {
-    wpi::print(stderr, "HALSim XRP Client libuv Error: {}\n", err.str());
+    wpi::util::print(stderr, "HALSim XRP Client libuv Error: {}\n", err.str());
   });
 
   m_udp_client = uv::Udp::Create(m_loop);
@@ -52,14 +52,14 @@ bool HALSimXRP::Initialize() {
     try {
       m_port = std::stoi(port);
     } catch (const std::invalid_argument& err) {
-      wpi::print(stderr, "Error decoding HALSIMXRP_PORT ({})\n", err.what());
+      wpi::util::print(stderr, "Error decoding HALSIMXRP_PORT ({})\n", err.what());
       return false;
     }
   } else {
     m_port = 3540;
   }
 
-  wpilibxrp::WPILibUpdateFunc func = [&](const wpi::json& data) {
+  wpilibxrp::WPILibUpdateFunc func = [&](const wpi::util::json& data) {
     OnNetValueChanged(data);
   };
 
@@ -80,7 +80,7 @@ void HALSimXRP::Start() {
         ParsePacket({reinterpret_cast<uint8_t*>(data.base), len});
       });
 
-  m_udp_client->closed.connect([]() { wpi::print("Socket Closed\n"); });
+  m_udp_client->closed.connect([]() { wpi::util::print("Socket Closed\n"); });
 
   // Fake the OnNetworkConnected call
   auto hws = shared_from_this();
@@ -104,12 +104,12 @@ void HALSimXRP::ParsePacket(std::span<const uint8_t> packet) {
   m_xrp.HandleXRPUpdate(packet);
 }
 
-void HALSimXRP::OnNetValueChanged(const wpi::json& msg) {
+void HALSimXRP::OnNetValueChanged(const wpi::util::json& msg) {
   try {
     auto& type = msg.at("type").get_ref<const std::string&>();
     auto& device = msg.at("device").get_ref<const std::string&>();
 
-    wpi::SmallString<64> key;
+    wpi::util::SmallString<64> key;
     key.append(type);
     if (!device.empty()) {
       key.append("/");
@@ -120,12 +120,12 @@ void HALSimXRP::OnNetValueChanged(const wpi::json& msg) {
     if (provider) {
       provider->OnNetValueChanged(msg.at("data"));
     }
-  } catch (wpi::json::exception& e) {
-    wpi::print(stderr, "Error with incoming message: {}\n", e.what());
+  } catch (wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "Error with incoming message: {}\n", e.what());
   }
 }
 
-void HALSimXRP::OnSimValueChanged(const wpi::json& simData) {
+void HALSimXRP::OnSimValueChanged(const wpi::util::json& simData) {
   // We'll use a signal from robot code to send all the data
   if (simData["type"] == "HAL") {
     auto halData = simData["data"];
@@ -143,8 +143,8 @@ uv::SimpleBufferPool<4>& HALSimXRP::GetBufferPool() {
 }
 
 void HALSimXRP::SendStateToXRP() {
-  wpi::SmallVector<uv::Buffer, 4> sendBufs;
-  wpi::raw_uv_ostream stream{sendBufs, [&] {
+  wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
+  wpi::net::raw_uv_ostream stream{sendBufs, [&] {
                                std::lock_guard lock(m_buffer_mutex);
                                return GetBufferPool().Allocate();
                              }};
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
index cd66d7a6a2..856e30e1d8 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
@@ -20,7 +20,7 @@ using namespace wpilibws;
 
 bool HALSimXRPClient::Initialize() {
   bool result = true;
-  runner.ExecSync([&](wpi::uv::Loop& loop) {
+  runner.ExecSync([&](wpi::net::uv::Loop& loop) {
     simxrp = std::make_shared<HALSimXRP>(loop, providers, simDevices);
 
     if (!simxrp->Initialize()) {
diff --git a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
index 9f7c0d148d..7757d62a1c 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
@@ -15,7 +15,7 @@
 using namespace wpilibxrp;
 
 XRP::XRP()
-    : m_gyro_name{"XRPGyro"}, m_wpilib_update_func([](const wpi::json&) {}) {
+    : m_gyro_name{"XRPGyro"}, m_wpilib_update_func([](const wpi::util::json&) {}) {
   // Set up the inputs and outputs
   m_motor_outputs.emplace(0, 0.0f);
   m_motor_outputs.emplace(1, 0.0f);
@@ -31,7 +31,7 @@ XRP::XRP()
   m_encoder_inputs.emplace(3, 0);
 }
 
-void XRP::HandleWPILibUpdate(const wpi::json& data) {
+void XRP::HandleWPILibUpdate(const wpi::util::json& data) {
   if (data.count("type") == 0) {
     return;
   }
@@ -97,7 +97,7 @@ void XRP::HandleXRPUpdate(std::span<const uint8_t> packet) {
   }
 }
 
-void XRP::SetupXRPSendBuffer(wpi::raw_uv_ostream& buf) {
+void XRP::SetupXRPSendBuffer(wpi::net::raw_uv_ostream& buf) {
   SetupSendHeader(buf);
   SetupMotorTag(buf);
   SetupServoTag(buf);
@@ -106,14 +106,14 @@ void XRP::SetupXRPSendBuffer(wpi::raw_uv_ostream& buf) {
 }
 
 // WPILib Sim Handlers
-void XRP::HandleDriverStationSimValueChanged(const wpi::json& data) {
+void XRP::HandleDriverStationSimValueChanged(const wpi::util::json& data) {
   auto dsData = data["data"];
   if (dsData.find(">enabled") != dsData.end()) {
     m_robot_enabled = dsData[">enabled"];
   }
 }
 
-void XRP::HandleMotorSimValueChanged(const wpi::json& data) {
+void XRP::HandleMotorSimValueChanged(const wpi::util::json& data) {
   int deviceId = -1;
   auto motorData = data["data"];
 
@@ -132,7 +132,7 @@ void XRP::HandleMotorSimValueChanged(const wpi::json& data) {
   }
 }
 
-void XRP::HandleServoSimValueChanged(const wpi::json& data) {
+void XRP::HandleServoSimValueChanged(const wpi::util::json& data) {
   int deviceId = -1;
   auto servoData = data["data"];
 
@@ -151,7 +151,7 @@ void XRP::HandleServoSimValueChanged(const wpi::json& data) {
   }
 }
 
-void XRP::HandleDIOSimValueChanged(const wpi::json& data) {
+void XRP::HandleDIOSimValueChanged(const wpi::util::json& data) {
   int deviceId = -1;
   auto dioData = data["data"];
 
@@ -184,11 +184,11 @@ void XRP::HandleDIOSimValueChanged(const wpi::json& data) {
   }
 }
 
-void XRP::HandleGyroSimValueChanged(const wpi::json& data) {
+void XRP::HandleGyroSimValueChanged(const wpi::util::json& data) {
   m_gyro_name = data["device"].get<std::string>();
 }
 
-void XRP::HandleEncoderSimValueChanged(const wpi::json& data) {
+void XRP::HandleEncoderSimValueChanged(const wpi::util::json& data) {
   // We need to handle the various encoder cases
   // 4/5 -> Encoder 0
   // 6/7 -> Encoder 1
@@ -228,15 +228,15 @@ void XRP::HandleEncoderSimValueChanged(const wpi::json& data) {
 // XRP Buffer Generation/Read Methods
 // ==================================
 
-void XRP::SetupSendHeader(wpi::raw_uv_ostream& buf) {
+void XRP::SetupSendHeader(wpi::net::raw_uv_ostream& buf) {
   uint8_t pktSeq[2];
-  wpi::support::endian::write16be(pktSeq, m_xrp_bound_seq);
+  wpi::util::support::endian::write16be(pktSeq, m_xrp_bound_seq);
 
   buf << pktSeq[0] << pktSeq[1]
       << static_cast<uint8_t>(m_robot_enabled ? 1 : 0);
 }
 
-void XRP::SetupMotorTag(wpi::raw_uv_ostream& buf) {
+void XRP::SetupMotorTag(wpi::net::raw_uv_ostream& buf) {
   uint8_t value[4];
 
   for (auto motor : m_motor_outputs) {
@@ -246,13 +246,13 @@ void XRP::SetupMotorTag(wpi::raw_uv_ostream& buf) {
         << static_cast<uint8_t>(motor.first);   // Channel
 
     // Convert the value
-    wpi::support::endian::write32be(value,
+    wpi::util::support::endian::write32be(value,
                                     std::bit_cast<uint32_t>(motor.second));
     buf << value[0] << value[1] << value[2] << value[3];
   }
 }
 
-void XRP::SetupServoTag(wpi::raw_uv_ostream& buf) {
+void XRP::SetupServoTag(wpi::net::raw_uv_ostream& buf) {
   uint8_t value[4];
 
   for (auto servo : m_servo_outputs) {
@@ -262,13 +262,13 @@ void XRP::SetupServoTag(wpi::raw_uv_ostream& buf) {
         << static_cast<uint8_t>(servo.first);   // Channel
 
     // Convert the value
-    wpi::support::endian::write32be(value,
+    wpi::util::support::endian::write32be(value,
                                     std::bit_cast<uint32_t>(servo.second));
     buf << value[0] << value[1] << value[2] << value[3];
   }
 }
 
-void XRP::SetupDigitalOutTag(wpi::raw_uv_ostream& buf) {
+void XRP::SetupDigitalOutTag(wpi::net::raw_uv_ostream& buf) {
   for (auto digitalOut : m_digital_outputs) {
     // DIO payload is 3 bytes
     buf << static_cast<uint8_t>(3)                           // Size
@@ -285,20 +285,20 @@ void XRP::ReadGyroTag(std::span<const uint8_t> packet) {
 
   packet = packet.subspan(2);  // Skip past the size and tag
   float rate_x =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[0]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[0]));
   float rate_y =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[4]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[4]));
   float rate_z =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[8]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[8]));
   float angle_x =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[12]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[12]));
   float angle_y =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[16]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[16]));
   float angle_z =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[20]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[20]));
 
   // Make the json object
-  wpi::json gyroJson;
+  wpi::util::json gyroJson;
   gyroJson["type"] = "Gyro";
   gyroJson["device"] = m_gyro_name;
   gyroJson["data"] = {{">rate_x", rate_x},   {">rate_y", rate_y},
@@ -314,7 +314,7 @@ void XRP::ReadDIOTag(std::span<const uint8_t> packet) {
     return;  // size(1) + tag(1) + id(1) + value(1)
   }
 
-  wpi::json dioJson;
+  wpi::util::json dioJson;
   dioJson["type"] = "DIO";
   dioJson["device"] = std::to_string(packet[2]);
   dioJson["data"] = {{"<>value", packet[3] == 1}};
@@ -335,7 +335,7 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
 
   packet = packet.subspan(3);  // Skip past the size and tag and ID
   int32_t count =
-      static_cast<int32_t>(wpi::support::endian::read32be(&packet[0]));
+      static_cast<int32_t>(wpi::util::support::endian::read32be(&packet[0]));
 
   // Look up the registered encoders
   if (m_encoder_channel_map.count(encoderId) == 0) {
@@ -344,7 +344,7 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
 
   uint8_t wpilibEncoderChannel = m_encoder_channel_map[encoderId];
 
-  wpi::json encJson;
+  wpi::util::json encJson;
   encJson["type"] = "Encoder";
   encJson["device"] = std::to_string(wpilibEncoderChannel);
   encJson["data"] = {{">count", count}};
@@ -360,11 +360,11 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
 
     size_t i = sizeof(count);
     uint32_t period_numerator =
-        static_cast<uint32_t>(wpi::support::endian::read32be(&packet[i]));
+        static_cast<uint32_t>(wpi::util::support::endian::read32be(&packet[i]));
 
     i += sizeof(period_numerator);
     uint32_t period_denominator =
-        static_cast<uint32_t>(wpi::support::endian::read32be(&packet[i]));
+        static_cast<uint32_t>(wpi::util::support::endian::read32be(&packet[i]));
 
     double period =
         static_cast<double>(period_numerator >> 1) / period_denominator;
@@ -374,7 +374,7 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
       period = -period;
     }
 
-    encJson["data"].push_back({wpi::json(">period"), wpi::json(period)});
+    encJson["data"].push_back({wpi::util::json(">period"), wpi::util::json(period)});
   }
 
   m_wpilib_update_func(encJson);
@@ -389,9 +389,9 @@ void XRP::ReadAnalogTag(std::span<const uint8_t> packet) {
 
   packet = packet.subspan(3);
   float voltage =
-      std::bit_cast<float>(wpi::support::endian::read32be(&packet[0]));
+      std::bit_cast<float>(wpi::util::support::endian::read32be(&packet[0]));
 
-  wpi::json analogJson;
+  wpi::util::json analogJson;
   analogJson["type"] = "AI";
   analogJson["device"] = std::to_string(analogId);
   analogJson["data"] = {{">voltage", voltage}};
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
index 0a59aa4270..2c234ac004 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
@@ -28,9 +28,9 @@ class HALSimXRP : public wpilibws::HALSimBaseWebSocketConnection,
                   public std::enable_shared_from_this<HALSimXRP> {
  public:
   using LoopFunc = std::function<void()>;
-  using UvExecFunc = wpi::uv::Async<LoopFunc>;
+  using UvExecFunc = wpi::net::uv::Async<LoopFunc>;
 
-  HALSimXRP(wpi::uv::Loop& loop, wpilibws::ProviderContainer& providers,
+  HALSimXRP(wpi::net::uv::Loop& loop, wpilibws::ProviderContainer& providers,
             wpilibws::HALSimWSProviderSimDevices& simDevicesProvider);
   HALSimXRP(const HALSimXRP&) = delete;
   HALSimXRP& operator=(const HALSimXRP&) = delete;
@@ -39,20 +39,20 @@ class HALSimXRP : public wpilibws::HALSimBaseWebSocketConnection,
   void Start();
 
   void ParsePacket(std::span<const uint8_t> packet);
-  void OnNetValueChanged(const wpi::json& msg);
-  void OnSimValueChanged(const wpi::json& simData) override;
+  void OnNetValueChanged(const wpi::util::json& msg);
+  void OnSimValueChanged(const wpi::util::json& simData) override;
 
   const std::string& GetTargetHost() const { return m_host; }
   int GetTargetPort() const { return m_port; }
-  wpi::uv::Loop& GetLoop() { return m_loop; }
+  wpi::net::uv::Loop& GetLoop() { return m_loop; }
 
   UvExecFunc& GetExec() { return *m_exec; }
 
  private:
   XRP m_xrp;
 
-  wpi::uv::Loop& m_loop;
-  std::shared_ptr<wpi::uv::Udp> m_udp_client;
+  wpi::net::uv::Loop& m_loop;
+  std::shared_ptr<wpi::net::uv::Udp> m_udp_client;
   std::shared_ptr<UvExecFunc> m_exec;
 
   wpilibws::ProviderContainer& m_providers;
@@ -62,7 +62,7 @@ class HALSimXRP : public wpilibws::HALSimBaseWebSocketConnection,
   int m_port;
 
   void SendStateToXRP();
-  wpi::uv::SimpleBufferPool<4>& GetBufferPool();
+  wpi::net::uv::SimpleBufferPool<4>& GetBufferPool();
   std::mutex m_buffer_mutex;
 
   struct sockaddr_in m_dest;
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
index 2126001da8..bb678e578d 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
@@ -23,7 +23,7 @@ class HALSimXRPClient {
 
   wpilibws::ProviderContainer providers;
   wpilibws::HALSimWSProviderSimDevices simDevices{providers};
-  wpi::EventLoopRunner runner;
+  wpi::net::EventLoopRunner runner;
   std::shared_ptr<HALSimXRP> simxrp;
 };
 
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
index 29969d8db5..2cb0af2e93 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
@@ -22,7 +22,7 @@
 
 namespace wpilibxrp {
 
-using WPILibUpdateFunc = std::function<void(const wpi::json&)>;
+using WPILibUpdateFunc = std::function<void(const wpi::util::json&)>;
 
 class XRP {
  public:
@@ -32,25 +32,25 @@ class XRP {
     m_wpilib_update_func = func;
   }
 
-  void HandleWPILibUpdate(const wpi::json& data);
+  void HandleWPILibUpdate(const wpi::util::json& data);
   void HandleXRPUpdate(std::span<const uint8_t> packet);
 
-  void SetupXRPSendBuffer(wpi::raw_uv_ostream& buf);
+  void SetupXRPSendBuffer(wpi::net::raw_uv_ostream& buf);
 
  private:
   // To XRP Methods
-  void SetupSendHeader(wpi::raw_uv_ostream& buf);
-  void SetupMotorTag(wpi::raw_uv_ostream& buf);
-  void SetupServoTag(wpi::raw_uv_ostream& buf);
-  void SetupDigitalOutTag(wpi::raw_uv_ostream& buf);
+  void SetupSendHeader(wpi::net::raw_uv_ostream& buf);
+  void SetupMotorTag(wpi::net::raw_uv_ostream& buf);
+  void SetupServoTag(wpi::net::raw_uv_ostream& buf);
+  void SetupDigitalOutTag(wpi::net::raw_uv_ostream& buf);
 
   // WPILib Sim Update Handlers
-  void HandleDriverStationSimValueChanged(const wpi::json& data);
-  void HandleMotorSimValueChanged(const wpi::json& data);
-  void HandleServoSimValueChanged(const wpi::json& data);
-  void HandleDIOSimValueChanged(const wpi::json& data);
-  void HandleGyroSimValueChanged(const wpi::json& data);
-  void HandleEncoderSimValueChanged(const wpi::json& data);
+  void HandleDriverStationSimValueChanged(const wpi::util::json& data);
+  void HandleMotorSimValueChanged(const wpi::util::json& data);
+  void HandleServoSimValueChanged(const wpi::util::json& data);
+  void HandleDIOSimValueChanged(const wpi::util::json& data);
+  void HandleGyroSimValueChanged(const wpi::util::json& data);
+  void HandleEncoderSimValueChanged(const wpi::util::json& data);
 
   // XRP Packet Update Handlers
   void ReadGyroTag(std::span<const uint8_t> packet);
diff --git a/tools/datalogtool/src/main/native/cpp/App.cpp b/tools/datalogtool/src/main/native/cpp/App.cpp
index 0b7285e628..47e8dd4427 100644
--- a/tools/datalogtool/src/main/native/cpp/App.cpp
+++ b/tools/datalogtool/src/main/native/cpp/App.cpp
@@ -64,7 +64,7 @@ static void DisplayDownload() {
   if (ImGui::Begin("Download", gDownloadVisible)) {
     if (!gDownloader) {
       gDownloader = std::make_unique<Downloader>(
-          glass::GetStorageRoot().GetChild("download"));
+          wpi::glass::GetStorageRoot().GetChild("download"));
     }
     gDownloader->Display();
   }
@@ -74,7 +74,7 @@ static void DisplayDownload() {
 static void DisplayMainMenu() {
   ImGui::BeginMainMenuBar();
 
-  static glass::MainMenuBar mainMenu;
+  static wpi::glass::MainMenuBar mainMenu;
   mainMenu.WorkspaceMenu();
   gui::EmitViewMenu();
 
@@ -110,7 +110,7 @@ static void DisplayMainMenu() {
     ImGui::Separator();
     ImGui::Text("v%s", GetWPILibVersion());
     ImGui::Separator();
-    ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+    ImGui::Text("Save location: %s", wpi::glass::GetStorageDir().c_str());
     ImGui::Text("%.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate,
                 ImGui::GetIO().Framerate);
     if (ImGui::Button("Close")) {
@@ -124,7 +124,7 @@ static void DisplayGui() {
   DisplayMainMenu();
   DisplayInputFiles();
   DisplayEntries();
-  DisplayOutput(glass::GetStorageRoot().GetChild("output"));
+  DisplayOutput(wpi::glass::GetStorageRoot().GetChild("output"));
   DisplayDownload();
 }
 
@@ -132,7 +132,7 @@ void Application(std::string_view saveDir) {
   ssh_init();
 
   gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();
 
   // Add icons
   gui::AddIcon(dlt::GetResource_dlt_16_png());
@@ -143,8 +143,8 @@ void Application(std::string_view saveDir) {
   gui::AddIcon(dlt::GetResource_dlt_256_png());
   gui::AddIcon(dlt::GetResource_dlt_512_png());
 
-  glass::SetStorageName("datalogtool");
-  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+  wpi::glass::SetStorageName("datalogtool");
+  wpi::glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
                                        : saveDir);
 
   gui::AddWindowScaler([](float scale) { gDefaultScale = scale; });
@@ -152,12 +152,12 @@ void Application(std::string_view saveDir) {
   gui::Initialize("Datalog Tool", 925, 510);
 
   gDownloadVisible =
-      &glass::GetStorageRoot().GetChild("download").GetBool("visible", true);
+      &wpi::glass::GetStorageRoot().GetChild("download").GetBool("visible", true);
 
   gui::Main();
 
   gShutdown = true;
-  glass::DestroyContext();
+  wpi::glass::DestroyContext();
   gui::DestroyContext();
 
   gDownloader.reset();
diff --git a/tools/datalogtool/src/main/native/cpp/Downloader.cpp b/tools/datalogtool/src/main/native/cpp/Downloader.cpp
index dc76cd80f0..3839c149a2 100644
--- a/tools/datalogtool/src/main/native/cpp/Downloader.cpp
+++ b/tools/datalogtool/src/main/native/cpp/Downloader.cpp
@@ -28,7 +28,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/fs.hpp"
 
-Downloader::Downloader(glass::Storage& storage)
+Downloader::Downloader(wpi::glass::Storage& storage)
     : m_serverTeam{storage.GetString("serverTeam")},
       m_remoteDir{storage.GetString("remoteDir", "/home/systemcore/logs")},
       m_username{storage.GetString("username", "systemcore")},
@@ -104,15 +104,15 @@ void Downloader::DisplayRemoteDirSelector() {
   for (auto&& dir : m_dirList) {
     if (ImGui::Selectable(dir.c_str())) {
       if (dir == "..") {
-        if (wpi::ends_with(m_remoteDir, '/')) {
+        if (wpi::util::ends_with(m_remoteDir, '/')) {
           m_remoteDir.resize(m_remoteDir.size() - 1);
         }
-        m_remoteDir = wpi::rsplit(m_remoteDir, '/').first;
+        m_remoteDir = wpi::util::rsplit(m_remoteDir, '/').first;
         if (m_remoteDir.empty()) {
           m_remoteDir = "/";
         }
       } else {
-        if (!wpi::ends_with(m_remoteDir, '/')) {
+        if (!wpi::util::ends_with(m_remoteDir, '/')) {
           m_remoteDir += '/';
         }
         m_remoteDir += dir;
@@ -286,7 +286,7 @@ void Downloader::ThreadMain() {
     try {
       switch (m_state) {
         case kConnecting:
-          if (auto team = wpi::parse_integer<unsigned int>(m_serverTeam, 10)) {
+          if (auto team = wpi::util::parse_integer<unsigned int>(m_serverTeam, 10)) {
             // team number
             session = std::make_unique<sftp::Session>(
                 fmt::format("roborio-{}-frc.local", team.value()), 22,
@@ -335,7 +335,7 @@ void Downloader::ThreadMain() {
               }
             } else if (attr.type == SSH_FILEXFER_TYPE_REGULAR &&
                        (attr.flags & SSH_FILEXFER_ATTR_SIZE) != 0 &&
-                       wpi::ends_with(attr.name, ".wpilog")) {
+                       wpi::util::ends_with(attr.name, ".wpilog")) {
               m_fileList.emplace_back(attr.name, attr.size);
             }
           }
@@ -359,7 +359,7 @@ void Downloader::ThreadMain() {
 
             auto remoteFilename = fmt::format(
                 "{}{}{}", m_remoteDir,
-                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+                wpi::util::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
             auto localFilename = fs::path{m_localDir} / file.name;
             uint64_t fileSize = file.size;
 
@@ -450,7 +450,7 @@ void Downloader::ThreadMain() {
 
             auto remoteFilename = fmt::format(
                 "{}{}{}", m_remoteDir,
-                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+                wpi::util::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
 
             lock.unlock();
             try {
diff --git a/tools/datalogtool/src/main/native/cpp/Downloader.hpp b/tools/datalogtool/src/main/native/cpp/Downloader.hpp
index 2054382ef4..94410a03fb 100644
--- a/tools/datalogtool/src/main/native/cpp/Downloader.hpp
+++ b/tools/datalogtool/src/main/native/cpp/Downloader.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class Storage;
 }  // namespace glass
 
@@ -22,7 +22,7 @@ class select_folder;
 
 class Downloader {
  public:
-  explicit Downloader(glass::Storage& storage);
+  explicit Downloader(wpi::glass::Storage& storage);
   ~Downloader();
 
   void Display();
@@ -36,7 +36,7 @@ class Downloader {
 
   void ThreadMain();
 
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   enum State {
     kDisconnected,
     kConnecting,
diff --git a/tools/datalogtool/src/main/native/cpp/Exporter.cpp b/tools/datalogtool/src/main/native/cpp/Exporter.cpp
index 76fbd4df9a..0b28733fe2 100644
--- a/tools/datalogtool/src/main/native/cpp/Exporter.cpp
+++ b/tools/datalogtool/src/main/native/cpp/Exporter.cpp
@@ -84,7 +84,7 @@ struct EntryTreeNode {
 
 static std::map<std::string, std::unique_ptr<InputFile>, std::less<>>
     gInputFiles;
-static wpi::mutex gEntriesMutex;
+static wpi::util::mutex gEntriesMutex;
 static std::map<std::string, std::unique_ptr<Entry>, std::less<>> gEntries;
 static std::vector<EntryTreeNode> gEntryTree;
 std::atomic_int gExportCount{0};
@@ -92,17 +92,17 @@ std::atomic_int gExportCount{0};
 // must be called with gEntriesMutex held
 static void RebuildEntryTree() {
   gEntryTree.clear();
-  wpi::SmallVector<std::string_view, 16> parts;
+  wpi::util::SmallVector<std::string_view, 16> parts;
   for (auto& kv : gEntries) {
     parts.clear();
     // split on first : if one is present
-    auto [prefix, mainpart] = wpi::split(kv.first, ':');
-    if (mainpart.empty() || wpi::contains(prefix, '/')) {
+    auto [prefix, mainpart] = wpi::util::split(kv.first, ':');
+    if (mainpart.empty() || wpi::util::contains(prefix, '/')) {
       mainpart = kv.first;
     } else {
       parts.emplace_back(prefix);
     }
-    wpi::split(mainpart, '/', -1, false,
+    wpi::util::split(mainpart, '/', -1, false,
                [&](auto part) { parts.emplace_back(part); });
 
     // ignore a raw "/" key
@@ -112,7 +112,7 @@ static void RebuildEntryTree() {
 
     // get to leaf
     auto nodes = &gEntryTree;
-    for (auto part : wpi::drop_back(std::span{parts.begin(), parts.end()})) {
+    for (auto part : wpi::util::drop_back(std::span{parts.begin(), parts.end()})) {
       auto it =
           std::find_if(nodes->begin(), nodes->end(),
                        [&](const auto& node) { return node.name == part; });
@@ -183,7 +183,7 @@ InputFile::~InputFile() {
 }
 
 static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(filename);
   if (!fileBuffer) {
     return std::make_unique<InputFile>(
         filename,
@@ -436,46 +436,46 @@ void DisplayEntries() {
   ImGui::End();
 }
 
-static wpi::mutex gExportMutex;
+static wpi::util::mutex gExportMutex;
 static std::vector<std::string> gExportErrors;
 
-static void PrintEscapedCsvString(wpi::raw_ostream& os, std::string_view str) {
+static void PrintEscapedCsvString(wpi::util::raw_ostream& os, std::string_view str) {
   auto s = str;
   while (!s.empty()) {
     std::string_view fragment;
-    std::tie(fragment, s) = wpi::split(s, '"');
+    std::tie(fragment, s) = wpi::util::split(s, '"');
     os << fragment;
     if (!s.empty()) {
       os << '"' << '"';
     }
   }
-  if (wpi::ends_with(str, '"')) {
+  if (wpi::util::ends_with(str, '"')) {
     os << '"' << '"';
   }
 }
 
-static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
+static void ValueToCsv(wpi::util::raw_ostream& os, const Entry& entry,
                        const wpi::log::DataLogRecord& record) {
   // handle systemTime specially
   if (entry.name == "systemTime" && entry.type == "int64") {
     int64_t val;
     if (record.GetInteger(&val)) {
       std::time_t timeval = val / 1000000;
-      wpi::print(os, "{:%Y-%m-%d %H:%M:%S}.{:06}", *std::localtime(&timeval),
+      wpi::util::print(os, "{:%Y-%m-%d %H:%M:%S}.{:06}", *std::localtime(&timeval),
                  val % 1000000);
       return;
     }
   } else if (entry.type == "double") {
     double val;
     if (record.GetDouble(&val)) {
-      wpi::print(os, "{}", val);
+      wpi::util::print(os, "{}", val);
       return;
     }
   } else if (entry.type == "int64" || entry.type == "int") {
     // support "int" for compatibility with old NT4 datalogs
     int64_t val;
     if (record.GetInteger(&val)) {
-      wpi::print(os, "{}", val);
+      wpi::util::print(os, "{}", val);
       return;
     }
   } else if (entry.type == "string" || entry.type == "json") {
@@ -488,31 +488,31 @@ static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
   } else if (entry.type == "boolean") {
     bool val;
     if (record.GetBoolean(&val)) {
-      wpi::print(os, "{}", val);
+      wpi::util::print(os, "{}", val);
       return;
     }
   } else if (entry.type == "boolean[]") {
     std::vector<int> val;
     if (record.GetBooleanArray(&val)) {
-      wpi::print(os, "{}", fmt::join(val, ";"));
+      wpi::util::print(os, "{}", fmt::join(val, ";"));
       return;
     }
   } else if (entry.type == "double[]") {
     std::vector<double> val;
     if (record.GetDoubleArray(&val)) {
-      wpi::print(os, "{}", fmt::join(val, ";"));
+      wpi::util::print(os, "{}", fmt::join(val, ";"));
       return;
     }
   } else if (entry.type == "float[]") {
     std::vector<float> val;
     if (record.GetFloatArray(&val)) {
-      wpi::print(os, "{}", fmt::join(val, ";"));
+      wpi::util::print(os, "{}", fmt::join(val, ";"));
       return;
     }
   } else if (entry.type == "int64[]") {
     std::vector<int64_t> val;
     if (record.GetIntegerArray(&val)) {
-      wpi::print(os, "{}", fmt::join(val, ";"));
+      wpi::util::print(os, "{}", fmt::join(val, ";"));
       return;
     }
   } else if (entry.type == "string[]") {
@@ -531,10 +531,10 @@ static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
       return;
     }
   }
-  wpi::print(os, "<invalid>");
+  wpi::util::print(os, "<invalid>");
 }
 
-static void ExportCsvFile(InputFile& f, wpi::raw_ostream& os, int style) {
+static void ExportCsvFile(InputFile& f, wpi::util::raw_ostream& os, int style) {
   // header
   if (style == 0) {
     os << "Timestamp,Name,Value\n";
@@ -556,7 +556,7 @@ static void ExportCsvFile(InputFile& f, wpi::raw_ostream& os, int style) {
     os << '\n';
   }
 
-  wpi::DenseMap<int, Entry*> nameMap;
+  wpi::util::DenseMap<int, Entry*> nameMap;
   for (auto&& record : f.datalog->GetReader()) {
     if (record.IsStart()) {
       wpi::log::StartRecordData data;
@@ -579,13 +579,13 @@ static void ExportCsvFile(InputFile& f, wpi::raw_ostream& os, int style) {
       Entry* entry = entryIt->second;
 
       if (style == 0) {
-        wpi::print(os, "{},\"", record.GetTimestamp() / 1000000.0);
+        wpi::util::print(os, "{},\"", record.GetTimestamp() / 1000000.0);
         PrintEscapedCsvString(os, entry->name);
         os << '"' << ',';
         ValueToCsv(os, *entry, record);
         os << '\n';
       } else if (style == 1 && entry->column != -1) {
-        wpi::print(os, "{},", record.GetTimestamp() / 1000000.0);
+        wpi::util::print(os, "{},", record.GetTimestamp() / 1000000.0);
         for (int i = 0; i < entry->column; ++i) {
           os << ',';
         }
@@ -611,14 +611,14 @@ static void ExportCsv(std::string_view outputFolder, int style) {
         ++gExportCount;
         continue;
       }
-      wpi::raw_fd_ostream os{fs::FileToFd(of, ec, fs::OF_Text), true};
+      wpi::util::raw_fd_ostream os{fs::FileToFd(of, ec, fs::OF_Text), true};
       ExportCsvFile(*f.second, os, style);
     }
     ++gExportCount;
   }
 }
 
-void DisplayOutput(glass::Storage& storage) {
+void DisplayOutput(wpi::glass::Storage& storage) {
   static std::string& outputFolder = storage.GetString("outputFolder");
   static std::unique_ptr<pfd::select_folder> outputFolderSelector;
 
diff --git a/tools/datalogtool/src/main/native/cpp/Exporter.hpp b/tools/datalogtool/src/main/native/cpp/Exporter.hpp
index 8078243bb7..a0ca032a18 100644
--- a/tools/datalogtool/src/main/native/cpp/Exporter.hpp
+++ b/tools/datalogtool/src/main/native/cpp/Exporter.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-namespace glass {
+namespace wpi::glass {
 class Storage;
 }  // namespace glass
 
 void DisplayInputFiles();
 void DisplayEntries();
-void DisplayOutput(glass::Storage& storage);
+void DisplayOutput(wpi::glass::Storage& storage);
 
 extern bool gShutdown;
diff --git a/tools/outlineviewer/src/main/native/cpp/main.cpp b/tools/outlineviewer/src/main/native/cpp/main.cpp
index 74b1008947..8b2048e22d 100644
--- a/tools/outlineviewer/src/main/native/cpp/main.cpp
+++ b/tools/outlineviewer/src/main/native/cpp/main.cpp
@@ -34,21 +34,21 @@ std::string_view GetResource_ov_256_png();
 std::string_view GetResource_ov_512_png();
 }  // namespace ov
 
-static std::unique_ptr<glass::NetworkTablesModel> gModel;
-static std::unique_ptr<glass::NetworkTablesSettings> gSettings;
-static glass::LogData gLog;
-static glass::NetworkTablesFlagsSettings gFlagsSettings;
-static glass::MainMenuBar gMainMenu;
+static std::unique_ptr<wpi::glass::NetworkTablesModel> gModel;
+static std::unique_ptr<wpi::glass::NetworkTablesSettings> gSettings;
+static wpi::glass::LogData gLog;
+static wpi::glass::NetworkTablesFlagsSettings gFlagsSettings;
+static wpi::glass::MainMenuBar gMainMenu;
 static unsigned int gPrevMode = NT_NET_MODE_NONE;
 
 /**
  * Generates the proper title bar title based on current instance state and
  * event.
  */
-static std::string MakeTitle(NT_Inst inst, nt::Event event) {
-  auto mode = nt::GetNetworkMode(inst);
+static std::string MakeTitle(NT_Inst inst, wpi::nt::Event event) {
+  auto mode = wpi::nt::GetNetworkMode(inst);
   if (mode & NT_NET_MODE_SERVER) {
-    auto numClients = nt::GetConnections(inst).size();
+    auto numClients = wpi::nt::GetConnections(inst).size();
     return fmt::format("OutlineViewer - {} Client{} Connected", numClients,
                        (numClients == 1 ? "" : "s"));
   } else if (mode & NT_NET_MODE_CLIENT) {
@@ -61,22 +61,22 @@ static std::string MakeTitle(NT_Inst inst, nt::Event event) {
 }
 
 static void NtInitialize() {
-  auto inst = nt::GetDefaultInstance();
-  auto poller = nt::CreateListenerPoller(inst);
-  nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
-  nt::AddPolledLogger(poller, NT_LOG_INFO, 100);
+  auto inst = wpi::nt::GetDefaultInstance();
+  auto poller = wpi::nt::CreateListenerPoller(inst);
+  wpi::nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
+  wpi::nt::AddPolledLogger(poller, NT_LOG_INFO, 100);
   gui::AddEarlyExecute([inst, poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
     bool updateTitle = false;
-    nt::Event connectionEvent;
-    if (nt::GetNetworkMode(inst) != gPrevMode) {
-      gPrevMode = nt::GetNetworkMode(inst);
+    wpi::nt::Event connectionEvent;
+    if (wpi::nt::GetNetworkMode(inst) != gPrevMode) {
+      gPrevMode = wpi::nt::GetNetworkMode(inst);
       updateTitle = true;
     }
-    for (auto&& event : nt::ReadListenerQueue(poller)) {
+    for (auto&& event : wpi::nt::ReadListenerQueue(poller)) {
       if (event.Is(NT_EVENT_CONNECTION)) {
         updateTitle = true;
         connectionEvent = event;
@@ -101,13 +101,13 @@ static void NtInitialize() {
   });
 
   // NetworkTables table window
-  gModel = std::make_unique<glass::NetworkTablesModel>();
+  gModel = std::make_unique<wpi::glass::NetworkTablesModel>();
   gui::AddEarlyExecute([] { gModel->Update(); });
 
   // NetworkTables settings window
-  gSettings = std::make_unique<glass::NetworkTablesSettings>(
+  gSettings = std::make_unique<wpi::glass::NetworkTablesSettings>(
       "outlineviewer",
-      glass::GetStorageRoot().GetChild("NetworkTables Settings"));
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Settings"));
   gui::AddEarlyExecute([] { gSettings->Update(); });
 }
 
@@ -139,7 +139,7 @@ static void DisplayGui() {
   gui::EmitViewMenu();
   if (ImGui::BeginMenu("View")) {
     gFlagsSettings.DisplayMenu();
-    glass::DisplayNetworkTablesAddMenu(gModel.get());
+    wpi::glass::DisplayNetworkTablesAddMenu(gModel.get());
     ImGui::EndMenu();
   }
 
@@ -197,7 +197,7 @@ static void DisplayGui() {
       ImGui::CloseCurrentPopup();
     }
     ImGui::BeginChild("Lines", ImVec2(width * 0.75f, height * 0.75f));
-    glass::DisplayLog(&gLog, true);
+    wpi::glass::DisplayLog(&gLog, true);
     ImGui::EndChild();
     ImGui::EndPopup();
   }
@@ -212,7 +212,7 @@ static void DisplayGui() {
     ImGui::Separator();
     ImGui::Text("v%s", GetWPILibVersion());
     ImGui::Separator();
-    ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+    ImGui::Text("Save location: %s", wpi::glass::GetStorageDir().c_str());
     ImGui::Text("%.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate,
                 ImGui::GetIO().Framerate);
     if (ImGui::Button("Close")) {
@@ -222,9 +222,9 @@ static void DisplayGui() {
   }
 
   // display table view
-  glass::DisplayNetworkTablesInfo(gModel.get());
+  wpi::glass::DisplayNetworkTablesInfo(gModel.get());
   ImGui::Separator();
-  glass::DisplayNetworkTables(gModel.get(), gFlagsSettings.GetFlags());
+  wpi::glass::DisplayNetworkTables(gModel.get(), gFlagsSettings.GetFlags());
 
   ImGui::End();
 }
@@ -243,7 +243,7 @@ int main(int argc, char** argv) {
   }
 
   gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();
 
   gui::AddIcon(ov::GetResource_ov_16_png());
   gui::AddIcon(ov::GetResource_ov_32_png());
@@ -253,8 +253,8 @@ int main(int argc, char** argv) {
   gui::AddIcon(ov::GetResource_ov_256_png());
   gui::AddIcon(ov::GetResource_ov_512_png());
 
-  glass::SetStorageName("outlineviewer");
-  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+  wpi::glass::SetStorageName("outlineviewer");
+  wpi::glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
                                        : saveDir);
 
   gui::AddInit(NtInitialize);
@@ -267,7 +267,7 @@ int main(int argc, char** argv) {
   gModel.reset();
   gSettings.reset();
 
-  glass::DestroyContext();
+  wpi::glass::DestroyContext();
   gui::DestroyContext();
 
   return 0;
diff --git a/tools/sysid/src/main/native/cpp/App.cpp b/tools/sysid/src/main/native/cpp/App.cpp
index 89b63d9e1a..6ee8e6a576 100644
--- a/tools/sysid/src/main/native/cpp/App.cpp
+++ b/tools/sysid/src/main/native/cpp/App.cpp
@@ -31,16 +31,16 @@
 
 namespace gui = wpi::gui;
 
-static std::unique_ptr<glass::WindowManager> gWindowManager;
+static std::unique_ptr<wpi::glass::WindowManager> gWindowManager;
 
-glass::Window* gLogLoaderWindow;
-glass::Window* gDataSelectorWindow;
-glass::Window* gAnalyzerWindow;
-glass::Window* gProgramLogWindow;
-static glass::MainMenuBar gMainMenu;
+wpi::glass::Window* gLogLoaderWindow;
+wpi::glass::Window* gDataSelectorWindow;
+wpi::glass::Window* gAnalyzerWindow;
+wpi::glass::Window* gProgramLogWindow;
+static wpi::glass::MainMenuBar gMainMenu;
 
-glass::LogData gLog;
-wpi::Logger gLogger;
+wpi::glass::LogData gLog;
+wpi::util::Logger gLogger;
 
 const char* GetWPILibVersion();
 
@@ -57,7 +57,7 @@ std::string_view GetResource_sysid_512_png();
 void Application(std::string_view saveDir) {
   // Create the wpigui (along with Dear ImGui) and Glass contexts.
   gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();
 
   // Add icons
   gui::AddIcon(sysid::GetResource_sysid_16_png());
@@ -68,37 +68,37 @@ void Application(std::string_view saveDir) {
   gui::AddIcon(sysid::GetResource_sysid_256_png());
   gui::AddIcon(sysid::GetResource_sysid_512_png());
 
-  glass::SetStorageName("sysid");
-  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+  wpi::glass::SetStorageName("sysid");
+  wpi::glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
                                        : saveDir);
 
   // Add messages from the global sysid logger into the Log window.
   gLogger.SetLogger([](unsigned int level, const char* file, unsigned int line,
                        const char* msg) {
     const char* lvl = "";
-    if (level >= wpi::WPI_LOG_CRITICAL) {
+    if (level >= wpi::util::WPI_LOG_CRITICAL) {
       lvl = "CRITICAL: ";
-    } else if (level >= wpi::WPI_LOG_ERROR) {
+    } else if (level >= wpi::util::WPI_LOG_ERROR) {
       lvl = "ERROR: ";
-    } else if (level >= wpi::WPI_LOG_WARNING) {
+    } else if (level >= wpi::util::WPI_LOG_WARNING) {
       lvl = "WARNING: ";
-    } else if (level >= wpi::WPI_LOG_INFO) {
+    } else if (level >= wpi::util::WPI_LOG_INFO) {
       lvl = "INFO: ";
-    } else if (level >= wpi::WPI_LOG_DEBUG) {
+    } else if (level >= wpi::util::WPI_LOG_DEBUG) {
       lvl = "DEBUG: ";
     }
     std::string filename = std::filesystem::path{file}.filename().string();
     gLog.Append(fmt::format("{}{} ({}:{})\n", lvl, msg, filename, line));
 #ifndef NDEBUG
-    wpi::print(stderr, "{}{} ({}:{})\n", lvl, msg, filename, line);
+    wpi::util::print(stderr, "{}{} ({}:{})\n", lvl, msg, filename, line);
 #endif
   });
 
-  gLogger.set_min_level(wpi::WPI_LOG_DEBUG);
+  gLogger.set_min_level(wpi::util::WPI_LOG_DEBUG);
 
   // Initialize window manager and add views.
-  auto& storage = glass::GetStorageRoot().GetChild("SysId");
-  gWindowManager = std::make_unique<glass::WindowManager>(storage);
+  auto& storage = wpi::glass::GetStorageRoot().GetChild("SysId");
+  gWindowManager = std::make_unique<wpi::glass::WindowManager>(storage);
   gWindowManager->GlobalInit();
 
   auto logLoader = std::make_unique<sysid::LogLoader>(storage, gLogger);
@@ -122,7 +122,7 @@ void Application(std::string_view saveDir) {
   gAnalyzerWindow = gWindowManager->AddWindow("Analyzer", std::move(analyzer));
 
   gProgramLogWindow = gWindowManager->AddWindow(
-      "Program Log", std::make_unique<glass::LogView>(&gLog));
+      "Program Log", std::make_unique<wpi::glass::LogView>(&gLog));
 
   // Set default positions and sizes for windows.
 
@@ -194,7 +194,7 @@ void Application(std::string_view saveDir) {
       ImGui::Separator();
       ImGui::Text("v%s", GetWPILibVersion());
       ImGui::Separator();
-      ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+      ImGui::Text("Save location: %s", wpi::glass::GetStorageDir().c_str());
       if (ImGui::Button("Close")) {
         ImGui::CloseCurrentPopup();
       }
@@ -206,7 +206,7 @@ void Application(std::string_view saveDir) {
                   sysid::kAppWindowSize.y);
   gui::Main();
 
-  glass::DestroyContext();
+  wpi::glass::DestroyContext();
   gui::DestroyContext();
 }
 
diff --git a/tools/sysid/src/main/native/cpp/Util.cpp b/tools/sysid/src/main/native/cpp/Util.cpp
index 95296c8627..f1173f3ee3 100644
--- a/tools/sysid/src/main/native/cpp/Util.cpp
+++ b/tools/sysid/src/main/native/cpp/Util.cpp
@@ -67,7 +67,7 @@ void sysid::SaveFile(std::string_view contents,
   // Open a fd_ostream to write to file.
   std::error_code ec;
   // NOLINTNEXTLINE(build/include_what_you_use)
-  wpi::raw_fd_ostream ostream{path.string(), ec};
+  wpi::util::raw_fd_ostream ostream{path.string(), ec};
 
   // Check error code.
   if (ec) {
diff --git a/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
index 7aa9ac2cbd..c4143009a3 100644
--- a/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
@@ -20,7 +20,7 @@
 
 using namespace sysid;
 
-static double Lerp(units::second_t time,
+static double Lerp(wpi::units::second_t time,
                    std::vector<MotorData::Run::Sample<double>>& data) {
   auto next = std::find_if(data.begin(), data.end(), [&](const auto& entry) {
     return entry.time > time;
@@ -36,7 +36,7 @@ static double Lerp(units::second_t time,
 
   const auto prev = next - 1;
 
-  return wpi::Lerp(prev->measurement, next->measurement,
+  return wpi::util::Lerp(prev->measurement, next->measurement,
                    (time - prev->time) / (next->time - prev->time));
 }
 
@@ -79,21 +79,21 @@ static std::vector<PreparedData> ConvertToPrepared(const MotorData& data) {
 
 /**
  * To preserve a raw copy of the data, this method saves a raw version
- * in the dataset StringMap where the key of the raw data starts with "raw-"
+ * in the dataset wpi::util::StringMap where the key of the raw data starts with "raw-"
  * before the name of the original data.
  *
  * @tparam S The size of the array data that's being used
  *
  * @param dataset A reference to the dataset being used
  */
-static void CopyRawData(wpi::StringMap<MotorData>* dataset) {
+static void CopyRawData(wpi::util::StringMap<MotorData>* dataset) {
   auto& data = *dataset;
   // Loads the Raw Data
   for (auto& it : data) {
     auto& key = it.first;
     auto& motorData = it.second;
 
-    if (!wpi::contains(key, "raw")) {
+    if (!wpi::util::contains(key, "raw")) {
       data[fmt::format("raw-{}", key)] = motorData;
       data[fmt::format("original-raw-{}", key)] = motorData;
     }
@@ -116,7 +116,7 @@ static Storage CombineDatasets(const std::vector<PreparedData>& slowForward,
 }
 
 void AnalysisManager::PrepareGeneralData() {
-  wpi::StringMap<std::vector<PreparedData>> preparedData;
+  wpi::util::StringMap<std::vector<PreparedData>> preparedData;
 
   WPI_INFO(m_logger, "{}", "Preprocessing raw data.");
 
@@ -167,11 +167,11 @@ void AnalysisManager::PrepareGeneralData() {
                   preparedData["raw-dynamic-reverse"][0].timestamp};
 }
 
-AnalysisManager::AnalysisManager(Settings& settings, wpi::Logger& logger)
+AnalysisManager::AnalysisManager(Settings& settings, wpi::util::Logger& logger)
     : m_logger{logger}, m_settings{settings} {}
 
 AnalysisManager::AnalysisManager(TestData data, Settings& settings,
-                                 wpi::Logger& logger)
+                                 wpi::util::Logger& logger)
     : m_data{std::move(data)}, m_logger{logger}, m_settings{settings} {
   // Reset settings for Dynamic Test Limits
   m_settings.stepTestDuration = 0_s;
diff --git a/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp b/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
index 7fa8358763..38eec15f1e 100644
--- a/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
@@ -27,13 +27,13 @@ ArmSim::ArmSim(double Ks, double Kv, double Ka, double Kg, double offset,
   Reset(initialPosition, initialVelocity);
 }
 
-void ArmSim::Update(units::volt_t voltage, units::second_t dt) {
+void ArmSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
   // Returns arm acceleration under gravity
   auto f = [=, this](
                const Eigen::Vector<double, 2>& x,
                const Eigen::Vector<double, 1>& u) -> Eigen::Vector<double, 2> {
     return Eigen::Vector<double, 2>{
-        x(1), (m_A * x.block<1, 1>(1, 0) + m_B * u + m_c * wpi::sgn(x(1)) +
+        x(1), (m_A * x.block<1, 1>(1, 0) + m_B * u + m_c * wpi::util::sgn(x(1)) +
                m_d * std::cos(x(0) + m_offset))(0)};
   };
 
@@ -42,7 +42,7 @@ void ArmSim::Update(units::volt_t voltage, units::second_t dt) {
   // small for ill-conditioned data (e.g., high velocities with sharp spikes in
   // acceleration).
   Eigen::Vector<double, 1> u{voltage.value()};
-  m_x = frc::RKDP(f, m_x, u, dt, 0.25);
+  m_x = wpi::math::RKDP(f, m_x, u, dt, 0.25);
 }
 
 double ArmSim::GetPosition() const {
@@ -53,10 +53,10 @@ double ArmSim::GetVelocity() const {
   return m_x(1);
 }
 
-double ArmSim::GetAcceleration(units::volt_t voltage) const {
+double ArmSim::GetAcceleration(wpi::units::volt_t voltage) const {
   Eigen::Vector<double, 1> u{voltage.value()};
   return (m_A * m_x.block<1, 1>(1, 0) + m_B * u +
-          m_c * wpi::sgn(GetVelocity()) + m_d * std::cos(m_x(0) + m_offset))(0);
+          m_c * wpi::util::sgn(GetVelocity()) + m_d * std::cos(m_x(0) + m_offset))(0);
 }
 
 void ArmSim::Reset(double position, double velocity) {
diff --git a/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp b/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
index 545a05ea2e..f58d7d8fd2 100644
--- a/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
@@ -20,16 +20,16 @@ ElevatorSim::ElevatorSim(double Ks, double Kv, double Ka, double Kg,
   Reset(initialPosition, initialVelocity);
 }
 
-void ElevatorSim::Update(units::volt_t voltage, units::second_t dt) {
+void ElevatorSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
   Eigen::Vector<double, 1> u{voltage.value()};
 
   // Given dx/dt = Ax + Bu + c sgn(x) + d,
   // x_k+1 = e^(AT) x_k + A^-1 (e^(AT) - 1) (Bu + c sgn(x) + d)
   Eigen::Matrix<double, 2, 2> Ad;
   Eigen::Matrix<double, 2, 1> Bd;
-  frc::DiscretizeAB<2, 1>(m_A, m_B, dt, &Ad, &Bd);
+  wpi::math::DiscretizeAB<2, 1>(m_A, m_B, dt, &Ad, &Bd);
   m_x = Ad * m_x + Bd * u +
-        Bd * m_B.householderQr().solve(m_c * wpi::sgn(GetVelocity()) + m_d);
+        Bd * m_B.householderQr().solve(m_c * wpi::util::sgn(GetVelocity()) + m_d);
 }
 
 double ElevatorSim::GetPosition() const {
@@ -40,9 +40,9 @@ double ElevatorSim::GetVelocity() const {
   return m_x(1);
 }
 
-double ElevatorSim::GetAcceleration(units::volt_t voltage) const {
+double ElevatorSim::GetAcceleration(wpi::units::volt_t voltage) const {
   Eigen::Vector<double, 1> u{voltage.value()};
-  return (m_A * m_x + m_B * u + m_c * wpi::sgn(GetVelocity()) + m_d)(1);
+  return (m_A * m_x + m_B * u + m_c * wpi::util::sgn(GetVelocity()) + m_d)(1);
 }
 
 void ElevatorSim::Reset(double position, double velocity) {
diff --git a/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp b/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
index ec1a9f19ca..6dc5edbf4d 100644
--- a/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
@@ -32,10 +32,10 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
   // instabilities in the LQR.
   if (std::abs(Ka) < 1e-7) {
     // System has position state and velocity input
-    frc::LinearSystem<1, 1, 1> system{Matrix1d{0.0}, Matrix1d{1.0},
+    wpi::math::LinearSystem<1, 1, 1> system{Matrix1d{0.0}, Matrix1d{1.0},
                                       Matrix1d{1.0}, Matrix1d{0.0}};
 
-    frc::LinearQuadraticRegulator<1, 1> controller{
+    wpi::math::LinearQuadraticRegulator<1, 1> controller{
         system, {params.qp}, {params.r}, preset.period};
     controller.LatencyCompensate(system, preset.period,
                                  preset.measurementDelay);
@@ -43,16 +43,16 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
     return {Kv * controller.K(0, 0) * preset.outputConversionFactor, 0.0};
   }
 
-  auto system = frc::LinearSystemId::IdentifyPositionSystem<units::meters>(
+  auto system = wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meters>(
       Kv_t{Kv}, Ka_t{Ka});
 
-  frc::LinearQuadraticRegulator<2, 1> controller{
+  wpi::math::LinearQuadraticRegulator<2, 1> controller{
       system, {params.qp, params.qv}, {params.r}, preset.period};
   controller.LatencyCompensate(system, preset.period, preset.measurementDelay);
 
   return {controller.K(0, 0) * preset.outputConversionFactor,
           controller.K(0, 1) * preset.outputConversionFactor /
-              (preset.normalized ? 1 : units::second_t{preset.period}.value())};
+              (preset.normalized ? 1 : wpi::units::second_t{preset.period}.value())};
 }
 
 FeedbackGains sysid::CalculateVelocityFeedbackGains(
@@ -69,9 +69,9 @@ FeedbackGains sysid::CalculateVelocityFeedbackGains(
     return {0.0, 0.0};
   }
 
-  auto system = frc::LinearSystemId::IdentifyVelocitySystem<units::meters>(
+  auto system = wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
       Kv_t{Kv}, Ka_t{Ka});
-  frc::LinearQuadraticRegulator<1, 1> controller{
+  wpi::math::LinearQuadraticRegulator<1, 1> controller{
       system, {params.qv}, {params.r}, preset.period};
   controller.LatencyCompensate(system, preset.period, preset.measurementDelay);
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp b/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
index c9457689de..c0d73662b2 100644
--- a/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
@@ -49,7 +49,7 @@ static void CheckSize(const std::vector<PreparedData>& data, size_t window,
  * @return True, if the key corresponds to a raw dataset.
  */
 static bool IsRaw(std::string_view key) {
-  return wpi::contains(key, "raw") && !wpi::contains(key, "original");
+  return wpi::util::contains(key, "raw") && !wpi::util::contains(key, "original");
 }
 
 /**
@@ -60,7 +60,7 @@ static bool IsRaw(std::string_view key) {
  * @return True, if the key corresponds to a filtered dataset.
  */
 static bool IsFiltered(std::string_view key) {
-  return !wpi::contains(key, "raw") && !wpi::contains(key, "original");
+  return !wpi::util::contains(key, "raw") && !wpi::util::contains(key, "original");
 }
 
 /**
@@ -116,16 +116,16 @@ static void PrepareMechData(std::vector<PreparedData>* data,
   }
 }
 
-std::tuple<units::second_t, units::second_t, units::second_t>
+std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::units::second_t>
 sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
                            AnalysisManager::Settings* settings,
-                           units::second_t minStepTime,
-                           units::second_t maxStepTime) {
+                           wpi::units::second_t minStepTime,
+                           wpi::units::second_t maxStepTime) {
   auto voltageBegins =
       std::find_if(data->begin(), data->end(),
                    [](auto& datum) { return std::abs(datum.voltage) > 0; });
 
-  units::second_t firstTimestamp = voltageBegins->timestamp;
+  wpi::units::second_t firstTimestamp = voltageBegins->timestamp;
   double firstPosition = voltageBegins->position;
 
   auto motionBegins = std::find_if(
@@ -134,7 +134,7 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
                (settings->velocityThreshold * datum.dt.value());
       });
 
-  units::second_t positionDelay;
+  wpi::units::second_t positionDelay;
   if (motionBegins != data->end()) {
     positionDelay = motionBegins->timestamp - firstTimestamp;
   } else {
@@ -146,8 +146,8 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
         // Since we don't know if its a forward or backwards test here, we use
         // the sign of each point's velocity to determine how to compare their
         // accelerations.
-        return wpi::sgn(a.velocity) * a.acceleration <
-               wpi::sgn(b.velocity) * b.acceleration;
+        return wpi::util::sgn(a.velocity) * a.acceleration <
+               wpi::util::sgn(b.velocity) * b.acceleration;
       });
 
   // Current limiting can delay onset of the peak acceleration, so we need to
@@ -155,11 +155,11 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
   // because this whole file is tech debt already
   auto accelBegins = std::find_if(
       data->begin(), data->end(), [&maxAccel](const auto& measurement) {
-        return wpi::sgn(measurement.velocity) * measurement.acceleration >
-               0.8 * wpi::sgn(maxAccel->velocity) * maxAccel->acceleration;
+        return wpi::util::sgn(measurement.velocity) * measurement.acceleration >
+               0.8 * wpi::util::sgn(maxAccel->velocity) * maxAccel->acceleration;
       });
 
-  units::second_t velocityDelay;
+  wpi::units::second_t velocityDelay;
   if (accelBegins != data->end()) {
     velocityDelay = accelBegins->timestamp - firstTimestamp;
 
@@ -209,7 +209,7 @@ double sysid::GetNoiseFloor(
     std::function<double(const PreparedData&)> accessorFunction) {
   double sum = 0.0;
   size_t step = window / 2;
-  auto averageFilter = frc::LinearFilter<double>::MovingAverage(window);
+  auto averageFilter = wpi::math::LinearFilter<double>::MovingAverage(window);
   for (size_t i = 0; i < data.size(); i++) {
     double mean = averageFilter.Calculate(accessorFunction(data[i]));
     if (i >= step) {
@@ -229,8 +229,8 @@ double sysid::GetMaxSpeed(
   return max;
 }
 
-units::second_t sysid::GetMeanTimeDelta(const std::vector<PreparedData>& data) {
-  std::vector<units::second_t> dts;
+wpi::units::second_t sysid::GetMeanTimeDelta(const std::vector<PreparedData>& data) {
+  std::vector<wpi::units::second_t> dts;
 
   for (const auto& pt : data) {
     if (pt.dt > 0_s && pt.dt < 500_ms) {
@@ -241,8 +241,8 @@ units::second_t sysid::GetMeanTimeDelta(const std::vector<PreparedData>& data) {
   return std::accumulate(dts.begin(), dts.end(), 0_s) / dts.size();
 }
 
-units::second_t sysid::GetMeanTimeDelta(const Storage& data) {
-  std::vector<units::second_t> dts;
+wpi::units::second_t sysid::GetMeanTimeDelta(const Storage& data) {
+  std::vector<wpi::units::second_t> dts;
 
   for (const auto& pt : data.slowForward) {
     if (pt.dt > 0_s && pt.dt < 500_ms) {
@@ -274,7 +274,7 @@ units::second_t sysid::GetMeanTimeDelta(const Storage& data) {
 void sysid::ApplyMedianFilter(std::vector<PreparedData>* data, int window) {
   CheckSize(*data, window, "Median Filter");
 
-  frc::MedianFilter<double> medianFilter(window);
+  wpi::math::MedianFilter<double> medianFilter(window);
 
   // Load the median filter with the first value for accurate initial behavior
   for (int i = 0; i < window; i++) {
@@ -319,14 +319,14 @@ static std::string RemoveStr(std::string_view str, std::string_view removeStr) {
  *
  * @return The maximum duration of the Dynamic Tests
  */
-static units::second_t GetMaxStepTime(
-    wpi::StringMap<std::vector<PreparedData>>& data) {
+static wpi::units::second_t GetMaxStepTime(
+    wpi::util::StringMap<std::vector<PreparedData>>& data) {
   auto maxStepTime = 0_s;
   for (auto& it : data) {
     auto& key = it.first;
     auto& dataset = it.second;
 
-    if (IsRaw(key) && wpi::contains(key, "dynamic")) {
+    if (IsRaw(key) && wpi::util::contains(key, "dynamic")) {
       if (!dataset.empty()) {
         auto duration = dataset.back().timestamp - dataset.front().timestamp;
         if (duration > maxStepTime) {
@@ -339,11 +339,11 @@ static units::second_t GetMaxStepTime(
 }
 
 void sysid::InitialTrimAndFilter(
-    wpi::StringMap<std::vector<PreparedData>>* data,
+    wpi::util::StringMap<std::vector<PreparedData>>* data,
     AnalysisManager::Settings* settings,
-    std::vector<units::second_t>& positionDelays,
-    std::vector<units::second_t>& velocityDelays, units::second_t& minStepTime,
-    units::second_t& maxStepTime, std::string_view unit) {
+    std::vector<wpi::units::second_t>& positionDelays,
+    std::vector<wpi::units::second_t>& velocityDelays, wpi::units::second_t& minStepTime,
+    wpi::units::second_t& maxStepTime, std::string_view unit) {
   auto& preparedData = *data;
 
   // Find the maximum Step Test Duration of the dynamic tests
@@ -354,7 +354,7 @@ void sysid::InitialTrimAndFilter(
     for (auto& it : preparedData) {
       auto& key = it.first;
       auto& dataset = it.second;
-      if (wpi::contains(key, "quasistatic")) {
+      if (wpi::util::contains(key, "quasistatic")) {
         settings->velocityThreshold =
             std::min(settings->velocityThreshold,
                      GetNoiseFloor(dataset, kNoiseMeanWindow,
@@ -369,7 +369,7 @@ void sysid::InitialTrimAndFilter(
 
     // Trim quasistatic test data to remove all points where voltage is zero or
     // velocity < velocity threshold.
-    if (wpi::contains(key, "quasistatic")) {
+    if (wpi::util::contains(key, "quasistatic")) {
       dataset.erase(std::remove_if(dataset.begin(), dataset.end(),
                                    [&](const auto& pt) {
                                      return std::abs(pt.voltage) <= 0 ||
@@ -393,7 +393,7 @@ void sysid::InitialTrimAndFilter(
     PrepareMechData(&dataset, unit);
 
     // Trims filtered Dynamic Test Data
-    if (IsFiltered(key) && wpi::contains(key, "dynamic")) {
+    if (IsFiltered(key) && wpi::util::contains(key, "dynamic")) {
       // Get the filtered dataset name
       auto filteredKey = RemoveStr(key, "raw-");
 
@@ -420,7 +420,7 @@ void sysid::InitialTrimAndFilter(
   }
 }
 
-void sysid::AccelFilter(wpi::StringMap<std::vector<PreparedData>>* data) {
+void sysid::AccelFilter(wpi::util::StringMap<std::vector<PreparedData>>* data) {
   auto& preparedData = *data;
 
   // Remove points with acceleration = 0
diff --git a/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp b/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
index 49c4411fe7..3265cea5cc 100644
--- a/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
@@ -17,16 +17,16 @@ SimpleMotorSim::SimpleMotorSim(double Ks, double Kv, double Ka,
   Reset(initialPosition, initialVelocity);
 }
 
-void SimpleMotorSim::Update(units::volt_t voltage, units::second_t dt) {
+void SimpleMotorSim::Update(wpi::units::volt_t voltage, wpi::units::second_t dt) {
   Eigen::Vector<double, 1> u{voltage.value()};
 
   // Given dx/dt = Ax + Bu + c sgn(x),
   // x_k+1 = e^(AT) x_k + A^-1 (e^(AT) - 1) (Bu + c sgn(x))
   Eigen::Matrix<double, 2, 2> Ad;
   Eigen::Matrix<double, 2, 1> Bd;
-  frc::DiscretizeAB<2, 1>(m_A, m_B, dt, &Ad, &Bd);
+  wpi::math::DiscretizeAB<2, 1>(m_A, m_B, dt, &Ad, &Bd);
   m_x = Ad * m_x + Bd * u +
-        Bd * m_B.householderQr().solve(m_c * wpi::sgn(GetVelocity()));
+        Bd * m_B.householderQr().solve(m_c * wpi::util::sgn(GetVelocity()));
 }
 
 double SimpleMotorSim::GetPosition() const {
@@ -37,9 +37,9 @@ double SimpleMotorSim::GetVelocity() const {
   return m_x(1);
 }
 
-double SimpleMotorSim::GetAcceleration(units::volt_t voltage) const {
+double SimpleMotorSim::GetAcceleration(wpi::units::volt_t voltage) const {
   Eigen::Vector<double, 1> u{voltage.value()};
-  return (m_A * m_x + m_B * u + m_c * wpi::sgn(GetVelocity()))(1);
+  return (m_A * m_x + m_B * u + m_c * wpi::util::sgn(GetVelocity()))(1);
 }
 
 void SimpleMotorSim::Reset(double position, double velocity) {
diff --git a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
index b0542a2e28..cc39f90c15 100644
--- a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
+++ b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
@@ -29,9 +29,9 @@
 
 using namespace sysid;
 
-Analyzer::Analyzer(glass::Storage& storage, wpi::Logger& logger)
+Analyzer::Analyzer(wpi::glass::Storage& storage, wpi::util::Logger& logger)
     : m_logger(logger) {
-  // Fill the StringMap with preset values.
+  // Fill the wpi::util::StringMap with preset values.
   m_presets["Default"] = presets::kDefault;
   m_presets["WPILib"] = presets::kWPILib;
   m_presets["CTRE Phoenix 5"] = presets::kCTREv5;
@@ -55,8 +55,8 @@ void Analyzer::UpdateFeedforwardGains() {
     m_settings.preset.measurementDelay =
         m_settings.type == FeedbackControllerLoopType::kPosition
             // Clamp feedback measurement delay to ≥ 0
-            ? units::math::max(0_s, m_manager->GetPositionDelay())
-            : units::math::max(0_s, m_manager->GetVelocityDelay());
+            ? wpi::units::math::max(0_s, m_manager->GetPositionDelay())
+            : wpi::units::math::max(0_s, m_manager->GetVelocityDelay());
     PrepareGraphs();
   } catch (const sysid::InvalidDataError& e) {
     m_state = AnalyzerState::kGeneralDataError;
@@ -70,7 +70,7 @@ void Analyzer::UpdateFeedforwardGains() {
   } catch (const AnalysisManager::FileReadingError& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
-  } catch (const wpi::json::exception& e) {
+  } catch (const wpi::util::json::exception& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
   } catch (const std::exception& e) {
@@ -86,7 +86,7 @@ void Analyzer::UpdateFeedbackGains() {
   const auto& Ka = m_feedforwardGains.Ka;
   if (Kv.isValidGain && Ka.isValidGain) {
     const auto& fb = m_manager->CalculateFeedback(Kv, Ka);
-    m_timescale = units::second_t{Ka.gain / Kv.gain};
+    m_timescale = wpi::units::second_t{Ka.gain / Kv.gain};
     m_timescaleValid = true;
     m_Kp = fb.Kp;
     m_Kd = fb.Kd;
@@ -298,7 +298,7 @@ void Analyzer::PrepareData() {
   } catch (const AnalysisManager::FileReadingError& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
-  } catch (const wpi::json::exception& e) {
+  } catch (const wpi::util::json::exception& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
   } catch (const std::exception& e) {
@@ -475,7 +475,7 @@ void Analyzer::DisplayFeedforwardParameters(float beginX, float beginY) {
     if (ImGui::SliderFloat("Test Duration", &m_stepTestDuration,
                            m_manager->GetMinStepTime().value(),
                            m_manager->GetMaxStepTime().value(), "%.2f")) {
-      m_settings.stepTestDuration = units::second_t{m_stepTestDuration};
+      m_settings.stepTestDuration = wpi::units::second_t{m_stepTestDuration};
       PrepareData();
     }
   }
@@ -612,9 +612,9 @@ void Analyzer::DisplayFeedbackGains() {
   sysid::CreateTooltip(
       "Gain presets represent how feedback gains are calculated for your "
       "specific feedback controller:\n\n"
-      "Default, WPILib (2020-): For use with the new WPILib PIDController "
+      "Default, WPILib (2020-): For use with the new WPILib wpi::math::PIDController "
       "class.\n"
-      "WPILib (Pre-2020): For use with the old WPILib PIDController class.\n"
+      "WPILib (Pre-2020): For use with the old WPILib wpi::math::PIDController class.\n"
       "CTRE: For use with CTRE units. These are the default units that ship "
       "with CTRE motor controllers.\n"
       "REV (Brushless): For use with NEO and NEO 550 motors on a SPARK MAX.\n"
diff --git a/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp b/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
index d9a370adbe..1f5adcef6b 100644
--- a/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
+++ b/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
@@ -30,7 +30,7 @@ static ImPlotPoint Getter(int idx, void* data) {
 template <typename Model>
 static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
     const std::vector<PreparedData>& data,
-    const std::array<units::second_t, 4>& startTimes, size_t step, Model model,
+    const std::array<wpi::units::second_t, 4>& startTimes, size_t step, Model model,
     double* simSquaredErrorSum, double* squaredVariationSum,
     int* timeSeriesPoints) {
   // Create the vector of ImPlotPoints that will contain our simulated data.
@@ -42,7 +42,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
   tmp.emplace_back(startTime.value(), data[0].velocity);
 
   model.Reset(data[0].position, data[0].velocity);
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
   for (size_t i = 1; i < data.size(); ++i) {
     const auto& now = data[i];
@@ -60,7 +60,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
       continue;
     }
 
-    model.Update(units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
+    model.Update(wpi::units::volt_t{pre.voltage}, now.timestamp - pre.timestamp);
     tmp.emplace_back((startTime + t).value(), model.GetVelocity());
     *simSquaredErrorSum += std::pow(now.velocity - model.GetVelocity(), 2);
     *squaredVariationSum += std::pow(now.velocity, 2);
@@ -71,7 +71,7 @@ static std::vector<std::vector<ImPlotPoint>> PopulateTimeDomainSim(
   return pts;
 }
 
-AnalyzerPlot::AnalyzerPlot(wpi::Logger& logger) : m_logger(logger) {}
+AnalyzerPlot::AnalyzerPlot(wpi::util::Logger& logger) : m_logger(logger) {}
 
 void AnalyzerPlot::SetRawTimeData(const std::vector<PreparedData>& rawSlow,
                                   const std::vector<PreparedData>& rawFast,
@@ -131,7 +131,7 @@ void AnalyzerPlot::SetRawData(const Storage& data, std::string_view unit,
 void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
                            std::string_view unit,
                            const AnalysisManager::FeedforwardGains& ffGains,
-                           const std::array<units::second_t, 4>& startTimes,
+                           const std::array<wpi::units::second_t, 4>& startTimes,
                            AnalysisType type, std::atomic<bool>& abort) {
   double simSquaredErrorSum = 0;
   double squaredVariationSum = 0;
@@ -163,7 +163,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
   auto slowStep = std::ceil(slow.size() * 1.0 / kMaxSize * 4);
   auto fastStep = std::ceil(fast.size() * 1.0 / kMaxSize * 4);
 
-  units::second_t dtMean = GetMeanTimeDelta(filteredData);
+  wpi::units::second_t dtMean = GetMeanTimeDelta(filteredData);
 
   // Velocity-vs-time plots
   {
@@ -192,7 +192,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
                       slow[i].timestamp) == startTimes.end()) {
           m_timestepData.data.emplace_back(
               (slow[i].timestamp).value(),
-              units::millisecond_t{slow[i].dt}.value());
+              wpi::units::millisecond_t{slow[i].dt}.value());
         }
       }
     }
@@ -217,7 +217,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
                       fast[i].timestamp) == startTimes.end()) {
           m_timestepData.data.emplace_back(
               (fast[i].timestamp).value(),
-              units::millisecond_t{fast[i].dt}.value());
+              wpi::units::millisecond_t{fast[i].dt}.value());
         }
       }
     }
@@ -334,7 +334,7 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
               startTimes.end()) {
         m_timestepData.data.emplace_back(
             (slow[i].timestamp).value(),
-            units::millisecond_t{slow[i].dt}.value());
+            wpi::units::millisecond_t{slow[i].dt}.value());
       }
     }
   }
@@ -351,19 +351,19 @@ void AnalyzerPlot::SetData(const Storage& rawData, const Storage& filteredData,
               startTimes.end()) {
         m_timestepData.data.emplace_back(
             (fast[i].timestamp).value(),
-            units::millisecond_t{fast[i].dt}.value());
+            wpi::units::millisecond_t{fast[i].dt}.value());
       }
     }
   }
 
   auto minTime =
-      units::math::min(slow.front().timestamp, fast.front().timestamp);
+      wpi::units::math::min(slow.front().timestamp, fast.front().timestamp);
   m_timestepData.fitLine[0] =
-      ImPlotPoint{minTime.value(), units::millisecond_t{dtMean}.value()};
+      ImPlotPoint{minTime.value(), wpi::units::millisecond_t{dtMean}.value()};
 
-  auto maxTime = units::math::max(slow.back().timestamp, fast.back().timestamp);
+  auto maxTime = wpi::units::math::max(slow.back().timestamp, fast.back().timestamp);
   m_timestepData.fitLine[1] =
-      ImPlotPoint{maxTime.value(), units::millisecond_t{dtMean}.value()};
+      ImPlotPoint{maxTime.value(), wpi::units::millisecond_t{dtMean}.value()};
 
   // RMSE = std::sqrt(sum((x_i - x^_i)^2) / N) where sum represents the sum of
   // all time series points, x_i represents the velocity at a timestep, x^_i
diff --git a/tools/sysid/src/main/native/cpp/view/DataSelector.cpp b/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
index d3f52651ad..c422bf26bb 100644
--- a/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
+++ b/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
@@ -105,7 +105,7 @@ void DataSelector::Display() {
         continue;
       }
       for (auto it2 = it->second.begin(); it2 != it->second.end();) {
-        auto direction = wpi::rsplit(it2->first, '-').second;
+        auto direction = wpi::util::rsplit(it2->first, '-').second;
         if (direction != "forward" && direction != "reverse") {
           WPI_WARNING(m_logger, "Unrecognized direction {}, removing",
                       direction);
@@ -220,7 +220,7 @@ DataSelector::Tests DataSelector::LoadTests(
         continue;
       }
 
-      auto [testName, direction] = wpi::rsplit(testState, '-');
+      auto [testName, direction] = wpi::util::rsplit(testState, '-');
       auto testIt = tests.find(testName);
       if (testIt == tests.end()) {
         testIt = tests.emplace(std::string{testName}, State{}).first;
@@ -252,7 +252,7 @@ static void AddSamples(std::vector<MotorData::Run::Sample<T>>& samples,
       [](const auto& datapoint, double val) { return datapoint.first < val; });
 
   for (auto it = begin; it != end; ++it) {
-    samples.emplace_back(units::second_t{it->first * 1.0e-6}, T{it->second});
+    samples.emplace_back(wpi::units::second_t{it->first * 1.0e-6}, T{it->second});
   }
 }
 
diff --git a/tools/sysid/src/main/native/cpp/view/LogLoader.cpp b/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
index 12df0cf9ff..bbe3f35b09 100644
--- a/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
+++ b/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
@@ -24,7 +24,7 @@
 
 using namespace sysid;
 
-LogLoader::LogLoader(glass::Storage& storage, wpi::Logger& logger) {}
+LogLoader::LogLoader(wpi::glass::Storage& storage, wpi::util::Logger& logger) {}
 
 LogLoader::~LogLoader() = default;
 
@@ -40,7 +40,7 @@ void LogLoader::Display() {
     if (!m_opener->result().empty()) {
       m_filename = m_opener->result()[0];
 
-      auto fileBuffer = wpi::MemoryBuffer::GetFile(m_filename);
+      auto fileBuffer = wpi::util::MemoryBuffer::GetFile(m_filename);
       if (!fileBuffer) {
         ImGui::OpenPopup("Error");
         m_error = fmt::format("Could not open file: {}",
@@ -108,7 +108,7 @@ void LogLoader::Display() {
 
 void LogLoader::RebuildEntryTree() {
   m_entryTree.clear();
-  wpi::SmallVector<std::string_view, 16> parts;
+  wpi::util::SmallVector<std::string_view, 16> parts;
   m_reader->ForEachEntryName([&](const wpi::log::DataLogReaderEntry& entry) {
     // only show double/float/string entries (TODO: support struct/protobuf)
     if (entry.type != "double" && entry.type != "float" &&
@@ -117,19 +117,19 @@ void LogLoader::RebuildEntryTree() {
     }
 
     // filter on name
-    if (!m_filter.empty() && !wpi::contains_lower(entry.name, m_filter)) {
+    if (!m_filter.empty() && !wpi::util::contains_lower(entry.name, m_filter)) {
       return;
     }
 
     parts.clear();
     // split on first : if one is present
-    auto [prefix, mainpart] = wpi::split(entry.name, ':');
-    if (mainpart.empty() || wpi::contains(prefix, '/')) {
+    auto [prefix, mainpart] = wpi::util::split(entry.name, ':');
+    if (mainpart.empty() || wpi::util::contains(prefix, '/')) {
       mainpart = entry.name;
     } else {
       parts.emplace_back(prefix);
     }
-    wpi::split(mainpart, '/', -1, false,
+    wpi::util::split(mainpart, '/', -1, false,
                [&](auto part) { parts.emplace_back(part); });
 
     // ignore a raw "/" key
@@ -139,7 +139,7 @@ void LogLoader::RebuildEntryTree() {
 
     // get to leaf
     auto nodes = &m_entryTree;
-    for (auto part : wpi::drop_back(std::span{parts.begin(), parts.end()})) {
+    for (auto part : wpi::util::drop_back(std::span{parts.begin(), parts.end()})) {
       auto it =
           std::find_if(nodes->begin(), nodes->end(),
                        [&](const auto& node) { return node.name == part; });
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
index c57de76efc..dabfc624d9 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
@@ -70,7 +70,7 @@ class AnalysisManager {
      * The duration of the dynamic test that should be considered. A value of
      * zero indicates it needs to be set to the default.
      */
-    units::second_t stepTestDuration = 0_s;
+    wpi::units::second_t stepTestDuration = 0_s;
   };
 
   struct FeedforwardGain {
@@ -189,7 +189,7 @@ class AnalysisManager {
    * @param settings The settings for this instance of the analysis manager.
    * @param logger The logger instance to use for log data.
    */
-  AnalysisManager(Settings& settings, wpi::Logger& logger);
+  AnalysisManager(Settings& settings, wpi::util::Logger& logger);
 
   /**
    * Constructs an instance of the analysis manager with the given path (to the
@@ -199,7 +199,7 @@ class AnalysisManager {
    * @param settings The settings for this instance of the analysis manager.
    * @param logger   The logger instance to use for log data.
    */
-  AnalysisManager(TestData data, Settings& settings, wpi::Logger& logger);
+  AnalysisManager(TestData data, Settings& settings, wpi::util::Logger& logger);
 
   /**
    * Prepares data from the JSON and stores the output in Storage member
@@ -281,7 +281,7 @@ class AnalysisManager {
    *
    * @return The minimum step test duration.
    */
-  units::second_t GetMinStepTime() const { return m_minStepTime; }
+  wpi::units::second_t GetMinStepTime() const { return m_minStepTime; }
 
   /**
    * Returns the maximum duration of the Step Voltage Test of the currently
@@ -289,7 +289,7 @@ class AnalysisManager {
    *
    * @return  Maximum step test duration
    */
-  units::second_t GetMaxStepTime() const { return m_maxStepTime; }
+  wpi::units::second_t GetMaxStepTime() const { return m_maxStepTime; }
 
   /**
    * Returns the estimated time delay of the measured position, including
@@ -297,7 +297,7 @@ class AnalysisManager {
    *
    * @return Position delay in milliseconds
    */
-  units::millisecond_t GetPositionDelay() const {
+  wpi::units::millisecond_t GetPositionDelay() const {
     return std::accumulate(m_positionDelays.begin(), m_positionDelays.end(),
                            0_s) /
            m_positionDelays.size();
@@ -309,7 +309,7 @@ class AnalysisManager {
    *
    * @return Velocity delay in milliseconds
    */
-  units::millisecond_t GetVelocityDelay() const {
+  wpi::units::millisecond_t GetVelocityDelay() const {
     return std::accumulate(m_velocityDelays.begin(), m_velocityDelays.end(),
                            0_s) /
            m_positionDelays.size();
@@ -320,30 +320,30 @@ class AnalysisManager {
    *
    * @return The start times for each test
    */
-  const std::array<units::second_t, 4>& GetStartTimes() const {
+  const std::array<wpi::units::second_t, 4>& GetStartTimes() const {
     return m_startTimes;
   }
 
   bool HasData() const { return !m_originalDataset.empty(); }
 
  private:
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
   Storage m_originalDataset;
   Storage m_rawDataset;
   Storage m_filteredDataset;
 
   // Stores the various start times of the different tests.
-  std::array<units::second_t, 4> m_startTimes;
+  std::array<wpi::units::second_t, 4> m_startTimes;
 
   // The settings for this instance. This contains pointers to the feedback
   // controller preset, LQR parameters, acceleration window size, etc.
   Settings& m_settings;
 
-  units::second_t m_minStepTime{0};
-  units::second_t m_maxStepTime{std::numeric_limits<double>::infinity()};
-  std::vector<units::second_t> m_positionDelays;
-  std::vector<units::second_t> m_velocityDelays;
+  wpi::units::second_t m_minStepTime{0};
+  wpi::units::second_t m_maxStepTime{std::numeric_limits<double>::infinity()};
+  std::vector<wpi::units::second_t> m_positionDelays;
+  std::vector<wpi::units::second_t> m_velocityDelays;
 
   void PrepareGeneralData();
 };
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
index 51a615ec6c..e3f7e38834 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
@@ -36,7 +36,7 @@ class ArmSim {
    * @param voltage Voltage to apply over the timestep.
    * @param dt      Sample period.
    */
-  void Update(units::volt_t voltage, units::second_t dt);
+  void Update(wpi::units::volt_t voltage, wpi::units::second_t dt);
 
   /**
    * Returns the position.
@@ -58,7 +58,7 @@ class ArmSim {
    * @param voltage The voltage that is being applied to the mechanism / input
    * @return The acceleration given the state and input
    */
-  double GetAcceleration(units::volt_t voltage) const;
+  double GetAcceleration(wpi::units::volt_t voltage) const;
 
   /**
    * Resets model position and velocity.
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
index 8d82928d66..622e88d43a 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
@@ -34,7 +34,7 @@ class ElevatorSim {
    * @param voltage Voltage to apply over the timestep.
    * @param dt      Sample period.
    */
-  void Update(units::volt_t voltage, units::second_t dt);
+  void Update(wpi::units::volt_t voltage, wpi::units::second_t dt);
 
   /**
    * Returns the position.
@@ -56,7 +56,7 @@ class ElevatorSim {
    * @param voltage The voltage that is being applied to the mechanism / input
    * @return The acceleration given the state and input
    */
-  double GetAcceleration(units::volt_t voltage) const;
+  double GetAcceleration(wpi::units::volt_t voltage) const;
 
   /**
    * Resets model position and velocity.
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
index 440d5e3433..04dc7fca09 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
@@ -29,7 +29,7 @@ struct FeedbackControllerPreset {
   /**
    * The period at which the controller runs.
    */
-  units::millisecond_t period;
+  wpi::units::millisecond_t period;
 
   /**
    * Whether the controller gains are time-normalized.
@@ -39,7 +39,7 @@ struct FeedbackControllerPreset {
   /**
    * The measurement delay in the encoder measurements.
    */
-  units::millisecond_t measurementDelay;
+  wpi::units::millisecond_t measurementDelay;
 
   /**
    * Checks equality between two feedback controller presets.
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
index 847d824d4d..a3ba5fa728 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
@@ -145,10 +145,10 @@ void ApplyMedianFilter(std::vector<PreparedData>* data, int window);
  * @param maxStepTime The maximum step test duration.
  * @return The updated minimum step test duration.
  */
-std::tuple<units::second_t, units::second_t, units::second_t>
+std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::units::second_t>
 TrimStepVoltageData(std::vector<PreparedData>* data,
                     AnalysisManager::Settings* settings,
-                    units::second_t minStepTime, units::second_t maxStepTime);
+                    wpi::units::second_t minStepTime, wpi::units::second_t maxStepTime);
 
 /**
  * Compute the mean time delta of the given data.
@@ -156,7 +156,7 @@ TrimStepVoltageData(std::vector<PreparedData>* data,
  * @param data A reference to all of the collected PreparedData
  * @return The mean time delta for all the data points
  */
-units::second_t GetMeanTimeDelta(const std::vector<PreparedData>& data);
+wpi::units::second_t GetMeanTimeDelta(const std::vector<PreparedData>& data);
 
 /**
  * Compute the mean time delta of the given data.
@@ -164,7 +164,7 @@ units::second_t GetMeanTimeDelta(const std::vector<PreparedData>& data);
  * @param data A reference to all of the collected PreparedData
  * @return The mean time delta for all the data points
  */
-units::second_t GetMeanTimeDelta(const Storage& data);
+wpi::units::second_t GetMeanTimeDelta(const Storage& data);
 
 /**
  * Creates a central finite difference filter that computes the nth
@@ -187,16 +187,16 @@ units::second_t GetMeanTimeDelta(const Storage& data);
  * @param period      The period in seconds between samples taken by the user.
  */
 template <int Derivative, int Samples>
-frc::LinearFilter<double> CentralFiniteDifference(units::second_t period) {
+wpi::math::LinearFilter<double> CentralFiniteDifference(wpi::units::second_t period) {
   static_assert(Samples % 2 != 0, "Number of samples must be odd.");
 
   // Generate stencil points from -(samples - 1)/2 to (samples - 1)/2
-  wpi::array<int, Samples> stencil{wpi::empty_array};
+  wpi::util::array<int, Samples> stencil{wpi::util::empty_array};
   for (int i = 0; i < Samples; ++i) {
     stencil[i] = -(Samples - 1) / 2 + i;
   }
 
-  return frc::LinearFilter<double>::FiniteDifference<Derivative, Samples>(
+  return wpi::math::LinearFilter<double>::FiniteDifference<Derivative, Samples>(
       stencil, period);
 }
 
@@ -219,12 +219,12 @@ frc::LinearFilter<double> CentralFiniteDifference(units::second_t period) {
  * @param unit The angular unit that the arm test is in (only for calculating
  *             cosine data)
  */
-void InitialTrimAndFilter(wpi::StringMap<std::vector<PreparedData>>* data,
+void InitialTrimAndFilter(wpi::util::StringMap<std::vector<PreparedData>>* data,
                           AnalysisManager::Settings* settings,
-                          std::vector<units::second_t>& positionDelays,
-                          std::vector<units::second_t>& velocityDelays,
-                          units::second_t& minStepTime,
-                          units::second_t& maxStepTime,
+                          std::vector<wpi::units::second_t>& positionDelays,
+                          std::vector<wpi::units::second_t>& velocityDelays,
+                          wpi::units::second_t& minStepTime,
+                          wpi::units::second_t& maxStepTime,
                           std::string_view unit = "");
 
 /**
@@ -232,6 +232,6 @@ void InitialTrimAndFilter(wpi::StringMap<std::vector<PreparedData>>* data,
  *
  * @param data A pointer to a PreparedData vector
  */
-void AccelFilter(wpi::StringMap<std::vector<PreparedData>>* data);
+void AccelFilter(wpi::util::StringMap<std::vector<PreparedData>>* data);
 
 }  // namespace sysid
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
index d78f66bf08..ff749b8743 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
@@ -34,7 +34,7 @@ class SimpleMotorSim {
    * @param voltage Voltage to apply over the timestep.
    * @param dt      Sample period.
    */
-  void Update(units::volt_t voltage, units::second_t dt);
+  void Update(wpi::units::volt_t voltage, wpi::units::second_t dt);
 
   /**
    * Returns the position.
@@ -56,7 +56,7 @@ class SimpleMotorSim {
    * @param voltage The voltage that is being applied to the mechanism / input
    * @return The acceleration given the state and input
    */
-  double GetAcceleration(units::volt_t voltage) const;
+  double GetAcceleration(wpi::units::volt_t voltage) const;
 
   /**
    * Resets model position and velocity.
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
index 4ce6cde226..ae17192ecd 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
@@ -22,14 +22,14 @@ struct MotorData {
   // Timestamps are not necessarily aligned!
   struct Run {
     template <typename T>
-      requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+      requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
     struct Sample {
-      Sample(units::second_t time, T measurement)
+      Sample(wpi::units::second_t time, T measurement)
           : time{time}, measurement{measurement} {}
-      units::second_t time;
+      wpi::units::second_t time;
       T measurement;
     };
-    std::vector<Sample<units::volt_t>> voltage;
+    std::vector<Sample<wpi::units::volt_t>> voltage;
     std::vector<Sample<double>> position;
     std::vector<Sample<double>> velocity;
   };
@@ -40,7 +40,7 @@ struct MotorData {
 struct TestData {
   std::string distanceUnit;
   AnalysisType mechanismType;
-  wpi::StringMap<MotorData> motorData;
+  wpi::util::StringMap<MotorData> motorData;
 };
 
 /**
@@ -51,7 +51,7 @@ struct PreparedData {
   /**
    * The timestamp of the data point.
    */
-  units::second_t timestamp;
+  wpi::units::second_t timestamp;
 
   /**
    * The voltage of the data point.
@@ -71,7 +71,7 @@ struct PreparedData {
   /**
    * The difference in timestamps between this point and the next point.
    */
-  units::second_t dt = 0_s;
+  wpi::units::second_t dt = 0_s;
 
   /**
    * The acceleration of the data point
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
index 219758d36e..ad8454f707 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
@@ -19,7 +19,7 @@ namespace sysid {
  * @param accum The accumulated gyro angle.
  */
 constexpr double CalculateTrackwidth(double l, double r,
-                                     units::radian_t accum) {
+                                     wpi::units::radian_t accum) {
   // The below comes from solving ω = (vr − vl) / 2r for 2r.
   return (gcem::abs(r) + gcem::abs(l)) / gcem::abs(accum.value());
 }
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
index d218e48d6e..3f7676ed87 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
@@ -25,7 +25,7 @@
 
 struct ImPlotPoint;
 
-namespace glass {
+namespace wpi::glass {
 class Storage;
 }  // namespace glass
 
@@ -35,7 +35,7 @@ namespace sysid {
  * load their data, visualize the data, adjust certain variables, and then view
  * the calculated gains.
  */
-class Analyzer : public glass::View {
+class Analyzer : public wpi::glass::View {
  public:
   TestData m_data;
   /**
@@ -78,7 +78,7 @@ class Analyzer : public glass::View {
    * @param storage Glass Storage
    * @param logger The program logger
    */
-  Analyzer(glass::Storage& storage, wpi::Logger& logger);
+  Analyzer(wpi::glass::Storage& storage, wpi::util::Logger& logger);
 
   /**
    * Displays the analyzer widget
@@ -212,7 +212,7 @@ class Analyzer : public glass::View {
 
   // Everything related to feedback controller calculations.
   AnalysisManager::Settings m_settings;
-  wpi::StringMap<FeedbackControllerPreset> m_presets;
+  wpi::util::StringMap<FeedbackControllerPreset> m_presets;
 
   int m_selectedLoopType = 1;
   int m_selectedPreset = 0;
@@ -223,7 +223,7 @@ class Analyzer : public glass::View {
   double m_accelRMSE;
   double m_Kp;
   double m_Kd;
-  units::millisecond_t m_timescale;
+  wpi::units::millisecond_t m_timescale;
   bool m_timescaleValid = false;
 
   // Units
@@ -235,7 +235,7 @@ class Analyzer : public glass::View {
   float m_stepTestDuration = 0;
 
   // Logger
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
   // Plot
   AnalyzerPlot m_plot{m_logger};
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
index 396bedcf63..51a51cbc92 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
@@ -37,7 +37,7 @@ class AnalyzerPlot {
    *
    * @param logger The program logger
    */
-  explicit AnalyzerPlot(wpi::Logger& logger);
+  explicit AnalyzerPlot(wpi::util::Logger& logger);
 
   /**
    * Sets the data to be displayed on the plots.
@@ -55,7 +55,7 @@ class AnalyzerPlot {
   void SetData(const Storage& rawData, const Storage& filteredData,
                std::string_view unit,
                const AnalysisManager::FeedforwardGains& ff,
-               const std::array<units::second_t, 4>& startTimes,
+               const std::array<wpi::units::second_t, 4>& startTimes,
                AnalysisType type, std::atomic<bool>& abort);
 
   /**
@@ -189,10 +189,10 @@ class AnalyzerPlot {
   std::string m_velPortionAccelLabel;
 
   // Thread safety
-  wpi::spinlock m_mutex;
+  wpi::util::spinlock m_mutex;
 
   // Logger
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
   FilteredDataVsTimePlot m_quasistaticData;
   FilteredDataVsTimePlot m_dynamicData;
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
index 0059675462..6f8f39d984 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
@@ -17,7 +17,7 @@
 #include "wpi/sysid/analysis/Storage.hpp"
 #include "wpi/util/StringMap.hpp"
 
-namespace glass {
+namespace wpi::glass {
 class Storage;
 }  // namespace glass
 
@@ -25,21 +25,21 @@ namespace wpi {
 namespace log {
 class DataLogReaderEntry;
 }  // namespace log
-class Logger;
+class wpi::util::Logger;
 }  // namespace wpi
 
 namespace sysid {
 /**
  * Helps with loading datalog files.
  */
-class DataSelector : public glass::View {
+class DataSelector : public wpi::glass::View {
  public:
   /**
    * Creates a data selector widget
    *
    * @param logger The program logger
    */
-  explicit DataSelector(glass::Storage& storage, wpi::Logger& logger)
+  explicit DataSelector(wpi::glass::Storage& storage, wpi::util::Logger& logger)
       : m_logger{logger} {}
 
   /**
@@ -60,7 +60,7 @@ class DataSelector : public glass::View {
   std::vector<std::string> m_missingTests;
 
  private:
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
   using Runs = std::vector<std::pair<int64_t, int64_t>>;
   using State = std::map<std::string, Runs, std::less<>>;   // full name
   using Tests = std::map<std::string, State, std::less<>>;  // e.g. "dynamic"
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
index ed59906b0e..0f5edec62d 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
@@ -12,7 +12,7 @@
 #include "wpi/glass/View.hpp"
 #include "wpi/util/Signal.h"
 
-namespace glass {
+namespace wpi::glass {
 class Storage;
 }  // namespace glass
 
@@ -25,21 +25,21 @@ namespace log {
 class DataLogReaderEntry;
 class DataLogReaderThread;
 }  // namespace log
-class Logger;
+class wpi::util::Logger;
 }  // namespace wpi
 
 namespace sysid {
 /**
  * Helps with loading datalog files.
  */
-class LogLoader : public glass::View {
+class LogLoader : public wpi::glass::View {
  public:
   /**
    * Creates a log loader widget
    *
    * @param logger The program logger
    */
-  explicit LogLoader(glass::Storage& storage, wpi::Logger& logger);
+  explicit LogLoader(wpi::glass::Storage& storage, wpi::util::Logger& logger);
 
   ~LogLoader() override;
 
@@ -52,10 +52,10 @@ class LogLoader : public glass::View {
    * Signal called when the current file is unloaded (invalidates any
    * LogEntry*).
    */
-  wpi::sig::Signal<> unload;
+  wpi::util::sig::Signal<> unload;
 
  private:
-  // wpi::Logger& m_logger;
+  // Logger& m_logger;
 
   std::string m_filename;
   std::unique_ptr<pfd::open_file> m_opener;
diff --git a/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
index 6f9094b433..163ac7aa92 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
@@ -40,9 +40,9 @@ inline constexpr int kMovementCombinations = 16;
 template <typename Model>
 sysid::Storage CollectData(Model& model, std::bitset<4> movements) {
   constexpr auto kUstep = 0.25_V / 1_s;
-  constexpr units::volt_t kUmax = 7_V;
-  constexpr units::second_t T = 5_ms;
-  constexpr units::second_t kTestDuration = 5_s;
+  constexpr wpi::units::volt_t kUmax = 7_V;
+  constexpr wpi::units::second_t T = 5_ms;
+  constexpr wpi::units::second_t kTestDuration = 5_s;
 
   sysid::Storage storage;
   auto& [slowForward, slowBackward, fastForward, fastBackward] = storage;
diff --git a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
index 672d97be68..e446cc2a5c 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/sysid/analysis/FilteringUtils.hpp"
 #include "wpi/sysid/analysis/Storage.hpp"
 
-TEST(FilterTest, MedianFilter) {
+TEST(FilterTest, wpi::math::MedianFilter) {
   std::vector<sysid::PreparedData> testData{
       sysid::PreparedData{0_s, 0, 0, 0},    sysid::PreparedData{0_s, 0, 0, 1},
       sysid::PreparedData{0_s, 0, 0, 10},   sysid::PreparedData{0_s, 0, 0, 5},
@@ -49,7 +49,7 @@ void FillStepVoltageData(std::vector<sysid::PreparedData>& data) {
     auto& datum = data.at(i);
     datum.timestamp = previousDatum.timestamp + previousDatum.dt;
     datum.position = 0.5 * previousDatum.acceleration *
-                         units::math::pow<2>(previousDatum.dt).value() +
+                         wpi::units::math::pow<2>(previousDatum.dt).value() +
                      previousDatum.velocity * previousDatum.dt.value() +
                      previousDatum.position;
     datum.velocity = previousDatum.velocity +
@@ -136,7 +136,7 @@ TEST(FilterTest, StepTrim) {
 }
 
 template <int Derivative, int Samples, typename F, typename DfDx>
-void AssertCentralResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
+void AssertCentralResults(F&& f, DfDx&& dfdx, wpi::units::second_t h, double min,
                           double max) {
   static_assert(Samples % 2 != 0, "Number of samples must be odd.");
 
diff --git a/tools/wpical/src/main/native/cpp/WPIcal.cpp b/tools/wpical/src/main/native/cpp/WPIcal.cpp
index ba9205bd31..76763d4613 100644
--- a/tools/wpical/src/main/native/cpp/WPIcal.cpp
+++ b/tools/wpical/src/main/native/cpp/WPIcal.cpp
@@ -148,7 +148,7 @@ static bool EmitEntryTarget(int tag_id, std::string& file) {
   return rv;
 }
 
-void saveCalibration(wpi::json& field, std::string& output_directory,
+void saveCalibration(wpi::util::json& field, std::string& output_directory,
                      std::string output_name, bool& isCalibrating) {
   if (!field.empty() && !output_directory.empty()) {
     std::cout << "Saving calibration to " << output_directory << std::endl;
@@ -198,8 +198,8 @@ static void DisplayGui() {
       field_calibration_directory_selector;
   static std::unique_ptr<pfd::select_folder> download_directory_selector;
 
-  static wpi::json field_calibration_json;
-  static wpi::json field_combination_json;
+  static wpi::util::json field_calibration_json;
+  static wpi::util::json field_combination_json;
 
   static std::string selected_camera_intrinsics;
   static std::string selected_field_map;
@@ -534,8 +534,8 @@ static void DisplayGui() {
       std::ifstream calJson(output_calibration_json_path);
       std::ifstream refJson(selected_field_map);
 
-      currentCalibrationMap = Fieldmap(wpi::json::parse(calJson));
-      currentReferenceMap = Fieldmap(wpi::json::parse(refJson));
+      currentCalibrationMap = Fieldmap(wpi::util::json::parse(calJson));
+      currentReferenceMap = Fieldmap(wpi::util::json::parse(refJson));
 
       if (currentCalibrationMap.getNumTags() !=
           currentReferenceMap.getNumTags()) {
@@ -616,7 +616,7 @@ static void DisplayGui() {
     if (!selected_field_map.empty()) {
       drawCheck();
       std::ifstream json(selected_field_map);
-      currentReferenceMap = Fieldmap(wpi::json::parse(json));
+      currentReferenceMap = Fieldmap(wpi::util::json::parse(json));
       currentCombinerMap = currentReferenceMap;
     }
     openFilesButton("Select Field Calibrations",
@@ -660,7 +660,7 @@ static void DisplayGui() {
     if (ImGui::Button("Download", ImVec2(0, 0))) {
       for (auto& [key, val] : combiner_map) {
         std::ifstream json(val);
-        Fieldmap map(wpi::json::parse(json));
+        Fieldmap map(wpi::util::json::parse(json));
         currentCombinerMap.replaceTag(key, map.getTag(key));
       }
       field_combination_json = currentCombinerMap.toJson();
diff --git a/tools/wpical/src/main/native/cpp/fieldcalibration.cpp b/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
index 4f1aa749ce..38e00c6b7e 100644
--- a/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
+++ b/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
@@ -96,11 +96,11 @@ inline cameracalibration::CameraModel load_camera_model(std::string path) {
 
   std::ifstream file(path);
 
-  wpi::json json_data;
+  wpi::util::json json_data;
 
   try {
-    json_data = wpi::json::parse(file);
-  } catch (const wpi::json::parse_error& e) {
+    json_data = wpi::util::json::parse(file);
+  } catch (const wpi::util::json::parse_error& e) {
     std::cout << e.what() << std::endl;
   }
 
@@ -150,7 +150,7 @@ inline cameracalibration::CameraModel load_camera_model(std::string path) {
   return camera_model;
 }
 
-inline cameracalibration::CameraModel load_camera_model(wpi::json json_data) {
+inline cameracalibration::CameraModel load_camera_model(wpi::util::json json_data) {
   // Camera matrix
   Eigen::Matrix<double, 3, 3> camera_matrix;
 
@@ -176,10 +176,10 @@ inline cameracalibration::CameraModel load_camera_model(wpi::json json_data) {
   return camera_model;
 }
 
-inline std::map<int, wpi::json> load_ideal_map(std::string path) {
+inline std::map<int, wpi::util::json> load_ideal_map(std::string path) {
   std::ifstream file(path);
-  wpi::json json_data = wpi::json::parse(file);
-  std::map<int, wpi::json> ideal_map;
+  wpi::util::json json_data = wpi::util::json::parse(file);
+  std::map<int, wpi::util::json> ideal_map;
 
   for (const auto& element : json_data["tags"]) {
     ideal_map[element["ID"]] = element;
@@ -189,7 +189,7 @@ inline std::map<int, wpi::json> load_ideal_map(std::string path) {
 }
 
 Eigen::Matrix<double, 4, 4> get_tag_transform(
-    std::map<int, wpi::json>& ideal_map, int tag_id) {
+    std::map<int, wpi::util::json>& ideal_map, int tag_id) {
   Eigen::Matrix<double, 4, 4> transform =
       Eigen::Matrix<double, 4, 4>::Identity();
 
@@ -432,7 +432,7 @@ inline bool process_video_file(
 }
 
 int fieldcalibration::calibrate(std::string input_dir_path,
-                                wpi::json& output_json,
+                                wpi::util::json& output_json,
                                 std::string camera_model_path,
                                 std::string ideal_map_path, int pinned_tag_id,
                                 bool show_debug_window) {
@@ -452,13 +452,13 @@ int fieldcalibration::calibrate(std::string input_dir_path,
     return 1;
   }
 
-  wpi::json json = wpi::json::parse(std::ifstream(ideal_map_path));
+  wpi::util::json json = wpi::util::json::parse(std::ifstream(ideal_map_path));
   if (!json.contains("tags")) {
     return 1;
   }
 
   // Load ideal field map
-  std::map<int, wpi::json> ideal_map;
+  std::map<int, wpi::util::json> ideal_map;
   try {
     ideal_map = load_ideal_map(ideal_map_path);
   } catch (...) {
@@ -552,7 +552,7 @@ int fieldcalibration::calibrate(std::string input_dir_path,
   std::cout << summary.BriefReport() << std::endl;
 
   // Output
-  std::map<int, wpi::json> observed_map = ideal_map;
+  std::map<int, wpi::util::json> observed_map = ideal_map;
 
   Eigen::Matrix<double, 4, 4> correction_a;
   correction_a << 0, 0, -1, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 1;
@@ -594,7 +594,7 @@ int fieldcalibration::calibrate(std::string input_dir_path,
         corrected_transform_q.w();
   }
 
-  wpi::json observed_map_json;
+  wpi::util::json observed_map_json;
 
   for (const auto& [tag_id, tag_json] : observed_map) {
     observed_map_json["tags"].push_back(tag_json);
diff --git a/tools/wpical/src/main/native/cpp/fmap.cpp b/tools/wpical/src/main/native/cpp/fmap.cpp
index 82db1f956b..6ed9944afa 100644
--- a/tools/wpical/src/main/native/cpp/fmap.cpp
+++ b/tools/wpical/src/main/native/cpp/fmap.cpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <vector>
 
-wpi::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
+wpi::util::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
   std::vector<double> transform = {};
   for (int i = 0; i < 4; i++) {
     for (int j = 0; j < 4; j++) {
@@ -22,7 +22,7 @@ wpi::json fmap::singleTag(int tag, const tag::Pose& tagpose) {
           {"unique", true}};
 }
 
-wpi::json fmap::convertfmap(const wpi::json& json) {
+wpi::util::json fmap::convertfmap(const wpi::util::json& json) {
   std::string fmapstart = "{\"fiducials\":[";
 
   std::string fmapend = "],\"type\":\"frc\"}";
@@ -36,5 +36,5 @@ wpi::json fmap::convertfmap(const wpi::json& json) {
     }
   }
 
-  return wpi::json::parse(fmapstart.append(fmapend));
+  return wpi::util::json::parse(fmapstart.append(fmapend));
 }
diff --git a/tools/wpical/src/main/native/cpp/tagpose.cpp b/tools/wpical/src/main/native/cpp/tagpose.cpp
index 5208ad6244..8137679996 100644
--- a/tools/wpical/src/main/native/cpp/tagpose.cpp
+++ b/tools/wpical/src/main/native/cpp/tagpose.cpp
@@ -32,7 +32,7 @@ Pose::Pose(int tag_id, double xpos, double ypos, double zpos, double w,
   yawRot = eulerAngles[2];
 }
 
-wpi::json Pose::toJson() {
+wpi::util::json Pose::toJson() {
   return {{"ID", tagId},
           {"pose",
            {{"translation", {{"x", xPos}, {"y", yPos}, {"z", zPos}}},
diff --git a/tools/wpical/src/main/native/include/cameracalibration.hpp b/tools/wpical/src/main/native/include/cameracalibration.hpp
index 3e728ac1ae..c1210270b4 100644
--- a/tools/wpical/src/main/native/include/cameracalibration.hpp
+++ b/tools/wpical/src/main/native/include/cameracalibration.hpp
@@ -40,7 +40,7 @@ static void dumpJson(CameraModel& camera_model,
       camera_model.distortion_coefficients.data() +
           camera_model.distortion_coefficients.size());
 
-  wpi::json result = {
+  wpi::util::json result = {
       {"camera_matrix", camera_matrix},
       {"distortion_coefficients", distortion_coefficients},
       {"avg_reprojection_error", camera_model.avg_reprojection_error}};
diff --git a/tools/wpical/src/main/native/include/fieldcalibration.hpp b/tools/wpical/src/main/native/include/fieldcalibration.hpp
index 673b6a236f..582e19cb8c 100644
--- a/tools/wpical/src/main/native/include/fieldcalibration.hpp
+++ b/tools/wpical/src/main/native/include/fieldcalibration.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/json.hpp"
 
 namespace fieldcalibration {
-int calibrate(std::string input_dir_path, wpi::json& output_json,
+int calibrate(std::string input_dir_path, wpi::util::json& output_json,
               std::string camera_model_path, std::string ideal_map_path,
               int pinned_tag_id, bool show_debug_window);
 }  // namespace fieldcalibration
diff --git a/tools/wpical/src/main/native/include/fieldmap.hpp b/tools/wpical/src/main/native/include/fieldmap.hpp
index c3fb241927..352d4ab5d2 100644
--- a/tools/wpical/src/main/native/include/fieldmap.hpp
+++ b/tools/wpical/src/main/native/include/fieldmap.hpp
@@ -13,7 +13,7 @@
 class Fieldmap {
  public:
   Fieldmap() = default;
-  explicit Fieldmap(const wpi::json& json) {
+  explicit Fieldmap(const wpi::util::json& json) {
     double field_length_meters =
         static_cast<double>(json.at("field").at("length"));
     double field_width_meters =
@@ -50,8 +50,8 @@ class Fieldmap {
 
   bool hasTag(int tag) { return tagMap.find(tag) != tagMap.end(); }
 
-  wpi::json toJson() {
-    wpi::json json;
+  wpi::util::json toJson() {
+    wpi::util::json json;
     for (auto& [key, val] : tagMap) {
       json["tags"].push_back(val.toJson());
     }
diff --git a/tools/wpical/src/main/native/include/fmap.hpp b/tools/wpical/src/main/native/include/fmap.hpp
index 6975e8a3ee..d63b3190d2 100644
--- a/tools/wpical/src/main/native/include/fmap.hpp
+++ b/tools/wpical/src/main/native/include/fmap.hpp
@@ -9,6 +9,6 @@
 #include "wpi/util/json.hpp"
 
 namespace fmap {
-wpi::json singleTag(int tag, const tag::Pose& tagpose);
-wpi::json convertfmap(const wpi::json& json);
+wpi::util::json singleTag(int tag, const tag::Pose& tagpose);
+wpi::util::json convertfmap(const wpi::util::json& json);
 }  // namespace fmap
diff --git a/tools/wpical/src/main/native/include/tagpose.hpp b/tools/wpical/src/main/native/include/tagpose.hpp
index 6c9f37247a..596ed3c5c6 100644
--- a/tools/wpical/src/main/native/include/tagpose.hpp
+++ b/tools/wpical/src/main/native/include/tagpose.hpp
@@ -20,6 +20,6 @@ class Pose {
   Eigen::Quaterniond quaternion;
   Eigen::Matrix3d rotationMatrix;
   Eigen::Matrix4d transformMatrixFmap;
-  wpi::json toJson();
+  wpi::util::json toJson();
 };
 }  // namespace tag
diff --git a/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp b/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
index deb4670887..39b31408a8 100644
--- a/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
+++ b/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
@@ -288,7 +288,7 @@ compose_r_core(// output
 
     Described here:
 
-        Altmann, Simon L. "Hamilton, Rodrigues, and the Quaternion Scandal."
+        Altmann, Simon L. "Hamilton, Rodrigues, and the wpi::math::Quaternion Scandal."
         Mathematics Magazine, vol. 62, no. 5, 1989, pp. 291–308
 
     Available here:
diff --git a/tools/wpical/src/test/native/cpp/test_calibrate.cpp b/tools/wpical/src/test/native/cpp/test_calibrate.cpp
index 5e298f7a6d..3979d2a835 100644
--- a/tools/wpical/src/test/native/cpp/test_calibrate.cpp
+++ b/tools/wpical/src/test/native/cpp/test_calibrate.cpp
@@ -26,7 +26,7 @@ cameracalibration::CameraModel cameraModel = {
     .distortion_coefficients = Eigen::Matrix<double, 8, 1>::Zero(),
     .avg_reprojection_error = 0.0};
 
-wpi::json output_json;
+wpi::util::json output_json;
 
 #ifdef __linux__
 const std::string fileSuffix = ".avi";
diff --git a/wpilibc/src/dev/native/cpp/main.cpp b/wpilibc/src/dev/native/cpp/main.cpp
index 9fb77f5ade..af572151af 100644
--- a/wpilibc/src/dev/native/cpp/main.cpp
+++ b/wpilibc/src/dev/native/cpp/main.cpp
@@ -7,7 +7,7 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::print("Hello World\n");
-  wpi::print("{}\n", static_cast<int32_t>(HAL_GetRuntimeType()));
-  wpi::print("{}\n", GetWPILibVersion());
+  wpi::util::print("Hello World\n");
+  wpi::util::print("{}\n", static_cast<int32_t>(HAL_GetRuntimeType()));
+  wpi::util::print("{}\n", GetWPILibVersion());
 }
diff --git a/wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja b/wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja
index 9ac2bca451..a59dc80e9e 100644
--- a/wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja
@@ -13,7 +13,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 {{ ConsoleName }}Controller::{{ ConsoleName }}Controller(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "{{ ConsoleName }}Controller");
@@ -92,7 +92,7 @@ bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
 }
 {%- endif %}
 
-void {{ ConsoleName }}Controller::InitSendable(wpi::SendableBuilder& builder) {
+void {{ ConsoleName }}Controller::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "{{ ConsoleName }}");
 {%- for trigger in triggers %}
diff --git a/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja b/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
index 0c0909176f..d6e79633b4 100644
--- a/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 {{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
   SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
diff --git a/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja b/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
index 3a99eafbd1..e3a39046a8 100644
--- a/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
@@ -10,8 +10,8 @@
 
 #include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 {{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick)
     : GenericHIDSim{joystick} {
diff --git a/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
index f7350e50ea..9e29eeb760 100644
--- a/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
@@ -13,7 +13,7 @@
 
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
@@ -28,8 +28,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class {{ ConsoleName }}Controller : public GenericHID,
-                                    public wpi::Sendable,
-                                    public wpi::SendableHelper<{{ ConsoleName }}Controller> {
+                                    public wpi::util::Sendable,
+                                    public wpi::util::SendableHelper<{{ ConsoleName }}Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -236,7 +236,7 @@ class {{ ConsoleName }}Controller : public GenericHID,
 {%- endfor %}
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
index 251d2e49ce..5eab39dfa6 100644
--- a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * {{ Manufacturer }} {{ DisplayName }} Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class {{ name }} : public PWMMotorController {
   {{ name }}& operator=({{ name }}&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
index e29724a06a..94d8064244 100644
--- a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
@@ -10,7 +10,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class {{ ConsoleName }}Controller;
 
@@ -95,4 +95,4 @@ class {{ ConsoleName }}ControllerSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
index 306652ca19..3c215e997c 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 PS4Controller::PS4Controller(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "PS4Controller");
@@ -277,7 +277,7 @@ bool PS4Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
 
-void PS4Controller::InitSendable(wpi::SendableBuilder& builder) {
+void PS4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "PS4");
   builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
index fee3efc689..5ead2a666a 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 PS5Controller::PS5Controller(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "PS5Controller");
@@ -277,7 +277,7 @@ bool PS5Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
 
-void PS5Controller::InitSendable(wpi::SendableBuilder& builder) {
+void PS5Controller::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "PS5");
   builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
index d4cafa249a..8f500c6874 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 StadiaController::StadiaController(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "StadiaController");
@@ -297,7 +297,7 @@ bool StadiaController::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
 
-void StadiaController::InitSendable(wpi::SendableBuilder& builder) {
+void StadiaController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "Stadia");
   builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
index c529a70b44..8def6d8b45 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 XboxController::XboxController(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "XboxController");
@@ -241,7 +241,7 @@ bool XboxController::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
 
-void XboxController::InitSendable(wpi::SendableBuilder& builder) {
+void XboxController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "Xbox");
   builder.AddDoubleProperty("LeftTrigger Axis", [this] { return GetLeftTriggerAxis(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
index ab643aaccc..9c84583187 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 Koors40::Koors40(int channel) : PWMMotorController("Koors40", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
index a7d23e7a99..ccac0bb37d 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMSparkFlex::PWMSparkFlex(int channel) : PWMMotorController("PWMSparkFlex", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
index 1958e078d0..bf915255f1 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMSparkMax::PWMSparkMax(int channel) : PWMMotorController("PWMSparkMax", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
index 23557bc9bf..24d0fdcf42 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMTalonFX::PWMTalonFX(int channel) : PWMMotorController("PWMTalonFX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
index b0b6821bad..35bd165d58 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMTalonSRX::PWMTalonSRX(int channel) : PWMMotorController("PWMTalonSRX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
index df931ca0f6..28b182a1b7 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
index d2328ef142..7585ae5d31 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 PWMVictorSPX::PWMVictorSPX(int channel) : PWMMotorController("PWMVictorSPX", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
index 20783d33dd..a77800b755 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
   SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
index a61314f7ca..38ddcb3801 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 SparkMini::SparkMini(int channel) : PWMMotorController("SparkMini", channel) {
   SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
index ca83bb34c8..bfc03a7a19 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
   SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
index 9d96bee5cc..c15abe7243 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
   SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
index 8ddcaafb85..0b21c90d0e 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
@@ -8,8 +8,8 @@
 
 #include "wpi/driverstation/PS4Controller.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 PS4ControllerSim::PS4ControllerSim(const PS4Controller& joystick)
     : GenericHIDSim{joystick} {
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
index 833ae3be6d..717c60e966 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
@@ -8,8 +8,8 @@
 
 #include "wpi/driverstation/PS5Controller.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 PS5ControllerSim::PS5ControllerSim(const PS5Controller& joystick)
     : GenericHIDSim{joystick} {
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
index 64051708a4..4b70aad36d 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
@@ -8,8 +8,8 @@
 
 #include "wpi/driverstation/StadiaController.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 StadiaControllerSim::StadiaControllerSim(const StadiaController& joystick)
     : GenericHIDSim{joystick} {
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
index 10448c42d9..1f54ef6f3a 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
@@ -8,8 +8,8 @@
 
 #include "wpi/driverstation/XboxController.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 XboxControllerSim::XboxControllerSim(const XboxController& joystick)
     : GenericHIDSim{joystick} {
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
index 370a20c42e..b3b512699e 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from PS4 controllers connected to the Driver Station.
@@ -26,8 +26,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class PS4Controller : public GenericHID,
-                                    public wpi::Sendable,
-                                    public wpi::SendableHelper<PS4Controller> {
+                                    public wpi::util::Sendable,
+                                    public wpi::util::SendableHelper<PS4Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -602,7 +602,7 @@ class PS4Controller : public GenericHID,
     static constexpr int kR2 = 4;
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
index ac1bdda0f3..dd80e2f5ab 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from PS5 controllers connected to the Driver Station.
@@ -26,8 +26,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class PS5Controller : public GenericHID,
-                                    public wpi::Sendable,
-                                    public wpi::SendableHelper<PS5Controller> {
+                                    public wpi::util::Sendable,
+                                    public wpi::util::SendableHelper<PS5Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -602,7 +602,7 @@ class PS5Controller : public GenericHID,
     static constexpr int kR2 = 4;
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
index 7dbcf6593f..26402a5d42 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from Stadia controllers connected to the Driver Station.
@@ -26,8 +26,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class StadiaController : public GenericHID,
-                                    public wpi::Sendable,
-                                    public wpi::SendableHelper<StadiaController> {
+                                    public wpi::util::Sendable,
+                                    public wpi::util::SendableHelper<StadiaController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -649,7 +649,7 @@ class StadiaController : public GenericHID,
     static constexpr int kRightY = 4;
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
index c7bb8575cd..9d66898937 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from Xbox controllers connected to the Driver Station.
@@ -26,8 +26,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class XboxController : public GenericHID,
-                                    public wpi::Sendable,
-                                    public wpi::SendableHelper<XboxController> {
+                                    public wpi::util::Sendable,
+                                    public wpi::util::SendableHelper<XboxController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -548,7 +548,7 @@ class XboxController : public GenericHID,
     static constexpr int kRightTrigger = 3;
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
index 40dced4cf7..bf3b861163 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * AndyMark Koors40 Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class Koors40 : public PWMMotorController {
   Koors40& operator=(Koors40&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
index 4842546131..ebd9eae6a0 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * REV Robotics SPARK Flex Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMSparkFlex : public PWMMotorController {
   PWMSparkFlex& operator=(PWMSparkFlex&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
index 2c0c08c045..54102a6e6b 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * REV Robotics SPARK MAX Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMSparkMax : public PWMMotorController {
   PWMSparkMax& operator=(PWMSparkMax&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
index 6cbab7df1f..2b1e56932d 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMTalonFX : public PWMMotorController {
   PWMTalonFX& operator=(PWMTalonFX&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
index 4e22ed39ec..412b5a9de5 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMTalonSRX : public PWMMotorController {
   PWMTalonSRX& operator=(PWMTalonSRX&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
index b50ecd3797..156b94e6d5 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Playing with Fusion Venom Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMVenom : public PWMMotorController {
   PWMVenom& operator=(PWMVenom&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
index 8ae5be3950..35435176a8 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class PWMVictorSPX : public PWMMotorController {
   PWMVictorSPX& operator=(PWMVictorSPX&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
index 85933346b9..052ec7e9d5 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * REV Robotics SPARK Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class Spark : public PWMMotorController {
   Spark& operator=(Spark&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
index ca3db6e28e..d49faef4a1 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * REV Robotics SPARKMini Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class SparkMini : public PWMMotorController {
   SparkMini& operator=(SparkMini&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
index 22f365cc27..c104b64fd8 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class Talon : public PWMMotorController {
   Talon& operator=(Talon&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
index d532dfade5..ea711c15ad 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Vex Robotics Victor SP Motor Controller with PWM control.
@@ -40,4 +40,4 @@ class VictorSP : public PWMMotorController {
   VictorSP& operator=(VictorSP&&) = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
index 46359ca83a..238c907dbf 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class PS4Controller;
 
@@ -187,4 +187,4 @@ class PS4ControllerSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
index ed8313f68b..aa8ba5562f 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class PS5Controller;
 
@@ -187,4 +187,4 @@ class PS5ControllerSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
index 4a135cd946..2e3961bacb 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class StadiaController;
 
@@ -169,4 +169,4 @@ class StadiaControllerSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
index 42f7222204..d2745a519d 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class XboxController;
 
@@ -170,4 +170,4 @@ class XboxControllerSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/cpp/ExpansionHub.cpp b/wpilibc/src/main/native/cpp/ExpansionHub.cpp
index 2c3be13a19..57a189e713 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHub.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHub.cpp
@@ -13,9 +13,9 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/SystemServer.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-wpi::mutex ExpansionHub::m_handleLock;
+wpi::util::mutex ExpansionHub::m_handleLock;
 std::weak_ptr<ExpansionHub::DataStore> ExpansionHub::m_storeMap[4];
 
 class ExpansionHub::DataStore {
@@ -33,11 +33,11 @@ class ExpansionHub::DataStore {
   DataStore& operator=(DataStore&) = delete;
   DataStore& operator=(DataStore&&) = delete;
 
-  nt::BooleanSubscriber m_hubConnectedSubscriber;
+  wpi::nt::BooleanSubscriber m_hubConnectedSubscriber;
 
   uint32_t m_reservedMotorMask{0};
   uint32_t m_reservedServoMask{0};
-  wpi::mutex m_reservedLock;
+  wpi::util::mutex m_reservedLock;
 
   int m_usbId;
 };
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp b/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
index 29223ce295..de81506a75 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
@@ -13,7 +13,7 @@ static constexpr int kPositionMode = 2;
 static constexpr int kVelocityMode = 3;
 static constexpr int kFollowerMode = 4;
 
-using namespace frc;
+using namespace wpi;
 
 ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
     : m_hub{usbId},
@@ -31,7 +31,7 @@ ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
 
   auto systemServer = SystemServer::GetSystemServer();
 
-  nt::PubSubOptions options;
+  wpi::nt::PubSubOptions options;
   options.sendAll = true;
   options.keepDuplicates = true;
   options.periodic = 0.005;
@@ -96,7 +96,7 @@ void ExpansionHubMotor::SetPercentagePower(double power) {
   m_setpointPublisher.Set(power);
 }
 
-void ExpansionHubMotor::SetVoltage(units::volt_t voltage) {
+void ExpansionHubMotor::SetVoltage(wpi::units::volt_t voltage) {
   m_modePublisher.Set(kVoltageMode);
   m_setpointPublisher.Set(voltage.to<double>());
 }
@@ -119,8 +119,8 @@ void ExpansionHubMotor::SetFloatOn0(bool floatOn0) {
   m_floatOn0Publisher.Set(floatOn0);
 }
 
-units::ampere_t ExpansionHubMotor::GetCurrent() const {
-  return units::ampere_t{m_currentSubscriber.Get(0)};
+wpi::units::ampere_t ExpansionHubMotor::GetCurrent() const {
+  return wpi::units::ampere_t{m_currentSubscriber.Get(0)};
 }
 
 void ExpansionHubMotor::SetDistancePerCount(double perCount) {
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp b/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
index 15d91f4758..94a30b6b6f 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
@@ -9,13 +9,13 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/SystemServer.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 ExpansionHubPidConstants::ExpansionHubPidConstants(int usbId, int channel,
                                                    bool isVelocityPid) {
   auto systemServer = SystemServer::GetSystemServer();
 
-  nt::PubSubOptions options;
+  wpi::nt::PubSubOptions options;
   options.sendAll = true;
   options.keepDuplicates = true;
   options.periodic = 0.005;
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp b/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
index e84809d444..786de57e2c 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
@@ -7,7 +7,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/SystemServer.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 ExpansionHubServo::ExpansionHubServo(int usbId, int channel)
     : m_hub{usbId}, m_channel{channel} {
@@ -22,7 +22,7 @@ ExpansionHubServo::ExpansionHubServo(int usbId, int channel)
 
   auto systemServer = SystemServer::GetSystemServer();
 
-  nt::PubSubOptions options;
+  wpi::nt::PubSubOptions options;
   options.sendAll = true;
   options.keepDuplicates = true;
   options.periodic = 0.005;
@@ -67,14 +67,14 @@ void ExpansionHubServo::Set(double value) {
   SetPulseWidth(rawValue);
 }
 
-void ExpansionHubServo::SetAngle(units::degree_t angle) {
+void ExpansionHubServo::SetAngle(wpi::units::degree_t angle) {
   angle = std::clamp(angle, m_minServoAngle, m_maxServoAngle);
 
   // NOLINTNEXTLINE(bugprone-integer-division)
   Set((angle - m_minServoAngle) / GetServoAngleRange());
 }
 
-void ExpansionHubServo::SetPulseWidth(units::microsecond_t pulseWidth) {
+void ExpansionHubServo::SetPulseWidth(wpi::units::microsecond_t pulseWidth) {
   m_pulseWidthPublisher.Set(pulseWidth.to<double>());
 }
 
@@ -82,20 +82,20 @@ void ExpansionHubServo::SetEnabled(bool enabled) {
   m_enabledPublisher.Set(enabled);
 }
 
-void ExpansionHubServo::SetFramePeriod(units::microsecond_t framePeriod) {
+void ExpansionHubServo::SetFramePeriod(wpi::units::microsecond_t framePeriod) {
   m_framePeriodPublisher.Set(framePeriod.to<double>());
 }
 
-units::microsecond_t ExpansionHubServo::GetFullRangeScaleFactor() {
+wpi::units::microsecond_t ExpansionHubServo::GetFullRangeScaleFactor() {
   return m_maxPwm - m_minPwm;
 }
 
-units::degree_t ExpansionHubServo::GetServoAngleRange() {
+wpi::units::degree_t ExpansionHubServo::GetServoAngleRange() {
   return m_maxServoAngle - m_minServoAngle;
 }
 
-void ExpansionHubServo::SetPWMRange(units::microsecond_t minPwm,
-                                    units::microsecond_t maxPwm) {
+void ExpansionHubServo::SetPWMRange(wpi::units::microsecond_t minPwm,
+                                    wpi::units::microsecond_t maxPwm) {
   if (maxPwm <= minPwm) {
     throw FRC_MakeError(err::ParameterOutOfRange,
                         "Max PWM must be greater than Min PWM");
@@ -106,8 +106,8 @@ void ExpansionHubServo::SetPWMRange(units::microsecond_t minPwm,
 
 void ExpansionHubServo::SetReversed(bool reversed) {}
 
-void ExpansionHubServo::SetAngleRange(units::degree_t minAngle,
-                                      units::degree_t maxAngle) {
+void ExpansionHubServo::SetAngleRange(wpi::units::degree_t minAngle,
+                                      wpi::units::degree_t maxAngle) {
   if (maxAngle <= minAngle) {
     throw FRC_MakeError(err::ParameterOutOfRange,
                         "Max angle must be greater than Min angle");
diff --git a/wpilibc/src/main/native/cpp/counter/Tachometer.cpp b/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
index 731ded1126..180121e967 100644
--- a/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
+++ b/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
@@ -12,19 +12,19 @@
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Tachometer::Tachometer(int channel, EdgeConfiguration configuration)
     : m_channel{channel} {
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeCounter(
       channel, configuration == EdgeConfiguration::kRisingEdge,
       stackTrace.c_str(), &status);
   FRC_CheckErrorStatus(status, "{}", channel);
 
   HAL_ReportUsage("IO", channel, "Tachometer");
-  wpi::SendableRegistry::Add(this, "Tachometer", channel);
+  wpi::util::SendableRegistry::Add(this, "Tachometer", channel);
 }
 
 void Tachometer::SetEdgeConfiguration(EdgeConfiguration configuration) {
@@ -34,7 +34,7 @@ void Tachometer::SetEdgeConfiguration(EdgeConfiguration configuration) {
   FRC_CheckErrorStatus(status, "{}", m_channel);
 }
 
-units::hertz_t Tachometer::GetFrequency() const {
+wpi::units::hertz_t Tachometer::GetFrequency() const {
   auto period = GetPeriod();
   if (period.value() == 0) {
     return 0_Hz;
@@ -42,11 +42,11 @@ units::hertz_t Tachometer::GetFrequency() const {
   return 1 / period;
 }
 
-units::second_t Tachometer::GetPeriod() const {
+wpi::units::second_t Tachometer::GetPeriod() const {
   int32_t status = 0;
   double period = HAL_GetCounterPeriod(m_handle, &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
-  return units::second_t{period};
+  return wpi::units::second_t{period};
 }
 
 int Tachometer::GetEdgesPerRevolution() const {
@@ -56,7 +56,7 @@ void Tachometer::SetEdgesPerRevolution(int edges) {
   m_edgesPerRevolution = edges;
 }
 
-units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
+wpi::units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
   auto period = GetPeriod();
   if (period.value() == 0) {
     return 0_tps;
@@ -66,11 +66,11 @@ units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
     return 0_tps;
   }
   auto rotationHz = ((1.0 / edgesPerRevolution) / period);
-  return units::turns_per_second_t{rotationHz.value()};
+  return wpi::units::turns_per_second_t{rotationHz.value()};
 }
 
-units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const {
-  return units::revolutions_per_minute_t{GetRevolutionsPerSecond()};
+wpi::units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const {
+  return wpi::units::revolutions_per_minute_t{GetRevolutionsPerSecond()};
 }
 
 bool Tachometer::GetStopped() const {
@@ -80,13 +80,13 @@ bool Tachometer::GetStopped() const {
   return stopped;
 }
 
-void Tachometer::SetMaxPeriod(units::second_t maxPeriod) {
+void Tachometer::SetMaxPeriod(wpi::units::second_t maxPeriod) {
   int32_t status = 0;
   HAL_SetCounterMaxPeriod(m_handle, maxPeriod.value(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
 }
 
-void Tachometer::InitSendable(wpi::SendableBuilder& builder) {
+void Tachometer::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Tachometer");
   builder.AddDoubleProperty(
       "RPS", [&] { return GetRevolutionsPerSecond().value(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
index f996b4e32a..9aaef67aed 100644
--- a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
+++ b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
@@ -13,12 +13,12 @@
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 UpDownCounter::UpDownCounter(int channel, EdgeConfiguration configuration)
     : m_channel{channel} {
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeCounter(
       channel, configuration == EdgeConfiguration::kRisingEdge,
       stackTrace.c_str(), &status);
@@ -27,7 +27,7 @@ UpDownCounter::UpDownCounter(int channel, EdgeConfiguration configuration)
   Reset();
 
   HAL_ReportUsage("IO", channel, "UpDownCounter");
-  wpi::SendableRegistry::Add(this, "UpDown Counter", channel);
+  wpi::util::SendableRegistry::Add(this, "UpDown Counter", channel);
 }
 
 int UpDownCounter::GetCount() const {
@@ -50,7 +50,7 @@ void UpDownCounter::SetEdgeConfiguration(EdgeConfiguration configuration) {
   FRC_CheckErrorStatus(status, "{}", m_channel);
 }
 
-void UpDownCounter::InitSendable(wpi::SendableBuilder& builder) {
+void UpDownCounter::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("UpDown Counter");
   builder.AddDoubleProperty("Count", [&] { return GetCount(); }, nullptr);
 }
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 0d3ed58b49..0630209fdc 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 WPI_IGNORE_DEPRECATED
 
@@ -23,8 +23,8 @@ DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
                                      MotorController& rightMotor)
     : DifferentialDrive{[&](double output) { leftMotor.Set(output); },
                         [&](double output) { rightMotor.Set(output); }} {
-  wpi::SendableRegistry::AddChild(this, &leftMotor);
-  wpi::SendableRegistry::AddChild(this, &rightMotor);
+  wpi::util::SendableRegistry::AddChild(this, &leftMotor);
+  wpi::util::SendableRegistry::AddChild(this, &rightMotor);
 }
 
 WPI_UNIGNORE_DEPRECATED
@@ -34,7 +34,7 @@ DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
     : m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::Add(this, "DifferentialDrive", instances);
+  wpi::util::SendableRegistry::Add(this, "DifferentialDrive", instances);
 }
 
 void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
@@ -45,8 +45,8 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
     reported = true;
   }
 
-  xSpeed = ApplyDeadband(xSpeed, m_deadband);
-  zRotation = ApplyDeadband(zRotation, m_deadband);
+  xSpeed = wpi::math::ApplyDeadband(xSpeed, m_deadband);
+  zRotation = wpi::math::ApplyDeadband(zRotation, m_deadband);
 
   auto [left, right] = ArcadeDriveIK(xSpeed, zRotation, squareInputs);
 
@@ -67,8 +67,8 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
     reported = true;
   }
 
-  xSpeed = ApplyDeadband(xSpeed, m_deadband);
-  zRotation = ApplyDeadband(zRotation, m_deadband);
+  xSpeed = wpi::math::ApplyDeadband(xSpeed, m_deadband);
+  zRotation = wpi::math::ApplyDeadband(zRotation, m_deadband);
 
   auto [left, right] = CurvatureDriveIK(xSpeed, zRotation, allowTurnInPlace);
 
@@ -89,8 +89,8 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
     reported = true;
   }
 
-  leftSpeed = ApplyDeadband(leftSpeed, m_deadband);
-  rightSpeed = ApplyDeadband(rightSpeed, m_deadband);
+  leftSpeed = wpi::math::ApplyDeadband(leftSpeed, m_deadband);
+  rightSpeed = wpi::math::ApplyDeadband(rightSpeed, m_deadband);
 
   auto [left, right] = TankDriveIK(leftSpeed, rightSpeed, squareInputs);
 
@@ -111,8 +111,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::ArcadeDriveIK(
   // Square the inputs (while preserving the sign) to increase fine control
   // while permitting full power.
   if (squareInputs) {
-    xSpeed = CopyDirectionPow(xSpeed, 2);
-    zRotation = CopyDirectionPow(zRotation, 2);
+    xSpeed = wpi::math::CopyDirectionPow(xSpeed, 2);
+    zRotation = wpi::math::CopyDirectionPow(zRotation, 2);
   }
 
   double leftSpeed = xSpeed - zRotation;
@@ -166,8 +166,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::TankDriveIK(
   // Square the inputs (while preserving the sign) to increase fine control
   // while permitting full power.
   if (squareInputs) {
-    leftSpeed = CopyDirectionPow(leftSpeed, 2);
-    rightSpeed = CopyDirectionPow(rightSpeed, 2);
+    leftSpeed = wpi::math::CopyDirectionPow(leftSpeed, 2);
+    rightSpeed = wpi::math::CopyDirectionPow(rightSpeed, 2);
   }
 
   return {leftSpeed, rightSpeed};
@@ -187,7 +187,7 @@ std::string DifferentialDrive::GetDescription() const {
   return "DifferentialDrive";
 }
 
-void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
+void DifferentialDrive::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("DifferentialDrive");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index e5ea2f5810..93711c60a0 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 WPI_IGNORE_DEPRECATED
 
@@ -27,10 +27,10 @@ MecanumDrive::MecanumDrive(MotorController& frontLeftMotor,
                    [&](double output) { rearLeftMotor.Set(output); },
                    [&](double output) { frontRightMotor.Set(output); },
                    [&](double output) { rearRightMotor.Set(output); }} {
-  wpi::SendableRegistry::AddChild(this, &frontLeftMotor);
-  wpi::SendableRegistry::AddChild(this, &rearLeftMotor);
-  wpi::SendableRegistry::AddChild(this, &frontRightMotor);
-  wpi::SendableRegistry::AddChild(this, &rearRightMotor);
+  wpi::util::SendableRegistry::AddChild(this, &frontLeftMotor);
+  wpi::util::SendableRegistry::AddChild(this, &rearLeftMotor);
+  wpi::util::SendableRegistry::AddChild(this, &frontRightMotor);
+  wpi::util::SendableRegistry::AddChild(this, &rearRightMotor);
 }
 
 WPI_UNIGNORE_DEPRECATED
@@ -45,18 +45,18 @@ MecanumDrive::MecanumDrive(std::function<void(double)> frontLeftMotor,
       m_rearRightMotor{std::move(rearRightMotor)} {
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::Add(this, "MecanumDrive", instances);
+  wpi::util::SendableRegistry::Add(this, "MecanumDrive", instances);
 }
 
 void MecanumDrive::DriveCartesian(double xSpeed, double ySpeed,
-                                  double zRotation, Rotation2d gyroAngle) {
+                                  double zRotation, wpi::math::Rotation2d gyroAngle) {
   if (!reported) {
     HAL_ReportUsage("RobotDrive", "MecanumCartesian");
     reported = true;
   }
 
-  xSpeed = ApplyDeadband(xSpeed, m_deadband);
-  ySpeed = ApplyDeadband(ySpeed, m_deadband);
+  xSpeed = wpi::math::ApplyDeadband(xSpeed, m_deadband);
+  ySpeed = wpi::math::ApplyDeadband(ySpeed, m_deadband);
 
   auto [frontLeft, frontRight, rearLeft, rearRight] =
       DriveCartesianIK(xSpeed, ySpeed, zRotation, gyroAngle);
@@ -74,7 +74,7 @@ void MecanumDrive::DriveCartesian(double xSpeed, double ySpeed,
   Feed();
 }
 
-void MecanumDrive::DrivePolar(double magnitude, Rotation2d angle,
+void MecanumDrive::DrivePolar(double magnitude, wpi::math::Rotation2d angle,
                               double zRotation) {
   if (!reported) {
     HAL_ReportUsage("RobotDrive", "MecanumPolar");
@@ -102,13 +102,13 @@ void MecanumDrive::StopMotor() {
 MecanumDrive::WheelSpeeds MecanumDrive::DriveCartesianIK(double xSpeed,
                                                          double ySpeed,
                                                          double zRotation,
-                                                         Rotation2d gyroAngle) {
+                                                         wpi::math::Rotation2d gyroAngle) {
   xSpeed = std::clamp(xSpeed, -1.0, 1.0);
   ySpeed = std::clamp(ySpeed, -1.0, 1.0);
 
   // Compensate for gyro angle.
   auto input =
-      Translation2d{units::meter_t{xSpeed}, units::meter_t{ySpeed}}.RotateBy(
+      wpi::math::Translation2d{wpi::units::meter_t{xSpeed}, wpi::units::meter_t{ySpeed}}.RotateBy(
           -gyroAngle);
 
   double wheelSpeeds[4];
@@ -127,7 +127,7 @@ std::string MecanumDrive::GetDescription() const {
   return "MecanumDrive";
 }
 
-void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
+void MecanumDrive::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
index 982b4687cc..577a2790ce 100644
--- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
+++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/hardware/motor/MotorController.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 RobotDriveBase::RobotDriveBase() {
   SetSafetyEnabled(true);
diff --git a/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp b/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
index cf9d9f5c4d..35a2de8be4 100644
--- a/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hal/DriverStation.h"
 
-using namespace frc;
+using namespace wpi;
 
 DSControlWord::DSControlWord() {
   HAL_GetControlWord(&m_controlWord);
diff --git a/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp b/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
index 20cb4d3208..6dc93e0607 100644
--- a/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
@@ -33,7 +33,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace frc;
+using namespace wpi;
 
 static constexpr int availableToCount(uint64_t available) {
   return 64 - std::countl_zero(available);
@@ -45,10 +45,10 @@ namespace {
 template <typename Topic>
 class MatchDataSenderEntry {
  public:
-  MatchDataSenderEntry(const std::shared_ptr<nt::NetworkTable>& table,
+  MatchDataSenderEntry(const std::shared_ptr<wpi::nt::NetworkTable>& table,
                        std::string_view key,
                        typename Topic::ParamType initialVal,
-                       wpi::json topicProperties = wpi::json::object())
+                       wpi::util::json topicProperties = wpi::util::json::object())
       : publisher{Topic{table->GetTopic(key)}.PublishEx(Topic::kTypeString,
                                                         topicProperties)},
         prevVal{initialVal} {
@@ -70,22 +70,22 @@ class MatchDataSenderEntry {
 static constexpr std::string_view kSmartDashboardType = "FMSInfo";
 
 struct MatchDataSender {
-  std::shared_ptr<nt::NetworkTable> table =
-      nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
-  MatchDataSenderEntry<nt::StringTopic> typeMetaData{
+  std::shared_ptr<wpi::nt::NetworkTable> table =
+      wpi::nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
+  MatchDataSenderEntry<wpi::nt::StringTopic> typeMetaData{
       table,
       ".type",
       kSmartDashboardType,
       {{"SmartDashboard", kSmartDashboardType}}};
-  MatchDataSenderEntry<nt::StringTopic> gameSpecificMessage{
+  MatchDataSenderEntry<wpi::nt::StringTopic> gameSpecificMessage{
       table, "GameSpecificMessage", ""};
-  MatchDataSenderEntry<nt::StringTopic> eventName{table, "EventName", ""};
-  MatchDataSenderEntry<nt::IntegerTopic> matchNumber{table, "MatchNumber", 0};
-  MatchDataSenderEntry<nt::IntegerTopic> replayNumber{table, "ReplayNumber", 0};
-  MatchDataSenderEntry<nt::IntegerTopic> matchType{table, "MatchType", 0};
-  MatchDataSenderEntry<nt::BooleanTopic> alliance{table, "IsRedAlliance", true};
-  MatchDataSenderEntry<nt::IntegerTopic> station{table, "StationNumber", 1};
-  MatchDataSenderEntry<nt::IntegerTopic> controlWord{table, "FMSControlData",
+  MatchDataSenderEntry<wpi::nt::StringTopic> eventName{table, "EventName", ""};
+  MatchDataSenderEntry<wpi::nt::IntegerTopic> matchNumber{table, "MatchNumber", 0};
+  MatchDataSenderEntry<wpi::nt::IntegerTopic> replayNumber{table, "ReplayNumber", 0};
+  MatchDataSenderEntry<wpi::nt::IntegerTopic> matchType{table, "MatchType", 0};
+  MatchDataSenderEntry<wpi::nt::BooleanTopic> alliance{table, "IsRedAlliance", true};
+  MatchDataSenderEntry<wpi::nt::IntegerTopic> station{table, "StationNumber", 1};
+  MatchDataSenderEntry<wpi::nt::IntegerTopic> controlWord{table, "FMSControlData",
                                                      0};
 };
 
@@ -129,12 +129,12 @@ struct Instance {
   Instance();
   ~Instance();
 
-  wpi::EventVector refreshEvents;
+  wpi::util::EventVector refreshEvents;
   MatchDataSender matchDataSender;
   std::atomic<DataLogSender*> dataLogSender{nullptr};
 
   // Joystick button rising/falling edge flags
-  wpi::mutex buttonEdgeMutex;
+  wpi::util::mutex buttonEdgeMutex;
   std::array<HAL_JoystickButtons, DriverStation::kJoystickPorts>
       previousButtonStates;
   std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsPressed;
@@ -148,7 +148,7 @@ struct Instance {
   bool userInTeleop = false;
   bool userInTest = false;
 
-  units::second_t nextMessageTime = 0_s;
+  wpi::units::second_t nextMessageTime = 0_s;
 };
 }  // namespace
 
@@ -624,9 +624,9 @@ std::optional<int> DriverStation::GetLocation() {
   }
 }
 
-units::second_t DriverStation::GetMatchTime() {
+wpi::units::second_t DriverStation::GetMatchTime() {
   int32_t status = 0;
-  return units::second_t{HAL_GetMatchTime(&status)};
+  return wpi::units::second_t{HAL_GetMatchTime(&status)};
 }
 
 double DriverStation::GetBatteryVoltage() {
@@ -670,7 +670,7 @@ void DriverStation::RefreshData() {
 
   SendMatchData();
   if (auto sender = inst.dataLogSender.load()) {
-    sender->Send(wpi::Now());
+    sender->Send(wpi::util::Now());
   }
 }
 
@@ -706,7 +706,7 @@ void DriverStation::StartDataLog(wpi::log::DataLog& log, bool logJoysticks) {
   if (oldSender) {
     delete newSender;  // already had a sender
   } else {
-    newSender->Init(log, logJoysticks, wpi::Now());
+    newSender->Init(log, logJoysticks, wpi::util::Now());
   }
 }
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
index 3289642b63..cc808f9694 100644
--- a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
@@ -8,7 +8,7 @@
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Gamepad::Gamepad(int port) : GenericHID(port) {
   HAL_ReportUsage("HID", port, "Gamepad");
@@ -484,7 +484,7 @@ bool Gamepad::GetButtonForSendable(int button) const {
       .value_or(false);
 }
 
-void Gamepad::InitSendable(wpi::SendableBuilder& builder) {
+void Gamepad::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "Gamepad");
   builder.AddDoubleProperty(
diff --git a/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp b/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
index 5e212f68fb..a9f497f2e0 100644
--- a/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/DriverStation.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 GenericHID::GenericHID(int port) {
   if (port < 0 || port >= DriverStation::kJoystickPorts) {
diff --git a/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp b/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
index 5eaddf8269..1c21c3c3f9 100644
--- a/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
@@ -9,7 +9,7 @@
 #include "wpi/event/BooleanEvent.hpp"
 #include "wpi/hal/UsageReporting.h"
 
-using namespace frc;
+using namespace wpi;
 
 Joystick::Joystick(int port) : GenericHID(port) {
   m_axes[Axis::kX] = kDefaultXChannel;
@@ -117,7 +117,7 @@ double Joystick::GetMagnitude() const {
   return std::hypot(GetX(), GetY());
 }
 
-units::radian_t Joystick::GetDirection() const {
+wpi::units::radian_t Joystick::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
@@ -126,5 +126,5 @@ units::radian_t Joystick::GetDirection() const {
   //
   // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
   // so that 0 radians is forward.
-  return units::radian_t{std::atan2(GetX(), -GetY())};
+  return wpi::units::radian_t{std::atan2(GetX(), -GetY())};
 }
diff --git a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
index 8d85a34429..35f9f457b7 100644
--- a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
@@ -7,7 +7,7 @@
 #include <memory>
 #include <utility>
 
-using namespace frc;
+using namespace wpi;
 
 BooleanEvent::BooleanEvent(EventLoop* loop, std::function<bool()> condition)
     : m_loop(loop), m_signal(std::move(condition)) {
@@ -67,10 +67,10 @@ BooleanEvent BooleanEvent::Falling() {
                       });
 }
 
-BooleanEvent BooleanEvent::Debounce(units::second_t debounceTime,
-                                    frc::Debouncer::DebounceType type) {
+BooleanEvent BooleanEvent::Debounce(wpi::units::second_t debounceTime,
+                                    wpi::math::Debouncer::DebounceType type) {
   return BooleanEvent(
       this->m_loop,
-      [debouncer = frc::Debouncer(debounceTime, type),
+      [debouncer = wpi::math::Debouncer(debounceTime, type),
        state = m_state]() mutable { return debouncer.Calculate(*state); });
 }
diff --git a/wpilibc/src/main/native/cpp/event/EventLoop.cpp b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
index f3c445eaae..03d31c1353 100644
--- a/wpilibc/src/main/native/cpp/event/EventLoop.cpp
+++ b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 struct RunningSetter {
@@ -22,7 +22,7 @@ struct RunningSetter {
 
 EventLoop::EventLoop() {}
 
-void EventLoop::Bind(wpi::unique_function<void()> action) {
+void EventLoop::Bind(wpi::util::unique_function<void()> action) {
   if (m_running) {
     throw FRC_MakeError(err::Error,
                         "Cannot bind EventLoop while it is running");
@@ -32,7 +32,7 @@ void EventLoop::Bind(wpi::unique_function<void()> action) {
 
 void EventLoop::Poll() {
   RunningSetter runSetter{m_running};
-  for (wpi::unique_function<void()>& action : m_bindings) {
+  for (wpi::util::unique_function<void()>& action : m_bindings) {
     action();
   }
 }
diff --git a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
index 47b6129648..e11d2124da 100644
--- a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
@@ -11,33 +11,33 @@
 #include "wpi/nt/NetworkTable.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 NetworkBooleanEvent::NetworkBooleanEvent(EventLoop* loop,
-                                         nt::BooleanTopic topic)
+                                         wpi::nt::BooleanTopic topic)
     : NetworkBooleanEvent{loop, topic.Subscribe(false)} {}
 
 NetworkBooleanEvent::NetworkBooleanEvent(EventLoop* loop,
-                                         nt::BooleanSubscriber sub)
+                                         wpi::nt::BooleanSubscriber sub)
     : BooleanEvent{
           loop,
-          [sub = std::make_shared<nt::BooleanSubscriber>(std::move(sub))] {
+          [sub = std::make_shared<wpi::nt::BooleanSubscriber>(std::move(sub))] {
             return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
           }} {}
 
 NetworkBooleanEvent::NetworkBooleanEvent(
-    EventLoop* loop, std::shared_ptr<nt::NetworkTable> table,
+    EventLoop* loop, std::shared_ptr<wpi::nt::NetworkTable> table,
     std::string_view topicName)
     : NetworkBooleanEvent{loop, table->GetBooleanTopic(topicName)} {}
 
 NetworkBooleanEvent::NetworkBooleanEvent(EventLoop* loop,
                                          std::string_view tableName,
                                          std::string_view topicName)
-    : NetworkBooleanEvent{loop, nt::NetworkTableInstance::GetDefault(),
+    : NetworkBooleanEvent{loop, wpi::nt::NetworkTableInstance::GetDefault(),
                           tableName, topicName} {}
 
 NetworkBooleanEvent::NetworkBooleanEvent(EventLoop* loop,
-                                         nt::NetworkTableInstance inst,
+                                         wpi::nt::NetworkTableInstance inst,
                                          std::string_view tableName,
                                          std::string_view topicName)
     : NetworkBooleanEvent{loop, inst.GetTable(tableName), topicName} {}
diff --git a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
index 41fa7b3f83..e4a12a94c5 100644
--- a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
@@ -9,18 +9,18 @@
 #include "wpi/nt/NTSendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
     : m_i2c(port, deviceAddress),
       m_simDevice("Accel:ADXL345_I2C", port, deviceAddress) {
   if (m_simDevice) {
-    m_simRange = m_simDevice.CreateEnumDouble("range", hal::SimDevice::kOutput,
+    m_simRange = m_simDevice.CreateEnumDouble("range", wpi::hal::SimDevice::kOutput,
                                               {"2G", "4G", "8G", "16G"},
                                               {2.0, 4.0, 8.0, 16.0}, 0);
-    m_simX = m_simDevice.CreateDouble("x", hal::SimDevice::kInput, 0.0);
-    m_simY = m_simDevice.CreateDouble("y", hal::SimDevice::kInput, 0.0);
-    m_simZ = m_simDevice.CreateDouble("z", hal::SimDevice::kInput, 0.0);
+    m_simX = m_simDevice.CreateDouble("x", wpi::hal::SimDevice::kInput, 0.0);
+    m_simY = m_simDevice.CreateDouble("y", wpi::hal::SimDevice::kInput, 0.0);
+    m_simZ = m_simDevice.CreateDouble("z", wpi::hal::SimDevice::kInput, 0.0);
   }
   // Turn on the measurements
   m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
@@ -31,7 +31,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
       fmt::format("I2C[{}][{}]", static_cast<int>(port), deviceAddress),
       "ADXL345");
 
-  wpi::SendableRegistry::Add(this, "ADXL345_I2C", port);
+  wpi::util::SendableRegistry::Add(this, "ADXL345_I2C", port);
 }
 
 I2C::Port ADXL345_I2C::GetI2CPort() const {
@@ -93,12 +93,12 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
   return data;
 }
 
-void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
+void ADXL345_I2C::InitSendable(wpi::nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   builder.SetUpdateTable(
-      [this, x = nt::DoubleTopic{builder.GetTopic("X")}.Publish(),
-       y = nt::DoubleTopic{builder.GetTopic("Y")}.Publish(),
-       z = nt::DoubleTopic{builder.GetTopic("Z")}.Publish()]() mutable {
+      [this, x = wpi::nt::DoubleTopic{builder.GetTopic("X")}.Publish(),
+       y = wpi::nt::DoubleTopic{builder.GetTopic("Y")}.Publish(),
+       z = wpi::nt::DoubleTopic{builder.GetTopic("Z")}.Publish()]() mutable {
         auto data = GetAccelerations();
         x.Set(data.XAxis);
         y.Set(data.YAxis);
diff --git a/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
index 3e6ed317c7..e350913b25 100644
--- a/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
@@ -10,15 +10,15 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 AnalogAccelerometer::AnalogAccelerometer(int channel)
     : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
-  wpi::SendableRegistry::AddChild(this, m_analogInput.get());
+  wpi::util::SendableRegistry::AddChild(this, m_analogInput.get());
 }
 
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
-    : m_analogInput(channel, wpi::NullDeleter<AnalogInput>()) {
+    : m_analogInput(channel, wpi::util::NullDeleter<AnalogInput>()) {
   if (!channel) {
     throw FRC_MakeError(err::NullParameter, "channel");
   }
@@ -45,7 +45,7 @@ void AnalogAccelerometer::SetZero(double zero) {
   m_zeroGVoltage = zero;
 }
 
-void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
+void AnalogAccelerometer::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Accelerometer");
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetAcceleration(); }, nullptr);
@@ -54,6 +54,6 @@ void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
 void AnalogAccelerometer::InitAccelerometer() {
   HAL_ReportUsage("IO", m_analogInput->GetChannel(), "Accelerometer");
 
-  wpi::SendableRegistry::Add(this, "Accelerometer",
+  wpi::util::SendableRegistry::Add(this, "Accelerometer",
                              m_analogInput->GetChannel());
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp b/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
index 0855298f9e..ab84e8831a 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 CAN::CAN(int busId, int deviceId)
     : CAN{busId, deviceId, kTeamManufacturer, kTeamDeviceType} {}
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp b/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
index ad09146dca..9c10fb2bb5 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 I2C::I2C(Port port, int deviceAddress)
     : m_port(static_cast<HAL_I2CPort>(port)), m_deviceAddress(deviceAddress) {
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp b/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
index 41077a3f4d..33c3b8b46d 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 SerialPort::SerialPort(int baudRate, Port port, int dataBits,
                        SerialPort::Parity parity,
@@ -116,7 +116,7 @@ int SerialPort::Write(std::string_view buffer) {
   return retVal;
 }
 
-void SerialPort::SetTimeout(units::second_t timeout) {
+void SerialPort::SetTimeout(wpi::units::second_t timeout) {
   int32_t status = 0;
   HAL_SetSerialTimeout(m_portHandle, timeout.value(), &status);
   FRC_CheckErrorStatus(status, "SetTimeout");
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
index 718125159a..88672b7195 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
@@ -17,7 +17,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 AnalogInput::AnalogInput(int channel) {
   if (!SensorUtil::CheckAnalogInputChannel(channel)) {
@@ -26,13 +26,13 @@ AnalogInput::AnalogInput(int channel) {
 
   m_channel = channel;
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_port = HAL_InitializeAnalogInputPort(channel, stackTrace.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_ReportUsage("IO", channel, "AnalogInput");
 
-  wpi::SendableRegistry::Add(this, "AnalogInput", channel);
+  wpi::util::SendableRegistry::Add(this, "AnalogInput", channel);
 }
 
 int AnalogInput::GetValue() const {
@@ -124,7 +124,7 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }
 
-void AnalogInput::InitSendable(wpi::SendableBuilder& builder) {
+void AnalogInput::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetAverageVoltage(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
index e4f00eed7b..8e4c0554a3 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 DigitalInput::DigitalInput(int channel) {
   if (!SensorUtil::CheckDigitalChannel(channel)) {
@@ -25,12 +25,12 @@ DigitalInput::DigitalInput(int channel) {
   m_channel = channel;
 
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeDIOPort(channel, true, stackTrace.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_ReportUsage("IO", channel, "DigitalInput");
-  wpi::SendableRegistry::Add(this, "DigitalInput", channel);
+  wpi::util::SendableRegistry::Add(this, "DigitalInput", channel);
 }
 
 bool DigitalInput::Get() const {
@@ -48,7 +48,7 @@ int DigitalInput::GetChannel() const {
   return m_channel;
 }
 
-void DigitalInput::InitSendable(wpi::SendableBuilder& builder) {
+void DigitalInput::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Input");
   builder.AddBooleanProperty("Value", [=, this] { return Get(); }, nullptr);
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
index d8549b3241..40725aeaf1 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 DigitalOutput::DigitalOutput(int channel) {
   m_pwmGenerator = HAL_kInvalidHandle;
@@ -26,12 +26,12 @@ DigitalOutput::DigitalOutput(int channel) {
   m_channel = channel;
 
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeDIOPort(channel, false, stackTrace.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_ReportUsage("IO", channel, "DigitalOutput");
-  wpi::SendableRegistry::Add(this, "DigitalOutput", channel);
+  wpi::util::SendableRegistry::Add(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {
@@ -62,7 +62,7 @@ int DigitalOutput::GetChannel() const {
   return m_channel;
 }
 
-void DigitalOutput::Pulse(units::second_t pulseLength) {
+void DigitalOutput::Pulse(wpi::units::second_t pulseLength) {
   int32_t status = 0;
   HAL_Pulse(m_handle, pulseLength.value(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
@@ -142,7 +142,7 @@ void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetDIOSimDevice(m_handle, device);
 }
 
-void DigitalOutput::InitSendable(wpi::SendableBuilder& builder) {
+void DigitalOutput::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Output");
   builder.AddBooleanProperty(
       "Value", [=, this] { return Get(); },
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
index 33cfa1d9f4..eb589eb98b 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
@@ -16,14 +16,14 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 PWM::PWM(int channel, bool registerSendable) {
   if (!SensorUtil::CheckPWMChannel(channel)) {
     throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
   }
 
-  auto stack = wpi::GetStackTrace(1);
+  auto stack = wpi::util::GetStackTrace(1);
   int32_t status = 0;
   m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", channel);
@@ -34,7 +34,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_ReportUsage("IO", channel, "PWM");
   if (registerSendable) {
-    wpi::SendableRegistry::Add(this, "PWM", channel);
+    wpi::util::SendableRegistry::Add(this, "PWM", channel);
   }
 }
 
@@ -44,18 +44,18 @@ PWM::~PWM() {
   }
 }
 
-void PWM::SetPulseTime(units::microsecond_t time) {
+void PWM::SetPulseTime(wpi::units::microsecond_t time) {
   int32_t status = 0;
   HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
 }
 
-units::microsecond_t PWM::GetPulseTime() const {
+wpi::units::microsecond_t PWM::GetPulseTime() const {
   int32_t status = 0;
   double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
 
-  return units::microsecond_t{value};
+  return wpi::units::microsecond_t{value};
 }
 
 void PWM::SetDisabled() {
@@ -96,10 +96,10 @@ void PWM::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetPWMSimDevice(m_handle, device);
 }
 
-void PWM::InitSendable(wpi::SendableBuilder& builder) {
+void PWM::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetPulseTime().value(); },
-      [=, this](double value) { SetPulseTime(units::millisecond_t{value}); });
+      [=, this](double value) { SetPulseTime(wpi::units::millisecond_t{value}); });
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
index 7f7154f6e1..3c99e038ac 100644
--- a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
@@ -7,14 +7,14 @@
 #include "wpi/hal/IMU.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 OnboardIMU::OnboardIMU(MountOrientation mountOrientation)
     : m_mountOrientation{mountOrientation} {
   // TODO: usage reporting
 }
 
-units::radian_t OnboardIMU::GetYawNoOffset() {
+wpi::units::radian_t OnboardIMU::GetYawNoOffset() {
   int64_t timestamp;
   double val;
   switch (m_mountOrientation) {
@@ -30,10 +30,10 @@ units::radian_t OnboardIMU::GetYawNoOffset() {
     default:
       val = 0;
   }
-  return units::radian_t{val};
+  return wpi::units::radian_t{val};
 }
 
-units::radian_t OnboardIMU::GetYaw() {
+wpi::units::radian_t OnboardIMU::GetYaw() {
   return GetYawNoOffset() - m_yawOffset;
 }
 
@@ -41,23 +41,23 @@ void OnboardIMU::ResetYaw() {
   m_yawOffset = GetYawNoOffset();
 }
 
-Rotation2d OnboardIMU::GetRotation2d() {
-  return Rotation2d{GetYaw()};
+wpi::math::Rotation2d OnboardIMU::GetRotation2d() {
+  return wpi::math::Rotation2d{GetYaw()};
 }
 
-Rotation3d OnboardIMU::GetRotation3d() {
-  return Rotation3d{GetQuaternion()};
+wpi::math::Rotation3d OnboardIMU::GetRotation3d() {
+  return wpi::math::Rotation3d{GetQuaternion()};
 }
 
-Quaternion OnboardIMU::GetQuaternion() {
+wpi::math::Quaternion OnboardIMU::GetQuaternion() {
   HAL_Quaternion val;
   int32_t status = 0;
   HAL_GetIMUQuaternion(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return Quaternion{val.w, val.x, val.y, val.z};
+  return wpi::math::Quaternion{val.w, val.x, val.y, val.z};
 }
 
-units::radian_t OnboardIMU::GetAngleX() {
+wpi::units::radian_t OnboardIMU::GetAngleX() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
@@ -72,10 +72,10 @@ units::radian_t OnboardIMU::GetAngleX() {
       break;
   }
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radian_t{val.x};
+  return wpi::units::radian_t{val.x};
 }
 
-units::radian_t OnboardIMU::GetAngleY() {
+wpi::units::radian_t OnboardIMU::GetAngleY() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
@@ -90,10 +90,10 @@ units::radian_t OnboardIMU::GetAngleY() {
       break;
   }
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radian_t{val.y};
+  return wpi::units::radian_t{val.y};
 }
 
-units::radian_t OnboardIMU::GetAngleZ() {
+wpi::units::radian_t OnboardIMU::GetAngleZ() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
@@ -108,53 +108,53 @@ units::radian_t OnboardIMU::GetAngleZ() {
       break;
   }
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radian_t{val.z};
+  return wpi::units::radian_t{val.z};
 }
 
-units::radians_per_second_t OnboardIMU::GetGyroRateX() {
+wpi::units::radians_per_second_t OnboardIMU::GetGyroRateX() {
   HAL_GyroRate3d val;
   int32_t status = 0;
   HAL_GetIMUGyroRates(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radians_per_second_t{val.x};
+  return wpi::units::radians_per_second_t{val.x};
 }
 
-units::radians_per_second_t OnboardIMU::GetGyroRateY() {
+wpi::units::radians_per_second_t OnboardIMU::GetGyroRateY() {
   HAL_GyroRate3d val;
   int32_t status = 0;
   HAL_GetIMUGyroRates(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radians_per_second_t{val.y};
+  return wpi::units::radians_per_second_t{val.y};
 }
 
-units::radians_per_second_t OnboardIMU::GetGyroRateZ() {
+wpi::units::radians_per_second_t OnboardIMU::GetGyroRateZ() {
   HAL_GyroRate3d val;
   int32_t status = 0;
   HAL_GetIMUGyroRates(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::radians_per_second_t{val.z};
+  return wpi::units::radians_per_second_t{val.z};
 }
 
-units::meters_per_second_squared_t OnboardIMU::GetAccelX() {
+wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelX() {
   HAL_Acceleration3d val;
   int32_t status = 0;
   HAL_GetIMUAcceleration(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::meters_per_second_squared_t{val.x};
+  return wpi::units::meters_per_second_squared_t{val.x};
 }
 
-units::meters_per_second_squared_t OnboardIMU::GetAccelY() {
+wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelY() {
   HAL_Acceleration3d val;
   int32_t status = 0;
   HAL_GetIMUAcceleration(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::meters_per_second_squared_t{val.x};
+  return wpi::units::meters_per_second_squared_t{val.x};
 }
 
-units::meters_per_second_squared_t OnboardIMU::GetAccelZ() {
+wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelZ() {
   HAL_Acceleration3d val;
   int32_t status = 0;
   HAL_GetIMUAcceleration(&val, &status);
   FRC_CheckErrorStatus(status, "Onboard IMU");
-  return units::meters_per_second_squared_t{val.x};
+  return wpi::units::meters_per_second_squared_t{val.x};
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp b/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
index b1057a31e1..175ecdfcb9 100644
--- a/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/SensorUtil.hpp"
 #include "wpi/util/StackTrace.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 AddressableLED::AddressableLED(int channel) : m_channel{channel} {
   if (!SensorUtil::CheckDigitalChannel(channel)) {
@@ -23,7 +23,7 @@ AddressableLED::AddressableLED(int channel) : m_channel{channel} {
   }
 
   int32_t status = 0;
-  auto stack = wpi::GetStackTrace(1);
+  auto stack = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
diff --git a/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp b/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
index bb0219fd00..cbc04f621c 100644
--- a/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
@@ -15,20 +15,20 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace frc;
+using namespace wpi;
 
-LEDPattern::LEDPattern(std::function<void(frc::LEDPattern::LEDReader,
-                                          std::function<void(int, frc::Color)>)>
+LEDPattern::LEDPattern(std::function<void(wpi::LEDPattern::LEDReader,
+                                          std::function<void(int, wpi::Color)>)>
                            impl)
     : m_impl(std::move(impl)) {}
 
 void LEDPattern::ApplyTo(LEDPattern::LEDReader reader,
-                         std::function<void(int, frc::Color)> writer) const {
+                         std::function<void(int, wpi::Color)> writer) const {
   m_impl(reader, writer);
 }
 
 void LEDPattern::ApplyTo(std::span<AddressableLED::LEDData> data,
-                         std::function<void(int, frc::Color)> writer) const {
+                         std::function<void(int, wpi::Color)> writer) const {
   ApplyTo(LEDPattern::LEDReader{[=](size_t i) { return data[i]; }, data.size()},
           writer);
 }
@@ -54,39 +54,39 @@ LEDPattern LEDPattern::Reversed() {
 
 LEDPattern LEDPattern::OffsetBy(int offset) {
   return MapIndex([offset](size_t bufLen, size_t i) {
-    return frc::FloorMod(static_cast<int>(i) + offset,
+    return wpi::math::FloorMod(static_cast<int>(i) + offset,
                          static_cast<int>(bufLen));
   });
 }
 
-LEDPattern LEDPattern::ScrollAtRelativeSpeed(units::hertz_t velocity) {
+LEDPattern LEDPattern::ScrollAtRelativeSpeed(wpi::units::hertz_t velocity) {
   // velocity is in terms of LED lengths per second (1_hz = full cycle per
   // second, 0.5_hz = half cycle per second, 2_hz = two cycles per second)
   // Invert and multiply by 1,000,000 to get microseconds
   double periodMicros = 1e6 / velocity.value();
 
   return MapIndex([=](size_t bufLen, size_t i) {
-    auto now = wpi::Now();
+    auto now = wpi::util::Now();
 
     // index should move by (bufLen) / (period)
     double t =
         (now % static_cast<int64_t>(std::floor(periodMicros))) / periodMicros;
     int offset = static_cast<int>(std::floor(t * bufLen));
 
-    return frc::FloorMod(static_cast<int>(i) + offset,
+    return wpi::math::FloorMod(static_cast<int>(i) + offset,
                          static_cast<int>(bufLen));
   });
 }
 
 LEDPattern LEDPattern::ScrollAtAbsoluteSpeed(
-    units::meters_per_second_t velocity, units::meter_t ledSpacing) {
+    wpi::units::meters_per_second_t velocity, wpi::units::meter_t ledSpacing) {
   // Velocity is in terms of meters per second
   // Multiply by 1,000,000 to use microseconds instead of seconds
   auto microsPerLed =
       static_cast<int64_t>(std::floor((ledSpacing / velocity).value() * 1e6));
 
   return MapIndex([=](size_t bufLen, size_t i) {
-    auto now = wpi::Now();
+    auto now = wpi::util::Now();
 
     // every step in time that's a multiple of microsPerLED will increment
     // the offset by 1
@@ -94,17 +94,17 @@ LEDPattern LEDPattern::ScrollAtAbsoluteSpeed(
     // offset values for negative velocities
     auto offset = static_cast<int64_t>(now) / microsPerLed;
 
-    return frc::FloorMod(static_cast<int>(i) + offset,
+    return wpi::math::FloorMod(static_cast<int>(i) + offset,
                          static_cast<int>(bufLen));
   });
 }
 
-LEDPattern LEDPattern::Blink(units::second_t onTime, units::second_t offTime) {
-  auto totalMicros = units::microsecond_t{onTime + offTime}.to<uint64_t>();
-  auto onMicros = units::microsecond_t{onTime}.to<uint64_t>();
+LEDPattern LEDPattern::Blink(wpi::units::second_t onTime, wpi::units::second_t offTime) {
+  auto totalMicros = wpi::units::microsecond_t{onTime + offTime}.to<uint64_t>();
+  auto onMicros = wpi::units::microsecond_t{onTime}.to<uint64_t>();
 
   return LEDPattern{[=, self = *this](auto data, auto writer) {
-    if (wpi::Now() % totalMicros < onMicros) {
+    if (wpi::util::Now() % totalMicros < onMicros) {
       self.ApplyTo(data, writer);
     } else {
       LEDPattern::Off().ApplyTo(data, writer);
@@ -112,7 +112,7 @@ LEDPattern LEDPattern::Blink(units::second_t onTime, units::second_t offTime) {
   }};
 }
 
-LEDPattern LEDPattern::Blink(units::second_t onTime) {
+LEDPattern LEDPattern::Blink(wpi::units::second_t onTime) {
   return LEDPattern::Blink(onTime, onTime);
 }
 
@@ -126,12 +126,12 @@ LEDPattern LEDPattern::SynchronizedBlink(std::function<bool()> signal) {
   }};
 }
 
-LEDPattern LEDPattern::Breathe(units::second_t period) {
-  auto periodMicros = units::microsecond_t{period};
+LEDPattern LEDPattern::Breathe(wpi::units::second_t period) {
+  auto periodMicros = wpi::units::microsecond_t{period};
 
   return LEDPattern{[periodMicros, self = *this](auto data, auto writer) {
     self.ApplyTo(data, [&writer, periodMicros](int i, Color color) {
-      double t = (wpi::Now() % periodMicros.to<uint64_t>()) /
+      double t = (wpi::util::Now() % periodMicros.to<uint64_t>()) /
                  periodMicros.to<double>();
       double phase = t * 2 * std::numbers::pi;
 
@@ -299,9 +299,9 @@ LEDPattern LEDPattern::Gradient(GradientType type,
       auto color = colors[colorIndex];
       auto nextColor = colors[nextColorIndex];
 
-      Color gradientColor{wpi::Lerp(color.red, nextColor.red, t),
-                          wpi::Lerp(color.green, nextColor.green, t),
-                          wpi::Lerp(color.blue, nextColor.blue, t)};
+      Color gradientColor{wpi::util::Lerp(color.red, nextColor.red, t),
+                          wpi::util::Lerp(color.green, nextColor.green, t),
+                          wpi::util::Lerp(color.blue, nextColor.blue, t)};
       writer(led, gradientColor);
     }
   }};
diff --git a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
index 1b2543f818..4191dca54f 100644
--- a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
@@ -13,23 +13,23 @@
 #include "wpi/util/SafeThread.hpp"
 #include "wpi/util/SmallPtrSet.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
-class Thread : public wpi::SafeThread {
+class Thread : public wpi::util::SafeThread {
  public:
   Thread() {}
   void Main() override;
 };
 
 void Thread::Main() {
-  wpi::Event event{false, false};
+  wpi::util::Event event{false, false};
   HAL_ProvideNewDataEventHandle(event.GetHandle());
 
   int safetyCounter = 0;
   while (m_active) {
     bool timedOut = false;
-    bool signaled = wpi::WaitForObject(event.GetHandle(), 0.1, &timedOut);
+    bool signaled = wpi::util::WaitForObject(event.GetHandle(), 0.1, &timedOut);
     if (signaled) {
       HAL_ControlWord controlWord;
       std::memset(&controlWord, 0, sizeof(controlWord));
@@ -56,9 +56,9 @@ namespace {
 struct MotorSafetyManager {
   ~MotorSafetyManager() { gShutdown = true; }
 
-  wpi::SafeThreadOwner<Thread> thread;
-  wpi::SmallPtrSet<MotorSafety*, 32> instanceList;
-  wpi::mutex listMutex;
+  wpi::util::SafeThreadOwner<Thread> thread;
+  wpi::util::SmallPtrSet<MotorSafety*, 32> instanceList;
+  wpi::util::mutex listMutex;
   bool threadStarted = false;
 };
 }  // namespace
@@ -69,17 +69,17 @@ static MotorSafetyManager& GetManager() {
 }
 
 #ifndef __FRC_SYSTEMCORE__
-namespace frc::impl {
+namespace wpi::impl {
 void ResetMotorSafety() {
   auto& manager = GetManager();
   std::scoped_lock lock(manager.listMutex);
   manager.instanceList.clear();
   manager.thread.Stop();
   manager.thread.Join();
-  manager.thread = wpi::SafeThreadOwner<Thread>{};
+  manager.thread = wpi::util::SafeThreadOwner<Thread>{};
   manager.threadStarted = false;
 }
-}  // namespace frc::impl
+}  // namespace wpi::impl
 #endif
 
 MotorSafety::MotorSafety() {
@@ -118,12 +118,12 @@ void MotorSafety::Feed() {
   m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
 }
 
-void MotorSafety::SetExpiration(units::second_t expirationTime) {
+void MotorSafety::SetExpiration(wpi::units::second_t expirationTime) {
   std::scoped_lock lock(m_thisMutex);
   m_expiration = expirationTime;
 }
 
-units::second_t MotorSafety::GetExpiration() const {
+wpi::units::second_t MotorSafety::GetExpiration() const {
   std::scoped_lock lock(m_thisMutex);
   return m_expiration;
 }
@@ -145,7 +145,7 @@ bool MotorSafety::IsSafetyEnabled() const {
 
 void MotorSafety::Check() {
   bool enabled;
-  units::second_t stopTime;
+  wpi::units::second_t stopTime;
 
   {
     std::scoped_lock lock(m_thisMutex);
@@ -165,7 +165,7 @@ void MotorSafety::Check() {
 
     try {
       StopMotor();
-    } catch (frc::RuntimeError& e) {
+    } catch (wpi::RuntimeError& e) {
       e.Report();
     } catch (std::exception& e) {
       FRC_ReportError(err::Error, "{} StopMotor threw unexpected exception: {}",
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
index b320c048a1..6cd10ed747 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
@@ -10,7 +10,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Compressor::Compressor(int busId, int module, PneumaticsModuleType moduleType)
     : m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
@@ -22,7 +22,7 @@ Compressor::Compressor(int busId, int module, PneumaticsModuleType moduleType)
   m_module->EnableCompressorDigital();
 
   m_module->ReportUsage("Compressor", "");
-  wpi::SendableRegistry::Add(this, "Compressor", module);
+  wpi::util::SendableRegistry::Add(this, "Compressor", module);
 }
 
 Compressor::Compressor(int busId, PneumaticsModuleType moduleType)
@@ -43,15 +43,15 @@ bool Compressor::GetPressureSwitchValue() const {
   return m_module->GetPressureSwitch();
 }
 
-units::ampere_t Compressor::GetCurrent() const {
+wpi::units::ampere_t Compressor::GetCurrent() const {
   return m_module->GetCompressorCurrent();
 }
 
-units::volt_t Compressor::GetAnalogVoltage() const {
+wpi::units::volt_t Compressor::GetAnalogVoltage() const {
   return m_module->GetAnalogVoltage(0);
 }
 
-units::pounds_per_square_inch_t Compressor::GetPressure() const {
+wpi::units::pounds_per_square_inch_t Compressor::GetPressure() const {
   return m_module->GetPressure(0);
 }
 
@@ -63,13 +63,13 @@ void Compressor::EnableDigital() {
   m_module->EnableCompressorDigital();
 }
 
-void Compressor::EnableAnalog(units::pounds_per_square_inch_t minPressure,
-                              units::pounds_per_square_inch_t maxPressure) {
+void Compressor::EnableAnalog(wpi::units::pounds_per_square_inch_t minPressure,
+                              wpi::units::pounds_per_square_inch_t maxPressure) {
   m_module->EnableCompressorAnalog(minPressure, maxPressure);
 }
 
-void Compressor::EnableHybrid(units::pounds_per_square_inch_t minPressure,
-                              units::pounds_per_square_inch_t maxPressure) {
+void Compressor::EnableHybrid(wpi::units::pounds_per_square_inch_t minPressure,
+                              wpi::units::pounds_per_square_inch_t maxPressure) {
   m_module->EnableCompressorHybrid(minPressure, maxPressure);
 }
 
@@ -77,7 +77,7 @@ CompressorConfigType Compressor::GetConfigType() const {
   return m_module->GetCompressorConfigType();
 }
 
-void Compressor::InitSendable(wpi::SendableBuilder& builder) {
+void Compressor::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Compressor");
   builder.AddBooleanProperty(
       "Enabled", [this] { return IsEnabled(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
index 28865514fa..adc46f6298 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
@@ -13,7 +13,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 DoubleSolenoid::DoubleSolenoid(int busId, int module,
                                PneumaticsModuleType moduleType,
@@ -52,7 +52,7 @@ DoubleSolenoid::DoubleSolenoid(int busId, int module,
       fmt::format("Solenoid[{},{}]", m_forwardChannel, m_reverseChannel),
       "DoubleSolenoid");
 
-  wpi::SendableRegistry::Add(this, "DoubleSolenoid",
+  wpi::util::SendableRegistry::Add(this, "DoubleSolenoid",
                              m_module->GetModuleNumber(), m_forwardChannel);
 }
 
@@ -123,12 +123,12 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
   return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
 }
 
-void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
+void DoubleSolenoid::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Double Solenoid");
   builder.SetActuator(true);
   builder.AddSmallStringProperty(
       "Value",
-      [=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
+      [=, this](wpi::util::SmallVectorImpl<char>& buf) -> std::string_view {
         switch (Get()) {
           case kForward:
             return "Forward";
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
index 24de9fd6bd..e394842586 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
@@ -23,24 +23,24 @@
 #include "wpi/util/SensorUtil.hpp"
 #include "wpi/util/StackTrace.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 /** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
-units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
-                                           units::volt_t supplyVoltage) {
-  return units::pounds_per_square_inch_t{
+wpi::units::pounds_per_square_inch_t VoltsToPSI(wpi::units::volt_t sensorVoltage,
+                                           wpi::units::volt_t supplyVoltage) {
+  return wpi::units::pounds_per_square_inch_t{
       250 * (sensorVoltage.value() / supplyVoltage.value()) - 25};
 }
 
 /** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
-units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
-                         units::volt_t supplyVoltage) {
-  return units::volt_t{supplyVoltage.value() *
+wpi::units::volt_t PSIToVolts(wpi::units::pounds_per_square_inch_t pressure,
+                         wpi::units::volt_t supplyVoltage) {
+  return wpi::units::volt_t{supplyVoltage.value() *
                        (0.004 * pressure.value() + 0.1)};
 }
 
-wpi::mutex PneumaticHub::m_handleLock;
-std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>
+wpi::util::mutex PneumaticHub::m_handleLock;
+std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>
     PneumaticHub::m_handleMaps = nullptr;
 
 // Always called under lock, so we can avoid the double lock from the magic
@@ -52,7 +52,7 @@ std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int busId,
                     "Bus {} out of range. Must be [0-{}).", busId, numBuses);
   if (!m_handleMaps) {
     m_handleMaps = std::make_unique<
-        wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>(numBuses);
+        wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>(numBuses);
   }
   return m_handleMaps[busId][module];
 }
@@ -66,7 +66,7 @@ class PneumaticHub::DataStore {
     FRC_CheckErrorStatus(status, "Module {}", module);
     m_moduleObject = PneumaticHub{busId, handle, module};
     m_moduleObject.m_dataStore =
-        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+        std::shared_ptr<DataStore>{this, wpi::util::NullDeleter<DataStore>()};
 
     auto version = m_moduleObject.GetVersion();
 
@@ -89,16 +89,16 @@ class PneumaticHub::DataStore {
   friend class PneumaticHub;
   uint32_t m_reservedMask{0};
   bool m_compressorReserved{false};
-  wpi::mutex m_reservedLock;
+  wpi::util::mutex m_reservedLock;
   PneumaticHub m_moduleObject{0, HAL_kInvalidHandle, 0};
-  std::array<units::millisecond_t, 16> m_oneShotDurMs{0_ms};
+  std::array<wpi::units::millisecond_t, 16> m_oneShotDurMs{0_ms};
 };
 
 PneumaticHub::PneumaticHub(int busId)
     : PneumaticHub{busId, SensorUtil::GetDefaultREVPHModule()} {}
 
 PneumaticHub::PneumaticHub(int busId, int module) {
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   std::scoped_lock lock(m_handleLock);
   auto& res = GetDataStore(busId, module);
   m_dataStore = res.lock();
@@ -134,8 +134,8 @@ void PneumaticHub::EnableCompressorDigital() {
 }
 
 void PneumaticHub::EnableCompressorAnalog(
-    units::pounds_per_square_inch_t minPressure,
-    units::pounds_per_square_inch_t maxPressure) {
+    wpi::units::pounds_per_square_inch_t minPressure,
+    wpi::units::pounds_per_square_inch_t maxPressure) {
   if (minPressure >= maxPressure) {
     throw FRC_MakeError(err::InvalidParameter,
                         "maxPressure must be greater than minPressure");
@@ -154,8 +154,8 @@ void PneumaticHub::EnableCompressorAnalog(
   // Send the voltage as it would be if the 5V rail was at exactly 5V.
   // The firmware will compensate for the real 5V rail voltage, which
   // can fluctuate somewhat over time.
-  units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
-  units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+  wpi::units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+  wpi::units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
 
   int32_t status = 0;
   HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
@@ -164,8 +164,8 @@ void PneumaticHub::EnableCompressorAnalog(
 }
 
 void PneumaticHub::EnableCompressorHybrid(
-    units::pounds_per_square_inch_t minPressure,
-    units::pounds_per_square_inch_t maxPressure) {
+    wpi::units::pounds_per_square_inch_t minPressure,
+    wpi::units::pounds_per_square_inch_t maxPressure) {
   if (minPressure >= maxPressure) {
     throw FRC_MakeError(err::InvalidParameter,
                         "maxPressure must be greater than minPressure");
@@ -184,8 +184,8 @@ void PneumaticHub::EnableCompressorHybrid(
   // Send the voltage as it would be if the 5V rail was at exactly 5V.
   // The firmware will compensate for the real 5V rail voltage, which
   // can fluctuate somewhat over time.
-  units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
-  units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+  wpi::units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+  wpi::units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
 
   int32_t status = 0;
   HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
@@ -207,11 +207,11 @@ bool PneumaticHub::GetPressureSwitch() const {
   return result;
 }
 
-units::ampere_t PneumaticHub::GetCompressorCurrent() const {
+wpi::units::ampere_t PneumaticHub::GetCompressorCurrent() const {
   int32_t status = 0;
   auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::ampere_t{result};
+  return wpi::units::ampere_t{result};
 }
 
 void PneumaticHub::SetSolenoids(int mask, int values) {
@@ -245,7 +245,7 @@ void PneumaticHub::FireOneShot(int index) {
   FRC_ReportError(status, "Module {}", m_module);
 }
 
-void PneumaticHub::SetOneShotDuration(int index, units::second_t duration) {
+void PneumaticHub::SetOneShotDuration(int index, wpi::units::second_t duration) {
   m_dataStore->m_oneShotDurMs[index] = duration;
 }
 
@@ -370,48 +370,48 @@ void PneumaticHub::ClearStickyFaults() {
   FRC_ReportError(status, "Module {}", m_module);
 }
 
-units::volt_t PneumaticHub::GetInputVoltage() const {
+wpi::units::volt_t PneumaticHub::GetInputVoltage() const {
   int32_t status = 0;
   auto voltage = HAL_GetREVPHVoltage(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::volt_t{voltage};
+  return wpi::units::volt_t{voltage};
 }
 
-units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
+wpi::units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
   int32_t status = 0;
   auto voltage = HAL_GetREVPH5VVoltage(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::volt_t{voltage};
+  return wpi::units::volt_t{voltage};
 }
 
-units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
+wpi::units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
   int32_t status = 0;
   auto current = HAL_GetREVPHSolenoidCurrent(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::ampere_t{current};
+  return wpi::units::ampere_t{current};
 }
 
-units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
+wpi::units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
   int32_t status = 0;
   auto voltage = HAL_GetREVPHSolenoidVoltage(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::volt_t{voltage};
+  return wpi::units::volt_t{voltage};
 }
 
-units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
+wpi::units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
   int32_t status = 0;
   auto voltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::volt_t{voltage};
+  return wpi::units::volt_t{voltage};
 }
 
-units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
+wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
   int32_t status = 0;
   auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
   FRC_ReportError(status, "Module {}", m_module);
   auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return VoltsToPSI(units::volt_t{sensorVoltage}, units::volt_t{supplyVoltage});
+  return VoltsToPSI(wpi::units::volt_t{sensorVoltage}, wpi::units::volt_t{supplyVoltage});
 }
 
 Solenoid PneumaticHub::MakeSolenoid(int channel) {
@@ -434,7 +434,7 @@ void PneumaticHub::ReportUsage(std::string_view device, std::string_view data) {
 
 std::shared_ptr<PneumaticsBase> PneumaticHub::GetForModule(int busId,
                                                            int module) {
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   std::scoped_lock lock(m_handleLock);
   auto& res = GetDataStore(busId, module);
   std::shared_ptr<DataStore> dataStore = res.lock();
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
index 50cfd6c31a..072f02eb57 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
@@ -12,7 +12,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/util/SensorUtil.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 static_assert(
     static_cast<int>(CompressorConfigType::Disabled) ==
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
index f408496148..9278ec3760 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
@@ -20,11 +20,11 @@
 #include "wpi/util/SensorUtil.hpp"
 #include "wpi/util/StackTrace.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-wpi::mutex PneumaticsControlModule::m_handleLock;
+wpi::util::mutex PneumaticsControlModule::m_handleLock;
 std::unique_ptr<
-    wpi::DenseMap<int, std::weak_ptr<PneumaticsControlModule::DataStore>>[]>
+    wpi::util::DenseMap<int, std::weak_ptr<PneumaticsControlModule::DataStore>>[]>
     PneumaticsControlModule::m_handleMaps = nullptr;
 
 // Always called under lock, so we can avoid the double lock from the magic
@@ -35,7 +35,7 @@ PneumaticsControlModule::GetDataStore(int busId, int module) {
   FRC_AssertMessage(busId >= 0 && busId < numBuses,
                     "Bus {} out of range. Must be [0-{}).", busId, numBuses);
   if (!m_handleMaps) {
-    m_handleMaps = std::make_unique<wpi::DenseMap<
+    m_handleMaps = std::make_unique<wpi::util::DenseMap<
         int, std::weak_ptr<PneumaticsControlModule::DataStore>>[]>(numBuses);
   }
 
@@ -51,7 +51,7 @@ class PneumaticsControlModule::DataStore {
     FRC_CheckErrorStatus(status, "Module {}", module);
     m_moduleObject = PneumaticsControlModule{busId, handle, module};
     m_moduleObject.m_dataStore =
-        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+        std::shared_ptr<DataStore>{this, wpi::util::NullDeleter<DataStore>()};
   }
 
   ~DataStore() noexcept { HAL_FreeCTREPCM(m_moduleObject.m_handle); }
@@ -63,7 +63,7 @@ class PneumaticsControlModule::DataStore {
   friend class PneumaticsControlModule;
   uint32_t m_reservedMask{0};
   bool m_compressorReserved{false};
-  wpi::mutex m_reservedLock;
+  wpi::util::mutex m_reservedLock;
   PneumaticsControlModule m_moduleObject{0, HAL_kInvalidHandle, 0};
 };
 
@@ -71,7 +71,7 @@ PneumaticsControlModule::PneumaticsControlModule(int busId)
     : PneumaticsControlModule{busId, SensorUtil::GetDefaultCTREPCMModule()} {}
 
 PneumaticsControlModule::PneumaticsControlModule(int busId, int module) {
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   std::scoped_lock lock(m_handleLock);
   auto& res = GetDataStore(busId, module);
   m_dataStore = res.lock();
@@ -109,16 +109,16 @@ void PneumaticsControlModule::EnableCompressorDigital() {
 }
 
 void PneumaticsControlModule::EnableCompressorAnalog(
-    units::pounds_per_square_inch_t minPressure,
-    units::pounds_per_square_inch_t maxPressure) {
+    wpi::units::pounds_per_square_inch_t minPressure,
+    wpi::units::pounds_per_square_inch_t maxPressure) {
   int32_t status = 0;
   HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
   FRC_ReportError(status, "Module {}", m_module);
 }
 
 void PneumaticsControlModule::EnableCompressorHybrid(
-    units::pounds_per_square_inch_t minPressure,
-    units::pounds_per_square_inch_t maxPressure) {
+    wpi::units::pounds_per_square_inch_t minPressure,
+    wpi::units::pounds_per_square_inch_t maxPressure) {
   int32_t status = 0;
   HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
   FRC_ReportError(status, "Module {}", m_module);
@@ -139,11 +139,11 @@ bool PneumaticsControlModule::GetPressureSwitch() const {
   return result;
 }
 
-units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
+wpi::units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
   int32_t status = 0;
   auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
-  return units::ampere_t{result};
+  return wpi::units::ampere_t{result};
 }
 
 bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
@@ -235,9 +235,9 @@ void PneumaticsControlModule::FireOneShot(int index) {
 }
 
 void PneumaticsControlModule::SetOneShotDuration(int index,
-                                                 units::second_t duration) {
+                                                 wpi::units::second_t duration) {
   int32_t status = 0;
-  units::millisecond_t millis = duration;
+  wpi::units::millisecond_t millis = duration;
   HAL_SetCTREPCMOneShotDuration(m_handle, index, millis.to<int32_t>(), &status);
   FRC_ReportError(status, "Module {}", m_module);
 }
@@ -275,11 +275,11 @@ void PneumaticsControlModule::UnreserveCompressor() {
   m_dataStore->m_compressorReserved = false;
 }
 
-units::volt_t PneumaticsControlModule::GetAnalogVoltage(int channel) const {
+wpi::units::volt_t PneumaticsControlModule::GetAnalogVoltage(int channel) const {
   return 0_V;
 }
 
-units::pounds_per_square_inch_t PneumaticsControlModule::GetPressure(
+wpi::units::pounds_per_square_inch_t PneumaticsControlModule::GetPressure(
     int channel) const {
   return 0_psi;
 }
@@ -305,7 +305,7 @@ void PneumaticsControlModule::ReportUsage(std::string_view device,
 
 std::shared_ptr<PneumaticsBase> PneumaticsControlModule::GetForModule(
     int busId, int module) {
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   std::scoped_lock lock(m_handleLock);
   auto& res = GetDataStore(busId, module);
   std::shared_ptr<DataStore> dataStore = res.lock();
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
index 6f6e1474ec..66eda08750 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Solenoid::Solenoid(int busId, int module, PneumaticsModuleType moduleType,
                    int channel)
@@ -28,7 +28,7 @@ Solenoid::Solenoid(int busId, int module, PneumaticsModuleType moduleType,
   }
 
   m_module->ReportUsage(fmt::format("Solenoid[{}]", m_channel), "Solenoid");
-  wpi::SendableRegistry::Add(this, "Solenoid", m_module->GetModuleNumber(),
+  wpi::util::SendableRegistry::Add(this, "Solenoid", m_module->GetModuleNumber(),
                              m_channel);
 }
 
@@ -64,7 +64,7 @@ bool Solenoid::IsDisabled() const {
   return (m_module->GetSolenoidDisabledList() & m_mask) != 0;
 }
 
-void Solenoid::SetPulseDuration(units::second_t duration) {
+void Solenoid::SetPulseDuration(wpi::units::second_t duration) {
   m_module->SetOneShotDuration(m_channel, duration);
 }
 
@@ -72,7 +72,7 @@ void Solenoid::StartPulse() {
   m_module->FireOneShot(m_channel);
 }
 
-void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
+void Solenoid::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Solenoid");
   builder.SetActuator(true);
   builder.AddBooleanProperty(
diff --git a/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp b/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
index 2ba6f2d0d9..1f1886bbd0 100644
--- a/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
@@ -17,18 +17,18 @@
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
 static_assert(static_cast<HAL_PowerDistributionType>(
-                  frc::PowerDistribution::ModuleType::kCTRE) ==
+                  wpi::PowerDistribution::ModuleType::kCTRE) ==
               HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE);
 static_assert(static_cast<HAL_PowerDistributionType>(
-                  frc::PowerDistribution::ModuleType::kRev) ==
+                  wpi::PowerDistribution::ModuleType::kRev) ==
               HAL_PowerDistributionType::HAL_PowerDistributionType_kRev);
-static_assert(frc::PowerDistribution::kDefaultModule ==
+static_assert(wpi::PowerDistribution::kDefaultModule ==
               HAL_DEFAULT_POWER_DISTRIBUTION_MODULE);
 
-using namespace frc;
+using namespace wpi;
 
 PowerDistribution::PowerDistribution(int busId) {
-  auto stack = wpi::GetStackTrace(1);
+  auto stack = wpi::util::GetStackTrace(1);
 
   int32_t status = 0;
   m_handle = HAL_InitializePowerDistribution(
@@ -45,12 +45,12 @@ PowerDistribution::PowerDistribution(int busId) {
   } else {
     HAL_ReportUsage("PDH", m_module, "");
   }
-  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
+  wpi::util::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 PowerDistribution::PowerDistribution(int busId, int module,
                                      ModuleType moduleType) {
-  auto stack = wpi::GetStackTrace(1);
+  auto stack = wpi::util::GetStackTrace(1);
 
   int32_t status = 0;
   m_handle = HAL_InitializePowerDistribution(
@@ -65,7 +65,7 @@ PowerDistribution::PowerDistribution(int busId, int module,
   } else {
     HAL_ReportUsage("PDH_REV", m_module, "");
   }
-  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
+  wpi::util::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 int PowerDistribution::GetNumChannels() const {
@@ -320,7 +320,7 @@ PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
   return stickyFaults;
 }
 
-void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
+void PowerDistribution::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PowerDistribution");
   int numChannels = GetNumChannels();
   // Use manual reads to avoid printing errors
diff --git a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
index 9f8e4ce2ce..cececa4e32 100644
--- a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 SharpIR SharpIR::GP2Y0A02YK0F(int channel) {
   return SharpIR(channel, 62.28, -1.092, 20_cm, 150_cm);
@@ -30,13 +30,13 @@ SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
   return SharpIR(channel, 5.2819, -1.161, 2_cm, 15_cm);
 }
 
-SharpIR::SharpIR(int channel, double a, double b, units::meter_t min,
-                 units::meter_t max)
+SharpIR::SharpIR(int channel, double a, double b, wpi::units::meter_t min,
+                 wpi::units::meter_t max)
     : m_sensor(channel), m_A(a), m_B(b), m_min(min), m_max(max) {
   HAL_ReportUsage("IO", channel, "SharpIR");
-  wpi::SendableRegistry::Add(this, "SharpIR", channel);
+  wpi::util::SendableRegistry::Add(this, "SharpIR", channel);
 
-  m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
+  m_simDevice = wpi::hal::SimDevice("SharpIR", m_sensor.GetChannel());
   if (m_simDevice) {
     m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
     m_sensor.SetSimDevice(m_simDevice);
@@ -47,19 +47,19 @@ int SharpIR::GetChannel() const {
   return m_sensor.GetChannel();
 }
 
-units::meter_t SharpIR::GetRange() const {
+wpi::units::meter_t SharpIR::GetRange() const {
   if (m_simRange) {
-    return std::clamp(units::meter_t{m_simRange.Get()}, m_min, m_max);
+    return std::clamp(wpi::units::meter_t{m_simRange.Get()}, m_min, m_max);
   } else {
     // Don't allow zero/negative values
     auto v = std::max(m_sensor.GetVoltage(), 0.00001);
 
-    return std::clamp(units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
+    return std::clamp(wpi::units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
                       m_max);
   }
 }
 
-void SharpIR::InitSendable(wpi::SendableBuilder& builder) {
+void SharpIR::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Ultrasonic");
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetRange().value(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
index 6f5ca07265..1185afe8c3 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
@@ -13,7 +13,7 @@
 #include "wpi/util/NullDeleter.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 AnalogEncoder::~AnalogEncoder() {}
 
@@ -21,12 +21,12 @@ AnalogEncoder::AnalogEncoder(int channel)
     : AnalogEncoder(std::make_shared<AnalogInput>(channel)) {}
 
 AnalogEncoder::AnalogEncoder(AnalogInput& analogInput)
-    : m_analogInput{&analogInput, wpi::NullDeleter<AnalogInput>{}} {
+    : m_analogInput{&analogInput, wpi::util::NullDeleter<AnalogInput>{}} {
   Init(1.0, 0.0);
 }
 
 AnalogEncoder::AnalogEncoder(AnalogInput* analogInput)
-    : m_analogInput{analogInput, wpi::NullDeleter<AnalogInput>{}} {
+    : m_analogInput{analogInput, wpi::util::NullDeleter<AnalogInput>{}} {
   Init(1.0, 0.0);
 }
 
@@ -41,13 +41,13 @@ AnalogEncoder::AnalogEncoder(int channel, double fullRange, double expectedZero)
 
 AnalogEncoder::AnalogEncoder(AnalogInput& analogInput, double fullRange,
                              double expectedZero)
-    : m_analogInput{&analogInput, wpi::NullDeleter<AnalogInput>{}} {
+    : m_analogInput{&analogInput, wpi::util::NullDeleter<AnalogInput>{}} {
   Init(fullRange, expectedZero);
 }
 
 AnalogEncoder::AnalogEncoder(AnalogInput* analogInput, double fullRange,
                              double expectedZero)
-    : m_analogInput{analogInput, wpi::NullDeleter<AnalogInput>{}} {
+    : m_analogInput{analogInput, wpi::util::NullDeleter<AnalogInput>{}} {
   Init(fullRange, expectedZero);
 }
 
@@ -58,7 +58,7 @@ AnalogEncoder::AnalogEncoder(std::shared_ptr<AnalogInput> analogInput,
 }
 
 void AnalogEncoder::Init(double fullRange, double expectedZero) {
-  m_simDevice = hal::SimDevice{"AnalogEncoder", m_analogInput->GetChannel()};
+  m_simDevice = wpi::hal::SimDevice{"AnalogEncoder", m_analogInput->GetChannel()};
 
   if (m_simDevice) {
     m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
@@ -69,7 +69,7 @@ void AnalogEncoder::Init(double fullRange, double expectedZero) {
 
   HAL_ReportUsage("IO", m_analogInput->GetChannel(), "AnalogEncoder");
 
-  wpi::SendableRegistry::Add(this, "Analog Encoder",
+  wpi::util::SendableRegistry::Add(this, "Analog Encoder",
                              m_analogInput->GetChannel());
 }
 
@@ -88,7 +88,7 @@ double AnalogEncoder::Get() const {
   pos = pos * m_fullRange - m_expectedZero;
 
   // Map from 0 - Full Range
-  double result = InputModulus(pos, 0.0, m_fullRange);
+  double result = wpi::math::InputModulus(pos, 0.0, m_fullRange);
   // Invert if necessary
   if (m_isInverted) {
     return m_fullRange - result;
@@ -120,7 +120,7 @@ double AnalogEncoder::MapSensorRange(double pos) const {
   return pos;
 }
 
-void AnalogEncoder::InitSendable(wpi::SendableBuilder& builder) {
+void AnalogEncoder::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Position", [this] { return this->Get(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
index 0f5e8a59c4..e3e28bf78c 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
@@ -12,19 +12,19 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                          double offset)
     : AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
                           offset) {
-  wpi::SendableRegistry::AddChild(this, m_analog_input.get());
+  wpi::util::SendableRegistry::AddChild(this, m_analog_input.get());
 }
 
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
                                          double offset)
     : AnalogPotentiometer(
-          std::shared_ptr<AnalogInput>(input, wpi::NullDeleter<AnalogInput>()),
+          std::shared_ptr<AnalogInput>(input, wpi::util::NullDeleter<AnalogInput>()),
           fullRange, offset) {}
 
 AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
@@ -32,7 +32,7 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  wpi::SendableRegistry::Add(this, "AnalogPotentiometer",
+  wpi::util::SendableRegistry::Add(this, "AnalogPotentiometer",
                              m_analog_input->GetChannel());
 }
 
@@ -42,7 +42,7 @@ double AnalogPotentiometer::Get() const {
          m_offset;
 }
 
-void AnalogPotentiometer::InitSendable(wpi::SendableBuilder& builder) {
+void AnalogPotentiometer::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty("Value", [=, this] { return Get(); }, nullptr);
 }
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
index e866a754dc..24b4f33cfa 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 DutyCycle::DutyCycle(int channel) : m_channel{channel} {
   if (!SensorUtil::CheckDigitalChannel(channel)) {
@@ -27,18 +27,18 @@ DutyCycle::DutyCycle(int channel) : m_channel{channel} {
 
 void DutyCycle::InitDutyCycle() {
   int32_t status = 0;
-  std::string stackTrace = wpi::GetStackTrace(1);
+  std::string stackTrace = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeDutyCycle(m_channel, stackTrace.c_str(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   HAL_ReportUsage("IO", m_channel, "DutyCycle");
-  wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
+  wpi::util::SendableRegistry::Add(this, "Duty Cycle", m_channel);
 }
 
-units::hertz_t DutyCycle::GetFrequency() const {
+wpi::units::hertz_t DutyCycle::GetFrequency() const {
   int32_t status = 0;
   auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  return units::hertz_t{retVal};
+  return wpi::units::hertz_t{retVal};
 }
 
 double DutyCycle::GetOutput() const {
@@ -48,18 +48,18 @@ double DutyCycle::GetOutput() const {
   return retVal;
 }
 
-units::second_t DutyCycle::GetHighTime() const {
+wpi::units::second_t DutyCycle::GetHighTime() const {
   int32_t status = 0;
   auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  return units::nanosecond_t{static_cast<double>(retVal)};
+  return wpi::units::nanosecond_t{static_cast<double>(retVal)};
 }
 
 int DutyCycle::GetSourceChannel() const {
   return m_channel;
 }
 
-void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
+void DutyCycle::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Duty Cycle");
   builder.AddDoubleProperty(
       "Frequency", [this] { return this->GetFrequency().value(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
index d0be46d51c..46e3351f4c 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
@@ -13,7 +13,7 @@
 #include "wpi/util/NullDeleter.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 DutyCycleEncoder::DutyCycleEncoder(int channel)
     : m_dutyCycle{std::make_shared<DutyCycle>(channel)} {
@@ -21,12 +21,12 @@ DutyCycleEncoder::DutyCycleEncoder(int channel)
 }
 
 DutyCycleEncoder::DutyCycleEncoder(DutyCycle& dutyCycle)
-    : m_dutyCycle{&dutyCycle, wpi::NullDeleter<DutyCycle>{}} {
+    : m_dutyCycle{&dutyCycle, wpi::util::NullDeleter<DutyCycle>{}} {
   Init(1.0, 0.0);
 }
 
 DutyCycleEncoder::DutyCycleEncoder(DutyCycle* dutyCycle)
-    : m_dutyCycle{dutyCycle, wpi::NullDeleter<DutyCycle>{}} {
+    : m_dutyCycle{dutyCycle, wpi::util::NullDeleter<DutyCycle>{}} {
   Init(1.0, 0.0);
 }
 
@@ -43,13 +43,13 @@ DutyCycleEncoder::DutyCycleEncoder(int channel, double fullRange,
 
 DutyCycleEncoder::DutyCycleEncoder(DutyCycle& dutyCycle, double fullRange,
                                    double expectedZero)
-    : m_dutyCycle{&dutyCycle, wpi::NullDeleter<DutyCycle>{}} {
+    : m_dutyCycle{&dutyCycle, wpi::util::NullDeleter<DutyCycle>{}} {
   Init(fullRange, expectedZero);
 }
 
 DutyCycleEncoder::DutyCycleEncoder(DutyCycle* dutyCycle, double fullRange,
                                    double expectedZero)
-    : m_dutyCycle{dutyCycle, wpi::NullDeleter<DutyCycle>{}} {
+    : m_dutyCycle{dutyCycle, wpi::util::NullDeleter<DutyCycle>{}} {
   Init(fullRange, expectedZero);
 }
 
@@ -60,19 +60,19 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle,
 }
 
 void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
-  m_simDevice = hal::SimDevice{"DutyCycle:DutyCycleEncoder",
+  m_simDevice = wpi::hal::SimDevice{"DutyCycle:DutyCycleEncoder",
                                m_dutyCycle->GetSourceChannel()};
 
   if (m_simDevice) {
     m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
     m_simIsConnected =
-        m_simDevice.CreateBoolean("Connected", hal::SimDevice::kInput, true);
+        m_simDevice.CreateBoolean("Connected", wpi::hal::SimDevice::kInput, true);
   }
 
   m_fullRange = fullRange;
   m_expectedZero = expectedZero;
 
-  wpi::SendableRegistry::Add(this, "DutyCycle Encoder",
+  wpi::util::SendableRegistry::Add(this, "DutyCycle Encoder",
                              m_dutyCycle->GetSourceChannel());
 }
 
@@ -97,7 +97,7 @@ double DutyCycleEncoder::Get() const {
   pos = pos * m_fullRange - m_expectedZero;
 
   // Map from 0 - Full Range
-  double result = InputModulus(pos, 0.0, m_fullRange);
+  double result = wpi::math::InputModulus(pos, 0.0, m_fullRange);
   // Invert if necessary
   if (m_isInverted) {
     return m_fullRange - result;
@@ -121,7 +121,7 @@ void DutyCycleEncoder::SetDutyCycleRange(double min, double max) {
   m_sensorMax = std::clamp(max, 0.0, 1.0);
 }
 
-units::hertz_t DutyCycleEncoder::GetFrequency() const {
+wpi::units::hertz_t DutyCycleEncoder::GetFrequency() const {
   return m_dutyCycle->GetFrequency();
 }
 
@@ -133,7 +133,7 @@ bool DutyCycleEncoder::IsConnected() const {
 }
 
 void DutyCycleEncoder::SetConnectedFrequencyThreshold(
-    units::hertz_t frequency) {
+    wpi::units::hertz_t frequency) {
   if (frequency < 0_Hz) {
     frequency = 0_Hz;
   }
@@ -144,7 +144,7 @@ void DutyCycleEncoder::SetInverted(bool inverted) {
   m_isInverted = inverted;
 }
 
-void DutyCycleEncoder::SetAssumedFrequency(units::hertz_t frequency) {
+void DutyCycleEncoder::SetAssumedFrequency(wpi::units::hertz_t frequency) {
   if (frequency.value() == 0) {
     m_period = 0_s;
   } else {
@@ -156,7 +156,7 @@ int DutyCycleEncoder::GetSourceChannel() const {
   return m_dutyCycle->GetSourceChannel();
 }
 
-void DutyCycleEncoder::InitSendable(wpi::SendableBuilder& builder) {
+void DutyCycleEncoder::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Position", [this] { return this->Get(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
index 217eb9d6bb..047691b652 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
                  EncodingType encodingType) {
@@ -35,14 +35,14 @@ void Encoder::Reset() {
   FRC_CheckErrorStatus(status, "Reset");
 }
 
-units::second_t Encoder::GetPeriod() const {
+wpi::units::second_t Encoder::GetPeriod() const {
   int32_t status = 0;
   double value = HAL_GetEncoderPeriod(m_encoder, &status);
   FRC_CheckErrorStatus(status, "GetPeriod");
-  return units::second_t{value};
+  return wpi::units::second_t{value};
 }
 
-void Encoder::SetMaxPeriod(units::second_t maxPeriod) {
+void Encoder::SetMaxPeriod(wpi::units::second_t maxPeriod) {
   int32_t status = 0;
   HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod.value(), &status);
   FRC_CheckErrorStatus(status, "SetMaxPeriod");
@@ -145,7 +145,7 @@ int Encoder::GetFPGAIndex() const {
   return val;
 }
 
-void Encoder::InitSendable(wpi::SendableBuilder& builder) {
+void Encoder::InitSendable(wpi::util::SendableBuilder& builder) {
   int32_t status = 0;
   HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
   FRC_CheckErrorStatus(status, "GetEncodingType");
@@ -184,7 +184,7 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
       break;
   }
   HAL_ReportUsage(fmt::format("IO[{},{}]", aChannel, bChannel), type);
-  // wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
+  // wpi::util::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {
diff --git a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
index 4412a6d715..7b776f6a17 100644
--- a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
+++ b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
@@ -8,7 +8,7 @@
 #include "wpi/hal/DriverStation.h"
 #include "wpi/util/Synchronization.h"
 
-using namespace frc::internal;
+using namespace wpi::internal;
 
 DriverStationModeThread::DriverStationModeThread() {
   m_keepAlive = true;
@@ -39,13 +39,13 @@ void DriverStationModeThread::InTest(bool entering) {
 }
 
 void DriverStationModeThread::Run() {
-  wpi::Event event{false, false};
+  wpi::util::Event event{false, false};
   HAL_ProvideNewDataEventHandle(event.GetHandle());
 
   while (m_keepAlive.load()) {
     bool timedOut = false;
-    wpi::WaitForObject(event.GetHandle(), 0.1, &timedOut);
-    frc::DriverStation::RefreshData();
+    wpi::util::WaitForObject(event.GetHandle(), 0.1, &timedOut);
+    wpi::DriverStation::RefreshData();
     if (m_userInDisabled) {
       HAL_ObserveUserProgramDisabled();
     }
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
index 68ef44e54b..d01d1d78e7 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/system/RobotController.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-void MotorController::SetVoltage(units::volt_t output) {
+void MotorController::SetVoltage(wpi::units::volt_t output) {
   // NOLINTNEXTLINE(bugprone-integer-division)
   Set(output / RobotController::GetBatteryVoltage());
 }
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
index 9bbef758c0..311c71f7b1 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
@@ -10,7 +10,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 // Can't use a delegated constructor here because of an MSVC bug.
 // https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
@@ -25,11 +25,11 @@ MotorControllerGroup::MotorControllerGroup(
 
 void MotorControllerGroup::Initialize() {
   for (auto& motorController : m_motorControllers) {
-    wpi::SendableRegistry::AddChild(this, &motorController.get());
+    wpi::util::SendableRegistry::AddChild(this, &motorController.get());
   }
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::Add(this, "MotorControllerGroup", instances);
+  wpi::util::SendableRegistry::Add(this, "MotorControllerGroup", instances);
 }
 
 void MotorControllerGroup::Set(double speed) {
@@ -38,7 +38,7 @@ void MotorControllerGroup::Set(double speed) {
   }
 }
 
-void MotorControllerGroup::SetVoltage(units::volt_t output) {
+void MotorControllerGroup::SetVoltage(wpi::units::volt_t output) {
   for (auto motorController : m_motorControllers) {
     motorController.get().SetVoltage(m_isInverted ? -output : output);
   }
@@ -71,7 +71,7 @@ void MotorControllerGroup::StopMotor() {
   }
 }
 
-void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
+void MotorControllerGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index c4b2e66463..198ed0d358 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 void PWMMotorController::Set(double speed) {
   if (m_isInverted) {
@@ -30,7 +30,7 @@ void PWMMotorController::Set(double speed) {
   Feed();
 }
 
-void PWMMotorController::SetVoltage(units::volt_t output) {
+void PWMMotorController::SetVoltage(wpi::units::volt_t output) {
   // NOLINTNEXTLINE(bugprone-integer-division)
   Set(output / RobotController::GetBatteryVoltage());
 }
@@ -39,7 +39,7 @@ double PWMMotorController::Get() const {
   return GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }
 
-units::volt_t PWMMotorController::GetVoltage() const {
+wpi::units::volt_t PWMMotorController::GetVoltage() const {
   return Get() * RobotController::GetBatteryVoltage();
 }
 
@@ -98,9 +98,9 @@ WPI_IGNORE_DEPRECATED
 
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
-  wpi::SendableRegistry::Add(this, name, channel);
+  wpi::util::SendableRegistry::Add(this, name, channel);
 
-  m_simDevice = hal::SimDevice{"PWMMotorController", channel};
+  m_simDevice = wpi::hal::SimDevice{"PWMMotorController", channel};
   if (m_simDevice) {
     m_simSpeed = m_simDevice.CreateDouble("Speed", true, 0.0);
     m_pwm.SetSimDevice(m_simDevice);
@@ -109,7 +109,7 @@ PWMMotorController::PWMMotorController(std::string_view name, int channel)
 
 WPI_UNIGNORE_DEPRECATED
 
-void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
+void PWMMotorController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.AddDoubleProperty(
@@ -117,7 +117,7 @@ void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
       [=, this](double value) { Set(value); });
 }
 
-units::microsecond_t PWMMotorController::GetMinPositivePwm() const {
+wpi::units::microsecond_t PWMMotorController::GetMinPositivePwm() const {
   if (m_eliminateDeadband) {
     return m_deadbandMaxPwm;
   } else {
@@ -125,7 +125,7 @@ units::microsecond_t PWMMotorController::GetMinPositivePwm() const {
   }
 }
 
-units::microsecond_t PWMMotorController::GetMaxNegativePwm() const {
+wpi::units::microsecond_t PWMMotorController::GetMaxNegativePwm() const {
   if (m_eliminateDeadband) {
     return m_deadbandMinPwm;
   } else {
@@ -133,11 +133,11 @@ units::microsecond_t PWMMotorController::GetMaxNegativePwm() const {
   }
 }
 
-units::microsecond_t PWMMotorController::GetPositiveScaleFactor() const {
+wpi::units::microsecond_t PWMMotorController::GetPositiveScaleFactor() const {
   return m_maxPwm - GetMinPositivePwm();
 }
 
-units::microsecond_t PWMMotorController::GetNegativeScaleFactor() const {
+wpi::units::microsecond_t PWMMotorController::GetNegativeScaleFactor() const {
   return GetMaxNegativePwm() - m_minPwm;
 }
 
@@ -152,15 +152,15 @@ void PWMMotorController::SetSpeed(double speed) {
     m_simSpeed.Set(speed);
   }
 
-  units::microsecond_t rawValue;
+  wpi::units::microsecond_t rawValue;
   if (speed == 0.0) {
     rawValue = m_centerPwm;
   } else if (speed > 0.0) {
-    rawValue = units::microsecond_t{static_cast<double>(std::lround(
+    rawValue = wpi::units::microsecond_t{static_cast<double>(std::lround(
                    (speed * GetPositiveScaleFactor()).to<double>()))} +
                GetMinPositivePwm();
   } else {
-    rawValue = units::microsecond_t{static_cast<double>(std::lround(
+    rawValue = wpi::units::microsecond_t{static_cast<double>(std::lround(
                    (speed * GetNegativeScaleFactor()).to<double>()))} +
                GetMaxNegativePwm();
   }
@@ -169,7 +169,7 @@ void PWMMotorController::SetSpeed(double speed) {
 }
 
 double PWMMotorController::GetSpeed() const {
-  units::microsecond_t rawValue = m_pwm.GetPulseTime();
+  wpi::units::microsecond_t rawValue = m_pwm.GetPulseTime();
 
   if (rawValue == 0_us) {
     return 0.0;
@@ -188,11 +188,11 @@ double PWMMotorController::GetSpeed() const {
   }
 }
 
-void PWMMotorController::SetBounds(units::microsecond_t maxPwm,
-                                   units::microsecond_t deadbandMaxPwm,
-                                   units::microsecond_t centerPwm,
-                                   units::microsecond_t deadbandMinPwm,
-                                   units::microsecond_t minPwm) {
+void PWMMotorController::SetBounds(wpi::units::microsecond_t maxPwm,
+                                   wpi::units::microsecond_t deadbandMaxPwm,
+                                   wpi::units::microsecond_t centerPwm,
+                                   wpi::units::microsecond_t deadbandMinPwm,
+                                   wpi::units::microsecond_t minPwm) {
   m_maxPwm = maxPwm;
   m_deadbandMaxPwm = deadbandMaxPwm;
   m_centerPwm = centerPwm;
diff --git a/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
index 0733ff2c9c..a5ea49f9c5 100644
--- a/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
@@ -12,9 +12,9 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-IterativeRobotBase::IterativeRobotBase(units::second_t period)
+IterativeRobotBase::IterativeRobotBase(wpi::units::second_t period)
     : m_period(period),
       m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
 
@@ -33,7 +33,7 @@ void IterativeRobotBase::TestInit() {}
 void IterativeRobotBase::RobotPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -41,7 +41,7 @@ void IterativeRobotBase::RobotPeriodic() {
 void IterativeRobotBase::SimulationPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -49,7 +49,7 @@ void IterativeRobotBase::SimulationPeriodic() {
 void IterativeRobotBase::DisabledPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -57,7 +57,7 @@ void IterativeRobotBase::DisabledPeriodic() {
 void IterativeRobotBase::AutonomousPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -65,7 +65,7 @@ void IterativeRobotBase::AutonomousPeriodic() {
 void IterativeRobotBase::TeleopPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -73,7 +73,7 @@ void IterativeRobotBase::TeleopPeriodic() {
 void IterativeRobotBase::TestPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::print("Default {}() method... Override me!\n", __FUNCTION__);
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -90,7 +90,7 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
-units::second_t IterativeRobotBase::GetPeriod() const {
+wpi::units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
 }
 
@@ -183,7 +183,7 @@ void IterativeRobotBase::LoopFunc() {
 
   // Flush NetworkTables
   if (m_ntFlushEnabled) {
-    nt::NetworkTableInstance::GetDefault().FlushLocal();
+    wpi::nt::NetworkTableInstance::GetDefault().FlushLocal();
   }
 
   // Warn on loop time overruns
diff --git a/wpilibc/src/main/native/cpp/opmode/RobotState.cpp b/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
index 9155e7af30..34543aa78c 100644
--- a/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/driverstation/DriverStation.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 bool RobotState::IsDisabled() {
   return DriverStation::IsDisabled();
diff --git a/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp b/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
index 04bf0feaf0..07bee23974 100644
--- a/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
@@ -14,7 +14,7 @@
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 void TimedRobot::StartCompetition() {
   if constexpr (IsSimulation()) {
@@ -75,7 +75,7 @@ void TimedRobot::EndCompetition() {
   HAL_StopNotifier(m_notifier, &status);
 }
 
-TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
+TimedRobot::TimedRobot(wpi::units::second_t period) : IterativeRobotBase(period) {
   m_startTime = std::chrono::microseconds{RobotController::GetFPGATime()};
   AddPeriodic([=, this] { LoopFunc(); }, period);
 
@@ -87,7 +87,7 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
   HAL_ReportUsage("Framework", "TimedRobot");
 }
 
-TimedRobot::TimedRobot(units::hertz_t frequency) : TimedRobot{1 / frequency} {}
+TimedRobot::TimedRobot(wpi::units::hertz_t frequency) : TimedRobot{1 / frequency} {}
 
 TimedRobot::~TimedRobot() {
   if (m_notifier != HAL_kInvalidHandle) {
@@ -102,7 +102,7 @@ uint64_t TimedRobot::GetLoopStartTime() {
 }
 
 void TimedRobot::AddPeriodic(std::function<void()> callback,
-                             units::second_t period, units::second_t offset) {
+                             wpi::units::second_t period, wpi::units::second_t offset) {
   m_callbacks.emplace(
       callback, m_startTime,
       std::chrono::microseconds{static_cast<int64_t>(period.value() * 1e6)},
diff --git a/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp b/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
index 8dc82edc2a..ab37fcda29 100644
--- a/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
@@ -6,15 +6,15 @@
 
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-TimesliceRobot::TimesliceRobot(units::second_t robotPeriodicAllocation,
-                               units::second_t controllerPeriod)
+TimesliceRobot::TimesliceRobot(wpi::units::second_t robotPeriodicAllocation,
+                               wpi::units::second_t controllerPeriod)
     : m_nextOffset{robotPeriodicAllocation},
       m_controllerPeriod{controllerPeriod} {}
 
 void TimesliceRobot::Schedule(std::function<void()> func,
-                              units::second_t allocation) {
+                              wpi::units::second_t allocation) {
   if (m_nextOffset + allocation > m_controllerPeriod) {
     throw FRC_MakeError(err::Error,
                         "Function scheduled at offset {} with allocation {} "
diff --git a/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp b/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
index aa00c2b68a..c09feed64d 100644
--- a/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
@@ -7,10 +7,10 @@
 #include "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
 #include "wpi/simulation/SimDeviceSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
-ADXL345Sim::ADXL345Sim(const frc::ADXL345_I2C& accel) {
-  frc::sim::SimDeviceSim deviceSim{"Accel:ADXL345_I2C", accel.GetI2CPort(),
+ADXL345Sim::ADXL345Sim(const wpi::ADXL345_I2C& accel) {
+  wpi::sim::SimDeviceSim deviceSim{"Accel:ADXL345_I2C", accel.GetI2CPort(),
                                    accel.GetI2CDeviceAddress()};
   m_simX = deviceSim.GetDouble("x");
   m_simY = deviceSim.GetDouble("y");
diff --git a/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp b/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
index 1b5b3b8574..59cd3ac7cb 100644
--- a/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hal/simulation/AddressableLEDData.h"
 #include "wpi/hardware/led/AddressableLED.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 AddressableLEDSim::AddressableLEDSim(int channel) : m_channel{channel} {}
 
diff --git a/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
index c952f45398..2b924f4025 100644
--- a/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
@@ -7,10 +7,10 @@
 #include "wpi/hardware/rotation/AnalogEncoder.hpp"
 #include "wpi/simulation/SimDeviceSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
-AnalogEncoderSim::AnalogEncoderSim(const frc::AnalogEncoder& encoder) {
-  frc::sim::SimDeviceSim deviceSim{"AnalogEncoder", encoder.GetChannel()};
+AnalogEncoderSim::AnalogEncoderSim(const wpi::AnalogEncoder& encoder) {
+  wpi::sim::SimDeviceSim deviceSim{"AnalogEncoder", encoder.GetChannel()};
   m_positionSim = deviceSim.GetDouble("Position");
 }
 
diff --git a/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp b/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
index 1d7604f68b..58e742baa2 100644
--- a/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/simulation/AnalogInData.h"
 #include "wpi/hardware/discrete/AnalogInput.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 AnalogInputSim::AnalogInputSim(const AnalogInput& analogInput)
     : m_index{analogInput.GetChannel()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp b/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
index b2a41457a0..65247619e7 100644
--- a/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/simulation/CTREPCMData.h"
 #include "wpi/util/SensorUtil.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 CTREPCMSim::CTREPCMSim()
     : PneumaticsBaseSim{SensorUtil::GetDefaultCTREPCMModule()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp b/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
index 0d18b0c325..ae99e5e276 100644
--- a/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
@@ -6,15 +6,15 @@
 
 #include <utility>
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
-void frc::sim::CallbackStoreThunk(const char* name, void* param,
+void wpi::sim::CallbackStoreThunk(const char* name, void* param,
                                   const HAL_Value* value) {
   reinterpret_cast<CallbackStore*>(param)->callback(name, value);
 }
 
-void frc::sim::ConstBufferCallbackStoreThunk(const char* name, void* param,
+void wpi::sim::ConstBufferCallbackStoreThunk(const char* name, void* param,
                                              const unsigned char* buffer,
                                              unsigned int count) {
   reinterpret_cast<CallbackStore*>(param)->constBufferCallback(name, buffer,
diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index 10786d96ca..d7b14fc3f7 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -7,11 +7,11 @@
 #include "wpi/system/RobotController.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
-DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
-                       const DCMotor& gearbox,
+DCMotorSim::DCMotorSim(const wpi::math::LinearSystem<2, 1, 2>& plant,
+                       const wpi::math::DCMotor& gearbox,
                        const std::array<double, 2>& measurementStdDevs)
     : LinearSystemSim<2, 1, 2>(plant, measurementStdDevs),
       m_gearbox(gearbox),
@@ -36,56 +36,56 @@ DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
       m_j(m_gearing * gearbox.Kt.value() /
           (gearbox.R.value() * m_plant.B(1, 0))) {}
 
-void DCMotorSim::SetState(units::radian_t angularPosition,
-                          units::radians_per_second_t angularVelocity) {
-  SetState(Vectord<2>{angularPosition, angularVelocity});
+void DCMotorSim::SetState(wpi::units::radian_t angularPosition,
+                          wpi::units::radians_per_second_t angularVelocity) {
+  SetState(wpi::math::Vectord<2>{angularPosition, angularVelocity});
 }
 
-void DCMotorSim::SetAngle(units::radian_t angularPosition) {
+void DCMotorSim::SetAngle(wpi::units::radian_t angularPosition) {
   SetState(angularPosition, GetAngularVelocity());
 }
 
 void DCMotorSim::SetAngularVelocity(
-    units::radians_per_second_t angularVelocity) {
+    wpi::units::radians_per_second_t angularVelocity) {
   SetState(GetAngularPosition(), angularVelocity);
 }
 
-units::radian_t DCMotorSim::GetAngularPosition() const {
-  return units::radian_t{GetOutput(0)};
+wpi::units::radian_t DCMotorSim::GetAngularPosition() const {
+  return wpi::units::radian_t{GetOutput(0)};
 }
 
-units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
-  return units::radians_per_second_t{GetOutput(1)};
+wpi::units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
+  return wpi::units::radians_per_second_t{GetOutput(1)};
 }
 
-units::radians_per_second_squared_t DCMotorSim::GetAngularAcceleration() const {
-  return units::radians_per_second_squared_t{
+wpi::units::radians_per_second_squared_t DCMotorSim::GetAngularAcceleration() const {
+  return wpi::units::radians_per_second_squared_t{
       (m_plant.A() * m_x + m_plant.B() * m_u)(1, 0)};
 }
 
-units::newton_meter_t DCMotorSim::GetTorque() const {
-  return units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
+wpi::units::newton_meter_t DCMotorSim::GetTorque() const {
+  return wpi::units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
 }
 
-units::ampere_t DCMotorSim::GetCurrentDraw() const {
+wpi::units::ampere_t DCMotorSim::GetCurrentDraw() const {
   // I = V / R - omega / (Kv * R)
   // Reductions are greater than 1, so a reduction of 10:1 would mean the motor
   // is spinning 10x faster than the output.
-  return m_gearbox.Current(units::radians_per_second_t{m_x(1)} * m_gearing,
-                           units::volt_t{m_u(0)}) *
-         wpi::sgn(m_u(0));
+  return m_gearbox.Current(wpi::units::radians_per_second_t{m_x(1)} * m_gearing,
+                           wpi::units::volt_t{m_u(0)}) *
+         wpi::util::sgn(m_u(0));
 }
 
-units::volt_t DCMotorSim::GetInputVoltage() const {
-  return units::volt_t{GetInput(0)};
+wpi::units::volt_t DCMotorSim::GetInputVoltage() const {
+  return wpi::units::volt_t{GetInput(0)};
 }
 
-void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
-  SetInput(Vectord<1>{voltage.value()});
-  ClampInput(frc::RobotController::GetBatteryVoltage().value());
+void DCMotorSim::SetInputVoltage(wpi::units::volt_t voltage) {
+  SetInput(wpi::math::Vectord<1>{voltage.value()});
+  ClampInput(wpi::RobotController::GetBatteryVoltage().value());
 }
 
-const DCMotor& DCMotorSim::GetGearbox() const {
+const wpi::math::DCMotor& DCMotorSim::GetGearbox() const {
   return m_gearbox;
 }
 
@@ -93,6 +93,6 @@ double DCMotorSim::GetGearing() const {
   return m_gearing;
 }
 
-units::kilogram_square_meter_t DCMotorSim::GetJ() const {
+wpi::units::kilogram_square_meter_t DCMotorSim::GetJ() const {
   return m_j;
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp b/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
index 4e27727ef8..65bdf13709 100644
--- a/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hardware/discrete/DigitalInput.hpp"
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 DIOSim::DIOSim(const DigitalInput& input) : m_index{input.GetChannel()} {}
 
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index becdcbe7f8..e9000db1d0 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -12,12 +12,12 @@
 #include "wpi/system/RobotController.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 DifferentialDrivetrainSim::DifferentialDrivetrainSim(
-    LinearSystem<2, 2, 2> plant, units::meter_t trackwidth, DCMotor driveMotor,
-    double gearRatio, units::meter_t wheelRadius,
+    wpi::math::LinearSystem<2, 2, 2> plant, wpi::units::meter_t trackwidth, wpi::math::DCMotor driveMotor,
+    double gearRatio, wpi::units::meter_t wheelRadius,
     const std::array<double, 7>& measurementStdDevs)
     : m_plant(std::move(plant)),
       m_rb(trackwidth / 2.0),
@@ -32,22 +32,22 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
 }
 
 DifferentialDrivetrainSim::DifferentialDrivetrainSim(
-    frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
-    units::kilogram_t mass, units::meter_t wheelRadius,
-    units::meter_t trackwidth, const std::array<double, 7>& measurementStdDevs)
+    wpi::math::DCMotor driveMotor, double gearing, wpi::units::kilogram_square_meter_t J,
+    wpi::units::kilogram_t mass, wpi::units::meter_t wheelRadius,
+    wpi::units::meter_t trackwidth, const std::array<double, 7>& measurementStdDevs)
     : DifferentialDrivetrainSim(
-          frc::LinearSystemId::DrivetrainVelocitySystem(
+          wpi::math::LinearSystemId::DrivetrainVelocitySystem(
               driveMotor, mass, wheelRadius, trackwidth / 2.0, J, gearing),
           trackwidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
 
 Eigen::Vector2d DifferentialDrivetrainSim::ClampInput(
     const Eigen::Vector2d& u) {
-  return frc::DesaturateInputVector<2>(u,
-                                       frc::RobotController::GetInputVoltage());
+  return wpi::math::DesaturateInputVector<2>(u,
+                                       wpi::RobotController::GetInputVoltage());
 }
 
-void DifferentialDrivetrainSim::SetInputs(units::volt_t leftVoltage,
-                                          units::volt_t rightVoltage) {
+void DifferentialDrivetrainSim::SetInputs(wpi::units::volt_t leftVoltage,
+                                          wpi::units::volt_t rightVoltage) {
   m_u << leftVoltage.value(), rightVoltage.value();
   m_u = ClampInput(m_u);
 }
@@ -56,20 +56,20 @@ void DifferentialDrivetrainSim::SetGearing(double newGearing) {
   m_currentGearing = newGearing;
 }
 
-void DifferentialDrivetrainSim::Update(units::second_t dt) {
-  m_x = RKDP([this](auto& x, auto& u) { return Dynamics(x, u); }, m_x, m_u, dt);
-  m_y = m_x + frc::MakeWhiteNoiseVector<7>(m_measurementStdDevs);
+void DifferentialDrivetrainSim::Update(wpi::units::second_t dt) {
+  m_x = wpi::math::RKDP([this](auto& x, auto& u) { return Dynamics(x, u); }, m_x, m_u, dt);
+  m_y = m_x + wpi::math::MakeWhiteNoiseVector<7>(m_measurementStdDevs);
 }
 
 double DifferentialDrivetrainSim::GetGearing() const {
   return m_currentGearing;
 }
 
-Vectord<7> DifferentialDrivetrainSim::GetOutput() const {
+wpi::math::Vectord<7> DifferentialDrivetrainSim::GetOutput() const {
   return m_y;
 }
 
-Vectord<7> DifferentialDrivetrainSim::GetState() const {
+wpi::math::Vectord<7> DifferentialDrivetrainSim::GetState() const {
   return m_x;
 }
 
@@ -81,41 +81,41 @@ double DifferentialDrivetrainSim::GetState(int state) const {
   return m_x(state);
 }
 
-Rotation2d DifferentialDrivetrainSim::GetHeading() const {
-  return units::radian_t{GetOutput(State::kHeading)};
+wpi::math::Rotation2d DifferentialDrivetrainSim::GetHeading() const {
+  return wpi::units::radian_t{GetOutput(State::kHeading)};
 }
 
-Pose2d DifferentialDrivetrainSim::GetPose() const {
-  return Pose2d{units::meter_t{GetOutput(State::kX)},
-                units::meter_t{GetOutput(State::kY)}, GetHeading()};
+wpi::math::Pose2d DifferentialDrivetrainSim::GetPose() const {
+  return wpi::math::Pose2d{wpi::units::meter_t{GetOutput(State::kX)},
+                wpi::units::meter_t{GetOutput(State::kY)}, GetHeading()};
 }
 
-units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
-  return m_motor.Current(units::radians_per_second_t{m_x(State::kLeftVelocity) *
+wpi::units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
+  return m_motor.Current(wpi::units::radians_per_second_t{m_x(State::kLeftVelocity) *
                                                      m_currentGearing /
                                                      m_wheelRadius.value()},
-                         units::volt_t{m_u(0)}) *
-         wpi::sgn(m_u(0));
+                         wpi::units::volt_t{m_u(0)}) *
+         wpi::util::sgn(m_u(0));
 }
 
-units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
+wpi::units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
   return m_motor.Current(
-             units::radians_per_second_t{m_x(State::kRightVelocity) *
+             wpi::units::radians_per_second_t{m_x(State::kRightVelocity) *
                                          m_currentGearing /
                                          m_wheelRadius.value()},
-             units::volt_t{m_u(1)}) *
-         wpi::sgn(m_u(1));
+             wpi::units::volt_t{m_u(1)}) *
+         wpi::util::sgn(m_u(1));
 }
 
-units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
+wpi::units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
   return GetLeftCurrentDraw() + GetRightCurrentDraw();
 }
 
-void DifferentialDrivetrainSim::SetState(const Vectord<7>& state) {
+void DifferentialDrivetrainSim::SetState(const wpi::math::Vectord<7>& state) {
   m_x = state;
 }
 
-void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
+void DifferentialDrivetrainSim::SetPose(const wpi::math::Pose2d& pose) {
   m_x(State::kX) = pose.X().value();
   m_x(State::kY) = pose.Y().value();
   m_x(State::kHeading) = pose.Rotation().Radians().value();
@@ -123,19 +123,19 @@ void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
   m_x(State::kRightPosition) = 0;
 }
 
-Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
+wpi::math::Vectord<7> DifferentialDrivetrainSim::Dynamics(const wpi::math::Vectord<7>& x,
                                                const Eigen::Vector2d& u) {
   // Because G² can be factored out of A, we can divide by the old ratio
   // squared and multiply by the new ratio squared to get a new drivetrain
   // model.
-  Matrixd<4, 2> B;
+  wpi::math::Matrixd<4, 2> B;
   B.block<2, 2>(0, 0) = m_plant.B() * m_currentGearing * m_currentGearing /
                         m_originalGearing / m_originalGearing;
   B.block<2, 2>(2, 0).setZero();
 
   // Because G can be factored out of B, we can divide by the old ratio and
   // multiply by the new ratio to get a new drivetrain model.
-  Matrixd<4, 4> A;
+  wpi::math::Matrixd<4, 4> A;
   A.block<2, 2>(0, 0) = m_plant.A() * m_currentGearing / m_originalGearing;
 
   A.block<2, 2>(2, 0).setIdentity();
@@ -143,7 +143,7 @@ Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
 
   double v = (x(State::kLeftVelocity) + x(State::kRightVelocity)) / 2.0;
 
-  Vectord<7> xdot;
+  wpi::math::Vectord<7> xdot;
   xdot(0) = v * std::cos(x(State::kHeading));
   xdot(1) = v * std::sin(x(State::kHeading));
   xdot(2) =
diff --git a/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
index 46b6eae653..daa69a098c 100644
--- a/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hal/simulation/DigitalPWMData.h"
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 DigitalPWMSim::DigitalPWMSim(const DigitalOutput& digitalOutput)
     : m_index{digitalOutput.GetChannel()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
index 5501dc3db2..c3b3b2a7c8 100644
--- a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
@@ -9,8 +9,8 @@
 
 #include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 DoubleSolenoidSim::DoubleSolenoidSim(
     std::shared_ptr<PneumaticsBaseSim> moduleSim, int fwd, int rev)
diff --git a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
index d040cdc31c..28da8ad988 100644
--- a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
@@ -11,8 +11,8 @@
 #include "wpi/hal/simulation/DriverStationData.h"
 #include "wpi/hal/simulation/MockHooks.h"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 std::unique_ptr<CallbackStore> DriverStationSim::RegisterEnabledCallback(
     NotifyCallback callback, bool initialNotify) {
@@ -153,12 +153,12 @@ void DriverStationSim::SetMatchTime(double matchTime) {
 }
 
 void DriverStationSim::NotifyNewData() {
-  wpi::Event waitEvent{true};
+  wpi::util::Event waitEvent{true};
   HAL_ProvideNewDataEventHandle(waitEvent.GetHandle());
   HALSIM_NotifyDriverStationNewData();
-  wpi::WaitForObject(waitEvent.GetHandle());
+  wpi::util::WaitForObject(waitEvent.GetHandle());
   HAL_RemoveNewDataEventHandle(waitEvent.GetHandle());
-  frc::DriverStation::RefreshData();
+  wpi::DriverStation::RefreshData();
 }
 
 void DriverStationSim::SetSendError(bool shouldSend) {
@@ -266,17 +266,17 @@ void DriverStationSim::SetJoystickType(int stick, int type) {
 }
 
 void DriverStationSim::SetJoystickName(int stick, std::string_view name) {
-  auto str = wpi::make_string(name);
+  auto str = wpi::util::make_string(name);
   HALSIM_SetJoystickName(stick, &str);
 }
 
 void DriverStationSim::SetGameSpecificMessage(std::string_view message) {
-  auto str = wpi::make_string(message);
+  auto str = wpi::util::make_string(message);
   HALSIM_SetGameSpecificMessage(&str);
 }
 
 void DriverStationSim::SetEventName(std::string_view name) {
-  auto str = wpi::make_string(name);
+  auto str = wpi::util::make_string(name);
   HALSIM_SetEventName(&str);
 }
 
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
index 7c7fb9b852..5dee8c152c 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -7,13 +7,13 @@
 #include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
 #include "wpi/simulation/SimDeviceSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
-DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder)
+DutyCycleEncoderSim::DutyCycleEncoderSim(const wpi::DutyCycleEncoder& encoder)
     : DutyCycleEncoderSim{encoder.GetSourceChannel()} {}
 
 DutyCycleEncoderSim::DutyCycleEncoderSim(int channel) {
-  frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder", channel};
+  wpi::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder", channel};
   m_simPosition = deviceSim.GetDouble("Position");
   m_simIsConnected = deviceSim.GetBoolean("Connected");
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
index 5bbe46632b..a98f1a378e 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hal/simulation/DutyCycleData.h"
 #include "wpi/hardware/rotation/DutyCycle.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 DutyCycleSim::DutyCycleSim(const DutyCycle& dutyCycle)
     : m_index{dutyCycle.GetSourceChannel()} {}
@@ -46,11 +46,11 @@ std::unique_ptr<CallbackStore> DutyCycleSim::RegisterFrequencyCallback(
   return store;
 }
 
-units::hertz_t DutyCycleSim::GetFrequency() const {
-  return units::hertz_t{HALSIM_GetDutyCycleFrequency(m_index)};
+wpi::units::hertz_t DutyCycleSim::GetFrequency() const {
+  return wpi::units::hertz_t{HALSIM_GetDutyCycleFrequency(m_index)};
 }
 
-void DutyCycleSim::SetFrequency(units::hertz_t frequency) {
+void DutyCycleSim::SetFrequency(wpi::units::hertz_t frequency) {
   HALSIM_SetDutyCycleFrequency(m_index, frequency.value());
 }
 
diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 605bfe38e1..aab83e05c3 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -9,13 +9,13 @@
 #include "wpi/system/RobotController.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
-ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 2>& plant,
-                         const DCMotor& gearbox, units::meter_t minHeight,
-                         units::meter_t maxHeight, bool simulateGravity,
-                         units::meter_t startingHeight,
+ElevatorSim::ElevatorSim(const wpi::math::LinearSystem<2, 1, 2>& plant,
+                         const wpi::math::DCMotor& gearbox, wpi::units::meter_t minHeight,
+                         wpi::units::meter_t maxHeight, bool simulateGravity,
+                         wpi::units::meter_t startingHeight,
                          const std::array<double, 2>& measurementStdDevs)
     : LinearSystemSim(plant, measurementStdDevs),
       m_gearbox(gearbox),
@@ -25,100 +25,100 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 2>& plant,
   SetState(startingHeight, 0_mps);
 }
 
-ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
-                         units::kilogram_t carriageMass,
-                         units::meter_t drumRadius, units::meter_t minHeight,
-                         units::meter_t maxHeight, bool simulateGravity,
-                         units::meter_t startingHeight,
+ElevatorSim::ElevatorSim(const wpi::math::DCMotor& gearbox, double gearing,
+                         wpi::units::kilogram_t carriageMass,
+                         wpi::units::meter_t drumRadius, wpi::units::meter_t minHeight,
+                         wpi::units::meter_t maxHeight, bool simulateGravity,
+                         wpi::units::meter_t startingHeight,
                          const std::array<double, 2>& measurementStdDevs)
-    : ElevatorSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
+    : ElevatorSim(wpi::math::LinearSystemId::ElevatorSystem(gearbox, carriageMass,
                                                  drumRadius, gearing),
                   gearbox, minHeight, maxHeight, simulateGravity,
                   startingHeight, measurementStdDevs) {}
 
 template <typename Distance>
-  requires std::same_as<units::meter, Distance> ||
-           std::same_as<units::radian, Distance>
+  requires std::same_as<wpi::units::meter, Distance> ||
+           std::same_as<wpi::units::radian, Distance>
 ElevatorSim::ElevatorSim(decltype(1_V / Velocity_t<Distance>(1)) kV,
                          decltype(1_V / Acceleration_t<Distance>(1)) kA,
-                         const DCMotor& gearbox, units::meter_t minHeight,
-                         units::meter_t maxHeight, bool simulateGravity,
-                         units::meter_t startingHeight,
+                         const wpi::math::DCMotor& gearbox, wpi::units::meter_t minHeight,
+                         wpi::units::meter_t maxHeight, bool simulateGravity,
+                         wpi::units::meter_t startingHeight,
                          const std::array<double, 2>& measurementStdDevs)
-    : ElevatorSim(LinearSystemId::IdentifyPositionSystem(kV, kA), gearbox,
+    : ElevatorSim(wpi::math::LinearSystemId::IdentifyPositionSystem(kV, kA), gearbox,
                   minHeight, maxHeight, simulateGravity, startingHeight,
                   measurementStdDevs) {}
 
-void ElevatorSim::SetState(units::meter_t position,
-                           units::meters_per_second_t velocity) {
+void ElevatorSim::SetState(wpi::units::meter_t position,
+                           wpi::units::meters_per_second_t velocity) {
   SetState(
-      Vectord<2>{std::clamp(position, m_minHeight, m_maxHeight), velocity});
+      wpi::math::Vectord<2>{std::clamp(position, m_minHeight, m_maxHeight), velocity});
 }
 
-bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
+bool ElevatorSim::WouldHitLowerLimit(wpi::units::meter_t elevatorHeight) const {
   return elevatorHeight <= m_minHeight;
 }
 
-bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
+bool ElevatorSim::WouldHitUpperLimit(wpi::units::meter_t elevatorHeight) const {
   return elevatorHeight >= m_maxHeight;
 }
 
 bool ElevatorSim::HasHitLowerLimit() const {
-  return WouldHitLowerLimit(units::meter_t{m_y(0)});
+  return WouldHitLowerLimit(wpi::units::meter_t{m_y(0)});
 }
 
 bool ElevatorSim::HasHitUpperLimit() const {
-  return WouldHitUpperLimit(units::meter_t{m_y(0)});
+  return WouldHitUpperLimit(wpi::units::meter_t{m_y(0)});
 }
 
-units::meter_t ElevatorSim::GetPosition() const {
-  return units::meter_t{m_y(0)};
+wpi::units::meter_t ElevatorSim::GetPosition() const {
+  return wpi::units::meter_t{m_y(0)};
 }
 
-units::meters_per_second_t ElevatorSim::GetVelocity() const {
-  return units::meters_per_second_t{m_x(1)};
+wpi::units::meters_per_second_t ElevatorSim::GetVelocity() const {
+  return wpi::units::meters_per_second_t{m_x(1)};
 }
 
-units::ampere_t ElevatorSim::GetCurrentDraw() const {
+wpi::units::ampere_t ElevatorSim::GetCurrentDraw() const {
   // I = V / R - omega / (Kv * R)
   // Reductions are greater than 1, so a reduction of 10:1 would mean the motor
   // is spinning 10x faster than the output.
 
   double kA = 1.0 / m_plant.B(1, 0);
-  using Kv_t = units::unit_t<units::compound_unit<
-      units::volt, units::inverse<units::meters_per_second>>>;
+  using Kv_t = wpi::units::unit_t<wpi::units::compound_unit<
+      wpi::units::volt, wpi::units::inverse<wpi::units::meters_per_second>>>;
   Kv_t Kv = Kv_t{kA * m_plant.A(1, 1)};
-  units::meters_per_second_t velocity{m_x(1)};
-  units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;
+  wpi::units::meters_per_second_t velocity{m_x(1)};
+  wpi::units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;
 
   // Perform calculation and return.
-  return m_gearbox.Current(motorVelocity, units::volt_t{m_u(0)}) *
-         wpi::sgn(m_u(0));
+  return m_gearbox.Current(motorVelocity, wpi::units::volt_t{m_u(0)}) *
+         wpi::util::sgn(m_u(0));
 }
 
-void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
-  SetInput(Vectord<1>{voltage.value()});
-  ClampInput(frc::RobotController::GetBatteryVoltage().value());
+void ElevatorSim::SetInputVoltage(wpi::units::volt_t voltage) {
+  SetInput(wpi::math::Vectord<1>{voltage.value()});
+  ClampInput(wpi::RobotController::GetBatteryVoltage().value());
 }
 
-Vectord<2> ElevatorSim::UpdateX(const Vectord<2>& currentXhat,
-                                const Vectord<1>& u, units::second_t dt) {
-  auto updatedXhat = RKDP(
-      [&](const Vectord<2>& x, const Vectord<1>& u_) -> Vectord<2> {
-        Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
+wpi::math::Vectord<2> ElevatorSim::UpdateX(const wpi::math::Vectord<2>& currentXhat,
+                                const wpi::math::Vectord<1>& u, wpi::units::second_t dt) {
+  auto updatedXhat = wpi::math::RKDP(
+      [&](const wpi::math::Vectord<2>& x, const wpi::math::Vectord<1>& u_) -> wpi::math::Vectord<2> {
+        wpi::math::Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
 
         if (m_simulateGravity) {
-          xdot += Vectord<2>{0.0, -9.8};
+          xdot += wpi::math::Vectord<2>{0.0, -9.8};
         }
         return xdot;
       },
       currentXhat, u, dt);
   // Check for collision after updating x-hat.
-  if (WouldHitLowerLimit(units::meter_t{updatedXhat(0)})) {
-    return Vectord<2>{m_minHeight.value(), 0.0};
+  if (WouldHitLowerLimit(wpi::units::meter_t{updatedXhat(0)})) {
+    return wpi::math::Vectord<2>{m_minHeight.value(), 0.0};
   }
-  if (WouldHitUpperLimit(units::meter_t{updatedXhat(0)})) {
-    return Vectord<2>{m_maxHeight.value(), 0.0};
+  if (WouldHitUpperLimit(wpi::units::meter_t{updatedXhat(0)})) {
+    return wpi::math::Vectord<2>{m_maxHeight.value(), 0.0};
   }
   return updatedXhat;
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
index cbf030ff48..1168a786e9 100644
--- a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hal/simulation/EncoderData.h"
 #include "wpi/hardware/rotation/Encoder.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 EncoderSim::EncoderSim(const Encoder& encoder)
     : m_index{encoder.GetFPGAIndex()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
index 939f7c00d9..9327501b53 100644
--- a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
@@ -7,11 +7,11 @@
 #include "wpi/system/RobotController.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
-FlywheelSim::FlywheelSim(const LinearSystem<1, 1, 1>& plant,
-                         const DCMotor& gearbox,
+FlywheelSim::FlywheelSim(const wpi::math::LinearSystem<1, 1, 1>& plant,
+                         const wpi::math::DCMotor& gearbox,
                          const std::array<double, 1>& measurementStdDevs)
     : LinearSystemSim<1, 1, 1>(plant, measurementStdDevs),
       m_gearbox(gearbox),
@@ -36,38 +36,38 @@ FlywheelSim::FlywheelSim(const LinearSystem<1, 1, 1>& plant,
       m_j(m_gearing * gearbox.Kt.value() /
           (gearbox.R.value() * m_plant.B(0, 0))) {}
 
-void FlywheelSim::SetVelocity(units::radians_per_second_t velocity) {
-  LinearSystemSim::SetState(Vectord<1>{velocity.value()});
+void FlywheelSim::SetVelocity(wpi::units::radians_per_second_t velocity) {
+  LinearSystemSim::SetState(wpi::math::Vectord<1>{velocity.value()});
 }
 
-units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
-  return units::radians_per_second_t{GetOutput(0)};
+wpi::units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
+  return wpi::units::radians_per_second_t{GetOutput(0)};
 }
 
-units::radians_per_second_squared_t FlywheelSim::GetAngularAcceleration()
+wpi::units::radians_per_second_squared_t FlywheelSim::GetAngularAcceleration()
     const {
-  return units::radians_per_second_squared_t{
+  return wpi::units::radians_per_second_squared_t{
       (m_plant.A() * m_x + m_plant.B() * m_u)(0, 0)};
 }
 
-units::newton_meter_t FlywheelSim::GetTorque() const {
-  return units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
+wpi::units::newton_meter_t FlywheelSim::GetTorque() const {
+  return wpi::units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
 }
 
-units::ampere_t FlywheelSim::GetCurrentDraw() const {
+wpi::units::ampere_t FlywheelSim::GetCurrentDraw() const {
   // I = V / R - omega / (Kv * R)
   // Reductions are greater than 1, so a reduction of 10:1 would mean the motor
   // is spinning 10x faster than the output.
-  return m_gearbox.Current(units::radians_per_second_t{m_x(0)} * m_gearing,
-                           units::volt_t{m_u(0)}) *
-         wpi::sgn(m_u(0));
+  return m_gearbox.Current(wpi::units::radians_per_second_t{m_x(0)} * m_gearing,
+                           wpi::units::volt_t{m_u(0)}) *
+         wpi::util::sgn(m_u(0));
 }
 
-units::volt_t FlywheelSim::GetInputVoltage() const {
-  return units::volt_t{GetInput(0)};
+wpi::units::volt_t FlywheelSim::GetInputVoltage() const {
+  return wpi::units::volt_t{GetInput(0)};
 }
 
-void FlywheelSim::SetInputVoltage(units::volt_t voltage) {
-  SetInput(Vectord<1>{voltage.value()});
-  ClampInput(frc::RobotController::GetBatteryVoltage().value());
+void FlywheelSim::SetInputVoltage(wpi::units::volt_t voltage) {
+  SetInput(wpi::math::Vectord<1>{voltage.value()});
+  ClampInput(wpi::RobotController::GetBatteryVoltage().value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
index fda9b4f3a3..c643142449 100644
--- a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
@@ -6,8 +6,8 @@
 
 #include "wpi/driverstation/Gamepad.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 GamepadSim::GamepadSim(const Gamepad& joystick) : GenericHIDSim{joystick} {
   SetAxesMaximumIndex(6);
diff --git a/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp b/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
index c18b73548a..695f78b5f1 100644
--- a/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
@@ -8,8 +8,8 @@
 #include "wpi/driverstation/GenericHID.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 GenericHIDSim::GenericHIDSim(const GenericHID& joystick)
     : m_port{joystick.GetPort()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp b/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
index f6fc95ea75..3688e18458 100644
--- a/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
@@ -7,8 +7,8 @@
 #include "wpi/driverstation/Joystick.hpp"
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 JoystickSim::JoystickSim(const Joystick& joystick)
     : GenericHIDSim{joystick}, m_joystick{&joystick} {
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
index 560a927a89..1c926158d1 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
@@ -8,15 +8,15 @@
 #include "wpi/simulation/SimDeviceSim.hpp"
 #include "wpi/units/length.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 PWMMotorControllerSim::PWMMotorControllerSim(
     const PWMMotorController& motorctrl)
     : PWMMotorControllerSim(motorctrl.GetChannel()) {}
 
 PWMMotorControllerSim::PWMMotorControllerSim(int channel) {
-  frc::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
+  wpi::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
   m_simSpeed = deviceSim.GetDouble("Speed");
 }
 
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
index 5f9d5d1f0f..62ba7a381a 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
@@ -10,8 +10,8 @@
 #include "wpi/hardware/discrete/PWM.hpp"
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 PWMSim::PWMSim(const PWM& pwm) : m_index{pwm.GetChannel()} {}
 
diff --git a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
index 7e7b32b281..9f245ebcc8 100644
--- a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
@@ -11,8 +11,8 @@
 #include "wpi/simulation/REVPHSim.hpp"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 std::shared_ptr<PneumaticsBaseSim> PneumaticsBaseSim::GetForType(
     int module, PneumaticsModuleType type) {
diff --git a/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp b/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
index b4b465eda7..3d950c5a93 100644
--- a/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/simulation/PowerDistributionData.h"
 #include "wpi/hardware/power/PowerDistribution.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 PowerDistributionSim::PowerDistributionSim(int module) : m_index{module} {}
 
diff --git a/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp b/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
index e40b9cd26e..f8c52be903 100644
--- a/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
@@ -9,8 +9,8 @@
 #include "wpi/hal/simulation/REVPHData.h"
 #include "wpi/util/SensorUtil.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 REVPHSim::REVPHSim() : PneumaticsBaseSim{SensorUtil::GetDefaultREVPHModule()} {}
 
diff --git a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
index 87c98e0598..0cc5a49dba 100644
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -9,8 +9,8 @@
 
 #include "wpi/hal/simulation/RoboRioData.h"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInVoltageCallback(
     NotifyCallback callback, bool initialNotify) {
@@ -21,11 +21,11 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInVoltageCallback(
   return store;
 }
 
-units::volt_t RoboRioSim::GetVInVoltage() {
-  return units::volt_t{HALSIM_GetRoboRioVInVoltage()};
+wpi::units::volt_t RoboRioSim::GetVInVoltage() {
+  return wpi::units::volt_t{HALSIM_GetRoboRioVInVoltage()};
 }
 
-void RoboRioSim::SetVInVoltage(units::volt_t vInVoltage) {
+void RoboRioSim::SetVInVoltage(wpi::units::volt_t vInVoltage) {
   HALSIM_SetRoboRioVInVoltage(vInVoltage.value());
 }
 
@@ -38,11 +38,11 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage3V3Callback(
   return store;
 }
 
-units::volt_t RoboRioSim::GetUserVoltage3V3() {
-  return units::volt_t{HALSIM_GetRoboRioUserVoltage3V3()};
+wpi::units::volt_t RoboRioSim::GetUserVoltage3V3() {
+  return wpi::units::volt_t{HALSIM_GetRoboRioUserVoltage3V3()};
 }
 
-void RoboRioSim::SetUserVoltage3V3(units::volt_t userVoltage3V3) {
+void RoboRioSim::SetUserVoltage3V3(wpi::units::volt_t userVoltage3V3) {
   HALSIM_SetRoboRioUserVoltage3V3(userVoltage3V3.value());
 }
 
@@ -55,11 +55,11 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent3V3Callback(
   return store;
 }
 
-units::ampere_t RoboRioSim::GetUserCurrent3V3() {
-  return units::ampere_t{HALSIM_GetRoboRioUserCurrent3V3()};
+wpi::units::ampere_t RoboRioSim::GetUserCurrent3V3() {
+  return wpi::units::ampere_t{HALSIM_GetRoboRioUserCurrent3V3()};
 }
 
-void RoboRioSim::SetUserCurrent3V3(units::ampere_t userCurrent3V3) {
+void RoboRioSim::SetUserCurrent3V3(wpi::units::ampere_t userCurrent3V3) {
   HALSIM_SetRoboRioUserCurrent3V3(userCurrent3V3.value());
 }
 
@@ -106,11 +106,11 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterBrownoutVoltageCallback(
   return store;
 }
 
-units::volt_t RoboRioSim::GetBrownoutVoltage() {
-  return units::volt_t{HALSIM_GetRoboRioBrownoutVoltage()};
+wpi::units::volt_t RoboRioSim::GetBrownoutVoltage() {
+  return wpi::units::volt_t{HALSIM_GetRoboRioBrownoutVoltage()};
 }
 
-void RoboRioSim::SetBrownoutVoltage(units::volt_t vInVoltage) {
+void RoboRioSim::SetBrownoutVoltage(wpi::units::volt_t vInVoltage) {
   HALSIM_SetRoboRioBrownoutVoltage(vInVoltage.value());
 }
 
@@ -123,11 +123,11 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterCPUTempCallback(
   return store;
 }
 
-units::celsius_t RoboRioSim::GetCPUTemp() {
-  return units::celsius_t{HALSIM_GetRoboRioCPUTemp()};
+wpi::units::celsius_t RoboRioSim::GetCPUTemp() {
+  return wpi::units::celsius_t{HALSIM_GetRoboRioCPUTemp()};
 }
 
-void RoboRioSim::SetCPUTemp(units::celsius_t cpuTemp) {
+void RoboRioSim::SetCPUTemp(wpi::units::celsius_t cpuTemp) {
   HALSIM_SetRoboRioCPUTemp(cpuTemp.value());
 }
 
@@ -151,26 +151,26 @@ void RoboRioSim::SetTeamNumber(int32_t teamNumber) {
 std::string RoboRioSim::GetSerialNumber() {
   WPI_String serialNum;
   HALSIM_GetRoboRioSerialNumber(&serialNum);
-  std::string serial{wpi::to_string_view(&serialNum)};
+  std::string serial{wpi::util::to_string_view(&serialNum)};
   WPI_FreeString(&serialNum);
   return serial;
 }
 
 void RoboRioSim::SetSerialNumber(std::string_view serialNumber) {
-  auto str = wpi::make_string(serialNumber);
+  auto str = wpi::util::make_string(serialNumber);
   HALSIM_SetRoboRioSerialNumber(&str);
 }
 
 std::string RoboRioSim::GetComments() {
   WPI_String comments;
   HALSIM_GetRoboRioComments(&comments);
-  std::string serial{wpi::to_string_view(&comments)};
+  std::string serial{wpi::util::to_string_view(&comments)};
   WPI_FreeString(&comments);
   return serial;
 }
 
 void RoboRioSim::SetComments(std::string_view comments) {
-  auto str = wpi::make_string(comments);
+  auto str = wpi::util::make_string(comments);
   HALSIM_SetRoboRioComments(&str);
 }
 
diff --git a/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp b/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
index 89b42c14a6..a4d527647b 100644
--- a/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
@@ -4,12 +4,12 @@
 
 #include "wpi/simulation/SendableChooserSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
 SendableChooserSim::SendableChooserSim(std::string_view path)
-    : SendableChooserSim(nt::NetworkTableInstance::GetDefault(), path) {}
+    : SendableChooserSim(wpi::nt::NetworkTableInstance::GetDefault(), path) {}
 
-SendableChooserSim::SendableChooserSim(nt::NetworkTableInstance inst,
+SendableChooserSim::SendableChooserSim(wpi::nt::NetworkTableInstance inst,
                                        std::string_view path) {
   if constexpr (RobotBase::IsSimulation()) {
     m_publisher =
diff --git a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
index 9d3c052ecb..963149dadf 100644
--- a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
@@ -8,16 +8,16 @@
 #include "wpi/simulation/SimDeviceSim.hpp"
 #include "wpi/units/length.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 SharpIRSim::SharpIRSim(const SharpIR& sharpIR)
     : SharpIRSim(sharpIR.GetChannel()) {}
 
 SharpIRSim::SharpIRSim(int channel) {
-  frc::sim::SimDeviceSim deviceSim{"SharpIR", channel};
+  wpi::sim::SimDeviceSim deviceSim{"SharpIR", channel};
   m_simRange = deviceSim.GetDouble("Range (m)");
 }
 
-void SharpIRSim::SetRange(units::meter_t range) {
+void SharpIRSim::SetRange(wpi::units::meter_t range) {
   m_simRange.Set(range.value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
index 216a0af7da..dda970bf4b 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
@@ -12,8 +12,8 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/hal/simulation/SimDeviceData.h"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 SimDeviceSim::SimDeviceSim(const char* name)
     : m_handle{HALSIM_GetSimDeviceHandle(name)} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
index c7d5a36d22..03cf15e2b8 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hal/simulation/MockHooks.h"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 void SetRuntimeType(HAL_RuntimeType type) {
   HALSIM_SetRuntimeType(type);
@@ -40,12 +40,12 @@ bool IsTimingPaused() {
   return HALSIM_IsTimingPaused();
 }
 
-void StepTiming(units::second_t delta) {
+void StepTiming(wpi::units::second_t delta) {
   HALSIM_StepTiming(static_cast<uint64_t>(delta.value() * 1e6));
 }
 
-void StepTimingAsync(units::second_t delta) {
+void StepTimingAsync(wpi::units::second_t delta) {
   HALSIM_StepTimingAsync(static_cast<uint64_t>(delta.value() * 1e6));
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index 7aaf77a6c5..abcf18b32f 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -12,14 +12,14 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 SingleJointedArmSim::SingleJointedArmSim(
-    const LinearSystem<2, 1, 2>& system, const DCMotor& gearbox, double gearing,
-    units::meter_t armLength, units::radian_t minAngle,
-    units::radian_t maxAngle, bool simulateGravity,
-    units::radian_t startingAngle,
+    const wpi::math::LinearSystem<2, 1, 2>& system, const wpi::math::DCMotor& gearbox, double gearing,
+    wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
+    wpi::units::radian_t maxAngle, bool simulateGravity,
+    wpi::units::radian_t startingAngle,
     const std::array<double, 2>& measurementStdDevs)
     : LinearSystemSim<2, 1, 2>(system, measurementStdDevs),
       m_armLen(armLength),
@@ -32,61 +32,61 @@ SingleJointedArmSim::SingleJointedArmSim(
 }
 
 SingleJointedArmSim::SingleJointedArmSim(
-    const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
-    units::meter_t armLength, units::radian_t minAngle,
-    units::radian_t maxAngle, bool simulateGravity,
-    units::radian_t startingAngle,
+    const wpi::math::DCMotor& gearbox, double gearing, wpi::units::kilogram_square_meter_t moi,
+    wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
+    wpi::units::radian_t maxAngle, bool simulateGravity,
+    wpi::units::radian_t startingAngle,
     const std::array<double, 2>& measurementStdDevs)
     : SingleJointedArmSim(
-          LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
+          wpi::math::LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
           gearbox, gearing, armLength, minAngle, maxAngle, simulateGravity,
           startingAngle, measurementStdDevs) {}
 
-void SingleJointedArmSim::SetState(units::radian_t angle,
-                                   units::radians_per_second_t velocity) {
-  SetState(Vectord<2>{std::clamp(angle, m_minAngle, m_maxAngle), velocity});
+void SingleJointedArmSim::SetState(wpi::units::radian_t angle,
+                                   wpi::units::radians_per_second_t velocity) {
+  SetState(wpi::math::Vectord<2>{std::clamp(angle, m_minAngle, m_maxAngle), velocity});
 }
 
-bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
+bool SingleJointedArmSim::WouldHitLowerLimit(wpi::units::radian_t armAngle) const {
   return armAngle <= m_minAngle;
 }
 
-bool SingleJointedArmSim::WouldHitUpperLimit(units::radian_t armAngle) const {
+bool SingleJointedArmSim::WouldHitUpperLimit(wpi::units::radian_t armAngle) const {
   return armAngle >= m_maxAngle;
 }
 
 bool SingleJointedArmSim::HasHitLowerLimit() const {
-  return WouldHitLowerLimit(units::radian_t{m_y(0)});
+  return WouldHitLowerLimit(wpi::units::radian_t{m_y(0)});
 }
 
 bool SingleJointedArmSim::HasHitUpperLimit() const {
-  return WouldHitUpperLimit(units::radian_t{m_y(0)});
+  return WouldHitUpperLimit(wpi::units::radian_t{m_y(0)});
 }
 
-units::radian_t SingleJointedArmSim::GetAngle() const {
-  return units::radian_t{m_y(0)};
+wpi::units::radian_t SingleJointedArmSim::GetAngle() const {
+  return wpi::units::radian_t{m_y(0)};
 }
 
-units::radians_per_second_t SingleJointedArmSim::GetVelocity() const {
-  return units::radians_per_second_t{m_x(1)};
+wpi::units::radians_per_second_t SingleJointedArmSim::GetVelocity() const {
+  return wpi::units::radians_per_second_t{m_x(1)};
 }
 
-units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
+wpi::units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
   // Reductions are greater than 1, so a reduction of 10:1 would mean the motor
   // is spinning 10x faster than the output
-  units::radians_per_second_t motorVelocity{m_x(1) * m_gearing};
-  return m_gearbox.Current(motorVelocity, units::volt_t{m_u(0)}) *
-         wpi::sgn(m_u(0));
+  wpi::units::radians_per_second_t motorVelocity{m_x(1) * m_gearing};
+  return m_gearbox.Current(motorVelocity, wpi::units::volt_t{m_u(0)}) *
+         wpi::util::sgn(m_u(0));
 }
 
-void SingleJointedArmSim::SetInputVoltage(units::volt_t voltage) {
-  SetInput(Vectord<1>{voltage.value()});
-  ClampInput(frc::RobotController::GetBatteryVoltage().value());
+void SingleJointedArmSim::SetInputVoltage(wpi::units::volt_t voltage) {
+  SetInput(wpi::math::Vectord<1>{voltage.value()});
+  ClampInput(wpi::RobotController::GetBatteryVoltage().value());
 }
 
-Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
-                                        const Vectord<1>& u,
-                                        units::second_t dt) {
+wpi::math::Vectord<2> SingleJointedArmSim::UpdateX(const wpi::math::Vectord<2>& currentXhat,
+                                        const wpi::math::Vectord<1>& u,
+                                        wpi::units::second_t dt) {
   // The torque on the arm is given by τ = F⋅r, where F is the force applied by
   // gravity and r the distance from pivot to center of mass. Recall from
   // dynamics that the sum of torques for a rigid body is τ = J⋅α, were τ is
@@ -111,12 +111,12 @@ Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
   //   f(x, u) = Ax + Bu + [0  α]ᵀ
   //   f(x, u) = Ax + Bu + [0  3/2⋅g⋅cos(θ)/L]ᵀ
 
-  Vectord<2> updatedXhat = RKDP(
-      [&](const auto& x, const auto& u) -> Vectord<2> {
-        Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
+  wpi::math::Vectord<2> updatedXhat = wpi::math::RKDP(
+      [&](const auto& x, const auto& u) -> wpi::math::Vectord<2> {
+        wpi::math::Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
 
         if (m_simulateGravity) {
-          xdot += Vectord<2>{
+          xdot += wpi::math::Vectord<2>{
               0.0, (3.0 / 2.0 * -9.8 / m_armLen * std::cos(x(0))).value()};
         }
         return xdot;
@@ -124,10 +124,10 @@ Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
       currentXhat, u, dt);
 
   // Check for collisions.
-  if (WouldHitLowerLimit(units::radian_t{updatedXhat(0)})) {
-    return Vectord<2>{m_minAngle.value(), 0.0};
-  } else if (WouldHitUpperLimit(units::radian_t{updatedXhat(0)})) {
-    return Vectord<2>{m_maxAngle.value(), 0.0};
+  if (WouldHitLowerLimit(wpi::units::radian_t{updatedXhat(0)})) {
+    return wpi::math::Vectord<2>{m_minAngle.value(), 0.0};
+  } else if (WouldHitUpperLimit(wpi::units::radian_t{updatedXhat(0)})) {
+    return wpi::math::Vectord<2>{m_maxAngle.value(), 0.0};
   }
   return updatedXhat;
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
index e0fa8c12e4..a1517479e7 100644
--- a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
@@ -9,8 +9,8 @@
 
 #include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 SolenoidSim::SolenoidSim(std::shared_ptr<PneumaticsBaseSim> moduleSim,
                          int channel)
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
index e9426ad730..31ac027715 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
@@ -11,13 +11,13 @@
 #include "wpi/nt/NTSendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Field2d::Field2d() {
   m_objects.emplace_back(
       std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
-  m_objects[0]->SetPose(Pose2d{});
-  wpi::SendableRegistry::Add(this, "Field");
+  m_objects[0]->SetPose(wpi::math::Pose2d{});
+  wpi::util::SendableRegistry::Add(this, "Field");
 }
 
 Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
@@ -34,18 +34,18 @@ Field2d& Field2d::operator=(Field2d&& rhs) {
   return *this;
 }
 
-void Field2d::SetRobotPose(const Pose2d& pose) {
+void Field2d::SetRobotPose(const wpi::math::Pose2d& pose) {
   std::scoped_lock lock(m_mutex);
   m_objects[0]->SetPose(pose);
 }
 
-void Field2d::SetRobotPose(units::meter_t x, units::meter_t y,
-                           Rotation2d rotation) {
+void Field2d::SetRobotPose(wpi::units::meter_t x, wpi::units::meter_t y,
+                           wpi::math::Rotation2d rotation) {
   std::scoped_lock lock(m_mutex);
   m_objects[0]->SetPose(x, y, rotation);
 }
 
-Pose2d Field2d::GetRobotPose() const {
+wpi::math::Pose2d Field2d::GetRobotPose() const {
   std::scoped_lock lock(m_mutex);
   return m_objects[0]->GetPose();
 }
@@ -71,7 +71,7 @@ FieldObject2d* Field2d::GetRobotObject() {
   return m_objects[0].get();
 }
 
-void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
+void Field2d::InitSendable(wpi::nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Field2d");
 
   std::scoped_lock lock(m_mutex);
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
index 9ead0c0440..00fd89319e 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
@@ -9,7 +9,7 @@
 
 #include "wpi/math/trajectory/Trajectory.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 FieldObject2d::FieldObject2d(FieldObject2d&& rhs) {
   std::swap(m_name, rhs.m_name);
@@ -25,16 +25,16 @@ FieldObject2d& FieldObject2d::operator=(FieldObject2d&& rhs) {
   return *this;
 }
 
-void FieldObject2d::SetPose(const Pose2d& pose) {
+void FieldObject2d::SetPose(const wpi::math::Pose2d& pose) {
   SetPoses({pose});
 }
 
-void FieldObject2d::SetPose(units::meter_t x, units::meter_t y,
-                            Rotation2d rotation) {
+void FieldObject2d::SetPose(wpi::units::meter_t x, wpi::units::meter_t y,
+                            wpi::math::Rotation2d rotation) {
   SetPoses({{x, y, rotation}});
 }
 
-Pose2d FieldObject2d::GetPose() const {
+wpi::math::Pose2d FieldObject2d::GetPose() const {
   std::scoped_lock lock(m_mutex);
   UpdateFromEntry();
   if (m_poses.empty()) {
@@ -43,17 +43,17 @@ Pose2d FieldObject2d::GetPose() const {
   return m_poses[0];
 }
 
-void FieldObject2d::SetPoses(std::span<const Pose2d> poses) {
+void FieldObject2d::SetPoses(std::span<const wpi::math::Pose2d> poses) {
   std::scoped_lock lock(m_mutex);
   m_poses.assign(poses.begin(), poses.end());
   UpdateEntry();
 }
 
-void FieldObject2d::SetPoses(std::initializer_list<Pose2d> poses) {
+void FieldObject2d::SetPoses(std::initializer_list<wpi::math::Pose2d> poses) {
   SetPoses({poses.begin(), poses.end()});
 }
 
-void FieldObject2d::SetTrajectory(const Trajectory& trajectory) {
+void FieldObject2d::SetTrajectory(const wpi::math::Trajectory& trajectory) {
   std::scoped_lock lock(m_mutex);
   m_poses.clear();
   m_poses.reserve(trajectory.States().size());
@@ -63,14 +63,14 @@ void FieldObject2d::SetTrajectory(const Trajectory& trajectory) {
   UpdateEntry();
 }
 
-std::vector<Pose2d> FieldObject2d::GetPoses() const {
+std::vector<wpi::math::Pose2d> FieldObject2d::GetPoses() const {
   std::scoped_lock lock(m_mutex);
   UpdateFromEntry();
-  return std::vector<Pose2d>(m_poses.begin(), m_poses.end());
+  return std::vector<wpi::math::Pose2d>(m_poses.begin(), m_poses.end());
 }
 
-std::span<const Pose2d> FieldObject2d::GetPoses(
-    wpi::SmallVectorImpl<Pose2d>& out) const {
+std::span<const wpi::math::Pose2d> FieldObject2d::GetPoses(
+    wpi::util::SmallVectorImpl<wpi::math::Pose2d>& out) const {
   std::scoped_lock lock(m_mutex);
   UpdateFromEntry();
   out.assign(m_poses.begin(), m_poses.end());
@@ -81,7 +81,7 @@ void FieldObject2d::UpdateEntry(bool setDefault) {
   if (!m_entry) {
     return;
   }
-  wpi::SmallVector<double, 9> arr;
+  wpi::util::SmallVector<double, 9> arr;
   for (auto&& pose : m_poses) {
     auto& translation = pose.Translation();
     arr.push_back(translation.X().value());
@@ -107,7 +107,7 @@ void FieldObject2d::UpdateFromEntry() const {
   m_poses.resize(size / 3);
   for (size_t i = 0; i < size / 3; ++i) {
     m_poses[i] =
-        Pose2d{units::meter_t{arr[i * 3 + 0]}, units::meter_t{arr[i * 3 + 1]},
-               units::degree_t{arr[i * 3 + 2]}};
+        wpi::math::Pose2d{wpi::units::meter_t{arr[i * 3 + 0]}, wpi::units::meter_t{arr[i * 3 + 1]},
+               wpi::units::degree_t{arr[i * 3 + 2]}};
   }
 }
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
index 3c603d11d0..d23d2b832a 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
@@ -6,7 +6,7 @@
 
 #include <utility>
 
-using namespace frc::detail;
+using namespace wpi::detail;
 
 void ListenerExecutor::Execute(std::function<void()> task) {
   std::scoped_lock lock(m_lock);
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
index d9fa636b4d..6de4b3cca0 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
@@ -9,7 +9,7 @@
 
 #include "wpi/nt/NTSendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 static constexpr std::string_view kBackgroundColor = "backgroundColor";
 static constexpr std::string_view kDims = "dims";
@@ -37,7 +37,7 @@ void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
   }
 }
 
-void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
+void Mechanism2d::InitSendable(wpi::nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Mechanism2d");
 
   std::scoped_lock lock(m_mutex);
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
index 2757058048..f44b664b89 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -10,14 +10,14 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 static constexpr std::string_view kSmartDashboardType = "line";
 
 MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
-                                         units::degree_t angle,
+                                         wpi::units::degree_t angle,
                                          double lineWeight,
-                                         const frc::Color8Bit& color)
+                                         const wpi::Color8Bit& color)
     : MechanismObject2d{name},
       m_length{length},
       m_angle{angle.value()},
@@ -26,9 +26,9 @@ MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
 }
 
 void MechanismLigament2d::UpdateEntries(
-    std::shared_ptr<nt::NetworkTable> table) {
+    std::shared_ptr<wpi::nt::NetworkTable> table) {
   m_typePub = table->GetStringTopic(".type").PublishEx(
-      nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}});
+      wpi::nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}});
   m_typePub.Set(kSmartDashboardType);
 
   m_colorEntry = table->GetStringTopic("color").GetEntry("");
@@ -44,7 +44,7 @@ void MechanismLigament2d::UpdateEntries(
 void MechanismLigament2d::SetColor(const Color8Bit& color) {
   std::scoped_lock lock(m_mutex);
 
-  wpi::format_to_n_c_str(m_color, sizeof(m_color), "#{:02X}{:02X}{:02X}",
+  wpi::util::format_to_n_c_str(m_color, sizeof(m_color), "#{:02X}{:02X}{:02X}",
                          color.red, color.green, color.blue);
 
   if (m_colorEntry) {
@@ -52,7 +52,7 @@ void MechanismLigament2d::SetColor(const Color8Bit& color) {
   }
 }
 
-void MechanismLigament2d::SetAngle(units::degree_t angle) {
+void MechanismLigament2d::SetAngle(wpi::units::degree_t angle) {
   std::scoped_lock lock(m_mutex);
   m_angle = angle.value();
   if (m_angleEntry) {
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
index 139bd65fab..3dc485441c 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
@@ -6,7 +6,7 @@
 
 #include <string>
 
-using namespace frc;
+using namespace wpi;
 
 MechanismObject2d::MechanismObject2d(std::string_view name) : m_name{name} {}
 
@@ -14,7 +14,7 @@ const std::string& MechanismObject2d::GetName() const {
   return m_name;
 }
 
-void MechanismObject2d::Update(std::shared_ptr<nt::NetworkTable> table) {
+void MechanismObject2d::Update(std::shared_ptr<wpi::nt::NetworkTable> table) {
   std::scoped_lock lock(m_mutex);
   m_table = table;
   UpdateEntries(m_table);
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
index f2553f1a65..a86ef26a86 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/util/Color8Bit.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 MechanismRoot2d::MechanismRoot2d(std::string_view name, double x, double y,
                                  const private_init&)
@@ -19,7 +19,7 @@ void MechanismRoot2d::SetPosition(double x, double y) {
   Flush();
 }
 
-void MechanismRoot2d::UpdateEntries(std::shared_ptr<nt::NetworkTable> table) {
+void MechanismRoot2d::UpdateEntries(std::shared_ptr<wpi::nt::NetworkTable> table) {
   m_xPub = table->GetDoubleTopic("x").Publish();
   m_yPub = table->GetDoubleTopic("y").Publish();
   Flush();
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index 7d7d652d43..48d26592b5 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -22,7 +22,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 template <typename Topic>
 void SendableBuilderImpl::PropertyImpl<Topic>::Update(bool controllable,
@@ -35,13 +35,13 @@ void SendableBuilderImpl::PropertyImpl<Topic>::Update(bool controllable,
   }
 }
 
-void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
+void SendableBuilderImpl::SetTable(std::shared_ptr<wpi::nt::NetworkTable> table) {
   m_table = table;
   m_controllablePublisher = table->GetBooleanTopic(".controllable").Publish();
   m_controllablePublisher.SetDefault(false);
 }
 
-std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
+std::shared_ptr<wpi::nt::NetworkTable> SendableBuilderImpl::GetTable() {
   return m_table;
 }
 
@@ -54,7 +54,7 @@ bool SendableBuilderImpl::IsActuator() const {
 }
 
 void SendableBuilderImpl::Update() {
-  uint64_t time = nt::Now();
+  uint64_t time = wpi::nt::Now();
   for (auto& property : m_properties) {
     property->Update(m_controllable, time);
   }
@@ -84,7 +84,7 @@ void SendableBuilderImpl::ClearProperties() {
 void SendableBuilderImpl::SetSmartDashboardType(std::string_view type) {
   if (!m_typePublisher) {
     m_typePublisher = m_table->GetStringTopic(".type").PublishEx(
-        nt::StringTopic::kTypeString, {{"SmartDashboard", type}});
+        wpi::nt::StringTopic::kTypeString, {{"SmartDashboard", type}});
   }
   m_typePublisher.Set(type);
 }
@@ -97,11 +97,11 @@ void SendableBuilderImpl::SetActuator(bool value) {
   m_actuator = value;
 }
 
-void SendableBuilderImpl::SetUpdateTable(wpi::unique_function<void()> func) {
+void SendableBuilderImpl::SetUpdateTable(wpi::util::unique_function<void()> func) {
   m_updateTables.emplace_back(std::move(func));
 }
 
-nt::Topic SendableBuilderImpl::GetTopic(std::string_view key) {
+wpi::nt::Topic SendableBuilderImpl::GetTopic(std::string_view key) {
   return m_table->GetTopic(key);
 }
 
@@ -259,7 +259,7 @@ void SendableBuilderImpl::AddRawProperty(
     std::function<std::vector<uint8_t>()> getter,
     std::function<void(std::span<const uint8_t>)> setter) {
   auto topic = m_table->GetRawTopic(key);
-  auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+  auto prop = std::make_unique<PropertyImpl<wpi::nt::RawTopic>>();
   if (getter) {
     prop->pub = topic.Publish(typeString);
     prop->updateNetwork = [=](auto& pub, int64_t time) {
@@ -282,7 +282,7 @@ void SendableBuilderImpl::PublishConstRaw(std::string_view key,
                                           std::string_view typeString,
                                           std::span<const uint8_t> value) {
   auto topic = m_table->GetRawTopic(key);
-  auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+  auto prop = std::make_unique<PropertyImpl<wpi::nt::RawTopic>>();
   prop->pub = topic.Publish(typeString);
   prop->pub.Set(value);
   m_properties.emplace_back(std::move(prop));
@@ -296,7 +296,7 @@ void SendableBuilderImpl::AddSmallPropertyImpl(Topic topic, Getter getter,
   if (getter) {
     prop->pub = topic.Publish();
     prop->updateNetwork = [=](auto& pub, int64_t time) {
-      wpi::SmallVector<T, Size> buf;
+      wpi::util::SmallVector<T, Size> buf;
       pub.Set(getter(buf), time);
     };
   }
@@ -314,7 +314,7 @@ void SendableBuilderImpl::AddSmallPropertyImpl(Topic topic, Getter getter,
 
 void SendableBuilderImpl::AddSmallStringProperty(
     std::string_view key,
-    std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+    std::function<std::string_view(wpi::util::SmallVectorImpl<char>& buf)> getter,
     std::function<void(std::string_view)> setter) {
   AddSmallPropertyImpl<char, 128>(m_table->GetStringTopic(key),
                                   std::move(getter), std::move(setter));
@@ -322,7 +322,7 @@ void SendableBuilderImpl::AddSmallStringProperty(
 
 void SendableBuilderImpl::AddSmallBooleanArrayProperty(
     std::string_view key,
-    std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)> getter,
+    std::function<std::span<const int>(wpi::util::SmallVectorImpl<int>& buf)> getter,
     std::function<void(std::span<const int>)> setter) {
   AddSmallPropertyImpl<int, 16>(m_table->GetBooleanArrayTopic(key),
                                 std::move(getter), std::move(setter));
@@ -330,7 +330,7 @@ void SendableBuilderImpl::AddSmallBooleanArrayProperty(
 
 void SendableBuilderImpl::AddSmallIntegerArrayProperty(
     std::string_view key,
-    std::function<std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
+    std::function<std::span<const int64_t>(wpi::util::SmallVectorImpl<int64_t>& buf)>
         getter,
     std::function<void(std::span<const int64_t>)> setter) {
   AddSmallPropertyImpl<int64_t, 16>(m_table->GetIntegerArrayTopic(key),
@@ -339,7 +339,7 @@ void SendableBuilderImpl::AddSmallIntegerArrayProperty(
 
 void SendableBuilderImpl::AddSmallFloatArrayProperty(
     std::string_view key,
-    std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
+    std::function<std::span<const float>(wpi::util::SmallVectorImpl<float>& buf)>
         getter,
     std::function<void(std::span<const float>)> setter) {
   AddSmallPropertyImpl<float, 16>(m_table->GetFloatArrayTopic(key),
@@ -348,7 +348,7 @@ void SendableBuilderImpl::AddSmallFloatArrayProperty(
 
 void SendableBuilderImpl::AddSmallDoubleArrayProperty(
     std::string_view key,
-    std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
+    std::function<std::span<const double>(wpi::util::SmallVectorImpl<double>& buf)>
         getter,
     std::function<void(std::span<const double>)> setter) {
   AddSmallPropertyImpl<double, 16>(m_table->GetDoubleArrayTopic(key),
@@ -358,7 +358,7 @@ void SendableBuilderImpl::AddSmallDoubleArrayProperty(
 void SendableBuilderImpl::AddSmallStringArrayProperty(
     std::string_view key,
     std::function<
-        std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
+        std::span<const std::string>(wpi::util::SmallVectorImpl<std::string>& buf)>
         getter,
     std::function<void(std::span<const std::string>)> setter) {
   AddSmallPropertyImpl<std::string, 16>(m_table->GetStringArrayTopic(key),
@@ -367,15 +367,15 @@ void SendableBuilderImpl::AddSmallStringArrayProperty(
 
 void SendableBuilderImpl::AddSmallRawProperty(
     std::string_view key, std::string_view typeString,
-    std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
+    std::function<std::span<uint8_t>(wpi::util::SmallVectorImpl<uint8_t>& buf)>
         getter,
     std::function<void(std::span<const uint8_t>)> setter) {
   auto topic = m_table->GetRawTopic(key);
-  auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+  auto prop = std::make_unique<PropertyImpl<wpi::nt::RawTopic>>();
   if (getter) {
     prop->pub = topic.Publish(typeString);
     prop->updateNetwork = [=](auto& pub, int64_t time) {
-      wpi::SmallVector<uint8_t, 128> buf;
+      wpi::util::SmallVector<uint8_t, 128> buf;
       pub.Set(getter(buf), time);
     };
   }
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index f7881ad9f1..f159956255 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -8,12 +8,12 @@
 
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 std::atomic_int SendableChooserBase::s_instances{0};
 
 SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
-  wpi::SendableRegistry::Add(this, "SendableChooser", m_instance);
+  wpi::util::SendableRegistry::Add(this, "SendableChooser", m_instance);
 }
 
 SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index 7070fc82e6..47d0d7c8ab 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -19,15 +19,15 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 struct Instance {
   detail::ListenerExecutor listenerExecutor;
-  std::shared_ptr<nt::NetworkTable> table =
-      nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
-  wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
-  wpi::mutex tablesToDataMutex;
+  std::shared_ptr<wpi::nt::NetworkTable> table =
+      wpi::nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
+  wpi::util::StringMap<wpi::util::SendableRegistry::UID> tablesToData;
+  wpi::util::mutex tablesToDataMutex;
 };
 }  // namespace
 
@@ -41,11 +41,11 @@ static Instance& GetInstance() {
 }
 
 #ifndef __FRC_SYSTEMCORE__
-namespace frc::impl {
+namespace wpi::impl {
 void ResetSmartDashboardInstance() {
   std::make_unique<Instance>().swap(GetInstanceHolder());
 }
-}  // namespace frc::impl
+}  // namespace wpi::impl
 #endif
 
 static bool gReported = false;
@@ -74,7 +74,7 @@ bool SmartDashboard::IsPersistent(std::string_view key) {
   return GetEntry(key).IsPersistent();
 }
 
-nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
+wpi::nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
   if (!gReported) {
     HAL_ReportUsage("SmartDashboard", "");
     gReported = true;
@@ -82,7 +82,7 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
   return GetInstance().table->GetEntry(key);
 }
 
-void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
+void SmartDashboard::PutData(std::string_view key, wpi::util::Sendable* data) {
   if (!data) {
     throw FRC_MakeError(err::NullParameter, "value");
   }
@@ -93,37 +93,37 @@ void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
   auto& inst = GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto& uid = inst.tablesToData[key];
-  wpi::Sendable* sddata = wpi::SendableRegistry::GetSendable(uid);
+  wpi::util::Sendable* sddata = wpi::util::SendableRegistry::GetSendable(uid);
   if (sddata != data) {
-    uid = wpi::SendableRegistry::GetUniqueId(data);
+    uid = wpi::util::SendableRegistry::GetUniqueId(data);
     auto dataTable = inst.table->GetSubTable(key);
     auto builder = std::make_unique<SendableBuilderImpl>();
     auto builderPtr = builder.get();
     builderPtr->SetTable(dataTable);
-    wpi::SendableRegistry::Publish(uid, std::move(builder));
+    wpi::util::SendableRegistry::Publish(uid, std::move(builder));
     builderPtr->StartListeners();
     dataTable->GetEntry(".name").SetString(key);
   }
 }
 
-void SmartDashboard::PutData(wpi::Sendable* value) {
+void SmartDashboard::PutData(wpi::util::Sendable* value) {
   if (!value) {
     throw FRC_MakeError(err::NullParameter, "value");
   }
-  auto name = wpi::SendableRegistry::GetName(value);
+  auto name = wpi::util::SendableRegistry::GetName(value);
   if (!name.empty()) {
     PutData(name, value);
   }
 }
 
-wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
+wpi::util::Sendable* SmartDashboard::GetData(std::string_view key) {
   auto& inst = GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto it = inst.tablesToData.find(key);
   if (it == inst.tablesToData.end()) {
     throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
   }
-  return wpi::SendableRegistry::GetSendable(it->second);
+  return wpi::util::SendableRegistry::GetSendable(it->second);
 }
 
 bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
@@ -229,16 +229,16 @@ std::vector<uint8_t> SmartDashboard::GetRaw(
 }
 
 bool SmartDashboard::PutValue(std::string_view keyName,
-                              const nt::Value& value) {
+                              const wpi::nt::Value& value) {
   return GetInstance().table->GetEntry(keyName).SetValue(value);
 }
 
 bool SmartDashboard::SetDefaultValue(std::string_view key,
-                                     const nt::Value& defaultValue) {
+                                     const wpi::nt::Value& defaultValue) {
   return GetEntry(key).SetDefaultValue(defaultValue);
 }
 
-nt::Value SmartDashboard::GetValue(std::string_view keyName) {
+wpi::nt::Value SmartDashboard::GetValue(std::string_view keyName) {
   return GetInstance().table->GetEntry(keyName).GetValue();
 }
 
@@ -251,6 +251,6 @@ void SmartDashboard::UpdateValues() {
   inst.listenerExecutor.RunListenerTasks();
   std::scoped_lock lock(inst.tablesToDataMutex);
   for (auto& i : inst.tablesToData) {
-    wpi::SendableRegistry::Update(i.second);
+    wpi::util::SendableRegistry::Update(i.second);
   }
 }
diff --git a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
index 5ab7facf20..ce94a94c6f 100644
--- a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
+++ b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/system/DataLogManager.hpp"
 
-using namespace frc::sysid;
+using namespace wpi::sysid;
 
 SysIdRoutineLog::SysIdRoutineLog(std::string_view logName)
     : m_logName(logName) {}
@@ -27,7 +27,7 @@ SysIdRoutineLog::MotorLog& SysIdRoutineLog::MotorLog::value(
   auto& motorEntries = (*m_logEntries)[m_motorName];
 
   if (!motorEntries.contains(name)) {
-    wpi::log::DataLog& log = frc::DataLogManager::GetLog();
+    wpi::log::DataLog& log = wpi::DataLogManager::GetLog();
 
     motorEntries[name] = wpi::log::DoubleLogEntry(
         log, fmt::format("{}-{}-{}", name, m_motorName, m_logName), unit);
@@ -44,7 +44,7 @@ SysIdRoutineLog::MotorLog SysIdRoutineLog::Motor(std::string_view motorName) {
 void SysIdRoutineLog::RecordState(State state) {
   if (!m_stateInitialized) {
     m_state =
-        wpi::log::StringLogEntry{frc::DataLogManager::GetLog(),
+        wpi::log::StringLogEntry{wpi::DataLogManager::GetLog(),
                                  fmt::format("sysid-test-state-{}", m_logName)};
     m_stateInitialized = true;
   }
diff --git a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
index 95c0eeca61..ccddad91fc 100644
--- a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
@@ -28,11 +28,11 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 
-struct Thread final : public wpi::SafeThread {
+struct Thread final : public wpi::util::SafeThread {
   Thread(std::string_view dir, std::string_view filename, double period);
   ~Thread() override;
 
@@ -56,7 +56,7 @@ struct Thread final : public wpi::SafeThread {
 
 struct Instance {
   Instance(std::string_view dir, std::string_view filename, double period);
-  wpi::SafeThreadOwner<Thread> owner;
+  wpi::util::SafeThreadOwner<Thread> owner;
 };
 
 }  // namespace
@@ -138,9 +138,9 @@ void Thread::Main() {
       std::vector<fs::directory_entry> entries;
       for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
         auto stem = entry.path().stem().string();
-        if (wpi::starts_with(stem, "FRC_") &&
+        if (wpi::util::starts_with(stem, "FRC_") &&
             entry.path().extension() == ".wpilog" &&
-            !wpi::starts_with(stem, "FRC_TBD_")) {
+            !wpi::util::starts_with(stem, "FRC_TBD_")) {
           entries.emplace_back(entry);
         }
       }
@@ -164,7 +164,7 @@ void Thread::Main() {
             break;
           }
         } else {
-          wpi::print(stderr, "DataLogManager: could not delete {}\n",
+          wpi::util::print(stderr, "DataLogManager: could not delete {}\n",
                      entry.path().string());
         }
       }
@@ -189,13 +189,13 @@ void Thread::Main() {
       m_log, "systemTime",
       "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}"};
 
-  wpi::Event newDataEvent;
+  wpi::util::Event newDataEvent;
   DriverStation::ProvideRefreshedDataEventHandle(newDataEvent.GetHandle());
 
   for (;;) {
     bool timedOut = false;
     bool newData =
-        wpi::WaitForObject(newDataEvent.GetHandle(), 0.25, &timedOut);
+        wpi::util::WaitForObject(newDataEvent.GetHandle(), 0.25, &timedOut);
     if (!m_active) {
       break;
     }
@@ -279,7 +279,7 @@ void Thread::Main() {
     if (sysTimeCount >= 250) {
       sysTimeCount = 0;
       if (RobotController::IsSystemTimeValid()) {
-        sysTimeEntry.Append(wpi::GetSystemTime(), wpi::Now());
+        sysTimeEntry.Append(wpi::util::GetSystemTime(), wpi::util::Now());
       }
     }
   }
@@ -289,7 +289,7 @@ void Thread::Main() {
 void Thread::StartNTLog() {
   if (!m_ntLoggerEnabled) {
     m_ntLoggerEnabled = true;
-    auto inst = nt::NetworkTableInstance::GetDefault();
+    auto inst = wpi::nt::NetworkTableInstance::GetDefault();
     m_ntEntryLogger = inst.StartEntryDataLog(m_log, "", "NT:");
     m_ntConnLogger = inst.StartConnectionDataLog(m_log, "NTConnection");
   }
@@ -298,8 +298,8 @@ void Thread::StartNTLog() {
 void Thread::StopNTLog() {
   if (m_ntLoggerEnabled) {
     m_ntLoggerEnabled = false;
-    nt::NetworkTableInstance::StopEntryDataLog(m_ntEntryLogger);
-    nt::NetworkTableInstance::StopConnectionDataLog(m_ntConnLogger);
+    wpi::nt::NetworkTableInstance::StopEntryDataLog(m_ntEntryLogger);
+    wpi::nt::NetworkTableInstance::StopConnectionDataLog(m_ntConnLogger);
   }
 }
 
@@ -326,10 +326,10 @@ Instance::Instance(std::string_view dir, std::string_view filename,
   auto logDir = MakeLogDir(dir);
   std::error_code ec;
   for (auto&& entry : fs::directory_iterator{logDir, ec}) {
-    if (wpi::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
+    if (wpi::util::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
         entry.path().extension() == ".wpilog") {
       if (!fs::remove(entry, ec)) {
-        wpi::print(stderr, "DataLogManager: could not delete {}\n",
+        wpi::util::print(stderr, "DataLogManager: could not delete {}\n",
                    entry.path().string());
       }
     }
@@ -361,7 +361,7 @@ void DataLogManager::Stop() {
 
 void DataLogManager::Log(std::string_view message) {
   GetInstance().owner.GetThread()->m_messageLog.Append(message);
-  wpi::print("{}\n", message);
+  wpi::util::print("{}\n", message);
 }
 
 wpi::log::DataLog& DataLogManager::GetLog() {
diff --git a/wpilibc/src/main/native/cpp/system/Errors.cpp b/wpilibc/src/main/native/cpp/system/Errors.cpp
index 083e457967..2678a1d5ea 100644
--- a/wpilibc/src/main/native/cpp/system/Errors.cpp
+++ b/wpilibc/src/main/native/cpp/system/Errors.cpp
@@ -12,7 +12,7 @@
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/fs.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 RuntimeError::RuntimeError(int32_t code, std::string&& loc, std::string&& stack,
                            std::string&& message)
@@ -36,7 +36,7 @@ void RuntimeError::Report() const {
                 m_data->stack.c_str(), 1);
 }
 
-const char* frc::GetErrorMessage(int32_t* code) {
+const char* wpi::GetErrorMessage(int32_t* code) {
   switch (*code) {
 #define S(label, offset, message) \
   case err::label:                \
@@ -53,7 +53,7 @@ const char* frc::GetErrorMessage(int32_t* code) {
   }
 }
 
-void frc::ReportErrorV(int32_t status, const char* fileName, int lineNumber,
+void wpi::ReportErrorV(int32_t status, const char* fileName, int lineNumber,
                        const char* funcName, fmt::string_view format,
                        fmt::format_args args) {
   if (status == 0) {
@@ -64,10 +64,10 @@ void frc::ReportErrorV(int32_t status, const char* fileName, int lineNumber,
   fmt::vformat_to(fmt::appender{out}, format, args);
   out.push_back('\0');
   HAL_SendError(status < 0, status, 0, out.data(), funcName,
-                wpi::GetStackTrace(2).c_str(), 1);
+                wpi::util::GetStackTrace(2).c_str(), 1);
 }
 
-RuntimeError frc::MakeErrorV(int32_t status, const char* fileName,
+RuntimeError wpi::MakeErrorV(int32_t status, const char* fileName,
                              int lineNumber, const char* funcName,
                              fmt::string_view format, fmt::format_args args) {
   fmt::memory_buffer out;
@@ -77,6 +77,6 @@ RuntimeError frc::MakeErrorV(int32_t status, const char* fileName,
                       fileName,
                       lineNumber,
                       funcName,
-                      wpi::GetStackTrace(2),
+                      wpi::util::GetStackTrace(2),
                       fmt::to_string(out)};
 }
diff --git a/wpilibc/src/main/native/cpp/system/Filesystem.cpp b/wpilibc/src/main/native/cpp/system/Filesystem.cpp
index eb73b5481a..62c49a6822 100644
--- a/wpilibc/src/main/native/cpp/system/Filesystem.cpp
+++ b/wpilibc/src/main/native/cpp/system/Filesystem.cpp
@@ -9,19 +9,19 @@
 #include "wpi/opmode/RobotBase.hpp"
 #include "wpi/util/fs.hpp"
 
-std::string frc::filesystem::GetLaunchDirectory() {
+std::string wpi::filesystem::GetLaunchDirectory() {
   return fs::current_path().string();
 }
 
-std::string frc::filesystem::GetOperatingDirectory() {
+std::string wpi::filesystem::GetOperatingDirectory() {
   if constexpr (!RobotBase::IsSimulation()) {
     return "/home/systemcore";
   } else {
-    return frc::filesystem::GetLaunchDirectory();
+    return wpi::filesystem::GetLaunchDirectory();
   }
 }
 
-std::string frc::filesystem::GetDeployDirectory() {
+std::string wpi::filesystem::GetDeployDirectory() {
   if constexpr (!RobotBase::IsSimulation()) {
     return "/home/systemcore/deploy";
   } else {
diff --git a/wpilibc/src/main/native/cpp/system/Notifier.cpp b/wpilibc/src/main/native/cpp/system/Notifier.cpp
index 1c01c5c7fb..71ba570557 100644
--- a/wpilibc/src/main/native/cpp/system/Notifier.cpp
+++ b/wpilibc/src/main/native/cpp/system/Notifier.cpp
@@ -14,7 +14,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/Timer.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Notifier::Notifier(std::function<void()> callback) {
   if (!callback) {
@@ -97,7 +97,7 @@ Notifier::Notifier(int priority, std::function<void()> callback) {
       if (callback) {
         try {
           callback();
-        } catch (const frc::RuntimeError& e) {
+        } catch (const wpi::RuntimeError& e) {
           e.Report();
           FRC_ReportError(
               err::Error,
@@ -165,7 +165,7 @@ void Notifier::SetCallback(std::function<void()> callback) {
   m_callback = callback;
 }
 
-void Notifier::StartSingle(units::second_t delay) {
+void Notifier::StartSingle(wpi::units::second_t delay) {
   std::scoped_lock lock(m_processMutex);
   m_periodic = false;
   m_period = delay;
@@ -173,7 +173,7 @@ void Notifier::StartSingle(units::second_t delay) {
   UpdateAlarm();
 }
 
-void Notifier::StartPeriodic(units::second_t period) {
+void Notifier::StartPeriodic(wpi::units::second_t period) {
   std::scoped_lock lock(m_processMutex);
   m_periodic = true;
   m_period = period;
@@ -181,7 +181,7 @@ void Notifier::StartPeriodic(units::second_t period) {
   UpdateAlarm();
 }
 
-void Notifier::StartPeriodic(units::hertz_t frequency) {
+void Notifier::StartPeriodic(wpi::units::hertz_t frequency) {
   StartPeriodic(1 / frequency);
 }
 
diff --git a/wpilibc/src/main/native/cpp/system/Resource.cpp b/wpilibc/src/main/native/cpp/system/Resource.cpp
index feafdc4c21..bc4e3aa17f 100644
--- a/wpilibc/src/main/native/cpp/system/Resource.cpp
+++ b/wpilibc/src/main/native/cpp/system/Resource.cpp
@@ -13,9 +13,9 @@
 #include "wpi/util/deprecated.hpp"
 
 WPI_IGNORE_DEPRECATED
-using namespace frc;
+using namespace wpi;
 
-wpi::mutex Resource::m_createMutex;
+wpi::util::mutex Resource::m_createMutex;
 
 void Resource::CreateResourceObject(std::unique_ptr<Resource>& r,
                                     uint32_t elements) {
diff --git a/wpilibc/src/main/native/cpp/system/RobotController.cpp b/wpilibc/src/main/native/cpp/system/RobotController.cpp
index 3b60c64d0d..ca73275e09 100644
--- a/wpilibc/src/main/native/cpp/system/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/system/RobotController.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/Power.h"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 std::function<uint64_t()> RobotController::m_timeSource = [] {
   return RobotController::GetFPGATime();
@@ -21,7 +21,7 @@ std::function<uint64_t()> RobotController::m_timeSource = [] {
 std::string RobotController::GetSerialNumber() {
   WPI_String serialNum;
   HAL_GetSerialNumber(&serialNum);
-  std::string ret{wpi::to_string_view(&serialNum)};
+  std::string ret{wpi::util::to_string_view(&serialNum)};
   WPI_FreeString(&serialNum);
   return ret;
 }
@@ -29,7 +29,7 @@ std::string RobotController::GetSerialNumber() {
 std::string RobotController::GetComments() {
   WPI_String comments;
   HAL_GetComments(&comments);
-  std::string ret{wpi::to_string_view(&comments)};
+  std::string ret{wpi::util::to_string_view(&comments)};
   WPI_FreeString(&comments);
   return ret;
 }
@@ -53,11 +53,11 @@ uint64_t RobotController::GetFPGATime() {
   return time;
 }
 
-units::volt_t RobotController::GetBatteryVoltage() {
+wpi::units::volt_t RobotController::GetBatteryVoltage() {
   int32_t status = 0;
   double retVal = HAL_GetVinVoltage(&status);
   FRC_CheckErrorStatus(status, "GetBatteryVoltage");
-  return units::volt_t{retVal};
+  return wpi::units::volt_t{retVal};
 }
 
 bool RobotController::IsSysActive() {
@@ -142,24 +142,24 @@ void RobotController::ResetRailFaultCounts() {
   FRC_CheckErrorStatus(status, "ResetRailFaultCounts");
 }
 
-units::volt_t RobotController::GetBrownoutVoltage() {
+wpi::units::volt_t RobotController::GetBrownoutVoltage() {
   int32_t status = 0;
   double retVal = HAL_GetBrownoutVoltage(&status);
   FRC_CheckErrorStatus(status, "GetBrownoutVoltage");
-  return units::volt_t{retVal};
+  return wpi::units::volt_t{retVal};
 }
 
-void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
+void RobotController::SetBrownoutVoltage(wpi::units::volt_t brownoutVoltage) {
   int32_t status = 0;
   HAL_SetBrownoutVoltage(brownoutVoltage.value(), &status);
   FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
 }
 
-units::celsius_t RobotController::GetCPUTemp() {
+wpi::units::celsius_t RobotController::GetCPUTemp() {
   int32_t status = 0;
   double retVal = HAL_GetCPUTemp(&status);
   FRC_CheckErrorStatus(status, "GetCPUTemp");
-  return units::celsius_t{retVal};
+  return wpi::units::celsius_t{retVal};
 }
 
 CANStatus RobotController::GetCANStatus(int busId) {
diff --git a/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp b/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
index b8bd88c2db..39d50b17bb 100644
--- a/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
+++ b/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace frc;
+using namespace wpi;
 
-ScopedTracer::ScopedTracer(std::string_view name, wpi::raw_ostream& os)
+ScopedTracer::ScopedTracer(std::string_view name, wpi::util::raw_ostream& os)
     : m_name(name), m_os(os) {
   m_tracer.ResetTimer();
 }
diff --git a/wpilibc/src/main/native/cpp/system/SystemServer.cpp b/wpilibc/src/main/native/cpp/system/SystemServer.cpp
index 892b23d9ec..6edf9ff865 100644
--- a/wpilibc/src/main/native/cpp/system/SystemServer.cpp
+++ b/wpilibc/src/main/native/cpp/system/SystemServer.cpp
@@ -5,10 +5,10 @@
 #include "wpi/hal/SystemServer.h"
 #include "wpi/system/SystemServer.hpp"
 
-namespace frc {
+namespace wpi {
 
-nt::NetworkTableInstance SystemServer::GetSystemServer() {
-  return nt::NetworkTableInstance{HAL_GetSystemServerHandle()};
+wpi::nt::NetworkTableInstance SystemServer::GetSystemServer() {
+  return wpi::nt::NetworkTableInstance{HAL_GetSystemServerHandle()};
 }
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/cpp/system/Threads.cpp b/wpilibc/src/main/native/cpp/system/Threads.cpp
index 8f4e11c28c..8a73c0c9f0 100644
--- a/wpilibc/src/main/native/cpp/system/Threads.cpp
+++ b/wpilibc/src/main/native/cpp/system/Threads.cpp
@@ -7,7 +7,7 @@
 
 #include "wpi/system/Errors.hpp"
 
-namespace frc {
+namespace wpi {
 
 int GetThreadPriority(std::thread& thread, bool* isRealTime) {
   int32_t status = 0;
@@ -43,4 +43,4 @@ bool SetCurrentThreadPriority(bool realTime, int priority) {
   return ret;
 }
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/cpp/system/Timer.cpp b/wpilibc/src/main/native/cpp/system/Timer.cpp
index b7d20e8668..fd1e7b58f9 100644
--- a/wpilibc/src/main/native/cpp/system/Timer.cpp
+++ b/wpilibc/src/main/native/cpp/system/Timer.cpp
@@ -10,31 +10,31 @@
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/system/RobotController.hpp"
 
-namespace frc {
+namespace wpi {
 
-void Wait(units::second_t seconds) {
+void Wait(wpi::units::second_t seconds) {
   std::this_thread::sleep_for(std::chrono::duration<double>(seconds.value()));
 }
 
-units::second_t GetTime() {
+wpi::units::second_t GetTime() {
   using std::chrono::duration;
   using std::chrono::duration_cast;
   using std::chrono::system_clock;
 
-  return units::second_t{
+  return wpi::units::second_t{
       duration_cast<duration<double>>(system_clock::now().time_since_epoch())
           .count()};
 }
 
-}  // namespace frc
+}  // namespace wpi
 
-using namespace frc;
+using namespace wpi;
 
 Timer::Timer() {
   Reset();
 }
 
-units::second_t Timer::Get() const {
+wpi::units::second_t Timer::Get() const {
   if (m_running) {
     return (GetTimestamp() - m_startTime) + m_accumulatedTime;
   } else {
@@ -69,11 +69,11 @@ void Timer::Stop() {
   }
 }
 
-bool Timer::HasElapsed(units::second_t period) const {
+bool Timer::HasElapsed(wpi::units::second_t period) const {
   return Get() >= period;
 }
 
-bool Timer::AdvanceIfElapsed(units::second_t period) {
+bool Timer::AdvanceIfElapsed(wpi::units::second_t period) {
   if (Get() >= period) {
     // Advance the start time by the period.
     m_startTime += period;
@@ -88,15 +88,15 @@ bool Timer::IsRunning() const {
   return m_running;
 }
 
-units::second_t Timer::GetTimestamp() {
-  return units::second_t{frc::RobotController::GetTime() * 1.0e-6};
+wpi::units::second_t Timer::GetTimestamp() {
+  return wpi::units::second_t{wpi::RobotController::GetTime() * 1.0e-6};
 }
 
-units::second_t Timer::GetFPGATimestamp() {
+wpi::units::second_t Timer::GetFPGATimestamp() {
   // FPGA returns the timestamp in microseconds
-  return units::second_t{frc::RobotController::GetFPGATime() * 1.0e-6};
+  return wpi::units::second_t{wpi::RobotController::GetFPGATime() * 1.0e-6};
 }
 
-units::second_t Timer::GetMatchTime() {
-  return frc::DriverStation::GetMatchTime();
+wpi::units::second_t Timer::GetMatchTime() {
+  return wpi::DriverStation::GetMatchTime();
 }
diff --git a/wpilibc/src/main/native/cpp/system/Tracer.cpp b/wpilibc/src/main/native/cpp/system/Tracer.cpp
index c3db2b8482..feefa21056 100644
--- a/wpilibc/src/main/native/cpp/system/Tracer.cpp
+++ b/wpilibc/src/main/native/cpp/system/Tracer.cpp
@@ -10,14 +10,14 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 Tracer::Tracer() {
   ResetTimer();
 }
 
 void Tracer::ResetTimer() {
-  m_startTime = hal::fpga_clock::now();
+  m_startTime = wpi::hal::fpga_clock::now();
 }
 
 void Tracer::ClearEpochs() {
@@ -26,25 +26,25 @@ void Tracer::ClearEpochs() {
 }
 
 void Tracer::AddEpoch(std::string_view epochName) {
-  auto currentTime = hal::fpga_clock::now();
+  auto currentTime = wpi::hal::fpga_clock::now();
   m_epochs[epochName] = currentTime - m_startTime;
   m_startTime = currentTime;
 }
 
 void Tracer::PrintEpochs() {
-  wpi::SmallString<128> buf;
-  wpi::raw_svector_ostream os(buf);
+  wpi::util::SmallString<128> buf;
+  wpi::util::raw_svector_ostream os(buf);
   PrintEpochs(os);
   if (!buf.empty()) {
     FRC_ReportWarning("{}", buf.c_str());
   }
 }
 
-void Tracer::PrintEpochs(wpi::raw_ostream& os) {
+void Tracer::PrintEpochs(wpi::util::raw_ostream& os) {
   using std::chrono::duration_cast;
   using std::chrono::microseconds;
 
-  auto now = hal::fpga_clock::now();
+  auto now = wpi::hal::fpga_clock::now();
   if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
     m_lastEpochsPrintTime = now;
     for (const auto& epoch : m_epochs) {
diff --git a/wpilibc/src/main/native/cpp/system/Watchdog.cpp b/wpilibc/src/main/native/cpp/system/Watchdog.cpp
index a7f66d2d16..d83ce6e45b 100644
--- a/wpilibc/src/main/native/cpp/system/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/system/Watchdog.cpp
@@ -17,7 +17,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/priority_queue.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 class Watchdog::Impl {
  public:
@@ -31,9 +31,9 @@ class Watchdog::Impl {
     }
   };
 
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::atomic<HAL_NotifierHandle> m_notifier;
-  wpi::priority_queue<Watchdog*, std::vector<Watchdog*>,
+  wpi::util::priority_queue<Watchdog*, std::vector<Watchdog*>,
                       DerefGreater<Watchdog*>>
       m_watchdogs;
 
@@ -110,7 +110,7 @@ void Watchdog::Impl::Main() {
     // has occurred, so call its timeout function.
     auto watchdog = m_watchdogs.pop();
 
-    units::second_t now{curTime * 1e-6};
+    wpi::units::second_t now{curTime * 1e-6};
     if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
       watchdog->m_lastTimeoutPrintTime = now;
       if (!watchdog->m_suppressTimeoutMessage) {
@@ -132,7 +132,7 @@ void Watchdog::Impl::Main() {
   }
 }
 
-Watchdog::Watchdog(units::second_t timeout, std::function<void()> callback)
+Watchdog::Watchdog(wpi::units::second_t timeout, std::function<void()> callback)
     : m_timeout(timeout), m_callback(std::move(callback)), m_impl(GetImpl()) {}
 
 Watchdog::~Watchdog() {
@@ -165,11 +165,11 @@ Watchdog& Watchdog::operator=(Watchdog&& rhs) {
   return *this;
 }
 
-units::second_t Watchdog::GetTime() const {
+wpi::units::second_t Watchdog::GetTime() const {
   return Timer::GetFPGATimestamp() - m_startTime;
 }
 
-void Watchdog::SetTimeout(units::second_t timeout) {
+void Watchdog::SetTimeout(wpi::units::second_t timeout) {
   m_startTime = Timer::GetFPGATimestamp();
   m_tracer.ClearEpochs();
 
@@ -183,7 +183,7 @@ void Watchdog::SetTimeout(units::second_t timeout) {
   m_impl->UpdateAlarm();
 }
 
-units::second_t Watchdog::GetTimeout() const {
+wpi::units::second_t Watchdog::GetTimeout() const {
   std::scoped_lock lock(m_impl->m_mutex);
   return m_timeout;
 }
diff --git a/wpilibc/src/main/native/cpp/util/Alert.cpp b/wpilibc/src/main/native/cpp/util/Alert.cpp
index 6cf7d7f434..a1e4b4a07f 100644
--- a/wpilibc/src/main/native/cpp/util/Alert.cpp
+++ b/wpilibc/src/main/native/cpp/util/Alert.cpp
@@ -20,7 +20,7 @@
 #include "wpi/util/sendable/SendableHelper.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 class Alert::PublishedAlert {
  public:
@@ -37,12 +37,12 @@ class Alert::PublishedAlert {
   }
 };
 
-class Alert::SendableAlerts : public nt::NTSendable,
-                              public wpi::SendableHelper<SendableAlerts> {
+class Alert::SendableAlerts : public wpi::nt::NTSendable,
+                              public wpi::util::SendableHelper<SendableAlerts> {
  public:
   SendableAlerts() { m_alerts.fill({}); }
 
-  void InitSendable(nt::NTSendableBuilder& builder) override {
+  void InitSendable(wpi::nt::NTSendableBuilder& builder) override {
     builder.SetSmartDashboardType("Alerts");
     builder.AddStringArrayProperty(
         "errors", [this]() { return GetStrings(AlertType::kError); }, nullptr);
@@ -70,7 +70,7 @@ class Alert::SendableAlerts : public nt::NTSendable,
       case AlertType::kError:
         return m_alerts[static_cast<int32_t>(type)];
       default:
-        throw FRC_MakeError(frc::err::InvalidParameter,
+        throw FRC_MakeError(wpi::err::InvalidParameter,
                             "Invalid Alert Type: {}", type);
     }
   }
@@ -84,14 +84,14 @@ class Alert::SendableAlerts : public nt::NTSendable,
   static SendableAlerts& ForGroup(std::string_view group) {
     SendableAlerts* salert = nullptr;
     try {
-      auto* sendable = frc::SmartDashboard::GetData(group);
+      auto* sendable = wpi::SmartDashboard::GetData(group);
       salert = dynamic_cast<SendableAlerts*>(sendable);
-    } catch (frc::RuntimeError&) {
+    } catch (wpi::RuntimeError&) {
     }
     if (!salert) {
       // this leaks if ResetSmartDashboardInstance is called, but that's fine
       salert = new Alert::SendableAlerts;
-      frc::SmartDashboard::PutData(group, salert);
+      wpi::SmartDashboard::PutData(group, salert);
     }
     return *salert;
   }
@@ -150,7 +150,7 @@ void Alert::Set(bool active) {
   }
 
   if (active) {
-    m_activeStartTime = frc::RobotController::GetTime();
+    m_activeStartTime = wpi::RobotController::GetTime();
     m_activeAlerts->emplace(m_activeStartTime, m_text);
   } else {
     m_activeAlerts->erase({m_activeStartTime, m_text});
@@ -173,7 +173,7 @@ void Alert::SetText(std::string_view text) {
   }
 }
 
-std::string frc::format_as(Alert::AlertType type) {
+std::string wpi::format_as(Alert::AlertType type) {
   switch (type) {
     case Alert::AlertType::kInfo:
       return "kInfo";
diff --git a/wpilibc/src/main/native/cpp/util/Preferences.cpp b/wpilibc/src/main/native/cpp/util/Preferences.cpp
index 4cba8c2e59..2d78a02ed8 100644
--- a/wpilibc/src/main/native/cpp/util/Preferences.cpp
+++ b/wpilibc/src/main/native/cpp/util/Preferences.cpp
@@ -18,7 +18,7 @@
 #include "wpi/nt/StringTopic.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 // The Preferences table name
 static constexpr std::string_view kTableName{"Preferences"};
@@ -27,13 +27,13 @@ namespace {
 struct Instance {
   Instance();
 
-  std::shared_ptr<nt::NetworkTable> table{
-      nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
-  nt::StringPublisher typePublisher{table->GetStringTopic(".type").PublishEx(
-      nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}})};
-  nt::MultiSubscriber tableSubscriber{nt::NetworkTableInstance::GetDefault(),
+  std::shared_ptr<wpi::nt::NetworkTable> table{
+      wpi::nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
+  wpi::nt::StringPublisher typePublisher{table->GetStringTopic(".type").PublishEx(
+      wpi::nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}})};
+  wpi::nt::MultiSubscriber tableSubscriber{wpi::nt::NetworkTableInstance::GetDefault(),
                                       {{fmt::format("{}/", table->GetPath())}}};
-  nt::NetworkTableListener listener;
+  wpi::nt::NetworkTableListener listener;
 };
 }  // namespace
 
@@ -43,11 +43,11 @@ static Instance& GetInstance() {
 }
 
 #ifndef __FRC_SYSTEMCORE__
-namespace frc::impl {
+namespace wpi::impl {
 void ResetPreferencesInstance() {
   GetInstance() = Instance();
 }
-}  // namespace frc::impl
+}  // namespace wpi::impl
 #endif
 
 std::vector<std::string> Preferences::GetKeys() {
@@ -171,12 +171,12 @@ void Preferences::RemoveAll() {
 
 Instance::Instance() {
   typePublisher.Set(kSmartDashboardType);
-  listener = nt::NetworkTableListener::CreateListener(
+  listener = wpi::nt::NetworkTableListener::CreateListener(
       tableSubscriber, NT_EVENT_PUBLISH | NT_EVENT_IMMEDIATE,
       [typeTopic = typePublisher.GetTopic().GetHandle()](auto& event) {
         if (auto topicInfo = event.GetTopicInfo()) {
           if (topicInfo->topic != typeTopic) {
-            nt::SetTopicPersistent(topicInfo->topic, true);
+            wpi::nt::SetTopicPersistent(topicInfo->topic, true);
           }
         }
       });
diff --git a/wpilibc/src/main/native/cpp/util/SensorUtil.cpp b/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
index 67ffe9d039..bfc317aa38 100644
--- a/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
+++ b/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/PWM.h"
 #include "wpi/hal/Ports.h"
 
-using namespace frc;
+using namespace wpi;
 
 int SensorUtil::GetDefaultCTREPCMModule() {
   return 0;
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index 529ba00ce9..48651220f9 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -27,20 +27,20 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-static_assert(frc::RuntimeType::kRoboRIO ==
-              static_cast<frc::RuntimeType>(HAL_Runtime_RoboRIO));
-static_assert(frc::RuntimeType::kRoboRIO2 ==
-              static_cast<frc::RuntimeType>(HAL_Runtime_RoboRIO2));
-static_assert(frc::RuntimeType::kSimulation ==
-              static_cast<frc::RuntimeType>(HAL_Runtime_Simulation));
-static_assert(frc::RuntimeType::kSystemCore ==
-              static_cast<frc::RuntimeType>(HAL_Runtime_SystemCore));
+static_assert(wpi::RuntimeType::kRoboRIO ==
+              static_cast<wpi::RuntimeType>(HAL_Runtime_RoboRIO));
+static_assert(wpi::RuntimeType::kRoboRIO2 ==
+              static_cast<wpi::RuntimeType>(HAL_Runtime_RoboRIO2));
+static_assert(wpi::RuntimeType::kSimulation ==
+              static_cast<wpi::RuntimeType>(HAL_Runtime_Simulation));
+static_assert(wpi::RuntimeType::kSystemCore ==
+              static_cast<wpi::RuntimeType>(HAL_Runtime_SystemCore));
 
-using SetCameraServerSharedFP = void (*)(frc::CameraServerShared*);
+using SetCameraServerSharedFP = void (*)(wpi::CameraServerShared*);
 
-using namespace frc;
+using namespace wpi;
 
-int frc::RunHALInitialization() {
+int wpi::RunHALInitialization() {
   if (!HAL_Initialize(500, 0)) {
     std::puts("FATAL ERROR: HAL could not be initialized");
     return -1;
@@ -49,7 +49,7 @@ int frc::RunHALInitialization() {
   HAL_ReportUsage("Language", "C++");
   HAL_ReportUsage("WPILibVersion", GetWPILibVersion());
 
-  if (!frc::Notifier::SetHALThreadPriority(true, 40)) {
+  if (!wpi::Notifier::SetHALThreadPriority(true, 40)) {
     FRC_ReportWarning("Setting HAL Notifier RT priority to 40 failed\n");
   }
 
@@ -60,7 +60,7 @@ int frc::RunHALInitialization() {
 std::thread::id RobotBase::m_threadId;
 
 namespace {
-class WPILibCameraServerShared : public frc::CameraServerShared {
+class WPILibCameraServerShared : public wpi::CameraServerShared {
  public:
   void ReportUsage(std::string_view resource, std::string_view data) override {
     HAL_ReportUsage(resource, data);
@@ -85,12 +85,12 @@ class WPILibCameraServerShared : public frc::CameraServerShared {
 class WPILibMathShared : public wpi::math::MathShared {
  public:
   void ReportErrorV(fmt::string_view format, fmt::format_args args) override {
-    frc::ReportErrorV(err::Error, __FILE__, __LINE__, __FUNCTION__, format,
+    wpi::ReportErrorV(err::Error, __FILE__, __LINE__, __FUNCTION__, format,
                       args);
   }
 
   void ReportWarningV(fmt::string_view format, fmt::format_args args) override {
-    frc::ReportErrorV(warn::Warning, __FILE__, __LINE__, __FUNCTION__, format,
+    wpi::ReportErrorV(warn::Warning, __FILE__, __LINE__, __FUNCTION__, format,
                       args);
   }
 
@@ -98,8 +98,8 @@ class WPILibMathShared : public wpi::math::MathShared {
     HAL_ReportUsage(resource, data);
   }
 
-  units::second_t GetTimestamp() override {
-    return units::second_t{wpi::Now() * 1.0e-6};
+  wpi::units::second_t GetTimestamp() override {
+    return wpi::units::second_t{wpi::util::Now() * 1.0e-6};
   }
 };
 }  // namespace
@@ -186,9 +186,9 @@ RobotBase::RobotBase() {
   SetupCameraServerShared();
   SetupMathShared();
 
-  auto inst = nt::NetworkTableInstance::GetDefault();
+  auto inst = wpi::nt::NetworkTableInstance::GetDefault();
   // subscribe to "" to force persistent values to propagate to local
-  nt::SubscribeMultiple(inst.GetHandle(), {{std::string_view{}}});
+  wpi::nt::SubscribeMultiple(inst.GetHandle(), {{std::string_view{}}});
   if constexpr (!IsSimulation()) {
     inst.StartServer("/home/systemcore/networktables.json");
   } else {
@@ -202,14 +202,14 @@ RobotBase::RobotBase() {
     std::this_thread::sleep_for(10ms);
     ++count;
     if (count > 100) {
-      wpi::print(stderr, "timed out while waiting for NT server to start\n");
+      wpi::util::print(stderr, "timed out while waiting for NT server to start\n");
       break;
     }
   }
 
   connListenerHandle =
-      inst.AddConnectionListener(false, [&](const nt::Event& event) {
-        if (event.Is(nt::EventFlags::kConnected)) {
+      inst.AddConnectionListener(false, [&](const wpi::nt::Event& event) {
+        if (event.Is(wpi::nt::EventFlags::kConnected)) {
           auto connInfo = event.GetConnectionInfo();
           HAL_ReportUsage(fmt::format("NT/{}", connInfo->remote_id), "");
         }
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
index 37a245e32c..9079bbfe4a 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 class ExpansionHubServo;
 class ExpansionHubMotor;
 
@@ -83,10 +83,10 @@ class ExpansionHub {
   std::shared_ptr<DataStore> m_dataStore;
   int m_usbId;
 
-  static wpi::mutex m_handleLock;
+  static wpi::util::mutex m_handleLock;
   static std::weak_ptr<DataStore> m_storeMap[4];
 
   static std::shared_ptr<DataStore> GetForUsbId(int usbId);
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
index df123430a9..6c42dc3723 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
@@ -16,7 +16,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc {
+namespace wpi {
 
 /** This class controls a specific motor and encoder hooked up to an
  * ExpansionHub. */
@@ -44,7 +44,7 @@ class ExpansionHubMotor {
    *
    * @param voltage The voltage to drive the motor at
    */
-  void SetVoltage(units::volt_t voltage);
+  void SetVoltage(wpi::units::volt_t voltage);
 
   /**
    * Command the motor to drive to a specific position setpoint. This value will
@@ -82,7 +82,7 @@ class ExpansionHubMotor {
    *
    * @return Motor current
    */
-  units::ampere_t GetCurrent() const;
+  wpi::units::ampere_t GetCurrent() const;
 
   /**
    * Sets the distance per count of the encoder. Used to scale encoder readings.
@@ -152,22 +152,22 @@ class ExpansionHubMotor {
   ExpansionHub m_hub;
   int m_channel;
 
-  nt::DoubleSubscriber m_encoderSubscriber;
-  nt::DoubleSubscriber m_encoderVelocitySubscriber;
-  nt::DoubleSubscriber m_currentSubscriber;
+  wpi::nt::DoubleSubscriber m_encoderSubscriber;
+  wpi::nt::DoubleSubscriber m_encoderVelocitySubscriber;
+  wpi::nt::DoubleSubscriber m_currentSubscriber;
 
-  nt::DoublePublisher m_setpointPublisher;
-  nt::BooleanPublisher m_floatOn0Publisher;
-  nt::BooleanPublisher m_enabledPublisher;
+  wpi::nt::DoublePublisher m_setpointPublisher;
+  wpi::nt::BooleanPublisher m_floatOn0Publisher;
+  wpi::nt::BooleanPublisher m_enabledPublisher;
 
-  nt::IntegerPublisher m_modePublisher;
+  wpi::nt::IntegerPublisher m_modePublisher;
 
-  nt::BooleanPublisher m_reversedPublisher;
-  nt::BooleanPublisher m_resetEncoderPublisher;
+  wpi::nt::BooleanPublisher m_reversedPublisher;
+  wpi::nt::BooleanPublisher m_resetEncoderPublisher;
 
-  nt::DoublePublisher m_distancePerCountPublisher;
+  wpi::nt::DoublePublisher m_distancePerCountPublisher;
 
   ExpansionHubPidConstants m_velocityPidConstants;
   ExpansionHubPidConstants m_positionPidConstants;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
index 4873619fa9..629dac9b48 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
@@ -8,7 +8,7 @@
 #include "wpi/nt/DoubleTopic.hpp"
 #include "wpi/nt/IntegerTopic.hpp"
 
-namespace frc {
+namespace wpi {
 class ExpansionHubMotor;
 
 /** This class contains PID constants for an ExpansionHub motor. */
@@ -67,15 +67,15 @@ class ExpansionHubPidConstants {
  private:
   ExpansionHubPidConstants(int usbId, int channel, bool isVelocityPid);
 
-  nt::DoublePublisher m_pPublisher;
-  nt::DoublePublisher m_iPublisher;
-  nt::DoublePublisher m_dPublisher;
-  nt::DoublePublisher m_sPublisher;
-  nt::DoublePublisher m_vPublisher;
-  nt::DoublePublisher m_aPublisher;
+  wpi::nt::DoublePublisher m_pPublisher;
+  wpi::nt::DoublePublisher m_iPublisher;
+  wpi::nt::DoublePublisher m_dPublisher;
+  wpi::nt::DoublePublisher m_sPublisher;
+  wpi::nt::DoublePublisher m_vPublisher;
+  wpi::nt::DoublePublisher m_aPublisher;
 
-  nt::BooleanPublisher m_continuousPublisher;
-  nt::DoublePublisher m_continuousMinimumPublisher;
-  nt::DoublePublisher m_continuousMaximumPublisher;
+  wpi::nt::BooleanPublisher m_continuousPublisher;
+  wpi::nt::DoublePublisher m_continuousMinimumPublisher;
+  wpi::nt::DoublePublisher m_continuousMaximumPublisher;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
index 1f9c7956fe..7c955d4928 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /** This class controls a specific servo hooked up to an ExpansionHub. */
 class ExpansionHubServo {
@@ -45,14 +45,14 @@ class ExpansionHubServo {
    * @param angle Position in angle units. Will be scaled between 0 and 180
    * degrees
    */
-  void SetAngle(units::degree_t angle);
+  void SetAngle(wpi::units::degree_t angle);
 
   /**
    * Sets the raw pulse width output on the servo.
    *
    * @param pulseWidth Pulse width
    */
-  void SetPulseWidth(units::microsecond_t pulseWidth);
+  void SetPulseWidth(wpi::units::microsecond_t pulseWidth);
 
   /**
    * Sets if the servo output is enabled or not. Defaults to false.
@@ -66,7 +66,7 @@ class ExpansionHubServo {
    *
    * @param framePeriod The frame period
    */
-  void SetFramePeriod(units::microsecond_t framePeriod);
+  void SetFramePeriod(wpi::units::microsecond_t framePeriod);
 
   /**
    * Gets if the underlying ExpansionHub is connected.
@@ -84,7 +84,7 @@ class ExpansionHubServo {
    * @param minAngle Minimum angle
    * @param maxAngle Maximum angle
    */
-  void SetAngleRange(units::degree_t minAngle, units::degree_t maxAngle);
+  void SetAngleRange(wpi::units::degree_t minAngle, wpi::units::degree_t maxAngle);
 
   /**
    * Sets the PWM range for the servo.
@@ -95,7 +95,7 @@ class ExpansionHubServo {
    * @param minPwm Minimum PWM
    * @param maxPwm Maximum PWM
    */
-  void SetPWMRange(units::microsecond_t minPwm, units::microsecond_t maxPwm);
+  void SetPWMRange(wpi::units::microsecond_t minPwm, wpi::units::microsecond_t maxPwm);
 
   /**
    * Sets whether the servo is reversed.
@@ -117,23 +117,23 @@ class ExpansionHubServo {
   void SetContinousRotationMode(bool enable);
 
  private:
-  units::microsecond_t GetFullRangeScaleFactor();
-  units::degree_t GetServoAngleRange();
+  wpi::units::microsecond_t GetFullRangeScaleFactor();
+  wpi::units::degree_t GetServoAngleRange();
 
   ExpansionHub m_hub;
   int m_channel;
 
-  units::degree_t m_maxServoAngle = 180.0_deg;
-  units::degree_t m_minServoAngle = 0.0_deg;
+  wpi::units::degree_t m_maxServoAngle = 180.0_deg;
+  wpi::units::degree_t m_minServoAngle = 0.0_deg;
 
-  units::microsecond_t m_minPwm = 600_us;
-  units::microsecond_t m_maxPwm = 2400_us;
+  wpi::units::microsecond_t m_minPwm = 600_us;
+  wpi::units::microsecond_t m_maxPwm = 2400_us;
 
   bool m_reversed = false;
   bool m_continousMode = false;
 
-  nt::IntegerPublisher m_pulseWidthPublisher;
-  nt::IntegerPublisher m_framePeriodPublisher;
-  nt::BooleanPublisher m_enabledPublisher;
+  wpi::nt::IntegerPublisher m_pulseWidthPublisher;
+  wpi::nt::IntegerPublisher m_framePeriodPublisher;
+  wpi::nt::BooleanPublisher m_enabledPublisher;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/counter/EdgeConfiguration.hpp b/wpilibc/src/main/native/include/wpi/counter/EdgeConfiguration.hpp
index 988edc3f2d..8954cc0ae9 100644
--- a/wpilibc/src/main/native/include/wpi/counter/EdgeConfiguration.hpp
+++ b/wpilibc/src/main/native/include/wpi/counter/EdgeConfiguration.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 /**
  * Edge configuration.
  */
@@ -14,4 +14,4 @@ enum class EdgeConfiguration {
   /// Falling edge configuration.
   kFallingEdge = 1,
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp b/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
index a7b3a9c6d9..4b321d67a8 100644
--- a/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 /**
  * Tachometer for getting rotational speed from a device.
  *
@@ -25,8 +25,8 @@ namespace frc {
  * sensor, or optical sensor detecting tape on a shooter wheel. Unlike
  * encoders, this class only needs a single digital input.
  */
-class Tachometer : public wpi::Sendable,
-                   public wpi::SendableHelper<Tachometer> {
+class Tachometer : public wpi::util::Sendable,
+                   public wpi::util::SendableHelper<Tachometer> {
  public:
   /**
    * Constructs a new tachometer.
@@ -53,14 +53,14 @@ class Tachometer : public wpi::Sendable,
    *
    * @return Current frequency.
    */
-  units::hertz_t GetFrequency() const;
+  wpi::units::hertz_t GetFrequency() const;
 
   /**
    * Gets the tachometer period.
    *
    * @return Current period.
    */
-  units::second_t GetPeriod() const;
+  wpi::units::second_t GetPeriod() const;
 
   /**
    * Gets the number of edges per revolution.
@@ -83,7 +83,7 @@ class Tachometer : public wpi::Sendable,
    *
    * @return Current RPS.
    */
-  units::turns_per_second_t GetRevolutionsPerSecond() const;
+  wpi::units::turns_per_second_t GetRevolutionsPerSecond() const;
 
   /**
    * Gets the current tachometer revolutions per minute.
@@ -92,7 +92,7 @@ class Tachometer : public wpi::Sendable,
    *
    * @return Current RPM.
    */
-  units::revolutions_per_minute_t GetRevolutionsPerMinute() const;
+  wpi::units::revolutions_per_minute_t GetRevolutionsPerMinute() const;
 
   /**
    * Gets if the tachometer is stopped.
@@ -106,14 +106,14 @@ class Tachometer : public wpi::Sendable,
    *
    * @param maxPeriod The max period.
    */
-  void SetMaxPeriod(units::second_t maxPeriod);
+  void SetMaxPeriod(wpi::units::second_t maxPeriod);
 
  protected:
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
+  wpi::hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int m_edgesPerRevolution;
   int32_t m_channel;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp b/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
index 297f51e2ef..4a2b1339bd 100644
--- a/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
+++ b/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
@@ -12,15 +12,15 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 /** Up Down Counter.
  *
  * This class can count edges on a single digital input or count up based on an
  * edge from one digital input and down on an edge from another digital input.
  *
  */
-class UpDownCounter : public wpi::Sendable,
-                      public wpi::SendableHelper<UpDownCounter> {
+class UpDownCounter : public wpi::util::Sendable,
+                      public wpi::util::SendableHelper<UpDownCounter> {
  public:
   /**
    * Constructs a new UpDown Counter.
@@ -53,10 +53,10 @@ class UpDownCounter : public wpi::Sendable,
   void SetEdgeConfiguration(EdgeConfiguration configuration);
 
  protected:
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
+  wpi::hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int32_t m_channel;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
index 073ca32472..4446698dd4 100644
--- a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 class MotorController;
 
@@ -55,8 +55,8 @@ class MotorController;
  * Safety timeouts.
  */
 class DifferentialDrive : public RobotDriveBase,
-                          public wpi::Sendable,
-                          public wpi::SendableHelper<DifferentialDrive> {
+                          public wpi::util::Sendable,
+                          public wpi::util::SendableHelper<DifferentialDrive> {
  public:
   /**
    * Wheel speeds for a differential drive.
@@ -197,7 +197,7 @@ class DifferentialDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::function<void(double)> m_leftMotor;
@@ -208,4 +208,4 @@ class DifferentialDrive : public RobotDriveBase,
   double m_rightOutput = 0.0;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
index 8c54eee311..104246db7e 100644
--- a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 class MotorController;
 
@@ -52,8 +52,8 @@ class MotorController;
  * methods should be called periodically to avoid Motor Safety timeouts.
  */
 class MecanumDrive : public RobotDriveBase,
-                     public wpi::Sendable,
-                     public wpi::SendableHelper<MecanumDrive> {
+                     public wpi::util::Sendable,
+                     public wpi::util::SendableHelper<MecanumDrive> {
  public:
   /**
    * Wheel speeds for a mecanum drive.
@@ -125,7 +125,7 @@ class MecanumDrive : public RobotDriveBase,
    *                  field-oriented controls.
    */
   void DriveCartesian(double xSpeed, double ySpeed, double zRotation,
-                      Rotation2d gyroAngle = 0_rad);
+                      wpi::math::Rotation2d gyroAngle = 0_rad);
 
   /**
    * Drive method for Mecanum platform.
@@ -139,7 +139,7 @@ class MecanumDrive : public RobotDriveBase,
    * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
    *                  Counterclockwise is positive.
    */
-  void DrivePolar(double magnitude, Rotation2d angle, double zRotation);
+  void DrivePolar(double magnitude, wpi::math::Rotation2d angle, double zRotation);
 
   /**
    * Cartesian inverse kinematics for Mecanum platform.
@@ -159,12 +159,12 @@ class MecanumDrive : public RobotDriveBase,
    */
   static WheelSpeeds DriveCartesianIK(double xSpeed, double ySpeed,
                                       double zRotation,
-                                      Rotation2d gyroAngle = 0_rad);
+                                      wpi::math::Rotation2d gyroAngle = 0_rad);
 
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::function<void(double)> m_frontLeftMotor;
@@ -181,4 +181,4 @@ class MecanumDrive : public RobotDriveBase,
   bool reported = false;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
index f3790e1c2a..cc7158118a 100644
--- a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/hardware/motor/MotorSafety.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Common base class for drive platforms.
@@ -50,7 +50,7 @@ class RobotDriveBase : public MotorSafety {
    *
    * The default value is 0.02. Inputs smaller than the deadband are set to 0.0
    * while inputs larger than the deadband are scaled from 0.0 to 1.0. See
-   * frc::ApplyDeadband().
+   * wpi::math::ApplyDeadband().
    *
    * @param deadband The deadband to set.
    */
@@ -96,4 +96,4 @@ class RobotDriveBase : public MotorSafety {
   double m_maxOutput = kDefaultMaxOutput;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp b/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
index 799e6116dc..4e5b00881f 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hal/DriverStationTypes.h"
 
-namespace frc {
+namespace wpi {
 
 /**
  * A wrapper around Driver Station control word.
@@ -99,4 +99,4 @@ class DSControlWord {
   HAL_ControlWord m_controlWord;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp b/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
index 1255b11d5c..fb4579f6c2 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
@@ -16,7 +16,7 @@ namespace wpi::log {
 class DataLog;
 }  // namespace wpi::log
 
-namespace frc {
+namespace wpi {
 
 /**
  * Provide access to the network communication data to / from the Driver
@@ -79,26 +79,26 @@ class DriverStation final {
    * @return The angle clockwise from straight up, or std::nullopt if the
    * POVDirection is kCenter.
    */
-  static constexpr std::optional<Rotation2d> GetAngle(POVDirection angle) {
+  static constexpr std::optional<wpi::math::Rotation2d> GetAngle(POVDirection angle) {
     switch (angle) {
       case kCenter:
         return std::nullopt;
       case kUp:
-        return Rotation2d{0_deg};
+        return wpi::math::Rotation2d{0_deg};
       case kUpRight:
-        return Rotation2d{45_deg};
+        return wpi::math::Rotation2d{45_deg};
       case kRight:
-        return Rotation2d{90_deg};
+        return wpi::math::Rotation2d{90_deg};
       case kDownRight:
-        return Rotation2d{135_deg};
+        return wpi::math::Rotation2d{135_deg};
       case kDown:
-        return Rotation2d{180_deg};
+        return wpi::math::Rotation2d{180_deg};
       case kDownLeft:
-        return Rotation2d{225_deg};
+        return wpi::math::Rotation2d{225_deg};
       case kLeft:
-        return Rotation2d{270_deg};
+        return wpi::math::Rotation2d{270_deg};
       case kUpLeft:
-        return Rotation2d{315_deg};
+        return wpi::math::Rotation2d{315_deg};
       default:
         return std::nullopt;
     }
@@ -433,7 +433,7 @@ class DriverStation final {
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
-  static units::second_t GetMatchTime();
+  static wpi::units::second_t GetMatchTime();
 
   /**
    * Read the battery voltage.
@@ -492,4 +492,4 @@ class DriverStation final {
   DriverStation() = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
index 9d25ca3e17..3ab751c264 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
@@ -8,7 +8,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from Gamepad controllers connected to the Driver Station.
@@ -23,8 +23,8 @@ namespace frc {
  * to have the same mapping, as well as any 3rd party controllers.
  */
 class Gamepad : public GenericHID,
-                public wpi::Sendable,
-                public wpi::SendableHelper<Gamepad> {
+                public wpi::util::Sendable,
+                public wpi::util::SendableHelper<Gamepad> {
  public:
   /**
    * Construct an instance of a controller.
@@ -1007,11 +1007,11 @@ class Gamepad : public GenericHID,
     static constexpr int kRightTrigger = 5;
   };
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   double GetAxisForSendable(int axis) const;
   bool GetButtonForSendable(int button) const;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
index a3896716e0..f658651e89 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/driverstation/DriverStation.hpp"
 
-namespace frc {
+namespace wpi {
 
 class BooleanEvent;
 class EventLoop;
@@ -367,4 +367,4 @@ class GenericHID {
   uint16_t m_rightRumble = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp b/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
index 53908fb013..5260cddbe5 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
@@ -9,7 +9,7 @@
 #include "wpi/driverstation/GenericHID.hpp"
 #include "wpi/units/angle.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle input from standard Joysticks connected to the Driver Station.
@@ -259,7 +259,7 @@ class Joystick : public GenericHID {
    *
    * @return The direction of the vector.
    */
-  units::radian_t GetDirection() const;
+  wpi::units::radian_t GetDirection() const;
 
  private:
   enum Axis { kX, kY, kZ, kTwist, kThrottle, kNumAxes };
@@ -268,4 +268,4 @@ class Joystick : public GenericHID {
   std::array<int, Axis::kNumAxes> m_axes;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp b/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
index f548048ee3..65d9260d99 100644
--- a/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * This class provides an easy way to link actions to active high logic signals.
@@ -122,9 +122,9 @@ class BooleanEvent {
    * @param type The debounce type.
    * @return The debounced event.
    */
-  BooleanEvent Debounce(units::second_t debounceTime,
-                        frc::Debouncer::DebounceType type =
-                            frc::Debouncer::DebounceType::kRising);
+  BooleanEvent Debounce(wpi::units::second_t debounceTime,
+                        wpi::math::Debouncer::DebounceType type =
+                            wpi::math::Debouncer::DebounceType::kRising);
 
  private:
   /// Poller loop.
@@ -135,4 +135,4 @@ class BooleanEvent {
   /// The state of the condition in the current loop poll.
   std::shared_ptr<bool> m_state;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp b/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
index 3f5f2aca27..b67cc40aea 100644
--- a/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace frc {
+namespace wpi {
 /** A declarative way to bind a set of actions to a loop and execute them when
  * the loop is polled. */
 class EventLoop {
@@ -24,7 +24,7 @@ class EventLoop {
    *
    * @param action the action to run.
    */
-  void Bind(wpi::unique_function<void()> action);
+  void Bind(wpi::util::unique_function<void()> action);
 
   /**
    * Poll all bindings.
@@ -37,7 +37,7 @@ class EventLoop {
   void Clear();
 
  private:
-  std::vector<wpi::unique_function<void()>> m_bindings;
+  std::vector<wpi::util::unique_function<void()>> m_bindings;
   bool m_running{false};
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
index ac3b5e1f99..6c938e1adc 100644
--- a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
@@ -16,7 +16,7 @@ class NetworkTable;
 class NetworkTableInstance;
 }  // namespace nt
 
-namespace frc {
+namespace wpi {
 /**
  * A Button that uses a NetworkTable boolean field.
  *
@@ -31,7 +31,7 @@ class NetworkBooleanEvent : public BooleanEvent {
    * @param loop the loop that polls this event
    * @param topic The boolean topic that contains the value
    */
-  NetworkBooleanEvent(EventLoop* loop, nt::BooleanTopic topic);
+  NetworkBooleanEvent(EventLoop* loop, wpi::nt::BooleanTopic topic);
 
   /**
    * Creates a new event with the given boolean subscriber determining whether
@@ -40,7 +40,7 @@ class NetworkBooleanEvent : public BooleanEvent {
    * @param loop the loop that polls this event
    * @param sub The boolean subscriber that provides the value
    */
-  NetworkBooleanEvent(EventLoop* loop, nt::BooleanSubscriber sub);
+  NetworkBooleanEvent(EventLoop* loop, wpi::nt::BooleanSubscriber sub);
 
   /**
    * Creates a new event with the given boolean topic determining whether it is
@@ -50,7 +50,7 @@ class NetworkBooleanEvent : public BooleanEvent {
    * @param table The NetworkTable that contains the topic
    * @param topicName The topic name within the table that contains the value
    */
-  NetworkBooleanEvent(EventLoop* loop, std::shared_ptr<nt::NetworkTable> table,
+  NetworkBooleanEvent(EventLoop* loop, std::shared_ptr<wpi::nt::NetworkTable> table,
                       std::string_view topicName);
 
   /**
@@ -73,7 +73,7 @@ class NetworkBooleanEvent : public BooleanEvent {
    * @param tableName The NetworkTable that contains the topic
    * @param topicName The topic name within the table that contains the value
    */
-  NetworkBooleanEvent(EventLoop* loop, nt::NetworkTableInstance inst,
+  NetworkBooleanEvent(EventLoop* loop, wpi::nt::NetworkTableInstance inst,
                       std::string_view tableName, std::string_view topicName);
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
index 09c31fcec8..197b5872ec 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
@@ -9,7 +9,7 @@
 #include "wpi/nt/NTSendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * ADXL345 Accelerometer on I2C.
@@ -18,8 +18,8 @@ namespace frc {
  * an I2C bus. This class assumes the default (not alternate) sensor address of
  * 0x1D (7-bit address).
  */
-class ADXL345_I2C : public nt::NTSendable,
-                    public wpi::SendableHelper<ADXL345_I2C> {
+class ADXL345_I2C : public wpi::nt::NTSendable,
+                    public wpi::util::SendableHelper<ADXL345_I2C> {
  public:
   /**
    * Accelerometer range.
@@ -124,16 +124,16 @@ class ADXL345_I2C : public nt::NTSendable,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(nt::NTSendableBuilder& builder) override;
+  void InitSendable(wpi::nt::NTSendableBuilder& builder) override;
 
  private:
   I2C m_i2c;
 
-  hal::SimDevice m_simDevice;
-  hal::SimEnum m_simRange;
-  hal::SimDouble m_simX;
-  hal::SimDouble m_simY;
-  hal::SimDouble m_simZ;
+  wpi::hal::SimDevice m_simDevice;
+  wpi::hal::SimEnum m_simRange;
+  wpi::hal::SimDouble m_simX;
+  wpi::hal::SimDouble m_simY;
+  wpi::hal::SimDouble m_simZ;
 
   static constexpr int kPowerCtlRegister = 0x2D;
   static constexpr int kDataFormatRegister = 0x31;
@@ -156,4 +156,4 @@ class ADXL345_I2C : public nt::NTSendable,
   };
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
index 637c1080e1..2c0f59b06e 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Handle operation of an analog accelerometer.
@@ -19,8 +19,8 @@ namespace frc {
  * sensors have multiple axis and can be treated as multiple devices. Each is
  * calibrated by finding the center value over a period of time.
  */
-class AnalogAccelerometer : public wpi::Sendable,
-                            public wpi::SendableHelper<AnalogAccelerometer> {
+class AnalogAccelerometer : public wpi::util::Sendable,
+                            public wpi::util::SendableHelper<AnalogAccelerometer> {
  public:
   /**
    * Create a new instance of an accelerometer.
@@ -89,7 +89,7 @@ class AnalogAccelerometer : public wpi::Sendable,
    */
   void SetZero(double zero);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   /**
@@ -102,4 +102,4 @@ class AnalogAccelerometer : public wpi::Sendable,
   double m_zeroGVoltage = 2.5;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
index 78cf6ebb11..f8723f8585 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/hal/CANAPI.h"
 
-namespace frc {
+namespace wpi {
 
 /**
  * High level class for interfacing with CAN devices conforming to
@@ -154,6 +154,6 @@ class CAN {
       HAL_CAN_Dev_kMiscellaneous;
 
  private:
-  hal::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
+  wpi::hal::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
index ca8acb942e..0a5ce53389 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/I2C.h"
 #include "wpi/hal/I2CTypes.h"
 
-namespace frc {
+namespace wpi {
 
 /**
  * I2C bus interface class.
@@ -153,8 +153,8 @@ class I2C {
   bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
 
  private:
-  hal::Handle<HAL_I2CPort, HAL_CloseI2C, HAL_I2C_kInvalid> m_port;
+  wpi::hal::Handle<HAL_I2CPort, HAL_CloseI2C, HAL_I2C_kInvalid> m_port;
   int m_deviceAddress;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
index 0bd8ee2183..e19b318b37 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/Types.h"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Driver for the RS-232 serial port on the roboRIO.
@@ -199,7 +199,7 @@ class SerialPort {
    *
    * @param timeout The time to wait for I/O.
    */
-  void SetTimeout(units::second_t timeout);
+  void SetTimeout(wpi::units::second_t timeout);
 
   /**
    * Specify the size of the input buffer.
@@ -254,7 +254,7 @@ class SerialPort {
   void Reset();
 
  private:
-  hal::Handle<HAL_SerialPortHandle, HAL_CloseSerial> m_portHandle;
+  wpi::hal::Handle<HAL_SerialPortHandle, HAL_CloseSerial> m_portHandle;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
index 01196dec25..aa48471641 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
@@ -11,7 +11,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Analog input class.
@@ -25,8 +25,8 @@ namespace frc {
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public wpi::Sendable,
-                    public wpi::SendableHelper<AnalogInput> {
+class AnalogInput : public wpi::util::Sendable,
+                    public wpi::util::SendableHelper<AnalogInput> {
  public:
   /**
    * Construct an analog input.
@@ -194,11 +194,11 @@ class AnalogInput : public wpi::Sendable,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   int m_channel;
-  hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
+  wpi::hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
index 4cee9ad4e0..bff31f59de 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Interface for counting the number of ticks on a digital input channel.
@@ -29,10 +29,10 @@ class CounterBase {
 
   virtual int Get() const = 0;
   virtual void Reset() = 0;
-  virtual units::second_t GetPeriod() const = 0;
-  virtual void SetMaxPeriod(units::second_t maxPeriod) = 0;
+  virtual wpi::units::second_t GetPeriod() const = 0;
+  virtual void SetMaxPeriod(wpi::units::second_t maxPeriod) = 0;
   virtual bool GetStopped() const = 0;
   virtual bool GetDirection() const = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
index 96727924d2..fef8a3a7dd 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
@@ -8,7 +8,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Class to read a digital input.
@@ -19,8 +19,8 @@ namespace frc {
  * as required. This class is only for devices like switches etc. that aren't
  * implemented anywhere else.
  */
-class DigitalInput : public wpi::Sendable,
-                     public wpi::SendableHelper<DigitalInput> {
+class DigitalInput : public wpi::util::Sendable,
+                     public wpi::util::SendableHelper<DigitalInput> {
  public:
   /**
    * Create an instance of a Digital Input class.
@@ -55,11 +55,11 @@ class DigitalInput : public wpi::Sendable,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
+  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
index 1294d678ac..3377855b18 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Class to write to digital outputs.
@@ -19,8 +19,8 @@ namespace frc {
  * elsewhere will allocate channels automatically so for those devices it
  * shouldn't be done here.
  */
-class DigitalOutput : public wpi::Sendable,
-                      public wpi::SendableHelper<DigitalOutput> {
+class DigitalOutput : public wpi::util::Sendable,
+                      public wpi::util::SendableHelper<DigitalOutput> {
  public:
   /**
    * Create an instance of a digital output.
@@ -66,7 +66,7 @@ class DigitalOutput : public wpi::Sendable,
    *
    * @param pulseLength The pulse length in seconds
    */
-  void Pulse(units::second_t pulseLength);
+  void Pulse(wpi::units::second_t pulseLength);
 
   /**
    * Determine if the pulse is still going.
@@ -139,12 +139,12 @@ class DigitalOutput : public wpi::Sendable,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
-  hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
+  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
+  wpi::hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
index 710b09bf57..ec14892fda 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 class AddressableLED;
 
 /**
@@ -23,7 +23,7 @@ class AddressableLED;
  * (off) to 4096. Changes are immediately sent to the FPGA, and the update
  * occurs at the next FPGA cycle (5.05ms). There is no delay.
  */
-class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
+class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
  public:
   friend class AddressableLED;
   /**
@@ -74,7 +74,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    *
    * @param time Microsecond PWM value.
    */
-  void SetPulseTime(units::microsecond_t time);
+  void SetPulseTime(wpi::units::microsecond_t time);
 
   /**
    * Get the PWM pulse time directly from the hardware.
@@ -83,7 +83,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    *
    * @return Microsecond PWM control value.
    */
-  units::microsecond_t GetPulseTime() const;
+  wpi::units::microsecond_t GetPulseTime() const;
 
   /**
    * Temporarily disables the PWM output. The next set call will re-enable
@@ -108,11 +108,11 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
   void SetSimDevice(HAL_SimDeviceHandle device);
 
  protected:
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
+  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
index b456938716..94143fad90 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * SystemCore onboard IMU
@@ -42,7 +42,7 @@ class OnboardIMU {
    * Get the yaw value
    * @return yaw value
    */
-  units::radian_t GetYaw();
+  wpi::units::radian_t GetYaw();
 
   /**
    * Reset the current yaw value to 0. Future reads of the yaw value will be
@@ -51,80 +51,80 @@ class OnboardIMU {
   void ResetYaw();
 
   /**
-   * Get the yaw as a Rotation2d.
+   * Get the yaw as a wpi::math::Rotation2d.
    * @return yaw
    */
-  Rotation2d GetRotation2d();
+  wpi::math::Rotation2d GetRotation2d();
 
   /**
-   * Get the 3D orientation as a Rotation3d.
+   * Get the 3D orientation as a wpi::math::Rotation3d.
    * @return 3D orientation
    */
-  Rotation3d GetRotation3d();
+  wpi::math::Rotation3d GetRotation3d();
 
   /**
-   * Get the 3D orientation as a Quaternion.
+   * Get the 3D orientation as a wpi::math::Quaternion.
    * @return 3D orientation
    */
-  Quaternion GetQuaternion();
+  wpi::math::Quaternion GetQuaternion();
 
   /**
    * Get the angle about the X axis of the IMU.
    * @return angle about the X axis
    */
-  units::radian_t GetAngleX();
+  wpi::units::radian_t GetAngleX();
 
   /**
    * Get the angle about the Y axis of the IMU.
    * @return angle about the Y axis
    */
-  units::radian_t GetAngleY();
+  wpi::units::radian_t GetAngleY();
 
   /**
    * Get the angle about the Z axis of the IMU.
    * @return angle about the Z axis
    */
-  units::radian_t GetAngleZ();
+  wpi::units::radian_t GetAngleZ();
 
   /**
    * Get the angular rate about the X axis of the IMU.
    * @return angular rate about the X axis
    */
-  units::radians_per_second_t GetGyroRateX();
+  wpi::units::radians_per_second_t GetGyroRateX();
 
   /**
    * Get the angular rate about the Y axis of the IMU.
    * @return angular rate about the Y axis
    */
-  units::radians_per_second_t GetGyroRateY();
+  wpi::units::radians_per_second_t GetGyroRateY();
 
   /**
    * Get the angular rate about the Z axis of the IMU.
    * @return angular rate about the Z axis
    */
-  units::radians_per_second_t GetGyroRateZ();
+  wpi::units::radians_per_second_t GetGyroRateZ();
 
   /**
    * Get the acceleration along the X axis of the IMU.
    * @return acceleration along the X axis
    */
-  units::meters_per_second_squared_t GetAccelX();
+  wpi::units::meters_per_second_squared_t GetAccelX();
 
   /**
    * Get the acceleration along the Z axis of the IMU.
    * @return acceleration along the Z axis
    */
-  units::meters_per_second_squared_t GetAccelY();
+  wpi::units::meters_per_second_squared_t GetAccelY();
 
   /**
    * Get the acceleration along the Z axis of the IMU.
    * @return acceleration along the Z axis
    */
-  units::meters_per_second_squared_t GetAccelZ();
+  wpi::units::meters_per_second_squared_t GetAccelZ();
 
  private:
-  units::radian_t GetYawNoOffset();
+  wpi::units::radian_t GetYawNoOffset();
   MountOrientation m_mountOrientation;
-  units::radian_t m_yawOffset{0};
+  wpi::units::radian_t m_yawOffset{0};
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp b/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
index 0b711344c9..f616294b99 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
@@ -14,7 +14,7 @@
 #include "wpi/util/Color.hpp"
 #include "wpi/util/Color8Bit.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.
@@ -171,7 +171,7 @@ class AddressableLED {
                             std::span<const LEDData> ledData);
 
  private:
-  hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
+  wpi::hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
   int m_channel;
   int m_start{0};
   int m_length{0};
@@ -182,4 +182,4 @@ constexpr auto format_as(AddressableLED::ColorOrder order) {
   return static_cast<int32_t>(order);
 }
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp b/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
index 5594f87d06..f898802b79 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
@@ -15,7 +15,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/Color.hpp"
 
-namespace frc {
+namespace wpi {
 
 class LEDPattern {
  public:
@@ -26,27 +26,27 @@ class LEDPattern {
    */
   class LEDReader {
    public:
-    LEDReader(std::function<frc::AddressableLED::LEDData(int)> impl,
+    LEDReader(std::function<wpi::AddressableLED::LEDData(int)> impl,
               size_t size)
         : m_impl{std::move(impl)}, m_size{size} {}
 
-    frc::AddressableLED::LEDData operator[](size_t index) const {
+    wpi::AddressableLED::LEDData operator[](size_t index) const {
       return m_impl(index);
     }
 
     size_t size() const { return m_size; }
 
    private:
-    std::function<frc::AddressableLED::LEDData(int)> m_impl;
+    std::function<wpi::AddressableLED::LEDData(int)> m_impl;
     size_t m_size;
   };
 
-  explicit LEDPattern(std::function<void(frc::LEDPattern::LEDReader,
-                                         std::function<void(int, frc::Color)>)>
+  explicit LEDPattern(std::function<void(wpi::LEDPattern::LEDReader,
+                                         std::function<void(int, wpi::Color)>)>
                           impl);
 
   void ApplyTo(LEDReader reader,
-               std::function<void(int, frc::Color)> writer) const;
+               std::function<void(int, wpi::Color)> writer) const;
 
   /**
    * Writes the pattern to an LED buffer. Dynamic animations should be called
@@ -61,8 +61,8 @@ class LEDPattern {
    * @param data the current data of the LED strip
    * @param writer data writer for setting new LED colors on the LED strip
    */
-  void ApplyTo(std::span<frc::AddressableLED::LEDData> data,
-               std::function<void(int, frc::Color)> writer) const;
+  void ApplyTo(std::span<wpi::AddressableLED::LEDData> data,
+               std::function<void(int, wpi::Color)> writer) const;
 
   /**
    * Writes the pattern to an LED buffer. Dynamic animations should be called
@@ -76,7 +76,7 @@ class LEDPattern {
    *
    * @param data the current data of the LED strip
    */
-  void ApplyTo(std::span<frc::AddressableLED::LEDData> data) const;
+  void ApplyTo(std::span<wpi::AddressableLED::LEDData> data) const;
 
   /**
    * Creates a pattern with remapped indices.
@@ -120,7 +120,7 @@ class LEDPattern {
    * long (assuming equal LED density on both segments).
    */
   [[nodiscard]]
-  LEDPattern ScrollAtRelativeSpeed(units::hertz_t velocity);
+  LEDPattern ScrollAtRelativeSpeed(wpi::units::hertz_t velocity);
 
   /**
    * Creates a pattern that plays this one scrolling up an LED strip. A negative
@@ -131,11 +131,11 @@ class LEDPattern {
    *
    * <pre>
    *   // LEDs per meter, a known value taken from the spec sheet of our
-   * particular LED strip units::meter_t LED_SPACING = units::meter_t{1 /60.0};
+   * particular LED strip wpi::units::meter_t LED_SPACING = wpi::units::meter_t{1 /60.0};
    *
-   *   frc::LEDPattern rainbow = frc::LEDPattern::Rainbow();
-   *   frc::LEDPattern scrollingRainbow =
-   *     rainbow.ScrollAtAbsoluteSpeed(units::feet_per_second_t{1 / 3.0},
+   *   wpi::LEDPattern rainbow = wpi::LEDPattern::Rainbow();
+   *   wpi::LEDPattern scrollingRainbow =
+   *     rainbow.ScrollAtAbsoluteSpeed(wpi::units::feet_per_second_t{1 / 3.0},
    * LED_SPACING);
    * </pre>
    *
@@ -149,8 +149,8 @@ class LEDPattern {
    * @return the scrolling pattern
    */
   [[nodiscard]]
-  LEDPattern ScrollAtAbsoluteSpeed(units::meters_per_second_t velocity,
-                                   units::meter_t ledSpacing);
+  LEDPattern ScrollAtAbsoluteSpeed(wpi::units::meters_per_second_t velocity,
+                                   wpi::units::meter_t ledSpacing);
 
   /**
    * Creates a pattern that switches between playing this pattern and turning
@@ -161,10 +161,10 @@ class LEDPattern {
    * @return the blinking pattern
    */
   [[nodiscard]]
-  LEDPattern Blink(units::second_t onTime, units::second_t offTime);
+  LEDPattern Blink(wpi::units::second_t onTime, wpi::units::second_t offTime);
 
   /**
-   * Like {@link LEDPattern::Blink(units::second_t)}, but where the
+   * Like {@link LEDPattern::Blink(wpi::units::second_t)}, but where the
    * "off" time is exactly equal to the "on" time.
    *
    * @param onTime how long the pattern should play for (and be turned off for),
@@ -172,7 +172,7 @@ class LEDPattern {
    * @return the blinking pattern
    */
   [[nodiscard]]
-  LEDPattern Blink(units::second_t onTime);
+  LEDPattern Blink(wpi::units::second_t onTime);
 
   /**
    * Creates a pattern that blinks this one on and off in sync with a true/false
@@ -194,11 +194,11 @@ class LEDPattern {
    * @return the breathing pattern
    */
   [[nodiscard]]
-  LEDPattern Breathe(units::second_t period);
+  LEDPattern Breathe(wpi::units::second_t period);
 
   /**
    * Creates a pattern that plays this pattern overlaid on another. Anywhere
-   * this pattern sets an LED to off (or {@link frc::Color::kBlack}), the base
+   * this pattern sets an LED to off (or {@link wpi::Color::kBlack}), the base
    * pattern will be displayed instead.
    *
    * @param base the base pattern to overlay on top of
@@ -255,10 +255,10 @@ class LEDPattern {
    *
    * <pre>
    *   // Solid red, but at 50% brightness
-   *   frc::LEDPattern::Solid(frc::Color::kRed).AtBrightness(0.5);
+   *   wpi::LEDPattern::Solid(wpi::Color::kRed).AtBrightness(0.5);
    *
    *   // Solid white, but at only 10% (i.e. ~0.5V)
-   *   frc::LEDPattern::Solid(frc:Color::kWhite).AtBrightness(0.1);
+   *   wpi::LEDPattern::Solid(frc:Color::kWhite).AtBrightness(0.1);
    * </pre>
    *
    * @param relativeBrightness the multiplier to apply to all channels to modify
@@ -294,10 +294,10 @@ class LEDPattern {
    * travel.
    *
    * <pre>
-   * frc::LEDPattern basePattern =
-   *   frc::LEDPattern::Gradient(frc::Color::kRed, frc::Color::kBlue);
-   * frc::LEDPattern progressPattern =
-   *   basePattern.Mask(frc::LEDPattern::ProgressMaskLayer([&]() {
+   * wpi::LEDPattern basePattern =
+   *   wpi::LEDPattern::Gradient(wpi::Color::kRed, wpi::Color::kBlue);
+   * wpi::LEDPattern progressPattern =
+   *   basePattern.Mask(wpi::LEDPattern::ProgressMaskLayer([&]() {
    *     return elevator.GetHeight() / elevator.MaxHeight();
    *   });
    * </pre>
@@ -396,8 +396,8 @@ class LEDPattern {
   static LEDPattern Rainbow(int saturation, int value);
 
  private:
-  std::function<void(frc::LEDPattern::LEDReader,
-                     std::function<void(int, frc::Color)>)>
+  std::function<void(wpi::LEDPattern::LEDReader,
+                     std::function<void(int, wpi::Color)>)>
       m_impl;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
index bae338ef9f..4bd1ed9097 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/units/voltage.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Interface for motor controlling devices.
@@ -34,7 +34,7 @@ class MotorController {
    *
    * @param output The voltage to output.
    */
-  virtual void SetVoltage(units::volt_t output);
+  virtual void SetVoltage(wpi::units::volt_t output);
 
   /**
    * Common interface for getting the current set speed of a motor controller.
@@ -68,4 +68,4 @@ class MotorController {
   virtual void StopMotor() = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
index 4118ff332e..ca53987181 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
@@ -14,7 +14,7 @@
 
 WPI_IGNORE_DEPRECATED
 
-namespace frc {
+namespace wpi {
 
 /**
  * Allows multiple MotorController objects to be linked together.
@@ -22,9 +22,9 @@ namespace frc {
 class [[deprecated(
     "Use PWMMotorController::AddFollower() or if using CAN motor controllers,"
     "use their method of following.")]] MotorControllerGroup
-    : public wpi::Sendable,
+    : public wpi::util::Sendable,
       public MotorController,
-      public wpi::SendableHelper<MotorControllerGroup> {
+      public wpi::util::SendableHelper<MotorControllerGroup> {
  public:
   /**
    * Create a new MotorControllerGroup with the provided MotorControllers.
@@ -53,14 +53,14 @@ class [[deprecated(
   MotorControllerGroup& operator=(MotorControllerGroup&&) = default;
 
   void Set(double speed) override;
-  void SetVoltage(units::volt_t output) override;
+  void SetVoltage(wpi::units::volt_t output) override;
   double Get() const override;
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;
@@ -69,6 +69,6 @@ class [[deprecated(
   void Initialize();
 };
 
-}  // namespace frc
+}  // namespace wpi
 
 WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
index 0a7278c7e3..78f981ce7a 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * The Motor Safety feature acts as a watchdog timer for an individual motor. It
@@ -41,14 +41,14 @@ class MotorSafety {
    *
    * @param expirationTime The timeout value.
    */
-  void SetExpiration(units::second_t expirationTime);
+  void SetExpiration(wpi::units::second_t expirationTime);
 
   /**
    * Retrieve the timeout value for the corresponding motor safety object.
    *
    * @return the timeout value.
    */
-  units::second_t GetExpiration() const;
+  wpi::units::second_t GetExpiration() const;
 
   /**
    * Determine if the motor is still operating or has timed out.
@@ -108,15 +108,15 @@ class MotorSafety {
   static constexpr auto kDefaultSafetyExpiration = 100_ms;
 
   // The expiration time for this object
-  units::second_t m_expiration = kDefaultSafetyExpiration;
+  wpi::units::second_t m_expiration = kDefaultSafetyExpiration;
 
   // True if motor safety is enabled for this motor
   bool m_enabled = false;
 
   // The FPGA clock value when the motor has expired
-  units::second_t m_stopTime = Timer::GetFPGATimestamp();
+  wpi::units::second_t m_stopTime = Timer::GetFPGATimestamp();
 
-  mutable wpi::mutex m_thisMutex;
+  mutable wpi::util::mutex m_thisMutex;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
index c4182bad2e..6f8eeac7cf 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 WPI_IGNORE_DEPRECATED
 
@@ -30,8 +30,8 @@ WPI_IGNORE_DEPRECATED
  */
 class PWMMotorController : public MotorController,
                            public MotorSafety,
-                           public wpi::Sendable,
-                           public wpi::SendableHelper<PWMMotorController> {
+                           public wpi::util::Sendable,
+                           public wpi::util::SendableHelper<PWMMotorController> {
  public:
   PWMMotorController(PWMMotorController&&) = default;
   PWMMotorController& operator=(PWMMotorController&&) = default;
@@ -58,7 +58,7 @@ class PWMMotorController : public MotorController,
    *
    * @param output The voltage to output.
    */
-  void SetVoltage(units::volt_t output) override;
+  void SetVoltage(wpi::units::volt_t output) override;
 
   /**
    * Get the recently set value of the PWM. This value is affected by the
@@ -76,7 +76,7 @@ class PWMMotorController : public MotorController,
    * @return The voltage of the motor controller, nominally between -12 V and 12
    *   V.
    */
-  virtual units::volt_t GetVoltage() const;
+  virtual wpi::units::volt_t GetVoltage() const;
 
   void SetInverted(bool isInverted) override;
 
@@ -128,7 +128,7 @@ class PWMMotorController : public MotorController,
    */
   PWMMotorController(std::string_view name, int channel);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
   /// PWM instances for motor controller.
   PWM m_pwm;
@@ -136,35 +136,35 @@ class PWMMotorController : public MotorController,
   void SetSpeed(double speed);
   double GetSpeed() const;
 
-  void SetBounds(units::microsecond_t maxPwm,
-                 units::microsecond_t deadbandMaxPwm,
-                 units::microsecond_t centerPwm,
-                 units::microsecond_t deadbandMinPwm,
-                 units::microsecond_t minPwm);
+  void SetBounds(wpi::units::microsecond_t maxPwm,
+                 wpi::units::microsecond_t deadbandMaxPwm,
+                 wpi::units::microsecond_t centerPwm,
+                 wpi::units::microsecond_t deadbandMinPwm,
+                 wpi::units::microsecond_t minPwm);
 
  private:
   bool m_isInverted = false;
   std::vector<PWMMotorController*> m_nonowningFollowers;
   std::vector<std::unique_ptr<PWMMotorController>> m_owningFollowers;
 
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simSpeed;
+  wpi::hal::SimDevice m_simDevice;
+  wpi::hal::SimDouble m_simSpeed;
 
   bool m_eliminateDeadband{0};
-  units::microsecond_t m_minPwm{0};
-  units::microsecond_t m_deadbandMinPwm{0};
-  units::microsecond_t m_centerPwm{0};
-  units::microsecond_t m_deadbandMaxPwm{0};
-  units::microsecond_t m_maxPwm{0};
+  wpi::units::microsecond_t m_minPwm{0};
+  wpi::units::microsecond_t m_deadbandMinPwm{0};
+  wpi::units::microsecond_t m_centerPwm{0};
+  wpi::units::microsecond_t m_deadbandMaxPwm{0};
+  wpi::units::microsecond_t m_maxPwm{0};
 
-  units::microsecond_t GetMinPositivePwm() const;
-  units::microsecond_t GetMaxNegativePwm() const;
-  units::microsecond_t GetPositiveScaleFactor() const;
-  units::microsecond_t GetNegativeScaleFactor() const;
+  wpi::units::microsecond_t GetMinPositivePwm() const;
+  wpi::units::microsecond_t GetMaxNegativePwm() const;
+  wpi::units::microsecond_t GetPositiveScaleFactor() const;
+  wpi::units::microsecond_t GetNegativeScaleFactor() const;
 
   PWM* GetPwm() { return &m_pwm; }
 };
 
 WPI_UNIGNORE_DEPRECATED
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
index f103df7bce..8a783313a8 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
@@ -14,7 +14,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Class for operating a compressor connected to a pneumatics module.
@@ -30,8 +30,8 @@ namespace frc {
  * loop control. You can only turn off closed loop control, thereby stopping
  * the compressor from operating.
  */
-class Compressor : public wpi::Sendable,
-                   public wpi::SendableHelper<Compressor> {
+class Compressor : public wpi::util::Sendable,
+                   public wpi::util::SendableHelper<Compressor> {
  public:
   /**
    * Constructs a compressor for a specified module and type.
@@ -78,7 +78,7 @@ class Compressor : public wpi::Sendable,
    *
    * @return Current drawn by the compressor.
    */
-  units::ampere_t GetCurrent() const;
+  wpi::units::ampere_t GetCurrent() const;
 
   /**
    * If supported by the device, returns the analog input voltage (on channel
@@ -89,7 +89,7 @@ class Compressor : public wpi::Sendable,
    *
    * @return The analog input voltage, in volts.
    */
-  units::volt_t GetAnalogVoltage() const;
+  wpi::units::volt_t GetAnalogVoltage() const;
 
   /**
    * If supported by the device, returns the pressure read by the analog
@@ -100,7 +100,7 @@ class Compressor : public wpi::Sendable,
    *
    * @return The pressure read by the analog pressure sensor.
    */
-  units::pounds_per_square_inch_t GetPressure() const;
+  wpi::units::pounds_per_square_inch_t GetPressure() const;
 
   /**
    * Disable the compressor.
@@ -130,8 +130,8 @@ class Compressor : public wpi::Sendable,
    * @param maxPressure The maximum pressure. The compressor will turn off when
    * the pressure reaches this value.
    */
-  void EnableAnalog(units::pounds_per_square_inch_t minPressure,
-                    units::pounds_per_square_inch_t maxPressure);
+  void EnableAnalog(wpi::units::pounds_per_square_inch_t minPressure,
+                    wpi::units::pounds_per_square_inch_t maxPressure);
 
   /**
    * If supported by the device, enables the compressor in hybrid mode. This
@@ -162,8 +162,8 @@ class Compressor : public wpi::Sendable,
    * off when the pressure reaches this value or the pressure switch is
    * disconnected or indicates that the system is full.
    */
-  void EnableHybrid(units::pounds_per_square_inch_t minPressure,
-                    units::pounds_per_square_inch_t maxPressure);
+  void EnableHybrid(wpi::units::pounds_per_square_inch_t minPressure,
+                    wpi::units::pounds_per_square_inch_t maxPressure);
 
   /**
    * Returns the active compressor configuration.
@@ -172,11 +172,11 @@ class Compressor : public wpi::Sendable,
    */
   CompressorConfigType GetConfigType() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<PneumaticsBase> m_module;
   PneumaticsModuleType m_moduleType;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/CompressorConfigType.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/CompressorConfigType.hpp
index b9338042b6..29ff0b5cb2 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/CompressorConfigType.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/CompressorConfigType.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 /**
  * Compressor config type.
  */
@@ -19,4 +19,4 @@ enum class CompressorConfigType {
   Hybrid = 3
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
index b0c25e2b46..3152dbb3c9 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
@@ -21,8 +21,8 @@ namespace frc {
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
  */
-class DoubleSolenoid : public wpi::Sendable,
-                       public wpi::SendableHelper<DoubleSolenoid> {
+class DoubleSolenoid : public wpi::util::Sendable,
+                       public wpi::util::SendableHelper<DoubleSolenoid> {
  public:
   /**
    * Possible values for a DoubleSolenoid.
@@ -125,7 +125,7 @@ class DoubleSolenoid : public wpi::Sendable,
    */
   bool IsRevSolenoidDisabled() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<PneumaticsBase> m_module;
@@ -136,4 +136,4 @@ class DoubleSolenoid : public wpi::Sendable,
   int m_mask;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
index ca66425911..67e9cbd054 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 /** Module class for controlling a REV Robotics Pneumatic Hub. */
 class PneumaticHub : public PneumaticsBase {
  public:
@@ -57,8 +57,8 @@ class PneumaticHub : public PneumaticsBase {
    * minPressure.
    */
   void EnableCompressorAnalog(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) override;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) override;
 
   /**
    * Enables the compressor in hybrid mode. This mode uses both a digital
@@ -87,14 +87,14 @@ class PneumaticHub : public PneumaticsBase {
    * minPressure.
    */
   void EnableCompressorHybrid(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) override;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) override;
 
   CompressorConfigType GetCompressorConfigType() const override;
 
   bool GetPressureSwitch() const override;
 
-  units::ampere_t GetCompressorCurrent() const override;
+  wpi::units::ampere_t GetCompressorCurrent() const override;
 
   void SetSolenoids(int mask, int values) override;
 
@@ -106,7 +106,7 @@ class PneumaticHub : public PneumaticsBase {
 
   void FireOneShot(int index) override;
 
-  void SetOneShotDuration(int index, units::second_t duration) override;
+  void SetOneShotDuration(int index, wpi::units::second_t duration) override;
 
   bool CheckSolenoidChannel(int channel) const override;
 
@@ -255,28 +255,28 @@ class PneumaticHub : public PneumaticsBase {
    *
    * @return The input voltage.
    */
-  units::volt_t GetInputVoltage() const;
+  wpi::units::volt_t GetInputVoltage() const;
 
   /**
    * Returns the current voltage of the regulated 5v supply.
    *
    * @return The current voltage of the 5v supply.
    */
-  units::volt_t Get5VRegulatedVoltage() const;
+  wpi::units::volt_t Get5VRegulatedVoltage() const;
 
   /**
    * Returns the total current drawn by all solenoids.
    *
    * @return Total current drawn by all solenoids.
    */
-  units::ampere_t GetSolenoidsTotalCurrent() const;
+  wpi::units::ampere_t GetSolenoidsTotalCurrent() const;
 
   /**
    * Returns the current voltage of the solenoid power supply.
    *
    * @return The current voltage of the solenoid power supply.
    */
-  units::volt_t GetSolenoidsVoltage() const;
+  wpi::units::volt_t GetSolenoidsVoltage() const;
 
   /**
    * Returns the raw voltage of the specified analog input channel.
@@ -284,7 +284,7 @@ class PneumaticHub : public PneumaticsBase {
    * @param channel The analog input channel to read voltage from.
    * @return The voltage of the specified analog input channel.
    */
-  units::volt_t GetAnalogVoltage(int channel) const override;
+  wpi::units::volt_t GetAnalogVoltage(int channel) const override;
 
   /**
    * Returns the pressure read by an analog pressure sensor on the specified
@@ -294,7 +294,7 @@ class PneumaticHub : public PneumaticsBase {
    * @return The pressure read by an analog pressure sensor on the specified
    * analog input channel.
    */
-  units::pounds_per_square_inch_t GetPressure(int channel) const override;
+  wpi::units::pounds_per_square_inch_t GetPressure(int channel) const override;
 
  private:
   class DataStore;
@@ -308,9 +308,9 @@ class PneumaticHub : public PneumaticsBase {
   HAL_REVPHHandle m_handle;
   int m_module;
 
-  static wpi::mutex m_handleLock;
-  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>[]>
+  static wpi::util::mutex m_handleLock;
+  static std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<DataStore>>[]>
       m_handleMaps;
   static std::weak_ptr<DataStore>& GetDataStore(int busId, int module);
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
index b6c839e348..00a0e638f3 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
@@ -14,7 +14,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc {
+namespace wpi {
 class Solenoid;
 class DoubleSolenoid;
 class Compressor;
@@ -46,7 +46,7 @@ class PneumaticsBase {
    *
    * @return The current drawn by the compressor.
    */
-  virtual units::ampere_t GetCompressorCurrent() const = 0;
+  virtual wpi::units::ampere_t GetCompressorCurrent() const = 0;
 
   /** Disables the compressor. */
   virtual void DisableCompressor() = 0;
@@ -75,8 +75,8 @@ class PneumaticsBase {
    * off when the pressure reaches this value.
    */
   virtual void EnableCompressorAnalog(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) = 0;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) = 0;
 
   /**
    * If supported by the device, enables the compressor in hybrid mode. This
@@ -108,8 +108,8 @@ class PneumaticsBase {
    * disconnected or indicates that the system is full.
    */
   virtual void EnableCompressorHybrid(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) = 0;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) = 0;
 
   /**
    * Returns the active compressor configuration.
@@ -164,7 +164,7 @@ class PneumaticsBase {
    * @param index solenoid index
    * @param duration shot duration
    */
-  virtual void SetOneShotDuration(int index, units::second_t duration) = 0;
+  virtual void SetOneShotDuration(int index, wpi::units::second_t duration) = 0;
 
   /**
    * Check if a solenoid channel is valid.
@@ -215,7 +215,7 @@ class PneumaticsBase {
    * @param channel The analog input channel to read voltage from.
    * @return The voltage of the specified analog input channel.
    */
-  virtual units::volt_t GetAnalogVoltage(int channel) const = 0;
+  virtual wpi::units::volt_t GetAnalogVoltage(int channel) const = 0;
 
   /**
    * If supported by the device, returns the pressure read by an analog
@@ -228,7 +228,7 @@ class PneumaticsBase {
    * @return The pressure read by an analog pressure sensor on the
    * specified analog input channel.
    */
-  virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
+  virtual wpi::units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
 
   /**
    * Create a solenoid object for the specified channel.
@@ -282,4 +282,4 @@ class PneumaticsBase {
    */
   static int GetDefaultForType(PneumaticsModuleType moduleType);
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
index b940918834..c0285dd1de 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
@@ -11,7 +11,7 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 /** Module class for controlling a Cross The Road Electronics Pneumatics Control
  * Module. */
 class PneumaticsControlModule : public PneumaticsBase {
@@ -52,8 +52,8 @@ class PneumaticsControlModule : public PneumaticsBase {
    * @see EnableCompressorDigital()
    */
   void EnableCompressorAnalog(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) override;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) override;
 
   /**
    * Enables the compressor in digital mode. Hybrid mode is unsupported by the
@@ -64,14 +64,14 @@ class PneumaticsControlModule : public PneumaticsBase {
    * @see EnableCompressorDigital()
    */
   void EnableCompressorHybrid(
-      units::pounds_per_square_inch_t minPressure,
-      units::pounds_per_square_inch_t maxPressure) override;
+      wpi::units::pounds_per_square_inch_t minPressure,
+      wpi::units::pounds_per_square_inch_t maxPressure) override;
 
   CompressorConfigType GetCompressorConfigType() const override;
 
   bool GetPressureSwitch() const override;
 
-  units::ampere_t GetCompressorCurrent() const override;
+  wpi::units::ampere_t GetCompressorCurrent() const override;
 
   /**
    * Return whether the compressor current is currently too high.
@@ -161,7 +161,7 @@ class PneumaticsControlModule : public PneumaticsBase {
 
   void FireOneShot(int index) override;
 
-  void SetOneShotDuration(int index, units::second_t duration) override;
+  void SetOneShotDuration(int index, wpi::units::second_t duration) override;
 
   bool CheckSolenoidChannel(int channel) const override;
 
@@ -179,7 +179,7 @@ class PneumaticsControlModule : public PneumaticsBase {
    * @param channel Unsupported.
    * @return 0
    */
-  units::volt_t GetAnalogVoltage(int channel) const override;
+  wpi::units::volt_t GetAnalogVoltage(int channel) const override;
 
   /**
    * Unsupported by the CTRE PCM.
@@ -187,7 +187,7 @@ class PneumaticsControlModule : public PneumaticsBase {
    * @param channel Unsupported.
    * @return 0
    */
-  units::pounds_per_square_inch_t GetPressure(int channel) const override;
+  wpi::units::pounds_per_square_inch_t GetPressure(int channel) const override;
 
   Solenoid MakeSolenoid(int channel) override;
   DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
@@ -208,9 +208,9 @@ class PneumaticsControlModule : public PneumaticsBase {
   HAL_CTREPCMHandle m_handle;
   int m_module;
 
-  static wpi::mutex m_handleLock;
-  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>[]>
+  static wpi::util::mutex m_handleLock;
+  static std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<DataStore>>[]>
       m_handleMaps;
   static std::weak_ptr<DataStore>& GetDataStore(int busId, int module);
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp
index 4fb225a217..39b5e6cc97 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 /**
  * Pneumatics module type.
  */
@@ -14,4 +14,4 @@ enum class PneumaticsModuleType {
   /// REV PH.
   REVPH
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
index 8f641ff780..1dec147af9 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Solenoid class for running high voltage Digital Output on a pneumatics
@@ -22,7 +22,7 @@ namespace frc {
  * The Solenoid class is typically used for pneumatics solenoids, but could be
  * used for any device within the current spec of the module.
  */
-class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
+class Solenoid : public wpi::util::Sendable, public wpi::util::SendableHelper<Solenoid> {
  public:
   /**
    * Constructs a solenoid for a specified module and type.
@@ -100,7 +100,7 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
    *
    * @see startPulse()
    */
-  void SetPulseDuration(units::second_t duration);
+  void SetPulseDuration(wpi::units::second_t duration);
 
   /**
    * %Trigger the pneumatics module to generate a pulse of the duration set in
@@ -110,7 +110,7 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
    */
   void StartPulse();
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<PneumaticsBase> m_module;
@@ -118,4 +118,4 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
   int m_channel;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp b/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
index df86fd227e..f6f704860b 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
@@ -11,14 +11,14 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Class for getting voltage, current, temperature, power and energy from the
  * CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH).
  */
-class PowerDistribution : public wpi::Sendable,
-                          public wpi::SendableHelper<PowerDistribution> {
+class PowerDistribution : public wpi::util::Sendable,
+                          public wpi::util::SendableHelper<PowerDistribution> {
  public:
   /// Default module number.
   static constexpr int kDefaultModule = -1;
@@ -343,11 +343,11 @@ class PowerDistribution : public wpi::Sendable,
    */
   StickyFaults GetStickyFaults() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  hal::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution> m_handle;
+  wpi::hal::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution> m_handle;
   int m_module;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp b/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
index db2610a467..972a048c36 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
@@ -10,9 +10,9 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
-class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
+class SharpIR : public wpi::util::Sendable, public wpi::util::SendableHelper<SharpIR> {
  public:
   /**
    * Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring
@@ -65,8 +65,8 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
    * @param min Minimum distance to report
    * @param max Maximum distance to report
    */
-  SharpIR(int channel, double a, double b, units::meter_t min,
-          units::meter_t max);
+  SharpIR(int channel, double a, double b, wpi::units::meter_t min,
+          wpi::units::meter_t max);
 
   /**
    * Get the analog input channel number.
@@ -80,20 +80,20 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
    *
    * @return range of the target returned by the sensor
    */
-  units::meter_t GetRange() const;
+  wpi::units::meter_t GetRange() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   AnalogInput m_sensor;
 
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simRange;
+  wpi::hal::SimDevice m_simDevice;
+  wpi::hal::SimDouble m_simRange;
 
   double m_A;
   double m_B;
-  units::meter_t m_min;
-  units::meter_t m_max;
+  wpi::units::meter_t m_min;
+  wpi::units::meter_t m_max;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
index 323f28323e..4ced3908d3 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
@@ -11,14 +11,14 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 class AnalogInput;
 
 /**
  * Class for supporting continuous analog encoders, such as the US Digital MA3.
  */
-class AnalogEncoder : public wpi::Sendable,
-                      public wpi::SendableHelper<AnalogEncoder> {
+class AnalogEncoder : public wpi::util::Sendable,
+                      public wpi::util::SendableHelper<AnalogEncoder> {
  public:
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogIn channel.
@@ -131,7 +131,7 @@ class AnalogEncoder : public wpi::Sendable,
    */
   int GetChannel() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void Init(double fullRange, double expectedZero);
@@ -144,7 +144,7 @@ class AnalogEncoder : public wpi::Sendable,
   double m_sensorMax{1.0};
   bool m_isInverted{false};
 
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simPosition;
+  wpi::hal::SimDevice m_simDevice;
+  wpi::hal::SimDouble m_simPosition;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
index d42dd4baa8..5421f664d8 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Class for reading analog potentiometers. Analog potentiometers read in an
@@ -18,8 +18,8 @@ namespace frc {
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public wpi::Sendable,
-                            public wpi::SendableHelper<AnalogPotentiometer> {
+class AnalogPotentiometer : public wpi::util::Sendable,
+                            public wpi::util::SendableHelper<AnalogPotentiometer> {
  public:
   /**
    * Construct an Analog Potentiometer object from a channel number.
@@ -101,11 +101,11 @@ class AnalogPotentiometer : public wpi::Sendable,
    */
   double Get() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<AnalogInput> m_analog_input;
   double m_fullRange, m_offset;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
index 6191a3cccb..7707e45c40 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 /**
  * Class to read a duty cycle PWM input.
  *
@@ -21,7 +21,7 @@ namespace frc {
  * low in that frequency. These can be attached to any SmartIO.
  *
  */
-class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
+class DutyCycle : public wpi::util::Sendable, public wpi::util::SendableHelper<DutyCycle> {
  public:
   /**
    * Constructs a DutyCycle input from a smartio channel.
@@ -43,7 +43,7 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
    *
    * @return frequency
    */
-  units::hertz_t GetFrequency() const;
+  wpi::units::hertz_t GetFrequency() const;
 
   /**
    * Get the output ratio of the duty cycle signal.
@@ -59,7 +59,7 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
    *
    * @return high time of last pulse
    */
-  units::second_t GetHighTime() const;
+  wpi::units::second_t GetHighTime() const;
 
   /**
    * Get the channel of the source.
@@ -69,11 +69,11 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
   int GetSourceChannel() const;
 
  protected:
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void InitDutyCycle();
   int m_channel;
-  hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
+  wpi::hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
index 9b99273f3a..2a23f86411 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 class DutyCycle;
 
 /**
@@ -21,8 +21,8 @@ class DutyCycle;
  * PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
  * Encoder.
  */
-class DutyCycleEncoder : public wpi::Sendable,
-                         public wpi::SendableHelper<DutyCycleEncoder> {
+class DutyCycleEncoder : public wpi::util::Sendable,
+                         public wpi::util::SendableHelper<DutyCycleEncoder> {
  public:
   /**
    * Construct a new DutyCycleEncoder on a specific channel.
@@ -107,7 +107,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @return duty cycle frequency
    */
-  units::hertz_t GetFrequency() const;
+  wpi::units::hertz_t GetFrequency() const;
 
   /**
    * Get if the sensor is connected
@@ -126,7 +126,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param frequency the minimum frequency.
    */
-  void SetConnectedFrequencyThreshold(units::hertz_t frequency);
+  void SetConnectedFrequencyThreshold(wpi::units::hertz_t frequency);
 
   /**
    * Get the encoder value.
@@ -161,7 +161,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param frequency the assumed frequency of the sensor
    */
-  void SetAssumedFrequency(units::hertz_t frequency);
+  void SetAssumedFrequency(wpi::units::hertz_t frequency);
 
   /**
    * Set if this encoder is inverted.
@@ -177,23 +177,23 @@ class DutyCycleEncoder : public wpi::Sendable,
    */
   int GetSourceChannel() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void Init(double fullRange, double expectedZero);
   double MapSensorRange(double pos) const;
 
   std::shared_ptr<DutyCycle> m_dutyCycle;
-  units::hertz_t m_frequencyThreshold = {100_Hz};
+  wpi::units::hertz_t m_frequencyThreshold = {100_Hz};
   double m_fullRange;
   double m_expectedZero;
-  units::second_t m_period{0_s};
+  wpi::units::second_t m_period{0_s};
   double m_sensorMin{0.0};
   double m_sensorMax{1.0};
   bool m_isInverted{false};
 
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simPosition;
-  hal::SimBoolean m_simIsConnected;
+  wpi::hal::SimDevice m_simDevice;
+  wpi::hal::SimDouble m_simPosition;
+  wpi::hal::SimBoolean m_simIsConnected;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
index a8a7516636..27f91cdf52 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 /**
  * Class to read quad encoders.
  *
@@ -29,8 +29,8 @@ namespace frc {
  * to be zeroed before use.
  */
 class Encoder : public CounterBase,
-                public wpi::Sendable,
-                public wpi::SendableHelper<Encoder> {
+                public wpi::util::Sendable,
+                public wpi::util::SendableHelper<Encoder> {
  public:
   /**
    * Encoder constructor.
@@ -95,7 +95,7 @@ class Encoder : public CounterBase,
    * @deprecated Use getRate() in favor of this method.
    */
   [[deprecated("Use GetRate() in favor of this method")]]
-  units::second_t GetPeriod() const override;
+  wpi::units::second_t GetPeriod() const override;
 
   /**
    * Sets the maximum period for stopped detection.
@@ -115,7 +115,7 @@ class Encoder : public CounterBase,
   [[deprecated(
       "Use SetMinRate() in favor of this method.  This takes unscaled periods "
       "and SetMinRate() scales using value from SetDistancePerPulse().")]]
-  void SetMaxPeriod(units::second_t maxPeriod) override;
+  void SetMaxPeriod(wpi::units::second_t maxPeriod) override;
 
   /**
    * Determine if the encoder is stopped.
@@ -246,7 +246,7 @@ class Encoder : public CounterBase,
 
   int GetFPGAIndex() const;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   /**
@@ -276,7 +276,7 @@ class Encoder : public CounterBase,
    */
   double DecodingScaleFactor() const;
 
-  hal::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
+  wpi::hal::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/internal/DriverStationModeThread.hpp b/wpilibc/src/main/native/include/wpi/internal/DriverStationModeThread.hpp
index e646e15b66..1df5c707b9 100644
--- a/wpilibc/src/main/native/include/wpi/internal/DriverStationModeThread.hpp
+++ b/wpilibc/src/main/native/include/wpi/internal/DriverStationModeThread.hpp
@@ -7,7 +7,7 @@
 #include <atomic>
 #include <thread>
 
-namespace frc::internal {
+namespace wpi::internal {
 /**
  * For internal use only.
  */
@@ -70,4 +70,4 @@ class DriverStationModeThread {
   bool m_userInTeleop{false};
   bool m_userInTest{false};
 };
-}  // namespace frc::internal
+}  // namespace wpi::internal
diff --git a/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp b/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
index 0d3618a0f4..ab0fccc86b 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
@@ -8,7 +8,7 @@
 #include "wpi/system/Watchdog.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * IterativeRobotBase implements a specific type of robot program framework,
@@ -200,7 +200,7 @@ class IterativeRobotBase : public RobotBase {
   /**
    * Gets time period between calls to Periodic() functions.
    */
-  units::second_t GetPeriod() const;
+  wpi::units::second_t GetPeriod() const;
 
   /**
    * Prints list of epochs added so far and their times.
@@ -212,7 +212,7 @@ class IterativeRobotBase : public RobotBase {
    *
    * @param period Period.
    */
-  explicit IterativeRobotBase(units::second_t period);
+  explicit IterativeRobotBase(wpi::units::second_t period);
 
   ~IterativeRobotBase() override = default;
 
@@ -229,7 +229,7 @@ class IterativeRobotBase : public RobotBase {
   enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
 
   Mode m_lastMode = Mode::kNone;
-  units::second_t m_period;
+  wpi::units::second_t m_period;
   Watchdog m_watchdog;
   bool m_ntFlushEnabled = true;
   bool m_calledDsConnected = false;
@@ -237,4 +237,4 @@ class IterativeRobotBase : public RobotBase {
   void PrintLoopOverrunMessage();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp b/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
index cb83c551ce..2068118bf1 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/string.h"
 
-namespace frc {
+namespace wpi {
 
 int RunHALInitialization();
 
@@ -28,7 +28,7 @@ void ResetMotorSafety();
 #endif
 
 template <class Robot>
-void RunRobot(wpi::mutex& m, Robot** robot) {
+void RunRobot(wpi::util::mutex& m, Robot** robot) {
   try {
     static Robot theRobot;
     {
@@ -36,7 +36,7 @@ void RunRobot(wpi::mutex& m, Robot** robot) {
       *robot = &theRobot;
     }
     theRobot.StartCompetition();
-  } catch (const frc::RuntimeError& e) {
+  } catch (const wpi::RuntimeError& e) {
     e.Report();
     FRC_ReportError(
         err::Error,
@@ -75,8 +75,8 @@ int StartRobot() {
     return halInit;
   }
 
-  static wpi::mutex m;
-  static wpi::condition_variable cv;
+  static wpi::util::mutex m;
+  static wpi::util::condition_variable cv;
   static Robot* robot = nullptr;
   static bool exited = false;
 
@@ -124,7 +124,7 @@ int StartRobot() {
   }
 
 #ifndef __FRC_SYSTEMCORE__
-  frc::impl::ResetMotorSafety();
+  wpi::impl::ResetMotorSafety();
 #endif
   HAL_Shutdown();
 
@@ -277,4 +277,4 @@ class RobotBase {
   NT_Listener connListenerHandle;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/opmode/RobotState.hpp b/wpilibc/src/main/native/include/wpi/opmode/RobotState.hpp
index ec8700e34a..a3d4669222 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/RobotState.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/RobotState.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 
 /**
  * Robot state utility functions.
@@ -56,4 +56,4 @@ class RobotState {
   static bool IsTest();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp b/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
index cb652320ef..b3e570ed36 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
@@ -18,7 +18,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/priority_queue.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * TimedRobot implements the IterativeRobotBase robot program framework.
@@ -49,14 +49,14 @@ class TimedRobot : public IterativeRobotBase {
    *
    * @param period The period of the robot loop function.
    */
-  explicit TimedRobot(units::second_t period = kDefaultPeriod);
+  explicit TimedRobot(wpi::units::second_t period = kDefaultPeriod);
 
   /**
    * Constructor for TimedRobot.
    *
    * @param frequency The frequency of the robot loop function.
    */
-  explicit TimedRobot(units::hertz_t frequency);
+  explicit TimedRobot(wpi::units::hertz_t frequency);
 
   TimedRobot(TimedRobot&&) = default;
   TimedRobot& operator=(TimedRobot&&) = default;
@@ -86,8 +86,8 @@ class TimedRobot : public IterativeRobotBase {
    *                 for scheduling a callback in a different timeslot relative
    *                 to TimedRobot.
    */
-  void AddPeriodic(std::function<void()> callback, units::second_t period,
-                   units::second_t offset = 0_s);
+  void AddPeriodic(std::function<void()> callback, wpi::units::second_t period,
+                   wpi::units::second_t offset = 0_s);
 
  private:
   class Callback {
@@ -110,7 +110,7 @@ class TimedRobot : public IterativeRobotBase {
           period{period},
           expirationTime(
               startTime + offset + period +
-              (std::chrono::microseconds{frc::RobotController::GetFPGATime()} -
+              (std::chrono::microseconds{wpi::RobotController::GetFPGATime()} -
                startTime) /
                   period * period) {}
 
@@ -119,12 +119,12 @@ class TimedRobot : public IterativeRobotBase {
     }
   };
 
-  hal::Handle<HAL_NotifierHandle, HAL_CleanNotifier> m_notifier;
+  wpi::hal::Handle<HAL_NotifierHandle, HAL_CleanNotifier> m_notifier;
   std::chrono::microseconds m_startTime;
   uint64_t m_loopStartTimeUs = 0;
 
-  wpi::priority_queue<Callback, std::vector<Callback>, std::greater<Callback>>
+  wpi::util::priority_queue<Callback, std::vector<Callback>, std::greater<Callback>>
       m_callbacks;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp b/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
index 6488dd3cd5..3147dffc8d 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
@@ -9,7 +9,7 @@
 #include "wpi/opmode/TimedRobot.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * TimesliceRobot extends the TimedRobot robot program framework to provide
@@ -75,7 +75,7 @@ namespace frc {
  * If the robot periodic functions and the controller periodic functions have a
  * lot of scheduling jitter that cause them to occasionally overlap with later
  * timeslices, consider giving the main robot thread a real-time priority using
- * frc::SetCurrentThreadPriority(). An RT priority of 15 is a reasonable choice.
+ * wpi::SetCurrentThreadPriority(). An RT priority of 15 is a reasonable choice.
  *
  * If you do enable RT though, <i>make sure your periodic functions do not
  * block</i>. If they do, the operating system will lock up, and you'll have to
@@ -92,8 +92,8 @@ class TimesliceRobot : public TimedRobot {
    *                         allocations should be less than or equal to this
    *                         value.
    */
-  explicit TimesliceRobot(units::second_t robotPeriodicAllocation,
-                          units::second_t controllerPeriod);
+  explicit TimesliceRobot(wpi::units::second_t robotPeriodicAllocation,
+                          wpi::units::second_t controllerPeriod);
 
   /**
    * Schedule a periodic function with the constructor's controller period and
@@ -109,11 +109,11 @@ class TimesliceRobot : public TimedRobot {
    * @param allocation The function's runtime allocation out of the controller
    *                   period.
    */
-  void Schedule(std::function<void()> func, units::second_t allocation);
+  void Schedule(std::function<void()> func, wpi::units::second_t allocation);
 
  private:
-  units::second_t m_nextOffset;
-  units::second_t m_controllerPeriod;
+  wpi::units::second_t m_nextOffset;
+  wpi::units::second_t m_controllerPeriod;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp b/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
index 6fd529a2f3..1a6f8beb0d 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hal/SimDevice.h"
 
-namespace frc {
+namespace wpi {
 
 class ADXL345_I2C;
 
@@ -46,10 +46,10 @@ class ADXL345Sim {
   void SetZ(double accel);
 
  private:
-  hal::SimDouble m_simX;
-  hal::SimDouble m_simY;
-  hal::SimDouble m_simZ;
+  wpi::hal::SimDouble m_simX;
+  wpi::hal::SimDouble m_simY;
+  wpi::hal::SimDouble m_simZ;
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
index 320e93d0c3..18962ec89c 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
@@ -10,7 +10,7 @@
 
 struct HAL_AddressableLEDData;
 
-namespace frc {
+namespace wpi {
 
 class AddressableLED;
 
@@ -165,4 +165,4 @@ class AddressableLEDSim {
   int m_channel;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
index 199f1fb865..96565d6772 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/units/angle.hpp"
 
-namespace frc {
+namespace wpi {
 
 class AnalogEncoder;
 
@@ -39,7 +39,7 @@ class AnalogEncoderSim {
   double Get();
 
  private:
-  hal::SimDouble m_positionSim;
+  wpi::hal::SimDouble m_positionSim;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
index 50af588306..b35d13bf55 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class AnalogInput;
 
@@ -146,4 +146,4 @@ class AnalogInputSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp b/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
index 62c6722b54..8341d9c34d 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/impedance.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * A utility class to simulate the robot battery.
@@ -31,9 +31,9 @@ class BatterySim {
    * @param currents       The currents drawn from the battery.
    * @return The battery's voltage under load.
    */
-  static units::volt_t Calculate(units::volt_t nominalVoltage,
-                                 units::ohm_t resistance,
-                                 std::span<const units::ampere_t> currents) {
+  static wpi::units::volt_t Calculate(wpi::units::volt_t nominalVoltage,
+                                 wpi::units::ohm_t resistance,
+                                 std::span<const wpi::units::ampere_t> currents) {
     return std::max(0_V, nominalVoltage - std::accumulate(currents.begin(),
                                                           currents.end(), 0_A) *
                                               resistance);
@@ -51,9 +51,9 @@ class BatterySim {
    * @param currents       The currents drawn from the battery.
    * @return The battery's voltage under load.
    */
-  static units::volt_t Calculate(
-      units::volt_t nominalVoltage, units::ohm_t resistance,
-      std::initializer_list<units::ampere_t> currents) {
+  static wpi::units::volt_t Calculate(
+      wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance,
+      std::initializer_list<wpi::units::ampere_t> currents) {
     return std::max(0_V, nominalVoltage - std::accumulate(currents.begin(),
                                                           currents.end(), 0_A) *
                                               resistance);
@@ -69,7 +69,7 @@ class BatterySim {
    * @param currents The currents drawn from the battery.
    * @return The battery's voltage under load.
    */
-  static units::volt_t Calculate(std::span<const units::ampere_t> currents) {
+  static wpi::units::volt_t Calculate(std::span<const wpi::units::ampere_t> currents) {
     return Calculate(12_V, 0.02_Ohm, currents);
   }
 
@@ -83,10 +83,10 @@ class BatterySim {
    * @param currents The currents drawn from the battery.
    * @return The battery's voltage under load.
    */
-  static units::volt_t Calculate(
-      std::initializer_list<units::ampere_t> currents) {
+  static wpi::units::volt_t Calculate(
+      std::initializer_list<wpi::units::ampere_t> currents) {
     return Calculate(12_V, 0.02_Ohm, currents);
   }
 };
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
index 0eceb19d82..d450d9d155 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/simulation/CallbackStore.hpp"
 #include "wpi/simulation/PneumaticsBaseSim.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * Class to control a simulated Pneumatic Control Module (PCM).
@@ -140,4 +140,4 @@ class CTREPCMSim : public PneumaticsBaseSim {
 
   void ResetData() override;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp b/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
index 1b572ad7b6..1639c36a17 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/hal/Value.h"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 using NotifyCallback = std::function<void(std::string_view, const HAL_Value*)>;
 using ConstBufferCallback = std::function<void(
@@ -75,4 +75,4 @@ class CallbackStore {
   enum CancelType { Normal, Channel, NoIndex };
   CancelType cancelType;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
index a4c320d692..23568f03b8 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
@@ -13,7 +13,7 @@
 #include "wpi/units/moment_of_inertia.hpp"
 #include "wpi/units/torque.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 /**
  * Represents a simulated DC motor mechanism.
  */
@@ -23,14 +23,14 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
    * Creates a simulated DC motor mechanism.
    *
    * @param plant              The linear system representing the DC motor. This
-   * system can be created with LinearSystemId::DCMotorSystem(). If
-   * LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be
+   * system can be created with wpi::math::LinearSystemId::DCMotorSystem(). If
+   * wpi::math::LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be
    * radians.
    * @param gearbox            The type of and number of motors in the DC motor
    * gearbox.
    * @param measurementStdDevs The standard deviation of the measurement noise.
    */
-  DCMotorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
+  DCMotorSim(const wpi::math::LinearSystem<2, 1, 2>& plant, const wpi::math::DCMotor& gearbox,
              const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
 
   using LinearSystemSim::SetState;
@@ -41,76 +41,76 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
    * @param angularPosition The new position
    * @param angularVelocity The new velocity
    */
-  void SetState(units::radian_t angularPosition,
-                units::radians_per_second_t angularVelocity);
+  void SetState(wpi::units::radian_t angularPosition,
+                wpi::units::radians_per_second_t angularVelocity);
 
   /**
    * Sets the DC motor's angular position.
    *
    * @param angularPosition The new position in radians.
    */
-  void SetAngle(units::radian_t angularPosition);
+  void SetAngle(wpi::units::radian_t angularPosition);
 
   /**
    * Sets the DC motor's angular velocity.
    *
    * @param angularVelocity The new velocity in radians per second.
    */
-  void SetAngularVelocity(units::radians_per_second_t angularVelocity);
+  void SetAngularVelocity(wpi::units::radians_per_second_t angularVelocity);
 
   /**
    * Returns the DC motor position.
    *
    * @return The DC motor position.
    */
-  units::radian_t GetAngularPosition() const;
+  wpi::units::radian_t GetAngularPosition() const;
 
   /**
    * Returns the DC motor velocity.
    *
    * @return The DC motor velocity.
    */
-  units::radians_per_second_t GetAngularVelocity() const;
+  wpi::units::radians_per_second_t GetAngularVelocity() const;
 
   /**
    * Returns the DC motor acceleration.
    *
    * @return The DC motor acceleration
    */
-  units::radians_per_second_squared_t GetAngularAcceleration() const;
+  wpi::units::radians_per_second_squared_t GetAngularAcceleration() const;
 
   /**
    * Returns the DC motor torque.
    *
    * @return The DC motor torque
    */
-  units::newton_meter_t GetTorque() const;
+  wpi::units::newton_meter_t GetTorque() const;
 
   /**
    * Returns the DC motor current draw.
    *
    * @return The DC motor current draw.
    */
-  units::ampere_t GetCurrentDraw() const;
+  wpi::units::ampere_t GetCurrentDraw() const;
 
   /**
    * Gets the input voltage for the DC motor.
    *
    * @return The DC motor input voltage.
    */
-  units::volt_t GetInputVoltage() const;
+  wpi::units::volt_t GetInputVoltage() const;
 
   /**
    * Sets the input voltage for the DC motor.
    *
    * @param voltage The input voltage.
    */
-  void SetInputVoltage(units::volt_t voltage);
+  void SetInputVoltage(wpi::units::volt_t voltage);
 
   /**
    * Returns the gearbox.
    */
-  const DCMotor& GetGearbox() const;
+  const wpi::math::DCMotor& GetGearbox() const;
 
   /**
    * Returns the gearing;
@@ -120,11 +120,11 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
   /**
    * Returns the moment of inertia
    */
-  units::kilogram_square_meter_t GetJ() const;
+  wpi::units::kilogram_square_meter_t GetJ() const;
 
  private:
-  DCMotor m_gearbox;
+  wpi::math::DCMotor m_gearbox;
   double m_gearing;
-  units::kilogram_square_meter_t m_j;
+  wpi::units::kilogram_square_meter_t m_j;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
index 8266f43530..5e4d1a122a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class DigitalInput;
 class DigitalOutput;
@@ -178,4 +178,4 @@ class DIOSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
index 4b133d5443..8ef8388dcf 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
@@ -13,19 +13,19 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 class DifferentialDrivetrainSim {
  public:
   /**
    * Creates a simulated differential drivetrain.
    *
-   * @param plant The LinearSystem representing the robot's drivetrain. This
+   * @param plant The wpi::math::LinearSystem representing the robot's drivetrain. This
    *              system can be created with
-   *              LinearSystemId::DrivetrainVelocitySystem() or
-   *              LinearSystemId::IdentifyDrivetrainSystem().
+   *              wpi::math::LinearSystemId::DrivetrainVelocitySystem() or
+   *              wpi::math::LinearSystemId::IdentifyDrivetrainSystem().
    * @param trackwidth   The robot's trackwidth.
-   * @param driveMotor   A DCMotor representing the left side of the drivetrain.
+   * @param driveMotor   A wpi::math::DCMotor representing the left side of the drivetrain.
    * @param gearingRatio The gearingRatio ratio of the left side, as output over
    *                     input. This must be the same ratio as the ratio used to
    *                     identify or create the plant.
@@ -40,14 +40,14 @@ class DifferentialDrivetrainSim {
    *                           starting point.
    */
   DifferentialDrivetrainSim(
-      LinearSystem<2, 2, 2> plant, units::meter_t trackwidth,
-      DCMotor driveMotor, double gearingRatio, units::meter_t wheelRadius,
+      wpi::math::LinearSystem<2, 2, 2> plant, wpi::units::meter_t trackwidth,
+      wpi::math::DCMotor driveMotor, double gearingRatio, wpi::units::meter_t wheelRadius,
       const std::array<double, 7>& measurementStdDevs = {});
 
   /**
    * Creates a simulated differential drivetrain.
    *
-   * @param driveMotor  A DCMotor representing the left side of the drivetrain.
+   * @param driveMotor  A wpi::math::DCMotor representing the left side of the drivetrain.
    * @param gearing     The gearing on the drive between motor and wheel, as
    *                    output over input. This must be the same ratio as the
    *                    ratio used to identify or create the plant.
@@ -67,9 +67,9 @@ class DifferentialDrivetrainSim {
    *                           starting point.
    */
   DifferentialDrivetrainSim(
-      frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
-      units::kilogram_t mass, units::meter_t wheelRadius,
-      units::meter_t trackwidth,
+      wpi::math::DCMotor driveMotor, double gearing, wpi::units::kilogram_square_meter_t J,
+      wpi::units::kilogram_t mass, wpi::units::meter_t wheelRadius,
+      wpi::units::meter_t trackwidth,
       const std::array<double, 7>& measurementStdDevs = {});
 
   /**
@@ -88,7 +88,7 @@ class DifferentialDrivetrainSim {
    * @param leftVoltage  The left voltage.
    * @param rightVoltage The right voltage.
    */
-  void SetInputs(units::volt_t leftVoltage, units::volt_t rightVoltage);
+  void SetInputs(wpi::units::volt_t leftVoltage, wpi::units::volt_t rightVoltage);
 
   /**
    * Sets the gearing reduction on the drivetrain. This is commonly used for
@@ -101,10 +101,10 @@ class DifferentialDrivetrainSim {
   /**
    * Updates the simulation.
    *
-   * @param dt The time that's passed since the last Update(units::second_t)
+   * @param dt The time that's passed since the last Update(wpi::units::second_t)
    *           call.
    */
-  void Update(units::second_t dt);
+  void Update(wpi::units::second_t dt);
 
   /**
    * Returns the current gearing reduction of the drivetrain, as output over
@@ -118,73 +118,73 @@ class DifferentialDrivetrainSim {
    * Note that this angle is counterclockwise-positive, while most gyros are
    * clockwise positive.
    */
-  Rotation2d GetHeading() const;
+  wpi::math::Rotation2d GetHeading() const;
 
   /**
    * Returns the current pose.
    */
-  Pose2d GetPose() const;
+  wpi::math::Pose2d GetPose() const;
 
   /**
    * Get the right encoder position in meters.
    * @return The encoder position.
    */
-  units::meter_t GetRightPosition() const {
-    return units::meter_t{GetOutput(State::kRightPosition)};
+  wpi::units::meter_t GetRightPosition() const {
+    return wpi::units::meter_t{GetOutput(State::kRightPosition)};
   }
 
   /**
    * Get the right encoder velocity in meters per second.
    * @return The encoder velocity.
    */
-  units::meters_per_second_t GetRightVelocity() const {
-    return units::meters_per_second_t{GetOutput(State::kRightVelocity)};
+  wpi::units::meters_per_second_t GetRightVelocity() const {
+    return wpi::units::meters_per_second_t{GetOutput(State::kRightVelocity)};
   }
 
   /**
    * Get the left encoder position in meters.
    * @return The encoder position.
    */
-  units::meter_t GetLeftPosition() const {
-    return units::meter_t{GetOutput(State::kLeftPosition)};
+  wpi::units::meter_t GetLeftPosition() const {
+    return wpi::units::meter_t{GetOutput(State::kLeftPosition)};
   }
 
   /**
    * Get the left encoder velocity in meters per second.
    * @return The encoder velocity.
    */
-  units::meters_per_second_t GetLeftVelocity() const {
-    return units::meters_per_second_t{GetOutput(State::kLeftVelocity)};
+  wpi::units::meters_per_second_t GetLeftVelocity() const {
+    return wpi::units::meters_per_second_t{GetOutput(State::kLeftVelocity)};
   }
 
   /**
    * Returns the currently drawn current for the right side.
    */
-  units::ampere_t GetRightCurrentDraw() const;
+  wpi::units::ampere_t GetRightCurrentDraw() const;
 
   /**
    * Returns the currently drawn current for the left side.
    */
-  units::ampere_t GetLeftCurrentDraw() const;
+  wpi::units::ampere_t GetLeftCurrentDraw() const;
 
   /**
    * Returns the currently drawn current.
    */
-  units::ampere_t GetCurrentDraw() const;
+  wpi::units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the system state.
    *
    * @param state The state.
    */
-  void SetState(const Vectord<7>& state);
+  void SetState(const wpi::math::Vectord<7>& state);
 
   /**
    * Sets the system pose.
    *
    * @param pose The pose.
    */
-  void SetPose(const frc::Pose2d& pose);
+  void SetPose(const wpi::math::Pose2d& pose);
 
   /**
    * The differential drive dynamics function.
@@ -193,7 +193,7 @@ class DifferentialDrivetrainSim {
    * @param u The input.
    * @return The state derivative with respect to time.
    */
-  Vectord<7> Dynamics(const Vectord<7>& x, const Eigen::Vector2d& u);
+  wpi::math::Vectord<7> Dynamics(const wpi::math::Vectord<7>& x, const Eigen::Vector2d& u);
 
   class State {
    public:
@@ -234,24 +234,24 @@ class DifferentialDrivetrainSim {
   class KitbotMotor {
    public:
     /// One CIM motor per drive side.
-    static constexpr frc::DCMotor SingleCIMPerSide = frc::DCMotor::CIM(1);
+    static constexpr wpi::math::DCMotor SingleCIMPerSide = wpi::math::DCMotor::CIM(1);
     /// Two CIM motors per drive side.
-    static constexpr frc::DCMotor DualCIMPerSide = frc::DCMotor::CIM(2);
+    static constexpr wpi::math::DCMotor DualCIMPerSide = wpi::math::DCMotor::CIM(2);
     /// One Mini CIM motor per drive side.
-    static constexpr frc::DCMotor SingleMiniCIMPerSide =
-        frc::DCMotor::MiniCIM(1);
+    static constexpr wpi::math::DCMotor SingleMiniCIMPerSide =
+        wpi::math::DCMotor::MiniCIM(1);
     /// Two Mini CIM motors per drive side.
-    static constexpr frc::DCMotor DualMiniCIMPerSide = frc::DCMotor::MiniCIM(2);
+    static constexpr wpi::math::DCMotor DualMiniCIMPerSide = wpi::math::DCMotor::MiniCIM(2);
     /// One Falcon 500 motor per drive side.
-    static constexpr frc::DCMotor SingleFalcon500PerSide =
-        frc::DCMotor::Falcon500(1);
+    static constexpr wpi::math::DCMotor SingleFalcon500PerSide =
+        wpi::math::DCMotor::Falcon500(1);
     /// Two Falcon 500 motors per drive side.
-    static constexpr frc::DCMotor DualFalcon500PerSide =
-        frc::DCMotor::Falcon500(2);
+    static constexpr wpi::math::DCMotor DualFalcon500PerSide =
+        wpi::math::DCMotor::Falcon500(2);
     /// One NEO motor per drive side.
-    static constexpr frc::DCMotor SingleNEOPerSide = frc::DCMotor::NEO(1);
+    static constexpr wpi::math::DCMotor SingleNEOPerSide = wpi::math::DCMotor::NEO(1);
     /// Two NEO motors per drive side.
-    static constexpr frc::DCMotor DualNEOPerSide = frc::DCMotor::NEO(2);
+    static constexpr wpi::math::DCMotor DualNEOPerSide = wpi::math::DCMotor::NEO(2);
   };
 
   /**
@@ -260,11 +260,11 @@ class DifferentialDrivetrainSim {
   class KitbotWheelSize {
    public:
     /// Six inch diameter wheels.
-    static constexpr units::meter_t kSixInch = 6_in;
+    static constexpr wpi::units::meter_t kSixInch = 6_in;
     /// Eight inch diameter wheels.
-    static constexpr units::meter_t kEightInch = 8_in;
+    static constexpr wpi::units::meter_t kEightInch = 8_in;
     /// Ten inch diameter wheels.
-    static constexpr units::meter_t kTenInch = 10_in;
+    static constexpr wpi::units::meter_t kTenInch = 10_in;
   };
 
   /**
@@ -281,11 +281,11 @@ class DifferentialDrivetrainSim {
    * starting point.
    */
   static DifferentialDrivetrainSim CreateKitbotSim(
-      frc::DCMotor motor, double gearing, units::meter_t wheelSize,
+      wpi::math::DCMotor motor, double gearing, wpi::units::meter_t wheelSize,
       const std::array<double, 7>& measurementStdDevs = {}) {
     // MOI estimation -- note that I = mr² for point masses
-    units::kilogram_square_meter_t batteryMoi = 12.5_lb * 10_in * 10_in;
-    units::kilogram_square_meter_t gearboxMoi = (2.8_lb + 2.0_lb) *
+    wpi::units::kilogram_square_meter_t batteryMoi = 12.5_lb * 10_in * 10_in;
+    wpi::units::kilogram_square_meter_t gearboxMoi = (2.8_lb + 2.0_lb) *
                                                 2  // CIM plus toughbox per side
                                                 * (26_in / 2) * (26_in / 2);
 
@@ -310,8 +310,8 @@ class DifferentialDrivetrainSim {
    * starting point.
    */
   static DifferentialDrivetrainSim CreateKitbotSim(
-      frc::DCMotor motor, double gearing, units::meter_t wheelSize,
-      units::kilogram_square_meter_t J,
+      wpi::math::DCMotor motor, double gearing, wpi::units::meter_t wheelSize,
+      wpi::units::kilogram_square_meter_t J,
       const std::array<double, 7>& measurementStdDevs = {}) {
     return DifferentialDrivetrainSim{
         motor, gearing, J, 60_lb, wheelSize / 2.0, 26_in, measurementStdDevs};
@@ -328,7 +328,7 @@ class DifferentialDrivetrainSim {
   /**
    * Returns the current output vector y.
    */
-  Vectord<7> GetOutput() const;
+  wpi::math::Vectord<7> GetOutput() const;
 
   /**
    * Returns an element of the state vector. Note that this will not include
@@ -341,20 +341,20 @@ class DifferentialDrivetrainSim {
   /**
    * Returns the current state vector x. Note that this will not include noise!
    */
-  Vectord<7> GetState() const;
+  wpi::math::Vectord<7> GetState() const;
 
-  LinearSystem<2, 2, 2> m_plant;
-  units::meter_t m_rb;
-  units::meter_t m_wheelRadius;
+  wpi::math::LinearSystem<2, 2, 2> m_plant;
+  wpi::units::meter_t m_rb;
+  wpi::units::meter_t m_wheelRadius;
 
-  DCMotor m_motor;
+  wpi::math::DCMotor m_motor;
 
   double m_originalGearing;
   double m_currentGearing;
 
-  Vectord<7> m_x;
+  wpi::math::Vectord<7> m_x;
   Eigen::Vector2d m_u;
-  Vectord<7> m_y;
+  wpi::math::Vectord<7> m_y;
   std::array<double, 7> m_measurementStdDevs;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
index e9c517a77a..e51ca2cff9 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class DigitalOutput;
 
@@ -133,4 +133,4 @@ class DigitalPWMSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
index 969e8ec1e3..d2f3f4b762 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 #include "wpi/simulation/PneumaticsBaseSim.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 class DoubleSolenoidSim {
  public:
@@ -30,4 +30,4 @@ class DoubleSolenoidSim {
   int m_rev;
 };
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
index ca85972e68..8654812b9c 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/DriverStationTypes.h"
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * Class to control a simulated driver station.
@@ -396,4 +396,4 @@ class DriverStationSim {
    */
   static void ResetData();
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
index f4e3fd35cc..389a80935c 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
@@ -7,7 +7,7 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/units/angle.hpp"
 
-namespace frc {
+namespace wpi {
 
 class DutyCycleEncoder;
 
@@ -61,9 +61,9 @@ class DutyCycleEncoderSim {
   void SetConnected(bool isConnected);
 
  private:
-  hal::SimDouble m_simPosition;
-  hal::SimBoolean m_simIsConnected;
+  wpi::hal::SimDouble m_simPosition;
+  wpi::hal::SimBoolean m_simIsConnected;
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
index e043728993..49293ffc85 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
@@ -9,7 +9,7 @@
 #include "wpi/simulation/CallbackStore.hpp"
 #include "wpi/units/frequency.hpp"
 
-namespace frc {
+namespace wpi {
 
 class DutyCycle;
 
@@ -76,14 +76,14 @@ class DutyCycleSim {
    *
    * @return the duty cycle frequency
    */
-  units::hertz_t GetFrequency() const;
+  wpi::units::hertz_t GetFrequency() const;
 
   /**
    * Change the duty cycle frequency.
    *
    * @param frequency the new frequency
    */
-  void SetFrequency(units::hertz_t frequency);
+  void SetFrequency(wpi::units::hertz_t frequency);
 
   /**
    * Register a callback to be run whenever the output changes.
@@ -121,4 +121,4 @@ class DutyCycleSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
index c60261d5c1..43d246de08 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
@@ -12,27 +12,27 @@
 #include "wpi/units/mass.hpp"
 #include "wpi/units/velocity.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 /**
  * Represents a simulated elevator mechanism.
  */
 class ElevatorSim : public LinearSystemSim<2, 1, 2> {
  public:
   template <typename Distance>
-  using Velocity_t = units::unit_t<
-      units::compound_unit<Distance, units::inverse<units::seconds>>>;
+  using Velocity_t = wpi::units::unit_t<
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>>;
 
   template <typename Distance>
-  using Acceleration_t = units::unit_t<units::compound_unit<
-      units::compound_unit<Distance, units::inverse<units::seconds>>,
-      units::inverse<units::seconds>>>;
+  using Acceleration_t = wpi::units::unit_t<wpi::units::compound_unit<
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>,
+      wpi::units::inverse<wpi::units::seconds>>>;
 
   /**
    * Constructs a simulated elevator mechanism.
    *
    * @param plant              The linear system that represents the elevator.
    *                           This system can be created with
-   *                           LinearSystemId::ElevatorSystem().
+   *                           wpi::math::LinearSystemId::ElevatorSystem().
    * @param gearbox            The type of and number of motors in your
    *                           elevator gearbox.
    * @param minHeight          The minimum allowed height of the elevator.
@@ -41,9 +41,9 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param startingHeight     The starting height of the elevator.
    * @param measurementStdDevs The standard deviation of the measurements.
    */
-  ElevatorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
-              units::meter_t minHeight, units::meter_t maxHeight,
-              bool simulateGravity, units::meter_t startingHeight,
+  ElevatorSim(const wpi::math::LinearSystem<2, 1, 2>& plant, const wpi::math::DCMotor& gearbox,
+              wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
+              bool simulateGravity, wpi::units::meter_t startingHeight,
               const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
 
   /**
@@ -62,10 +62,10 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param startingHeight     The starting height of the elevator.
    * @param measurementStdDevs The standard deviation of the measurements.
    */
-  ElevatorSim(const DCMotor& gearbox, double gearing,
-              units::kilogram_t carriageMass, units::meter_t drumRadius,
-              units::meter_t minHeight, units::meter_t maxHeight,
-              bool simulateGravity, units::meter_t startingHeight,
+  ElevatorSim(const wpi::math::DCMotor& gearbox, double gearing,
+              wpi::units::kilogram_t carriageMass, wpi::units::meter_t drumRadius,
+              wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
+              bool simulateGravity, wpi::units::meter_t startingHeight,
               const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
 
   /**
@@ -82,13 +82,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param measurementStdDevs The standard deviation of the measurements.
    */
   template <typename Distance>
-    requires std::same_as<units::meter, Distance> ||
-             std::same_as<units::radian, Distance>
+    requires std::same_as<wpi::units::meter, Distance> ||
+             std::same_as<wpi::units::radian, Distance>
   ElevatorSim(decltype(1_V / Velocity_t<Distance>(1)) kV,
               decltype(1_V / Acceleration_t<Distance>(1)) kA,
-              const DCMotor& gearbox, units::meter_t minHeight,
-              units::meter_t maxHeight, bool simulateGravity,
-              units::meter_t startingHeight,
+              const wpi::math::DCMotor& gearbox, wpi::units::meter_t minHeight,
+              wpi::units::meter_t maxHeight, bool simulateGravity,
+              wpi::units::meter_t startingHeight,
               const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
   using LinearSystemSim::SetState;
 
@@ -98,7 +98,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param position The new position
    * @param velocity The new velocity
    */
-  void SetState(units::meter_t position, units::meters_per_second_t velocity);
+  void SetState(wpi::units::meter_t position, wpi::units::meters_per_second_t velocity);
 
   /**
    * Returns whether the elevator would hit the lower limit.
@@ -106,7 +106,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param elevatorHeight The elevator height.
    * @return Whether the elevator would hit the lower limit.
    */
-  bool WouldHitLowerLimit(units::meter_t elevatorHeight) const;
+  bool WouldHitLowerLimit(wpi::units::meter_t elevatorHeight) const;
 
   /**
    * Returns whether the elevator would hit the upper limit.
@@ -114,7 +114,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param elevatorHeight The elevator height.
    * @return Whether the elevator would hit the upper limit.
    */
-  bool WouldHitUpperLimit(units::meter_t elevatorHeight) const;
+  bool WouldHitUpperLimit(wpi::units::meter_t elevatorHeight) const;
 
   /**
    * Returns whether the elevator has hit the lower limit.
@@ -135,28 +135,28 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The position of the elevator.
    */
-  units::meter_t GetPosition() const;
+  wpi::units::meter_t GetPosition() const;
 
   /**
    * Returns the velocity of the elevator.
    *
    * @return The velocity of the elevator.
    */
-  units::meters_per_second_t GetVelocity() const;
+  wpi::units::meters_per_second_t GetVelocity() const;
 
   /**
    * Returns the elevator current draw.
    *
    * @return The elevator current draw.
    */
-  units::ampere_t GetCurrentDraw() const;
+  wpi::units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the elevator.
    *
    * @param voltage The input voltage.
    */
-  void SetInputVoltage(units::volt_t voltage);
+  void SetInputVoltage(wpi::units::volt_t voltage);
 
  protected:
   /**
@@ -166,13 +166,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    * @param u           The system inputs (voltage).
    * @param dt          The time difference between controller updates.
    */
-  Vectord<2> UpdateX(const Vectord<2>& currentXhat, const Vectord<1>& u,
-                     units::second_t dt) override;
+  wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat, const wpi::math::Vectord<1>& u,
+                     wpi::units::second_t dt) override;
 
  private:
-  DCMotor m_gearbox;
-  units::meter_t m_minHeight;
-  units::meter_t m_maxHeight;
+  wpi::math::DCMotor m_gearbox;
+  wpi::units::meter_t m_minHeight;
+  wpi::units::meter_t m_maxHeight;
   bool m_simulateGravity;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
index 72875ec262..2bb9abf5db 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class Encoder;
 
@@ -317,4 +317,4 @@ class EncoderSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
index 2411bc378f..54a2aa7326 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/moment_of_inertia.hpp"
 #include "wpi/units/torque.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 /**
  * Represents a simulated flywheel mechanism.
  */
@@ -23,13 +23,13 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
    *
    * @param plant              The linear system representing the flywheel. This
    *                           system can be created with
-   *                           LinearSystemId::FlywheelSystem() or
-   * LinearSystemId::IdentifyVelocitySystem().
+   *                           wpi::math::LinearSystemId::FlywheelSystem() or
+   * wpi::math::LinearSystemId::IdentifyVelocitySystem().
    * @param gearbox            The type of and number of motors in the flywheel
    *                           gearbox.
    * @param measurementStdDevs The standard deviation of the measurement noise.
    */
-  FlywheelSim(const LinearSystem<1, 1, 1>& plant, const DCMotor& gearbox,
+  FlywheelSim(const wpi::math::LinearSystem<1, 1, 1>& plant, const wpi::math::DCMotor& gearbox,
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
   using LinearSystemSim::SetState;
@@ -39,54 +39,54 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
    *
    * @param velocity The new velocity
    */
-  void SetVelocity(units::radians_per_second_t velocity);
+  void SetVelocity(wpi::units::radians_per_second_t velocity);
 
   /**
    * Returns the flywheel's velocity.
    *
    * @return The flywheel's velocity.
    */
-  units::radians_per_second_t GetAngularVelocity() const;
+  wpi::units::radians_per_second_t GetAngularVelocity() const;
 
   /**
    * Returns the flywheel's acceleration.
    *
    * @return The flywheel's acceleration
    */
-  units::radians_per_second_squared_t GetAngularAcceleration() const;
+  wpi::units::radians_per_second_squared_t GetAngularAcceleration() const;
 
   /**
    * Returns the flywheel's torque.
    *
    * @return The flywheel's torque
    */
-  units::newton_meter_t GetTorque() const;
+  wpi::units::newton_meter_t GetTorque() const;
 
   /**
    * Returns the flywheel's current draw.
    *
    * @return The flywheel's current draw.
    */
-  units::ampere_t GetCurrentDraw() const;
+  wpi::units::ampere_t GetCurrentDraw() const;
 
   /**
    * Gets the input voltage for the flywheel.
    *
    * @return The flywheel input voltage.
    */
-  units::volt_t GetInputVoltage() const;
+  wpi::units::volt_t GetInputVoltage() const;
 
   /**
    * Sets the input voltage for the flywheel.
    *
    * @param voltage The input voltage.
    */
-  void SetInputVoltage(units::volt_t voltage);
+  void SetInputVoltage(wpi::units::volt_t voltage);
 
   /**
    * Returns the gearbox.
    */
-  DCMotor Gearbox() const { return m_gearbox; }
+  wpi::math::DCMotor Gearbox() const { return m_gearbox; }
 
   /**
    * Returns the gearing;
@@ -96,11 +96,11 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
   /**
    * Returns the moment of inertia
    */
-  units::kilogram_square_meter_t J() const { return m_j; }
+  wpi::units::kilogram_square_meter_t J() const { return m_j; }
 
  private:
-  DCMotor m_gearbox;
+  wpi::math::DCMotor m_gearbox;
   double m_gearing;
-  units::kilogram_square_meter_t m_j;
+  wpi::units::kilogram_square_meter_t m_j;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
index fac63aaff9..af9fd5f114 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class Gamepad;
 
@@ -257,4 +257,4 @@ class GamepadSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
index 55ada4a477..ab7ac1550f 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
@@ -9,7 +9,7 @@
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
 
-namespace frc {
+namespace wpi {
 
 class GenericHID;
 
@@ -140,4 +140,4 @@ class GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
index c92e086016..d3c5bc71da 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class Joystick;
 
@@ -85,4 +85,4 @@ class JoystickSim : public GenericHIDSim {
 };
 
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
index 0fe12916e7..550c5d640f 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/current.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 /**
  * This class helps simulate linear systems. To use this class, do the following
  * in the simulationPeriodic() method.
@@ -35,12 +35,12 @@ class LinearSystemSim {
    * @param measurementStdDevs The standard deviations of the measurements.
    */
   explicit LinearSystemSim(
-      const LinearSystem<States, Inputs, Outputs>& system,
+      const wpi::math::LinearSystem<States, Inputs, Outputs>& system,
       const std::array<double, Outputs>& measurementStdDevs = {})
       : m_plant(system), m_measurementStdDevs(measurementStdDevs) {
-    m_x = Vectord<States>::Zero();
-    m_y = Vectord<Outputs>::Zero();
-    m_u = Vectord<Inputs>::Zero();
+    m_x = wpi::math::Vectord<States>::Zero();
+    m_y = wpi::math::Vectord<Outputs>::Zero();
+    m_u = wpi::math::Vectord<Inputs>::Zero();
   }
 
   virtual ~LinearSystemSim() = default;
@@ -50,7 +50,7 @@ class LinearSystemSim {
    *
    * @param dt The time between updates.
    */
-  void Update(units::second_t dt) {
+  void Update(wpi::units::second_t dt) {
     // Update x. By default, this is the linear system dynamics xₖ₊₁ = Axₖ +
     // Buₖ.
     m_x = UpdateX(m_x, m_u, dt);
@@ -61,7 +61,7 @@ class LinearSystemSim {
     // Add noise. If the user did not pass a noise vector to the
     // constructor, then this method will not do anything because
     // the standard deviations default to zero.
-    m_y += frc::MakeWhiteNoiseVector<Outputs>(m_measurementStdDevs);
+    m_y += wpi::math::MakeWhiteNoiseVector<Outputs>(m_measurementStdDevs);
   }
 
   /**
@@ -69,7 +69,7 @@ class LinearSystemSim {
    *
    * @return The current output of the plant.
    */
-  const Vectord<Outputs>& GetOutput() const { return m_y; }
+  const wpi::math::Vectord<Outputs>& GetOutput() const { return m_y; }
 
   /**
    * Returns an element of the current output of the plant.
@@ -84,7 +84,7 @@ class LinearSystemSim {
    *
    * @param u The system inputs.
    */
-  void SetInput(const Vectord<Inputs>& u) { m_u = u; }
+  void SetInput(const wpi::math::Vectord<Inputs>& u) { m_u = u; }
 
   /**
    * Sets the system inputs.
@@ -99,7 +99,7 @@ class LinearSystemSim {
    *
    * @return The current input of the plant.
    */
-  const Vectord<Inputs>& GetInput() const { return m_u; }
+  const wpi::math::Vectord<Inputs>& GetInput() const { return m_u; }
 
   /**
    * Returns an element of the current input of the plant.
@@ -114,7 +114,7 @@ class LinearSystemSim {
    *
    * @param state The new state.
    */
-  void SetState(const Vectord<States>& state) {
+  void SetState(const wpi::math::Vectord<States>& state) {
     m_x = state;
 
     // Update the output to reflect the new state.
@@ -131,9 +131,9 @@ class LinearSystemSim {
    * @param u           The system inputs (usually voltage).
    * @param dt          The time difference between controller updates.
    */
-  virtual Vectord<States> UpdateX(const Vectord<States>& currentXhat,
-                                  const Vectord<Inputs>& u,
-                                  units::second_t dt) {
+  virtual wpi::math::Vectord<States> UpdateX(const wpi::math::Vectord<States>& currentXhat,
+                                  const wpi::math::Vectord<Inputs>& u,
+                                  wpi::units::second_t dt) {
     return m_plant.CalculateX(currentXhat, u, dt);
   }
 
@@ -144,23 +144,23 @@ class LinearSystemSim {
    * @param maxInput The maximum magnitude of the input vector after clamping.
    */
   void ClampInput(double maxInput) {
-    m_u = frc::DesaturateInputVector<Inputs>(m_u, maxInput);
+    m_u = wpi::math::DesaturateInputVector<Inputs>(m_u, maxInput);
   }
 
   /// The plant that represents the linear system.
-  LinearSystem<States, Inputs, Outputs> m_plant;
+  wpi::math::LinearSystem<States, Inputs, Outputs> m_plant;
 
   /// State vector.
-  Vectord<States> m_x;
+  wpi::math::Vectord<States> m_x;
 
   /// Input vector.
-  Vectord<Inputs> m_u;
+  wpi::math::Vectord<Inputs> m_u;
 
   /// Output vector.
-  Vectord<Outputs> m_y;
+  wpi::math::Vectord<Outputs> m_y;
 
   /// The standard deviations of measurements, used for adding noise to the
   /// measurements.
   std::array<double, Outputs> m_measurementStdDevs;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
index 2231dc74d5..4204a3575a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
@@ -8,7 +8,7 @@
 #include "wpi/hardware/motor/PWMMotorController.hpp"
 #include "wpi/units/length.hpp"
 
-namespace frc {
+namespace wpi {
 
 class PWMMotorController;
 
@@ -23,7 +23,7 @@ class PWMMotorControllerSim {
   double GetSpeed() const;
 
  private:
-  hal::SimDouble m_simSpeed;
+  wpi::hal::SimDouble m_simSpeed;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
index 3059ce9355..ae9a29809d 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class PWM;
 class PWMMotorController;
@@ -118,4 +118,4 @@ class PWMSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
index 653bce1eb6..3102ce0074 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 class PneumaticsBaseSim {
  public:
@@ -195,4 +195,4 @@ class PneumaticsBaseSim {
   explicit PneumaticsBaseSim(const PneumaticsBase& module);
 };
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
index 9336d7c94a..1c48354ce7 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/simulation/CallbackStore.hpp"
 
-namespace frc {
+namespace wpi {
 
 class PowerDistribution;
 
@@ -168,4 +168,4 @@ class PowerDistributionSim {
   int m_index;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
index 769c90db6e..e577ff2b9b 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/simulation/CallbackStore.hpp"
 #include "wpi/simulation/PneumaticsBaseSim.hpp"
 
-namespace frc {
+namespace wpi {
 
 class Compressor;
 
@@ -120,4 +120,4 @@ class REVPHSim : public PneumaticsBaseSim {
   void ResetData() override;
 };
 }  // namespace sim
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
index 03041c2760..b9a7f9b631 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
@@ -13,7 +13,7 @@
 #include "wpi/units/temperature.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * A utility class to control a simulated RoboRIO.
@@ -36,14 +36,14 @@ class RoboRioSim {
    *
    * @return the Vin voltage
    */
-  static units::volt_t GetVInVoltage();
+  static wpi::units::volt_t GetVInVoltage();
 
   /**
    * Define the Vin voltage.
    *
    * @param vInVoltage the new voltage
    */
-  static void SetVInVoltage(units::volt_t vInVoltage);
+  static void SetVInVoltage(wpi::units::volt_t vInVoltage);
 
   /**
    * Register a callback to be run whenever the 3.3V rail voltage changes.
@@ -62,14 +62,14 @@ class RoboRioSim {
    *
    * @return the 3.3V rail voltage
    */
-  static units::volt_t GetUserVoltage3V3();
+  static wpi::units::volt_t GetUserVoltage3V3();
 
   /**
    * Define the 3.3V rail voltage.
    *
    * @param userVoltage3V3 the new voltage
    */
-  static void SetUserVoltage3V3(units::volt_t userVoltage3V3);
+  static void SetUserVoltage3V3(wpi::units::volt_t userVoltage3V3);
 
   /**
    * Register a callback to be run whenever the 3.3V rail current changes.
@@ -88,14 +88,14 @@ class RoboRioSim {
    *
    * @return the 3.3V rail current
    */
-  static units::ampere_t GetUserCurrent3V3();
+  static wpi::units::ampere_t GetUserCurrent3V3();
 
   /**
    * Define the 3.3V rail current.
    *
    * @param userCurrent3V3 the new current
    */
-  static void SetUserCurrent3V3(units::ampere_t userCurrent3V3);
+  static void SetUserCurrent3V3(wpi::units::ampere_t userCurrent3V3);
 
   /**
    * Register a callback to be run whenever the 3.3V rail active state changes.
@@ -166,14 +166,14 @@ class RoboRioSim {
    *
    * @return the brownout voltage
    */
-  static units::volt_t GetBrownoutVoltage();
+  static wpi::units::volt_t GetBrownoutVoltage();
 
   /**
    * Define the brownout voltage.
    *
    * @param brownoutVoltage the new voltage
    */
-  static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
+  static void SetBrownoutVoltage(wpi::units::volt_t brownoutVoltage);
 
   /**
    * Register a callback to be run whenever the cpu temp changes.
@@ -191,14 +191,14 @@ class RoboRioSim {
    *
    * @return the cpu temp.
    */
-  static units::celsius_t GetCPUTemp();
+  static wpi::units::celsius_t GetCPUTemp();
 
   /**
    * Define the cpu temp.
    *
    * @param cpuTemp the new cpu temp.
    */
-  static void SetCPUTemp(units::celsius_t cpuTemp);
+  static void SetCPUTemp(wpi::units::celsius_t cpuTemp);
 
   /**
    * Register a callback to be run whenever the team number changes.
@@ -258,4 +258,4 @@ class RoboRioSim {
    */
   static void ResetData();
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
index f2ca2f205d..82f88cf692 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
@@ -10,7 +10,7 @@
 #include "wpi/nt/StringTopic.hpp"
 #include "wpi/opmode/RobotBase.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * Class that facilitates control of a SendableChooser's selected option in
@@ -31,7 +31,7 @@ class SendableChooserSim {
    * @param inst The NetworkTables instance.
    * @param path The path where the SendableChooser is published.
    */
-  SendableChooserSim(nt::NetworkTableInstance inst, std::string_view path);
+  SendableChooserSim(wpi::nt::NetworkTableInstance inst, std::string_view path);
 
   /**
    * Set the selected option.
@@ -40,6 +40,6 @@ class SendableChooserSim {
   void SetSelected(std::string_view option);
 
  private:
-  nt::StringPublisher m_publisher;
+  wpi::nt::StringPublisher m_publisher;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
index 60bb17a13a..de3a7fd646 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
@@ -8,7 +8,7 @@
 #include "wpi/hardware/range/SharpIR.hpp"
 #include "wpi/units/length.hpp"
 
-namespace frc {
+namespace wpi {
 
 /** Simulation class for Sharp IR sensors. */
 class SharpIRSim {
@@ -32,10 +32,10 @@ class SharpIRSim {
    *
    * @param range range of the target returned by the sensor
    */
-  void SetRange(units::meter_t range);
+  void SetRange(wpi::units::meter_t range);
 
  private:
-  hal::SimDouble m_simRange;
+  wpi::hal::SimDouble m_simRange;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
index a5c0822779..0a54f25aa8 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/hal/simulation/SimDeviceData.h"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * Class to control the simulation side of a SimDevice.
@@ -62,7 +62,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimValue GetValue(const char* name) const;
+  wpi::hal::SimValue GetValue(const char* name) const;
 
   /**
    * Get the property object with the given name.
@@ -70,7 +70,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimInt GetInt(const char* name) const;
+  wpi::hal::SimInt GetInt(const char* name) const;
 
   /**
    * Get the property object with the given name.
@@ -78,7 +78,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimLong GetLong(const char* name) const;
+  wpi::hal::SimLong GetLong(const char* name) const;
 
   /**
    * Get the property object with the given name.
@@ -86,7 +86,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimDouble GetDouble(const char* name) const;
+  wpi::hal::SimDouble GetDouble(const char* name) const;
 
   /**
    * Get the property object with the given name.
@@ -94,7 +94,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimEnum GetEnum(const char* name) const;
+  wpi::hal::SimEnum GetEnum(const char* name) const;
 
   /**
    * Get the property object with the given name.
@@ -102,7 +102,7 @@ class SimDeviceSim {
    * @param name the property name
    * @return the property object
    */
-  hal::SimBoolean GetBoolean(const char* name) const;
+  wpi::hal::SimBoolean GetBoolean(const char* name) const;
 
   /**
    * Get all options for the given enum.
@@ -159,4 +159,4 @@ class SimDeviceSim {
  private:
   HAL_SimDeviceHandle m_handle;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
index ff2951457f..994d28635b 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
@@ -9,7 +9,7 @@
 #include "wpi/hal/HALBase.h"
 #include "wpi/units/time.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 /**
  * Override the HAL runtime type (simulated/real).
@@ -51,13 +51,13 @@ bool IsTimingPaused();
  *
  * @param delta the amount to advance (in seconds)
  */
-void StepTiming(units::second_t delta);
+void StepTiming(wpi::units::second_t delta);
 
 /**
  * Advance the simulator time and return immediately.
  *
  * @param delta the amount to advance (in seconds)
  */
-void StepTimingAsync(units::second_t delta);
+void StepTimingAsync(wpi::units::second_t delta);
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
index b453a24763..52caea5801 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
@@ -13,7 +13,7 @@
 #include "wpi/units/mass.hpp"
 #include "wpi/units/moment_of_inertia.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 /**
  * Represents a simulated arm mechanism.
  */
@@ -24,7 +24,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    *
    * @param system             The system representing this arm. This system can
    *                           be created with
-   *                           LinearSystemId::SingleJointedArmSystem().
+   *                           wpi::math::LinearSystemId::SingleJointedArmSystem().
    * @param gearbox            The type and number of motors on the arm gearbox.
    * @param gearing            The gear ratio of the arm (numbers greater than 1
    *                           represent reductions).
@@ -35,11 +35,11 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param startingAngle      The initial position of the arm.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
-  SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
-                      const DCMotor& gearbox, double gearing,
-                      units::meter_t armLength, units::radian_t minAngle,
-                      units::radian_t maxAngle, bool simulateGravity,
-                      units::radian_t startingAngle,
+  SingleJointedArmSim(const wpi::math::LinearSystem<2, 1, 2>& system,
+                      const wpi::math::DCMotor& gearbox, double gearing,
+                      wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
+                      wpi::units::radian_t maxAngle, bool simulateGravity,
+                      wpi::units::radian_t startingAngle,
                       const std::array<double, 2>& measurementStdDevs = {0.0,
                                                                          0.0});
   /**
@@ -57,11 +57,11 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param startingAngle      The initial position of the arm.
    * @param measurementStdDevs The standard deviation of the measurement noise.
    */
-  SingleJointedArmSim(const DCMotor& gearbox, double gearing,
-                      units::kilogram_square_meter_t moi,
-                      units::meter_t armLength, units::radian_t minAngle,
-                      units::radian_t maxAngle, bool simulateGravity,
-                      units::radian_t startingAngle,
+  SingleJointedArmSim(const wpi::math::DCMotor& gearbox, double gearing,
+                      wpi::units::kilogram_square_meter_t moi,
+                      wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
+                      wpi::units::radian_t maxAngle, bool simulateGravity,
+                      wpi::units::radian_t startingAngle,
                       const std::array<double, 2>& measurementStdDevs = {0.0,
                                                                          0.0});
 
@@ -74,7 +74,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param angle The new angle.
    * @param velocity The new angular velocity.
    */
-  void SetState(units::radian_t angle, units::radians_per_second_t velocity);
+  void SetState(wpi::units::radian_t angle, wpi::units::radians_per_second_t velocity);
 
   /**
    * Returns whether the arm would hit the lower limit.
@@ -82,7 +82,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param armAngle The arm height.
    * @return Whether the arm would hit the lower limit.
    */
-  bool WouldHitLowerLimit(units::radian_t armAngle) const;
+  bool WouldHitLowerLimit(wpi::units::radian_t armAngle) const;
 
   /**
    * Returns whether the arm would hit the upper limit.
@@ -90,7 +90,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param armAngle The arm height.
    * @return Whether the arm would hit the upper limit.
    */
-  bool WouldHitUpperLimit(units::radian_t armAngle) const;
+  bool WouldHitUpperLimit(wpi::units::radian_t armAngle) const;
 
   /**
    * Returns whether the arm has hit the lower limit.
@@ -111,28 +111,28 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The current arm angle.
    */
-  units::radian_t GetAngle() const;
+  wpi::units::radian_t GetAngle() const;
 
   /**
    * Returns the current arm velocity.
    *
    * @return The current arm velocity.
    */
-  units::radians_per_second_t GetVelocity() const;
+  wpi::units::radians_per_second_t GetVelocity() const;
 
   /**
    * Returns the arm current draw.
    *
    * @return The arm current draw.
    */
-  units::ampere_t GetCurrentDraw() const;
+  wpi::units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the arm.
    *
    * @param voltage The input voltage.
    */
-  void SetInputVoltage(units::volt_t voltage);
+  void SetInputVoltage(wpi::units::volt_t voltage);
 
   /**
    * Calculates a rough estimate of the moment of inertia of an arm given its
@@ -143,8 +143,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The calculated moment of inertia.
    */
-  static constexpr units::kilogram_square_meter_t EstimateMOI(
-      units::meter_t length, units::kilogram_t mass) {
+  static constexpr wpi::units::kilogram_square_meter_t EstimateMOI(
+      wpi::units::meter_t length, wpi::units::kilogram_t mass) {
     return 1.0 / 3.0 * mass * length * length;
   }
 
@@ -156,15 +156,15 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param u           The system inputs (voltage).
    * @param dt          The time difference between controller updates.
    */
-  Vectord<2> UpdateX(const Vectord<2>& currentXhat, const Vectord<1>& u,
-                     units::second_t dt) override;
+  wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat, const wpi::math::Vectord<1>& u,
+                     wpi::units::second_t dt) override;
 
  private:
-  units::meter_t m_armLen;
-  units::radian_t m_minAngle;
-  units::radian_t m_maxAngle;
-  const DCMotor m_gearbox;
+  wpi::units::meter_t m_armLen;
+  wpi::units::radian_t m_minAngle;
+  wpi::units::radian_t m_maxAngle;
+  const wpi::math::DCMotor m_gearbox;
   double m_gearing;
   bool m_simulateGravity;
 };
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
index 8cb158bfc5..dfcda23d0d 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
@@ -9,7 +9,7 @@
 #include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 #include "wpi/simulation/PneumaticsBaseSim.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 class SolenoidSim {
  public:
@@ -41,4 +41,4 @@ class SolenoidSim {
   int m_channel;
 };
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
index a5f2334b05..ecd564b109 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * 2D representation of game field for dashboards.
@@ -38,7 +38,7 @@ namespace frc {
  * also be shown by using the GetObject() function.  Other objects can
  * also have multiple poses (which will show the object at multiple locations).
  */
-class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
+class Field2d : public wpi::nt::NTSendable, public wpi::util::SendableHelper<Field2d> {
  public:
   using Entry = size_t;
 
@@ -52,7 +52,7 @@ class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
    *
    * @param pose 2D pose
    */
-  void SetRobotPose(const Pose2d& pose);
+  void SetRobotPose(const wpi::math::Pose2d& pose);
 
   /**
    * Set the robot pose from x, y, and rotation.
@@ -61,14 +61,14 @@ class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
    * @param y Y location
    * @param rotation rotation
    */
-  void SetRobotPose(units::meter_t x, units::meter_t y, Rotation2d rotation);
+  void SetRobotPose(wpi::units::meter_t x, wpi::units::meter_t y, wpi::math::Rotation2d rotation);
 
   /**
    * Get the robot pose.
    *
    * @return 2D pose
    */
-  Pose2d GetRobotPose() const;
+  wpi::math::Pose2d GetRobotPose() const;
 
   /**
    * Get or create a field object.
@@ -84,13 +84,13 @@ class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
    */
   FieldObject2d* GetRobotObject();
 
-  void InitSendable(nt::NTSendableBuilder& builder) override;
+  void InitSendable(wpi::nt::NTSendableBuilder& builder) override;
 
  private:
-  std::shared_ptr<nt::NetworkTable> m_table;
+  std::shared_ptr<wpi::nt::NetworkTable> m_table;
 
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::vector<std::unique_ptr<FieldObject2d>> m_objects;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
index 5df248590b..47ab8a0fc2 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
@@ -17,10 +17,10 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 
 class Field2d;
-class Trajectory;
+class wpi::math::Trajectory;
 
 /**
  * Game field object on a Field2d.
@@ -40,7 +40,7 @@ class FieldObject2d {
    *
    * @param pose 2D pose
    */
-  void SetPose(const Pose2d& pose);
+  void SetPose(const wpi::math::Pose2d& pose);
 
   /**
    * Set the pose from x, y, and rotation.
@@ -49,14 +49,14 @@ class FieldObject2d {
    * @param y Y location
    * @param rotation rotation
    */
-  void SetPose(units::meter_t x, units::meter_t y, Rotation2d rotation);
+  void SetPose(wpi::units::meter_t x, wpi::units::meter_t y, wpi::math::Rotation2d rotation);
 
   /**
    * Get the pose.
    *
    * @return 2D pose, or 0,0,0 if unknown / does not exist
    */
-  Pose2d GetPose() const;
+  wpi::math::Pose2d GetPose() const;
 
   /**
    * Set multiple poses from an array of Pose objects.
@@ -64,7 +64,7 @@ class FieldObject2d {
    *
    * @param poses array of 2D poses
    */
-  void SetPoses(std::span<const Pose2d> poses);
+  void SetPoses(std::span<const wpi::math::Pose2d> poses);
 
   /**
    * Set multiple poses from an array of Pose objects.
@@ -72,38 +72,38 @@ class FieldObject2d {
    *
    * @param poses array of 2D poses
    */
-  void SetPoses(std::initializer_list<Pose2d> poses);
+  void SetPoses(std::initializer_list<wpi::math::Pose2d> poses);
 
   /**
    * Sets poses from a trajectory.
    *
    * @param trajectory The trajectory from which poses should be added.
    */
-  void SetTrajectory(const Trajectory& trajectory);
+  void SetTrajectory(const wpi::math::Trajectory& trajectory);
 
   /**
    * Get multiple poses.
    *
    * @return vector of 2D poses
    */
-  std::vector<Pose2d> GetPoses() const;
+  std::vector<wpi::math::Pose2d> GetPoses() const;
 
   /**
    * Get multiple poses.
    *
-   * @param out output SmallVector to hold 2D poses
-   * @return span referring to output SmallVector
+   * @param out output wpi::util::SmallVector to hold 2D poses
+   * @return span referring to output wpi::util::SmallVector
    */
-  std::span<const Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
+  std::span<const wpi::math::Pose2d> GetPoses(wpi::util::SmallVectorImpl<wpi::math::Pose2d>& out) const;
 
  private:
   void UpdateEntry(bool setDefault = false);
   void UpdateFromEntry() const;
 
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::string m_name;
-  nt::DoubleArrayEntry m_entry;
-  mutable wpi::SmallVector<Pose2d, 1> m_poses;
+  wpi::nt::DoubleArrayEntry m_entry;
+  mutable wpi::util::SmallVector<wpi::math::Pose2d, 1> m_poses;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
index da2f022615..930ad96eb0 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/util/mutex.hpp"
 
-namespace frc::detail {
+namespace wpi::detail {
 /**
  * An executor for running listener tasks posted by Sendable listeners
  * synchronously from the main application thread.
@@ -33,6 +33,6 @@ class ListenerExecutor {
  private:
   std::vector<std::function<void()>> m_tasks;
   std::vector<std::function<void()>> m_runningTasks;
-  wpi::mutex m_lock;
+  wpi::util::mutex m_lock;
 };
-}  // namespace frc::detail
+}  // namespace wpi::detail
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
index c6f276c976..53cf37455d 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Visual 2D representation of arms, elevators, and general mechanisms through
@@ -38,8 +38,8 @@ namespace frc {
  * @see MechanismLigament2d
  * @see MechanismRoot2d
  */
-class Mechanism2d : public nt::NTSendable,
-                    public wpi::SendableHelper<Mechanism2d> {
+class Mechanism2d : public wpi::nt::NTSendable,
+                    public wpi::util::SendableHelper<Mechanism2d> {
  public:
   /**
    * Create a new Mechanism2d with the given dimensions and background color.
@@ -75,16 +75,16 @@ class Mechanism2d : public nt::NTSendable,
    */
   void SetBackgroundColor(const Color8Bit& color);
 
-  void InitSendable(nt::NTSendableBuilder& builder) override;
+  void InitSendable(wpi::nt::NTSendableBuilder& builder) override;
 
  private:
   double m_width;
   double m_height;
   std::string m_color;
-  mutable wpi::mutex m_mutex;
-  std::shared_ptr<nt::NetworkTable> m_table;
-  wpi::StringMap<MechanismRoot2d> m_roots;
-  nt::DoubleArrayPublisher m_dimsPub;
-  nt::StringPublisher m_colorPub;
+  mutable wpi::util::mutex m_mutex;
+  std::shared_ptr<wpi::nt::NetworkTable> m_table;
+  wpi::util::StringMap<MechanismRoot2d> m_roots;
+  wpi::nt::DoubleArrayPublisher m_dimsPub;
+  wpi::nt::StringPublisher m_colorPub;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
index a5f4bbc813..c980601361 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
@@ -13,7 +13,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/util/Color8Bit.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Ligament node on a Mechanism2d.
@@ -26,8 +26,8 @@ namespace frc {
 class MechanismLigament2d : public MechanismObject2d {
  public:
   MechanismLigament2d(std::string_view name, double length,
-                      units::degree_t angle, double lineWidth = 6,
-                      const frc::Color8Bit& color = {235, 137, 52});
+                      wpi::units::degree_t angle, double lineWidth = 6,
+                      const wpi::Color8Bit& color = {235, 137, 52});
 
   /**
    * Set the ligament color.
@@ -62,7 +62,7 @@ class MechanismLigament2d : public MechanismObject2d {
    *
    * @param angle the angle
    */
-  void SetAngle(units::degree_t angle);
+  void SetAngle(wpi::units::degree_t angle);
 
   /**
    * Get the ligament's angle relative to its parent.
@@ -86,17 +86,17 @@ class MechanismLigament2d : public MechanismObject2d {
   double GetLineWeight();
 
  protected:
-  void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) override;
+  void UpdateEntries(std::shared_ptr<wpi::nt::NetworkTable> table) override;
 
  private:
-  nt::StringPublisher m_typePub;
+  wpi::nt::StringPublisher m_typePub;
   double m_length;
-  nt::DoubleEntry m_lengthEntry;
+  wpi::nt::DoubleEntry m_lengthEntry;
   double m_angle;
-  nt::DoubleEntry m_angleEntry;
+  wpi::nt::DoubleEntry m_angleEntry;
   double m_weight;
-  nt::DoubleEntry m_weightEntry;
+  wpi::nt::DoubleEntry m_weightEntry;
   char m_color[10];
-  nt::StringEntry m_colorEntry;
+  wpi::nt::StringEntry m_colorEntry;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
index c63bde18a9..ccee666523 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
@@ -15,7 +15,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/util/StringMap.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Common base class for all Mechanism2d node types.
@@ -38,9 +38,9 @@ class MechanismObject2d {
    *
    * @param table the new table.
    */
-  virtual void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) = 0;
+  virtual void UpdateEntries(std::shared_ptr<wpi::nt::NetworkTable> table) = 0;
 
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
 
  public:
   virtual ~MechanismObject2d() = default;
@@ -82,8 +82,8 @@ class MechanismObject2d {
 
  private:
   std::string m_name;
-  wpi::StringMap<std::unique_ptr<MechanismObject2d>> m_objects;
-  std::shared_ptr<nt::NetworkTable> m_table;
-  void Update(std::shared_ptr<nt::NetworkTable> table);
+  wpi::util::StringMap<std::unique_ptr<MechanismObject2d>> m_objects;
+  std::shared_ptr<wpi::nt::NetworkTable> m_table;
+  void Update(std::shared_ptr<wpi::nt::NetworkTable> table);
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
index 7c14eb0678..d7c5748183 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
@@ -10,7 +10,7 @@
 #include "wpi/nt/DoubleTopic.hpp"
 #include "wpi/smartdashboard/MechanismObject2d.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Root Mechanism2d node.
@@ -43,11 +43,11 @@ class MechanismRoot2d : private MechanismObject2d {
   using MechanismObject2d::Append;
 
  private:
-  void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) override;
+  void UpdateEntries(std::shared_ptr<wpi::nt::NetworkTable> table) override;
   inline void Flush();
   double m_x;
   double m_y;
-  nt::DoublePublisher m_xPub;
-  nt::DoublePublisher m_yPub;
+  wpi::nt::DoublePublisher m_xPub;
+  wpi::nt::DoublePublisher m_yPub;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
index bfd50bd4a6..7d913498af 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
@@ -19,12 +19,12 @@
 #include "wpi/util/FunctionExtras.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Implementation detail for SendableBuilder.
  */
-class SendableBuilderImpl : public nt::NTSendableBuilder {
+class SendableBuilderImpl : public wpi::nt::NTSendableBuilder {
  public:
   SendableBuilderImpl() = default;
   ~SendableBuilderImpl() override = default;
@@ -37,13 +37,13 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
    * called.
    * @param table Network table
    */
-  void SetTable(std::shared_ptr<nt::NetworkTable> table);
+  void SetTable(std::shared_ptr<wpi::nt::NetworkTable> table);
 
   /**
    * Get the network table.
    * @return The network table
    */
-  std::shared_ptr<nt::NetworkTable> GetTable() override;
+  std::shared_ptr<wpi::nt::NetworkTable> GetTable() override;
 
   /**
    * Return whether this sendable has an associated table.
@@ -80,8 +80,8 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
 
   void SetSmartDashboardType(std::string_view type) override;
   void SetActuator(bool value) override;
-  void SetUpdateTable(wpi::unique_function<void()> func) override;
-  nt::Topic GetTopic(std::string_view key) override;
+  void SetUpdateTable(wpi::util::unique_function<void()> func) override;
+  wpi::nt::Topic GetTopic(std::string_view key) override;
 
   void AddBooleanProperty(std::string_view key, std::function<bool()> getter,
                           std::function<void(bool)> setter) override;
@@ -155,44 +155,44 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
 
   void AddSmallStringProperty(
       std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<std::string_view(wpi::util::SmallVectorImpl<char>& buf)> getter,
       std::function<void(std::string_view)> setter) override;
 
   void AddSmallBooleanArrayProperty(
       std::string_view key,
-      std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)>
+      std::function<std::span<const int>(wpi::util::SmallVectorImpl<int>& buf)>
           getter,
       std::function<void(std::span<const int>)> setter) override;
 
   void AddSmallIntegerArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
+          std::span<const int64_t>(wpi::util::SmallVectorImpl<int64_t>& buf)>
           getter,
       std::function<void(std::span<const int64_t>)> setter) override;
 
   void AddSmallFloatArrayProperty(
       std::string_view key,
-      std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
+      std::function<std::span<const float>(wpi::util::SmallVectorImpl<float>& buf)>
           getter,
       std::function<void(std::span<const float>)> setter) override;
 
   void AddSmallDoubleArrayProperty(
       std::string_view key,
-      std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
+      std::function<std::span<const double>(wpi::util::SmallVectorImpl<double>& buf)>
           getter,
       std::function<void(std::span<const double>)> setter) override;
 
   void AddSmallStringArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
+          std::span<const std::string>(wpi::util::SmallVectorImpl<std::string>& buf)>
           getter,
       std::function<void(std::span<const std::string>)> setter) override;
 
   void AddSmallRawProperty(
       std::string_view key, std::string_view typeString,
-      std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
+      std::function<std::span<uint8_t>(wpi::util::SmallVectorImpl<uint8_t>& buf)>
           getter,
       std::function<void(std::span<const uint8_t>)> setter) override;
 
@@ -225,14 +225,14 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   void AddSmallPropertyImpl(Topic topic, Getter getter, Setter setter);
 
   std::vector<std::unique_ptr<Property>> m_properties;
-  std::vector<wpi::unique_function<void()>> m_updateTables;
-  std::shared_ptr<nt::NetworkTable> m_table;
+  std::vector<wpi::util::unique_function<void()>> m_updateTables;
+  std::shared_ptr<wpi::nt::NetworkTable> m_table;
   bool m_controllable = false;
   bool m_actuator = false;
 
-  nt::BooleanPublisher m_controllablePublisher;
-  nt::StringPublisher m_typePublisher;
-  nt::BooleanPublisher m_actuatorPublisher;
+  wpi::nt::BooleanPublisher m_controllablePublisher;
+  wpi::nt::StringPublisher m_typePublisher;
+  wpi::nt::BooleanPublisher m_actuatorPublisher;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
index 92e20e8e0a..20e44e48cf 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * The SendableChooser class is a useful tool for presenting a selection of
@@ -35,7 +35,7 @@ namespace frc {
 template <class T>
   requires std::copy_constructible<T> && std::default_initializable<T>
 class SendableChooser : public SendableChooserBase {
-  wpi::StringMap<T> m_choices;
+  wpi::util::StringMap<T> m_choices;
   std::function<void(T)> m_listener;
   template <class U>
   static U _unwrap_smart_ptr(const U& value) {
@@ -123,7 +123,7 @@ class SendableChooser : public SendableChooserBase {
     m_listener = listener;
   }
 
-  void InitSendable(wpi::SendableBuilder& builder) override {
+  void InitSendable(wpi::util::SendableBuilder& builder) override {
     builder.SetSmartDashboardType("String Chooser");
     builder.PublishConstInteger(kInstance, m_instance);
     builder.AddStringArrayProperty(
@@ -138,13 +138,13 @@ class SendableChooser : public SendableChooserBase {
         nullptr);
     builder.AddSmallStringProperty(
         kDefault,
-        [=, this](wpi::SmallVectorImpl<char>&) -> std::string_view {
+        [=, this](wpi::util::SmallVectorImpl<char>&) -> std::string_view {
           return m_defaultChoice;
         },
         nullptr);
     builder.AddSmallStringProperty(
         kActive,
-        [=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
+        [=, this](wpi::util::SmallVectorImpl<char>& buf) -> std::string_view {
           std::scoped_lock lock(m_mutex);
           if (m_haveSelected) {
             buf.assign(m_selected.begin(), m_selected.end());
@@ -175,4 +175,4 @@ class SendableChooser : public SendableChooserBase {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
index 23657f6283..292634847e 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
@@ -11,7 +11,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * This class is a non-template base class for SendableChooser.
@@ -19,8 +19,8 @@ namespace frc {
  * It contains static, non-templated variables to avoid their duplication in the
  * template class.
  */
-class SendableChooserBase : public wpi::Sendable,
-                            public wpi::SendableHelper<SendableChooserBase> {
+class SendableChooserBase : public wpi::util::Sendable,
+                            public wpi::util::SendableHelper<SendableChooserBase> {
  public:
   SendableChooserBase();
   ~SendableChooserBase() override = default;
@@ -38,10 +38,10 @@ class SendableChooserBase : public wpi::Sendable,
   std::string m_defaultChoice;
   std::string m_selected;
   bool m_haveSelected = false;
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   int m_instance;
   std::string m_previousVal;
   static std::atomic_int s_instances;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
index b965522cf2..9b354d0630 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
@@ -18,7 +18,7 @@ namespace wpi {
 class Sendable;
 }  // namespace wpi
 
-namespace frc {
+namespace wpi {
 
 class SmartDashboard {
  public:
@@ -71,7 +71,7 @@ class SmartDashboard {
    * @param key the key
    * @return    the entry for the key
    */
-  static nt::NetworkTableEntry GetEntry(std::string_view key);
+  static wpi::nt::NetworkTableEntry GetEntry(std::string_view key);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -85,7 +85,7 @@ class SmartDashboard {
    * @param key  the key
    * @param data the value
    */
-  static void PutData(std::string_view key, wpi::Sendable* data);
+  static void PutData(std::string_view key, wpi::util::Sendable* data);
 
   /**
    * Maps the specified key (where the key is the name of the Sendable)
@@ -99,7 +99,7 @@ class SmartDashboard {
    *
    * @param value the value
    */
-  static void PutData(wpi::Sendable* value);
+  static void PutData(wpi::util::Sendable* value);
 
   /**
    * Returns the value at the specified key.
@@ -107,7 +107,7 @@ class SmartDashboard {
    * @param keyName the key
    * @return the value
    */
-  static wpi::Sendable* GetData(std::string_view keyName);
+  static wpi::util::Sendable* GetData(std::string_view keyName);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -371,7 +371,7 @@ class SmartDashboard {
    * @param value   the value
    * @return        False if the table key already exists with a different type
    */
-  static bool PutValue(std::string_view keyName, const nt::Value& value);
+  static bool PutValue(std::string_view keyName, const wpi::nt::Value& value);
 
   /**
    * Set the value in the table if key does not exist.
@@ -381,7 +381,7 @@ class SmartDashboard {
    * @returns True if the table key did not already exist, otherwise False
    */
   static bool SetDefaultValue(std::string_view key,
-                              const nt::Value& defaultValue);
+                              const wpi::nt::Value& defaultValue);
 
   /**
    * Retrieves the complex value (such as an array) in this table into the
@@ -389,7 +389,7 @@ class SmartDashboard {
    *
    * @param keyName the key
    */
-  static nt::Value GetValue(std::string_view keyName);
+  static wpi::nt::Value GetValue(std::string_view keyName);
 
   /**
    * Posts a task from a listener to the ListenerExecutor, so that it can be run
@@ -405,4 +405,4 @@ class SmartDashboard {
   static void UpdateValues();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp b/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
index 443d069455..9456ee607e 100644
--- a/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
+++ b/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
@@ -17,7 +17,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc::sysid {
+namespace wpi::sysid {
 
 /**
  * Possible state of a SysId routine.
@@ -41,8 +41,8 @@ enum class State {
  * SysIdRoutineLog instance, with a unique log name.
  */
 class SysIdRoutineLog {
-  using MotorEntries = wpi::StringMap<wpi::log::DoubleLogEntry>;
-  using LogEntries = wpi::StringMap<MotorEntries>;
+  using MotorEntries = wpi::util::StringMap<wpi::log::DoubleLogEntry>;
+  using LogEntries = wpi::util::StringMap<MotorEntries>;
 
  public:
   /** Logs data from a single motor during a SysIdRoutine. */
@@ -64,7 +64,7 @@ class SysIdRoutineLog {
      * @param voltage The voltage to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& voltage(units::volt_t voltage) {
+    MotorLog& voltage(wpi::units::volt_t voltage) {
       return value("voltage", voltage.value(), voltage.name());
     }
 
@@ -74,7 +74,7 @@ class SysIdRoutineLog {
      * @param position The linear position to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& position(units::meter_t position) {
+    MotorLog& position(wpi::units::meter_t position) {
       return value("position", position.value(), position.name());
     }
 
@@ -84,7 +84,7 @@ class SysIdRoutineLog {
      * @param position The angular position to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& position(units::turn_t position) {
+    MotorLog& position(wpi::units::turn_t position) {
       return value("position", position.value(), position.name());
     }
 
@@ -94,7 +94,7 @@ class SysIdRoutineLog {
      * @param velocity The linear velocity to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& velocity(units::meters_per_second_t velocity) {
+    MotorLog& velocity(wpi::units::meters_per_second_t velocity) {
       return value("velocity", velocity.value(), velocity.name());
     }
 
@@ -104,7 +104,7 @@ class SysIdRoutineLog {
      * @param velocity The angular velocity to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& velocity(units::turns_per_second_t velocity) {
+    MotorLog& velocity(wpi::units::turns_per_second_t velocity) {
       return value("velocity", velocity.value(), velocity.name());
     }
 
@@ -116,7 +116,7 @@ class SysIdRoutineLog {
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& acceleration(units::meters_per_second_squared_t acceleration) {
+    MotorLog& acceleration(wpi::units::meters_per_second_squared_t acceleration) {
       return value("acceleration", acceleration.value(), acceleration.name());
     }
 
@@ -128,7 +128,7 @@ class SysIdRoutineLog {
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& acceleration(units::turns_per_second_squared_t acceleration) {
+    MotorLog& acceleration(wpi::units::turns_per_second_squared_t acceleration) {
       return value("acceleration", acceleration.value(), acceleration.name());
     }
 
@@ -140,7 +140,7 @@ class SysIdRoutineLog {
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
-    MotorLog& current(units::ampere_t current) {
+    MotorLog& current(wpi::units::ampere_t current) {
       return value("current", current.value(), current.name());
     }
 
@@ -197,4 +197,4 @@ class SysIdRoutineLog {
   bool m_stateInitialized = false;
   wpi::log::StringLogEntry m_state;
 };
-}  // namespace frc::sysid
+}  // namespace wpi::sysid
diff --git a/wpilibc/src/main/native/include/wpi/system/DataLogManager.hpp b/wpilibc/src/main/native/include/wpi/system/DataLogManager.hpp
index e8b30cb142..ff21b5ee94 100644
--- a/wpilibc/src/main/native/include/wpi/system/DataLogManager.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/DataLogManager.hpp
@@ -11,7 +11,7 @@ namespace wpi::log {
 class DataLog;
 }  // namespace wpi::log
 
-namespace frc {
+namespace wpi {
 
 /**
  * Centralized data log that provides automatic data log file management. It
@@ -93,4 +93,4 @@ class DataLogManager final {
   static void LogConsoleOutput(bool enabled);
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Errors.hpp b/wpilibc/src/main/native/include/wpi/system/Errors.hpp
index d3febda277..241a4fb3ec 100644
--- a/wpilibc/src/main/native/include/wpi/system/Errors.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Errors.hpp
@@ -12,7 +12,7 @@
 
 #include <fmt/format.h>
 
-namespace frc {
+namespace wpi {
 
 /**
  * Runtime error exception.
@@ -120,7 +120,7 @@ namespace warn {
 #include "wpi/system/WPIWarnings.mac"
 #undef S
 }  // namespace warn
-}  // namespace frc
+}  // namespace wpi
 
 // C++20 relaxed the number of arguments to variadics, but Apple Clang's
 // warnings haven't caught up yet: https://stackoverflow.com/a/67996331
@@ -137,7 +137,7 @@ namespace warn {
 #define FRC_ReportError(status, format, ...)                       \
   do {                                                             \
     if ((status) != 0) {                                           \
-      ::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
+      ::wpi::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
                          format __VA_OPT__(, ) __VA_ARGS__);       \
     }                                                              \
   } while (0)
@@ -149,7 +149,7 @@ namespace warn {
  */
 #define FRC_ReportWarning(format, ...)                                         \
   do {                                                                         \
-    ::frc::ReportError(::frc::warn::Warning, __FILE__, __LINE__, __FUNCTION__, \
+    ::wpi::ReportError(::wpi::warn::Warning, __FILE__, __LINE__, __FUNCTION__, \
                        format __VA_OPT__(, ) __VA_ARGS__);                     \
   } while (0)
 
@@ -162,7 +162,7 @@ namespace warn {
  * @return runtime error object
  */
 #define FRC_MakeError(status, format, ...)                   \
-  ::frc::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
+  ::wpi::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
                    format __VA_OPT__(, ) __VA_ARGS__)
 
 /**
@@ -175,10 +175,10 @@ namespace warn {
 #define FRC_CheckErrorStatus(status, format, ...)                      \
   do {                                                                 \
     if ((status) < 0) {                                                \
-      throw ::frc::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
+      throw ::wpi::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
                              format __VA_OPT__(, ) __VA_ARGS__);       \
     } else if ((status) > 0) {                                         \
-      ::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__,     \
+      ::wpi::ReportError(status, __FILE__, __LINE__, __FUNCTION__,     \
                          format __VA_OPT__(, ) __VA_ARGS__);           \
     }                                                                  \
   } while (0)
@@ -186,7 +186,7 @@ namespace warn {
 #define FRC_AssertMessage(condition, format, ...)                              \
   do {                                                                         \
     if (!(condition)) {                                                        \
-      throw ::frc::MakeError(::frc::err::AssertionFailure, __FILE__, __LINE__, \
+      throw ::wpi::MakeError(::wpi::err::AssertionFailure, __FILE__, __LINE__, \
                              __FUNCTION__, format __VA_OPT__(, ) __VA_ARGS__); \
     }                                                                          \
   } while (0)
diff --git a/wpilibc/src/main/native/include/wpi/system/Filesystem.hpp b/wpilibc/src/main/native/include/wpi/system/Filesystem.hpp
index 59a3415931..fd477caf8e 100644
--- a/wpilibc/src/main/native/include/wpi/system/Filesystem.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Filesystem.hpp
@@ -7,7 +7,7 @@
 #include <string>
 
 /** WPILib FileSystem namespace */
-namespace frc::filesystem {
+namespace wpi::filesystem {
 
 /**
  * Obtains the current working path that the program was launched with.
@@ -36,4 +36,4 @@ std::string GetOperatingDirectory();
  */
 std::string GetDeployDirectory();
 
-}  // namespace frc::filesystem
+}  // namespace wpi::filesystem
diff --git a/wpilibc/src/main/native/include/wpi/system/Notifier.hpp b/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
index e5e6caf5b6..14f25d067e 100644
--- a/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
@@ -18,7 +18,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Notifiers run a user-provided callback function on a separate thread.
@@ -95,7 +95,7 @@ class Notifier {
    *
    * @param delay Time to wait before the callback is called.
    */
-  void StartSingle(units::second_t delay);
+  void StartSingle(wpi::units::second_t delay);
 
   /**
    * Run the callback periodically with the given period.
@@ -106,7 +106,7 @@ class Notifier {
    * @param period Period after which to call the callback starting one
    *               period after the call to this method.
    */
-  void StartPeriodic(units::second_t period);
+  void StartPeriodic(wpi::units::second_t period);
 
   /**
    * Run the callback periodically with the given frequency.
@@ -117,7 +117,7 @@ class Notifier {
    * @param frequency Frequency after which to call the callback starting one
    *                  period after the call to this method.
    */
-  void StartPeriodic(units::hertz_t frequency);
+  void StartPeriodic(wpi::units::hertz_t frequency);
 
   /**
    * Stop further callback invocations.
@@ -164,7 +164,7 @@ class Notifier {
   std::thread m_thread;
 
   // The mutex held while updating process information
-  wpi::mutex m_processMutex;
+  wpi::util::mutex m_processMutex;
 
   // HAL handle (atomic for proper destruction)
   std::atomic<HAL_NotifierHandle> m_notifier{0};
@@ -174,14 +174,14 @@ class Notifier {
 
   // The time at which the callback should be called. Has the same zero as
   // Timer::GetFPGATimestamp().
-  units::second_t m_expirationTime = 0_s;
+  wpi::units::second_t m_expirationTime = 0_s;
 
   // If periodic, stores the callback period; if single, stores the time until
   // the callback call.
-  units::second_t m_period = 0_s;
+  wpi::units::second_t m_period = 0_s;
 
   // True if the callback is periodic
   bool m_periodic = false;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Resource.hpp b/wpilibc/src/main/native/include/wpi/system/Resource.hpp
index 6421c3c985..8a356bbf13 100644
--- a/wpilibc/src/main/native/include/wpi/system/Resource.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Resource.hpp
@@ -12,7 +12,7 @@
 
 #include "wpi/util/mutex.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * The Resource class is a convenient way to track allocated resources.
@@ -80,9 +80,9 @@ class [[deprecated("Use the HandleResource classes instead")]] Resource {
 
  private:
   std::vector<bool> m_isAllocated;
-  wpi::mutex m_allocateMutex;
+  wpi::util::mutex m_allocateMutex;
 
-  static wpi::mutex m_createMutex;
+  static wpi::util::mutex m_createMutex;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/RobotController.hpp b/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
index 4dab91ace4..10f3f7eb6a 100644
--- a/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/temperature.hpp"
 #include "wpi/units/voltage.hpp"
 
-namespace frc {
+namespace wpi {
 
 struct CANStatus {
   float percentBusUtilization;
@@ -82,7 +82,7 @@ class RobotController {
    *
    * @return The battery voltage in Volts.
    */
-  static units::volt_t GetBatteryVoltage();
+  static wpi::units::volt_t GetBatteryVoltage();
 
   /**
    * Check if the FPGA outputs are enabled.
@@ -175,7 +175,7 @@ class RobotController {
    *
    * @return The brownout voltage
    */
-  static units::volt_t GetBrownoutVoltage();
+  static wpi::units::volt_t GetBrownoutVoltage();
 
   /**
    * Set the voltage the roboRIO will brownout and disable all outputs.
@@ -185,14 +185,14 @@ class RobotController {
    *
    * @param brownoutVoltage The brownout voltage
    */
-  static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
+  static void SetBrownoutVoltage(wpi::units::volt_t brownoutVoltage);
 
   /**
    * Get the current CPU temperature.
    *
    * @return current CPU temperature
    */
-  static units::celsius_t GetCPUTemp();
+  static wpi::units::celsius_t GetCPUTemp();
 
   /**
    * Get the current status of the CAN bus.
@@ -206,4 +206,4 @@ class RobotController {
   static std::function<uint64_t()> m_timeSource;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp b/wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp
index 8705020f9c..6e1c2131b2 100644
--- a/wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 /**
  * Runtime type.
  */
@@ -17,4 +17,4 @@ enum RuntimeType {
   kSimulation,
   kSystemCore
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp b/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
index ec6670b60a..18dfac3a94 100644
--- a/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
@@ -9,17 +9,17 @@
 
 #include "wpi/system/Tracer.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 }  // namespace wpi
 
-namespace frc {
+namespace wpi {
 /**
  * A class for keeping track of how much time it takes for different
  * parts of code to execute. This class uses RAII, meaning you simply
  * need to create an instance at the top of the block you are timing. After the
  * block finishes execution (i.e. when the ScopedTracer instance gets
- * destroyed), the epoch is printed to the provided raw_ostream.
+ * destroyed), the epoch is printed to the provided wpi::util::raw_ostream.
  */
 class ScopedTracer {
  public:
@@ -27,9 +27,9 @@ class ScopedTracer {
    * Constructs a ScopedTracer instance.
    *
    * @param name The name of the epoch.
-   * @param os A reference to the raw_ostream to print data to.
+   * @param os A reference to the wpi::util::raw_ostream to print data to.
    */
-  ScopedTracer(std::string_view name, wpi::raw_ostream& os);
+  ScopedTracer(std::string_view name, wpi::util::raw_ostream& os);
   ~ScopedTracer();
 
   ScopedTracer(const ScopedTracer&) = delete;
@@ -38,6 +38,6 @@ class ScopedTracer {
  private:
   Tracer m_tracer;
   std::string m_name;
-  wpi::raw_ostream& m_os;
+  wpi::util::raw_ostream& m_os;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp b/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
index 0d07b80c58..a7d4bec632 100644
--- a/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
@@ -6,13 +6,13 @@
 
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-namespace frc {
+namespace wpi {
 
 class SystemServer {
  public:
   SystemServer() = delete;
 
-  static nt::NetworkTableInstance GetSystemServer();
+  static wpi::nt::NetworkTableInstance GetSystemServer();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Threads.hpp b/wpilibc/src/main/native/include/wpi/system/Threads.hpp
index 5822670733..b434a9a401 100644
--- a/wpilibc/src/main/native/include/wpi/system/Threads.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Threads.hpp
@@ -6,7 +6,7 @@
 
 #include <thread>
 
-namespace frc {
+namespace wpi {
 
 /**
  * Get the thread priority for the specified thread.
@@ -54,4 +54,4 @@ bool SetThreadPriority(std::thread& thread, bool realTime, int priority);
  */
 bool SetCurrentThreadPriority(bool realTime, int priority);
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Timer.hpp b/wpilibc/src/main/native/include/wpi/system/Timer.hpp
index a4ce3e8c65..03820002e1 100644
--- a/wpilibc/src/main/native/include/wpi/system/Timer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Timer.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Pause the task for a specified time.
@@ -18,19 +18,19 @@ namespace frc {
  *
  * @param seconds Length of time to pause, in seconds.
  */
-void Wait(units::second_t seconds);
+void Wait(wpi::units::second_t seconds);
 
 /**
  * @brief  Gives real-time clock system time with nanosecond resolution
  * @return The time, just in case you want the robot to start autonomous at 8pm
  *         on Saturday.
  */
-units::second_t GetTime();
+wpi::units::second_t GetTime();
 
 /**
  * A timer class.
  *
- * Note that if the user calls frc::sim::RestartTiming(), they should also reset
+ * Note that if the user calls wpi::sim::RestartTiming(), they should also reset
  * the timer so Get() won't return a negative duration.
  */
 class Timer {
@@ -57,7 +57,7 @@ class Timer {
    *
    * @return Current time value for this timer in seconds
    */
-  units::second_t Get() const;
+  wpi::units::second_t Get() const;
 
   /**
    * Reset the timer by setting the time to 0.
@@ -99,7 +99,7 @@ class Timer {
    * @param period The period to check.
    * @return       True if the period has passed.
    */
-  bool HasElapsed(units::second_t period) const;
+  bool HasElapsed(wpi::units::second_t period) const;
 
   /**
    * Check if the period specified has passed and if it has, advance the start
@@ -109,7 +109,7 @@ class Timer {
    * @param period The period to check for.
    * @return       True if the period has passed.
    */
-  bool AdvanceIfElapsed(units::second_t period);
+  bool AdvanceIfElapsed(wpi::units::second_t period);
 
   /**
    * Whether the timer is currently running.
@@ -126,7 +126,7 @@ class Timer {
    *
    * @returns Robot running time in seconds.
    */
-  static units::second_t GetTimestamp();
+  static wpi::units::second_t GetTimestamp();
 
   /**
    * Return the FPGA system clock time in seconds.
@@ -136,7 +136,7 @@ class Timer {
    *
    * @returns Robot running time in seconds.
    */
-  static units::second_t GetFPGATimestamp();
+  static wpi::units::second_t GetFPGATimestamp();
 
   /**
    * Return the approximate match time.
@@ -153,12 +153,12 @@ class Timer {
    *
    * @return Time remaining in current match period (auto or teleop)
    */
-  static units::second_t GetMatchTime();
+  static wpi::units::second_t GetMatchTime();
 
  private:
-  units::second_t m_startTime = 0_s;
-  units::second_t m_accumulatedTime = 0_s;
+  wpi::units::second_t m_startTime = 0_s;
+  wpi::units::second_t m_accumulatedTime = 0_s;
   bool m_running = false;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Tracer.hpp b/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
index 2601e52e05..be139a289e 100644
--- a/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
@@ -10,11 +10,11 @@
 #include "wpi/hal/cpp/fpga_clock.h"
 #include "wpi/util/StringMap.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 }  // namespace wpi
 
-namespace frc {
+namespace wpi {
 /**
  * A class for keeping track of how much time it takes for different parts of
  * code to execute. This is done with epochs, that are added to calls to
@@ -60,14 +60,14 @@ class Tracer {
    *
    * @param os output stream
    */
-  void PrintEpochs(wpi::raw_ostream& os);
+  void PrintEpochs(wpi::util::raw_ostream& os);
 
  private:
   static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
 
-  hal::fpga_clock::time_point m_startTime;
-  hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
+  wpi::hal::fpga_clock::time_point m_startTime;
+  wpi::hal::fpga_clock::time_point m_lastEpochsPrintTime = wpi::hal::fpga_clock::epoch();
 
-  wpi::StringMap<std::chrono::nanoseconds> m_epochs;
+  wpi::util::StringMap<std::chrono::nanoseconds> m_epochs;
 };
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp b/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
index 252767c2c3..bd27ad2f9d 100644
--- a/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
@@ -11,7 +11,7 @@
 #include "wpi/system/Tracer.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * A class that's a wrapper around a watchdog timer.
@@ -31,10 +31,10 @@ class Watchdog {
    *                 resolution.
    * @param callback This function is called when the timeout expires.
    */
-  Watchdog(units::second_t timeout, std::function<void()> callback);
+  Watchdog(wpi::units::second_t timeout, std::function<void()> callback);
 
   template <typename Callable, typename Arg, typename... Args>
-  Watchdog(units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
+  Watchdog(wpi::units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
       : Watchdog(timeout,
                  std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
                            std::forward<Args>(args)...)) {}
@@ -47,7 +47,7 @@ class Watchdog {
   /**
    * Returns the time since the watchdog was last fed.
    */
-  units::second_t GetTime() const;
+  wpi::units::second_t GetTime() const;
 
   /**
    * Sets the watchdog's timeout.
@@ -55,12 +55,12 @@ class Watchdog {
    * @param timeout The watchdog's timeout in seconds with microsecond
    *                resolution.
    */
-  void SetTimeout(units::second_t timeout);
+  void SetTimeout(wpi::units::second_t timeout);
 
   /**
    * Returns the watchdog's timeout.
    */
-  units::second_t GetTimeout() const;
+  wpi::units::second_t GetTimeout() const;
 
   /**
    * Returns true if the watchdog timer has expired.
@@ -113,11 +113,11 @@ class Watchdog {
   // Used for timeout print rate-limiting
   static constexpr auto kMinPrintPeriod = 1_s;
 
-  units::second_t m_startTime = 0_s;
-  units::second_t m_timeout;
-  units::second_t m_expirationTime = 0_s;
+  wpi::units::second_t m_startTime = 0_s;
+  wpi::units::second_t m_timeout;
+  wpi::units::second_t m_expirationTime = 0_s;
   std::function<void()> m_callback;
-  units::second_t m_lastTimeoutPrintTime = 0_s;
+  wpi::units::second_t m_lastTimeoutPrintTime = 0_s;
 
   Tracer m_tracer;
   bool m_isExpired = false;
@@ -132,4 +132,4 @@ class Watchdog {
   static Impl* GetImpl();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/util/Alert.hpp b/wpilibc/src/main/native/include/wpi/util/Alert.hpp
index d51eba2b76..6286413ba1 100644
--- a/wpilibc/src/main/native/include/wpi/util/Alert.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Alert.hpp
@@ -9,7 +9,7 @@
 #include <set>
 #include <string>
 
-namespace frc {
+namespace wpi {
 
 /**
  * Persistent alert to be sent via NetworkTables. Alerts are tagged with a type
@@ -27,7 +27,7 @@ namespace frc {
  *
  * <pre>
  * class Robot {
- *   frc::Alert alert{"Something went wrong", frc::Alert::AlertType::kWarning};
+ *   wpi::Alert alert{"Something went wrong", wpi::Alert::AlertType::kWarning};
  * }
  *
  * Robot::periodic() {
@@ -138,4 +138,4 @@ class Alert {
 
 std::string format_as(Alert::AlertType type);
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/util/Color.hpp b/wpilibc/src/main/native/include/wpi/util/Color.hpp
index 22bd61a7d7..f1ea0f5ded 100644
--- a/wpilibc/src/main/native/include/wpi/util/Color.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Color.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/ct_string.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Represents colors that can be used with Addressable LEDs.
@@ -782,19 +782,19 @@ class Color {
    */
   explicit constexpr Color(std::string_view hexString) {
     if (hexString.length() != 7 || !hexString.starts_with("#") ||
-        !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
-        !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
-        !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+        !wpi::util::isHexDigit(hexString[1]) || !wpi::util::isHexDigit(hexString[2]) ||
+        !wpi::util::isHexDigit(hexString[3]) || !wpi::util::isHexDigit(hexString[4]) ||
+        !wpi::util::isHexDigit(hexString[5]) || !wpi::util::isHexDigit(hexString[6])) {
       throw std::invalid_argument(
           fmt::format("Invalid hex string for Color \"{}\"", hexString));
     }
 
-    int r = wpi::hexDigitValue(hexString[1]) * 16 +
-            wpi::hexDigitValue(hexString[2]);
-    int g = wpi::hexDigitValue(hexString[3]) * 16 +
-            wpi::hexDigitValue(hexString[4]);
-    int b = wpi::hexDigitValue(hexString[5]) * 16 +
-            wpi::hexDigitValue(hexString[6]);
+    int r = wpi::util::hexDigitValue(hexString[1]) * 16 +
+            wpi::util::hexDigitValue(hexString[2]);
+    int g = wpi::util::hexDigitValue(hexString[3]) * 16 +
+            wpi::util::hexDigitValue(hexString[4]);
+    int b = wpi::util::hexDigitValue(hexString[5]) * 16 +
+            wpi::util::hexDigitValue(hexString[6]);
 
     red = r / 255.0;
     green = g / 255.0;
@@ -859,10 +859,10 @@ class Color {
     const int g = 255.0 * green;
     const int b = 255.0 * blue;
 
-    return wpi::ct_string<char, std::char_traits<char>, 7>{
-        {'#', wpi::hexdigit(r / 16), wpi::hexdigit(r % 16),
-         wpi::hexdigit(g / 16), wpi::hexdigit(g % 16), wpi::hexdigit(b / 16),
-         wpi::hexdigit(b % 16)}};
+    return wpi::util::ct_string<char, std::char_traits<char>, 7>{
+        {'#', wpi::util::hexdigit(r / 16), wpi::util::hexdigit(r % 16),
+         wpi::util::hexdigit(g / 16), wpi::util::hexdigit(g % 16), wpi::util::hexdigit(b / 16),
+         wpi::util::hexdigit(b % 16)}};
   }
 
   /// Red component (0-1).
@@ -1053,4 +1053,4 @@ inline constexpr Color Color::kWhiteSmoke{0.9607843f, 0.9607843f, 0.9607843f};
 inline constexpr Color Color::kYellow{1.0f, 1.0f, 0.0f};
 inline constexpr Color Color::kYellowGreen{0.6039216f, 0.8039216f, 0.19607843f};
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp b/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
index 840dc54add..09a856ea9c 100644
--- a/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/ct_string.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Represents colors that can be used with Addressable LEDs.
@@ -57,19 +57,19 @@ class Color8Bit {
    */
   explicit constexpr Color8Bit(std::string_view hexString) {
     if (hexString.length() != 7 || !hexString.starts_with("#") ||
-        !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
-        !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
-        !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+        !wpi::util::isHexDigit(hexString[1]) || !wpi::util::isHexDigit(hexString[2]) ||
+        !wpi::util::isHexDigit(hexString[3]) || !wpi::util::isHexDigit(hexString[4]) ||
+        !wpi::util::isHexDigit(hexString[5]) || !wpi::util::isHexDigit(hexString[6])) {
       throw std::invalid_argument(
           fmt::format("Invalid hex string for Color \"{}\"", hexString));
     }
 
-    red = wpi::hexDigitValue(hexString[1]) * 16 +
-          wpi::hexDigitValue(hexString[2]);
-    green = wpi::hexDigitValue(hexString[3]) * 16 +
-            wpi::hexDigitValue(hexString[4]);
-    blue = wpi::hexDigitValue(hexString[5]) * 16 +
-           wpi::hexDigitValue(hexString[6]);
+    red = wpi::util::hexDigitValue(hexString[1]) * 16 +
+          wpi::util::hexDigitValue(hexString[2]);
+    green = wpi::util::hexDigitValue(hexString[3]) * 16 +
+            wpi::util::hexDigitValue(hexString[4]);
+    blue = wpi::util::hexDigitValue(hexString[5]) * 16 +
+           wpi::util::hexDigitValue(hexString[6]);
   }
 
   constexpr bool operator==(const Color8Bit&) const = default;
@@ -87,19 +87,19 @@ class Color8Bit {
    */
   static constexpr Color8Bit FromHexString(std::string_view hexString) {
     if (hexString.length() != 7 || !hexString.starts_with("#") ||
-        !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
-        !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
-        !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+        !wpi::util::isHexDigit(hexString[1]) || !wpi::util::isHexDigit(hexString[2]) ||
+        !wpi::util::isHexDigit(hexString[3]) || !wpi::util::isHexDigit(hexString[4]) ||
+        !wpi::util::isHexDigit(hexString[5]) || !wpi::util::isHexDigit(hexString[6])) {
       throw std::invalid_argument(
           fmt::format("Invalid hex string for Color \"{}\"", hexString));
     }
 
-    int r = wpi::hexDigitValue(hexString[0]) * 16 +
-            wpi::hexDigitValue(hexString[1]);
-    int g = wpi::hexDigitValue(hexString[2]) * 16 +
-            wpi::hexDigitValue(hexString[3]);
-    int b = wpi::hexDigitValue(hexString[4]) * 16 +
-            wpi::hexDigitValue(hexString[5]);
+    int r = wpi::util::hexDigitValue(hexString[0]) * 16 +
+            wpi::util::hexDigitValue(hexString[1]);
+    int g = wpi::util::hexDigitValue(hexString[2]) * 16 +
+            wpi::util::hexDigitValue(hexString[3]);
+    int b = wpi::util::hexDigitValue(hexString[4]) * 16 +
+            wpi::util::hexDigitValue(hexString[5]);
     return Color8Bit{r, g, b};
   }
 
@@ -109,10 +109,10 @@ class Color8Bit {
    * @return a string of the format <tt>\#RRGGBB</tt>
    */
   constexpr auto HexString() const {
-    return wpi::ct_string<char, std::char_traits<char>, 7>{
-        {'#', wpi::hexdigit(red / 16), wpi::hexdigit(red % 16),
-         wpi::hexdigit(green / 16), wpi::hexdigit(green % 16),
-         wpi::hexdigit(blue / 16), wpi::hexdigit(blue % 16)}};
+    return wpi::util::ct_string<char, std::char_traits<char>, 7>{
+        {'#', wpi::util::hexdigit(red / 16), wpi::util::hexdigit(red % 16),
+         wpi::util::hexdigit(green / 16), wpi::util::hexdigit(green % 16),
+         wpi::util::hexdigit(blue / 16), wpi::util::hexdigit(blue % 16)}};
   }
 
   /// Red component (0-255).
@@ -125,4 +125,4 @@ class Color8Bit {
   int blue = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/util/Preferences.hpp b/wpilibc/src/main/native/include/wpi/util/Preferences.hpp
index 0094ad0e01..0b1028fecb 100644
--- a/wpilibc/src/main/native/include/wpi/util/Preferences.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Preferences.hpp
@@ -10,7 +10,7 @@
 #include <string_view>
 #include <vector>
 
-namespace frc {
+namespace wpi {
 
 /**
  * The preferences class provides a relatively simple way to save important
@@ -218,4 +218,4 @@ class Preferences {
   Preferences() = default;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp b/wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp
index 30d067cb3b..478e23603d 100644
--- a/wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 
 /**
  * Stores most recent status information as well as containing utility functions
@@ -63,4 +63,4 @@ class SensorUtil final {
   static int GetNumPwmChannels();
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml b/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
index 6491ce6acc..bbbb9d80c3 100644
--- a/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
+++ b/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
@@ -2,11 +2,11 @@ extra_includes:
 - wpi/nt/NTSendableBuilder.hpp
 
 classes:
-  frc::ADXL345_I2C:
+  wpi::ADXL345_I2C:
     constants:
-    - frc::ADXL345_I2C::Range::kRange_2G
+    - wpi::ADXL345_I2C::Range::kRange_2G
     ignored_bases:
-    - wpi::SendableHelper<ADXL345_I2C>
+    - wpi::util::SendableHelper<ADXL345_I2C>
     enums:
       Axes:
       Range:
@@ -23,7 +23,7 @@ classes:
       GetAcceleration:
       GetAccelerations:
       InitSendable:
-  frc::ADXL345_I2C::AllAxes:
+  wpi::ADXL345_I2C::AllAxes:
     attributes:
       XAxis:
       YAxis:
diff --git a/wpilibc/src/main/python/semiwrap/AddressableLED.yml b/wpilibc/src/main/python/semiwrap/AddressableLED.yml
index 9e9d798094..7c77d2c1e5 100644
--- a/wpilibc/src/main/python/semiwrap/AddressableLED.yml
+++ b/wpilibc/src/main/python/semiwrap/AddressableLED.yml
@@ -3,7 +3,7 @@ functions:
     ignore: true
 
 classes:
-  frc::AddressableLED:
+  wpi::AddressableLED:
     methods:
       AddressableLED:
       SetLength:
@@ -19,7 +19,7 @@ classes:
       SetGlobalData:
     enums:
       ColorOrder:
-  frc::AddressableLED::LEDData:
+  wpi::AddressableLED::LEDData:
     force_no_trampoline: true
     base_qualnames:
       HAL_AddressableLEDData: ::HAL_AddressableLEDData
diff --git a/wpilibc/src/main/python/semiwrap/Alert.yml b/wpilibc/src/main/python/semiwrap/Alert.yml
index c37f3ca12c..f98b7e12bf 100644
--- a/wpilibc/src/main/python/semiwrap/Alert.yml
+++ b/wpilibc/src/main/python/semiwrap/Alert.yml
@@ -3,7 +3,7 @@ functions:
     ignore: true
 
 classes:
-  frc::Alert:
+  wpi::Alert:
     enums:
       AlertType:
     methods:
@@ -17,14 +17,14 @@ classes:
       GetText:
       GetType:
     inline_code: |
-      .def("close", [](frc::Alert &self) {
+      .def("close", [](wpi::Alert &self) {
         py::gil_scoped_release release;
         self.Set(false);
       }, py::doc("Disables the alert"))
-      .def("__enter__", [](frc::Alert &self) -> frc::Alert& {
+      .def("__enter__", [](wpi::Alert &self) -> wpi::Alert& {
         return self;
       })
-      .def("__exit__", [](frc::Alert &self, py::args args) {
+      .def("__exit__", [](wpi::Alert &self, py::args args) {
         py::gil_scoped_release release;
         self.Set(false);
       })
diff --git a/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml b/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
index 0832def3c2..e3542e0866 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::AnalogAccelerometer:
+  wpi::AnalogAccelerometer:
     ignored_bases:
-    - wpi::SendableHelper<AnalogAccelerometer>
+    - wpi::util::SendableHelper<AnalogAccelerometer>
     methods:
       AnalogAccelerometer:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml b/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
index bd18b0bd65..ac16eb133c 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
@@ -3,9 +3,9 @@ extra_includes:
 - wpi/hardware/discrete/AnalogInput.hpp
 
 classes:
-  frc::AnalogEncoder:
+  wpi::AnalogEncoder:
     ignored_bases:
-    - wpi::SendableHelper<AnalogEncoder>
+    - wpi::util::SendableHelper<AnalogEncoder>
     methods:
       AnalogEncoder:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogInput.yml b/wpilibc/src/main/python/semiwrap/AnalogInput.yml
index 4e7c266b5d..043bede9af 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogInput.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogInput.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::AnalogInput:
+  wpi::AnalogInput:
     ignored_bases:
-    - wpi::SendableHelper<AnalogInput>
+    - wpi::util::SendableHelper<AnalogInput>
     methods:
       AnalogInput:
       GetValue:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml b/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
index fb4f801393..d77aac548d 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::AnalogPotentiometer:
+  wpi::AnalogPotentiometer:
     ignored_bases:
-    - wpi::SendableHelper<AnalogPotentiometer>
+    - wpi::util::SendableHelper<AnalogPotentiometer>
     methods:
       AnalogPotentiometer:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/CAN.yml b/wpilibc/src/main/python/semiwrap/CAN.yml
index da8247de31..d6e25a6b7c 100644
--- a/wpilibc/src/main/python/semiwrap/CAN.yml
+++ b/wpilibc/src/main/python/semiwrap/CAN.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::CAN:
+  wpi::CAN:
     attributes:
       kTeamManufacturer:
       kTeamDeviceType:
diff --git a/wpilibc/src/main/python/semiwrap/Color.yml b/wpilibc/src/main/python/semiwrap/Color.yml
index 450a6016f3..f21d8d4127 100644
--- a/wpilibc/src/main/python/semiwrap/Color.yml
+++ b/wpilibc/src/main/python/semiwrap/Color.yml
@@ -2,9 +2,9 @@ extra_includes:
 - pybind11/operators.h
 
 classes:
-  frc::Color:
+  wpi::Color:
     force_type_casters:
-    - wpi::ct_string
+    - wpi::util::ct_string
     attributes:
       kDenim:
       kFirstBlue:
diff --git a/wpilibc/src/main/python/semiwrap/Color8Bit.yml b/wpilibc/src/main/python/semiwrap/Color8Bit.yml
index 1c29743cb6..bebd9c3a0c 100644
--- a/wpilibc/src/main/python/semiwrap/Color8Bit.yml
+++ b/wpilibc/src/main/python/semiwrap/Color8Bit.yml
@@ -2,9 +2,9 @@ extra_includes:
 - pybind11/operators.h
 
 classes:
-  frc::Color8Bit:
+  wpi::Color8Bit:
     force_type_casters:
-    - wpi::ct_string
+    - wpi::util::ct_string
     attributes:
       red:
         access: readonly
@@ -32,7 +32,7 @@ classes:
 
 inline_code: |
   cls_Color8Bit
-    .def("toColor", [](const Color8Bit &self) -> frc::Color {
+    .def("toColor", [](const Color8Bit &self) -> wpi::Color {
       return self;
     })
     .def("__hash__", [](Color8Bit *self) -> size_t {
diff --git a/wpilibc/src/main/python/semiwrap/Compressor.yml b/wpilibc/src/main/python/semiwrap/Compressor.yml
index 49037a62c6..c5faad234d 100644
--- a/wpilibc/src/main/python/semiwrap/Compressor.yml
+++ b/wpilibc/src/main/python/semiwrap/Compressor.yml
@@ -5,9 +5,9 @@ extra_includes:
 - wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
-  frc::Compressor:
+  wpi::Compressor:
     ignored_bases:
-    - wpi::SendableHelper<Compressor>
+    - wpi::util::SendableHelper<Compressor>
     methods:
       Compressor:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/CounterBase.yml b/wpilibc/src/main/python/semiwrap/CounterBase.yml
index 94929e183c..bb857f6b2f 100644
--- a/wpilibc/src/main/python/semiwrap/CounterBase.yml
+++ b/wpilibc/src/main/python/semiwrap/CounterBase.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: interfaces
 
 classes:
-  frc::CounterBase:
+  wpi::CounterBase:
     enums:
       EncodingType:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/DSControlWord.yml b/wpilibc/src/main/python/semiwrap/DSControlWord.yml
index 2b34b2abee..39b5343d53 100644
--- a/wpilibc/src/main/python/semiwrap/DSControlWord.yml
+++ b/wpilibc/src/main/python/semiwrap/DSControlWord.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::DSControlWord:
+  wpi::DSControlWord:
     methods:
       DSControlWord:
       IsEnabled:
diff --git a/wpilibc/src/main/python/semiwrap/DataLogManager.yml b/wpilibc/src/main/python/semiwrap/DataLogManager.yml
index 68751068cd..930f6cbc3c 100644
--- a/wpilibc/src/main/python/semiwrap/DataLogManager.yml
+++ b/wpilibc/src/main/python/semiwrap/DataLogManager.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/datalog/DataLog.hpp
 
 classes:
-  frc::DataLogManager:
+  wpi::DataLogManager:
     methods:
       Start:
       Stop:
diff --git a/wpilibc/src/main/python/semiwrap/DigitalInput.yml b/wpilibc/src/main/python/semiwrap/DigitalInput.yml
index 582a0d0a9e..be9158ca84 100644
--- a/wpilibc/src/main/python/semiwrap/DigitalInput.yml
+++ b/wpilibc/src/main/python/semiwrap/DigitalInput.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::DigitalInput:
+  wpi::DigitalInput:
     ignored_bases:
-    - wpi::SendableHelper<DigitalInput>
+    - wpi::util::SendableHelper<DigitalInput>
     methods:
       DigitalInput:
       Get:
diff --git a/wpilibc/src/main/python/semiwrap/DigitalOutput.yml b/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
index ae5245e920..448e7c9728 100644
--- a/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
+++ b/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::DigitalOutput:
+  wpi::DigitalOutput:
     ignored_bases:
-    - wpi::SendableHelper<DigitalOutput>
+    - wpi::util::SendableHelper<DigitalOutput>
     methods:
       DigitalOutput:
       Set:
diff --git a/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml b/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
index 17de2050e2..e36d1054e2 100644
--- a/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
+++ b/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::DoubleSolenoid:
+  wpi::DoubleSolenoid:
     ignored_bases:
-    - wpi::SendableHelper<DoubleSolenoid>
+    - wpi::util::SendableHelper<DoubleSolenoid>
     enums:
       Value:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/DriverStation.yml b/wpilibc/src/main/python/semiwrap/DriverStation.yml
index fdd5b28136..8020d6a5d7 100644
--- a/wpilibc/src/main/python/semiwrap/DriverStation.yml
+++ b/wpilibc/src/main/python/semiwrap/DriverStation.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/datalog/DataLog.hpp
 
 classes:
-  frc::DriverStation:
+  wpi::DriverStation:
     attributes:
       kJoystickPorts:
     enums:
diff --git a/wpilibc/src/main/python/semiwrap/DriverStationModeThread.yml b/wpilibc/src/main/python/semiwrap/DriverStationModeThread.yml
index 3fc8e68230..7ec1c67047 100644
--- a/wpilibc/src/main/python/semiwrap/DriverStationModeThread.yml
+++ b/wpilibc/src/main/python/semiwrap/DriverStationModeThread.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::internal::DriverStationModeThread:
+  wpi::internal::DriverStationModeThread:
     rename: _DriverStationModeThread
     methods:
       DriverStationModeThread:
diff --git a/wpilibc/src/main/python/semiwrap/DutyCycle.yml b/wpilibc/src/main/python/semiwrap/DutyCycle.yml
index 5fac451d20..96d4ec4dac 100644
--- a/wpilibc/src/main/python/semiwrap/DutyCycle.yml
+++ b/wpilibc/src/main/python/semiwrap/DutyCycle.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::DutyCycle:
+  wpi::DutyCycle:
     ignored_bases:
-    - wpi::SendableHelper<DutyCycle>
+    - wpi::util::SendableHelper<DutyCycle>
     methods:
       DutyCycle:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml b/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
index 0429a9d6b5..fba4b09e8f 100644
--- a/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
+++ b/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
@@ -3,9 +3,9 @@ extra_includes:
 - wpi/hardware/rotation/DutyCycle.hpp
 
 classes:
-  frc::DutyCycleEncoder:
+  wpi::DutyCycleEncoder:
     ignored_bases:
-    - wpi::SendableHelper<DutyCycleEncoder>
+    - wpi::util::SendableHelper<DutyCycleEncoder>
     methods:
       DutyCycleEncoder:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/Encoder.yml b/wpilibc/src/main/python/semiwrap/Encoder.yml
index 6ac1340b13..905a2b8413 100644
--- a/wpilibc/src/main/python/semiwrap/Encoder.yml
+++ b/wpilibc/src/main/python/semiwrap/Encoder.yml
@@ -2,18 +2,18 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::Encoder:
+  wpi::Encoder:
     ignored_bases:
-    - wpi::SendableHelper<Encoder>
+    - wpi::util::SendableHelper<Encoder>
     typealias:
-    - frc::Encoder::EncodingType
+    - wpi::Encoder::EncodingType
     methods:
       Encoder:
         overloads:
           int, int, bool, EncodingType:
             param_override:
               encodingType:
-                default: frc::Encoder::EncodingType::k4X
+                default: wpi::Encoder::EncodingType::k4X
           DigitalSource*, DigitalSource*, bool, EncodingType:
             ignore: true
           DigitalSource&, DigitalSource&, bool, EncodingType:
@@ -21,7 +21,7 @@ classes:
           std::shared_ptr<DigitalSource>, std::shared_ptr<DigitalSource>, bool, EncodingType:
             param_override:
               encodingType:
-                default: frc::Encoder::EncodingType::k4X
+                default: wpi::Encoder::EncodingType::k4X
       Get:
       Reset:
       GetPeriod:
diff --git a/wpilibc/src/main/python/semiwrap/Errors.yml b/wpilibc/src/main/python/semiwrap/Errors.yml
index d5750d5379..46b847958e 100644
--- a/wpilibc/src/main/python/semiwrap/Errors.yml
+++ b/wpilibc/src/main/python/semiwrap/Errors.yml
@@ -9,5 +9,5 @@ functions:
   MakeError:
     ignore: true
 classes:
-  frc::RuntimeError:
+  wpi::RuntimeError:
     ignore: true
diff --git a/wpilibc/src/main/python/semiwrap/ExpansionHub.yml b/wpilibc/src/main/python/semiwrap/ExpansionHub.yml
index cc95384620..cdd055f3ce 100644
--- a/wpilibc/src/main/python/semiwrap/ExpansionHub.yml
+++ b/wpilibc/src/main/python/semiwrap/ExpansionHub.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/ExpansionHubServo.hpp
 
 classes:
-  frc::ExpansionHub:
+  wpi::ExpansionHub:
     attributes:
       NumUsbPorts:
       NumServoPorts:
diff --git a/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml b/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
index 67a176012d..baade5f066 100644
--- a/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
+++ b/wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::ExpansionHubMotor:
+  wpi::ExpansionHubMotor:
     methods:
       ExpansionHubMotor:
       SetPercentagePower:
diff --git a/wpilibc/src/main/python/semiwrap/ExpansionHubPidConstants.yml b/wpilibc/src/main/python/semiwrap/ExpansionHubPidConstants.yml
index d9efd8cc6b..e98ed02be8 100644
--- a/wpilibc/src/main/python/semiwrap/ExpansionHubPidConstants.yml
+++ b/wpilibc/src/main/python/semiwrap/ExpansionHubPidConstants.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::ExpansionHubPidConstants:
+  wpi::ExpansionHubPidConstants:
     methods:
       SetPID:
       SetFF:
diff --git a/wpilibc/src/main/python/semiwrap/ExpansionHubServo.yml b/wpilibc/src/main/python/semiwrap/ExpansionHubServo.yml
index 1764536f9e..206ea545cd 100644
--- a/wpilibc/src/main/python/semiwrap/ExpansionHubServo.yml
+++ b/wpilibc/src/main/python/semiwrap/ExpansionHubServo.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::ExpansionHubServo:
+  wpi::ExpansionHubServo:
     methods:
       ExpansionHubServo:
       Set:
diff --git a/wpilibc/src/main/python/semiwrap/Field2d.yml b/wpilibc/src/main/python/semiwrap/Field2d.yml
index e4aea9cb6d..d246d9132a 100644
--- a/wpilibc/src/main/python/semiwrap/Field2d.yml
+++ b/wpilibc/src/main/python/semiwrap/Field2d.yml
@@ -2,15 +2,15 @@ extra_includes:
 - wpi/nt/NTSendableBuilder.hpp
 
 classes:
-  frc::Field2d:
+  wpi::Field2d:
     ignored_bases:
-    - wpi::SendableHelper<Field2d>
+    - wpi::util::SendableHelper<Field2d>
     methods:
       Field2d:
       SetRobotPose:
         overloads:
-          const Pose2d&:
-          units::meter_t, units::meter_t, Rotation2d:
+          const wpi::math::Pose2d&:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::math::Rotation2d:
       GetRobotPose:
       GetObject:
         return_value_policy: reference_internal
diff --git a/wpilibc/src/main/python/semiwrap/FieldObject2d.yml b/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
index 48a2334eb3..3647718590 100644
--- a/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
+++ b/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
@@ -2,24 +2,24 @@ extra_includes:
 - wpi/math/trajectory/Trajectory.hpp
 
 classes:
-  frc::FieldObject2d:
+  wpi::FieldObject2d:
     nodelete: true
     methods:
       FieldObject2d:
         ignore: true
       SetPose:
         overloads:
-          const Pose2d&:
-          units::meter_t, units::meter_t, Rotation2d:
+          const wpi::math::Pose2d&:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::math::Rotation2d:
       GetPose:
       SetPoses:
         overloads:
-          std::span<const Pose2d>:
-          std::initializer_list<Pose2d>:
+          std::span<const wpi::math::Pose2d>:
+          std::initializer_list<wpi::math::Pose2d>:
             ignore: true
       SetTrajectory:
       GetPoses:
         overloads:
           '[const]':
-          wpi::SmallVectorImpl<Pose2d>& [const]:
+          wpi::util::SmallVectorImpl<wpi::math::Pose2d>& [const]:
             ignore: true
diff --git a/wpilibc/src/main/python/semiwrap/Gamepad.yml b/wpilibc/src/main/python/semiwrap/Gamepad.yml
index 7ef9a80133..a70d6464cf 100644
--- a/wpilibc/src/main/python/semiwrap/Gamepad.yml
+++ b/wpilibc/src/main/python/semiwrap/Gamepad.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::Gamepad:
+  wpi::Gamepad:
     ignored_bases:
-    - wpi::SendableHelper<Gamepad>
+    - wpi::util::SendableHelper<Gamepad>
     methods:
       Gamepad:
       GetLeftX:
@@ -123,7 +123,7 @@ classes:
       GetMisc6ButtonReleased:
       Misc6:
       InitSendable:
-  frc::Gamepad::Button:
+  wpi::Gamepad::Button:
     attributes:
       kSouthFace:
       kEastFace:
@@ -151,7 +151,7 @@ classes:
       kMisc4:
       kMisc5:
       kMisc6:
-  frc::Gamepad::Axis:
+  wpi::Gamepad::Axis:
     attributes:
       kLeftX:
       kLeftY:
diff --git a/wpilibc/src/main/python/semiwrap/GenericHID.yml b/wpilibc/src/main/python/semiwrap/GenericHID.yml
index 4d26c4967c..2494435edd 100644
--- a/wpilibc/src/main/python/semiwrap/GenericHID.yml
+++ b/wpilibc/src/main/python/semiwrap/GenericHID.yml
@@ -6,7 +6,7 @@ extra_includes:
 - wpi/event/BooleanEvent.hpp
 
 classes:
-  frc::GenericHID:
+  wpi::GenericHID:
     enums:
       RumbleType:
       HIDType:
diff --git a/wpilibc/src/main/python/semiwrap/I2C.yml b/wpilibc/src/main/python/semiwrap/I2C.yml
index 5ac39cbf54..05fcf32df2 100644
--- a/wpilibc/src/main/python/semiwrap/I2C.yml
+++ b/wpilibc/src/main/python/semiwrap/I2C.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::I2C:
+  wpi::I2C:
     enums:
       Port:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml b/wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml
index d13d6941cd..035506a7a8 100644
--- a/wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml
+++ b/wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::IterativeRobotBase:
+  wpi::IterativeRobotBase:
     methods:
       DriverStationConnected:
       DisabledInit:
@@ -15,7 +15,7 @@ classes:
         overloads:
           double:
             ignore: true
-          units::second_t:
+          wpi::units::second_t:
       LoopFunc:
       SimulationInit:
         internal: true
diff --git a/wpilibc/src/main/python/semiwrap/Joystick.yml b/wpilibc/src/main/python/semiwrap/Joystick.yml
index 2637bb5ea4..70c9921276 100644
--- a/wpilibc/src/main/python/semiwrap/Joystick.yml
+++ b/wpilibc/src/main/python/semiwrap/Joystick.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/DriverStation.hpp
 
 classes:
-  frc::Joystick:
+  wpi::Joystick:
     attributes:
       kDefaultXChannel:
       kDefaultYChannel:
@@ -41,6 +41,6 @@ classes:
       GetDirection:
         rename: getDirectionRadians
     inline_code: |
-      .def("getDirectionDegrees", [](const Joystick &self) -> units::degree_t {
+      .def("getDirectionDegrees", [](const Joystick &self) -> wpi::units::degree_t {
         return self.GetDirection();
       })
diff --git a/wpilibc/src/main/python/semiwrap/Koors40.yml b/wpilibc/src/main/python/semiwrap/Koors40.yml
index edfff8c78c..0332f2c0d2 100644
--- a/wpilibc/src/main/python/semiwrap/Koors40.yml
+++ b/wpilibc/src/main/python/semiwrap/Koors40.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::Koors40:
+  wpi::Koors40:
     methods:
       Koors40:
diff --git a/wpilibc/src/main/python/semiwrap/LEDPattern.yml b/wpilibc/src/main/python/semiwrap/LEDPattern.yml
index 0cff3e7d6a..5b7d0c5bf8 100644
--- a/wpilibc/src/main/python/semiwrap/LEDPattern.yml
+++ b/wpilibc/src/main/python/semiwrap/LEDPattern.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::LEDPattern:
+  wpi::LEDPattern:
     enums:
       GradientType:
     methods:
@@ -7,17 +7,17 @@ classes:
       LEDPattern:
       ApplyTo:
         overloads:
-          std::span<frc::AddressableLED::LEDData> [const]:
-          LEDReader, std::function<void (int, frc::Color)> [const]:
-          std::span<frc::AddressableLED::LEDData>, std::function<void (int, frc::Color)> [const]:
+          std::span<wpi::AddressableLED::LEDData> [const]:
+          LEDReader, std::function<void (int, wpi::Color)> [const]:
+          std::span<wpi::AddressableLED::LEDData>, std::function<void (int, wpi::Color)> [const]:
       Reversed:
       OffsetBy:
       ScrollAtRelativeSpeed:
       ScrollAtAbsoluteSpeed:
       Blink:
         overloads:
-          units::second_t, units::second_t:
-          units::second_t:
+          wpi::units::second_t, wpi::units::second_t:
+          wpi::units::second_t:
       SynchronizedBlink:
       Breathe:
       OverlayOn:
@@ -38,7 +38,7 @@ classes:
             ignore: true
       Rainbow:
       MapIndex:
-  frc::LEDPattern::LEDReader:
+  wpi::LEDPattern::LEDReader:
     methods:
       LEDReader:
       size:
diff --git a/wpilibc/src/main/python/semiwrap/Mechanism2d.yml b/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
index 6c122b8191..7b4abb6ce6 100644
--- a/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
+++ b/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::Mechanism2d:
+  wpi::Mechanism2d:
     ignored_bases:
-    - wpi::SendableHelper<Mechanism2d>
+    - wpi::util::SendableHelper<Mechanism2d>
     methods:
       Mechanism2d:
       GetRoot:
diff --git a/wpilibc/src/main/python/semiwrap/MechanismLigament2d.yml b/wpilibc/src/main/python/semiwrap/MechanismLigament2d.yml
index 6b63a58864..742dfc0ecd 100644
--- a/wpilibc/src/main/python/semiwrap/MechanismLigament2d.yml
+++ b/wpilibc/src/main/python/semiwrap/MechanismLigament2d.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::MechanismLigament2d:
+  wpi::MechanismLigament2d:
     methods:
       MechanismLigament2d:
         ignore: true
diff --git a/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml b/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
index 51e04abe97..bdd8cf2ef5 100644
--- a/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
+++ b/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/smartdashboard/MechanismLigament2d.hpp
 
 classes:
-  frc::MechanismObject2d:
+  wpi::MechanismObject2d:
     force_type_casters:
-    - units::degree_t
+    - wpi::units::degree_t
     attributes:
       m_mutex:
         ignore: true
@@ -20,12 +20,12 @@ classes:
 inline_code: |-
   cls_MechanismObject2d
     .def("appendLigament", [](MechanismObject2d *self,
-      std::string_view name, double length, units::degree_t angle,
-      double lineWidth, const frc::Color8Bit& color) {
+      std::string_view name, double length, wpi::units::degree_t angle,
+      double lineWidth, const wpi::Color8Bit& color) {
         return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
       },
       py::arg("name"), py::arg("length"), py::arg("angle"),
-      py::arg("lineWidth") = 6, py::arg("color") = frc::Color8Bit{235, 137, 52},
+      py::arg("lineWidth") = 6, py::arg("color") = wpi::Color8Bit{235, 137, 52},
       "Append a ligament node",
       py::return_value_policy::reference_internal)
     ;
diff --git a/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml b/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
index ad6a1ac39f..d4f8215d04 100644
--- a/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
+++ b/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/smartdashboard/MechanismLigament2d.hpp
 
 classes:
-  frc::MechanismRoot2d:
+  wpi::MechanismRoot2d:
     force_type_casters:
-    - units::degree_t
+    - wpi::units::degree_t
     methods:
       MechanismRoot2d:
         ignore: true
@@ -19,12 +19,12 @@ inline_code: |-
   cls_MechanismRoot2d
     .def("getName", [](MechanismRoot2d *self) { return self->GetName(); }, release_gil())
     .def("appendLigament", [](MechanismRoot2d *self,
-      std::string_view name, double length, units::degree_t angle,
-      double lineWidth, const frc::Color8Bit& color) {
+      std::string_view name, double length, wpi::units::degree_t angle,
+      double lineWidth, const wpi::Color8Bit& color) {
         return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
       },
       py::arg("name"), py::arg("length"), py::arg("angle"),
-      py::arg("lineWidth") = 6, py::arg("color") = frc::Color8Bit{235, 137, 52},
+      py::arg("lineWidth") = 6, py::arg("color") = wpi::Color8Bit{235, 137, 52},
       release_gil(), "Append a ligament node",
       py::return_value_policy::reference_internal)
     ;
diff --git a/wpilibc/src/main/python/semiwrap/MotorController.yml b/wpilibc/src/main/python/semiwrap/MotorController.yml
index 8249a2b37b..94764b64ee 100644
--- a/wpilibc/src/main/python/semiwrap/MotorController.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorController.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: interfaces
 
 classes:
-  frc::MotorController:
+  wpi::MotorController:
     methods:
       Set:
       SetVoltage:
diff --git a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
index 21bb9519e7..44baa068e8 100644
--- a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
@@ -3,10 +3,10 @@ extra_includes:
 - pybind11/stl.h
 
 classes:
-  frc::PyMotorControllerGroup:
+  wpi::PyMotorControllerGroup:
     rename: MotorControllerGroup
     ignored_bases:
-    - wpi::SendableHelper<PyMotorControllerGroup>
+    - wpi::util::SendableHelper<PyMotorControllerGroup>
     methods:
       PyMotorControllerGroup:
         cpp_code: |
diff --git a/wpilibc/src/main/python/semiwrap/MotorSafety.yml b/wpilibc/src/main/python/semiwrap/MotorSafety.yml
index 67a3501b0f..bdffafd12f 100644
--- a/wpilibc/src/main/python/semiwrap/MotorSafety.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorSafety.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/util/SmallString.hpp
 
 classes:
-  frc::MotorSafety:
+  wpi::MotorSafety:
     methods:
       MotorSafety:
       Feed:
diff --git a/wpilibc/src/main/python/semiwrap/Notifier.yml b/wpilibc/src/main/python/semiwrap/Notifier.yml
index cfa1876b01..6e167ebbaa 100644
--- a/wpilibc/src/main/python/semiwrap/Notifier.yml
+++ b/wpilibc/src/main/python/semiwrap/Notifier.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::PyNotifier:
+  wpi::PyNotifier:
     rename: Notifier
     methods:
       PyNotifier:
@@ -11,11 +11,11 @@ classes:
         overloads:
           double:
             ignore: true
-          units::second_t:
+          wpi::units::second_t:
       StartPeriodic:
         overloads:
           double:
             ignore: true
-          units::second_t:
+          wpi::units::second_t:
       Stop:
       SetHALThreadPriority:
diff --git a/wpilibc/src/main/python/semiwrap/OnboardIMU.yml b/wpilibc/src/main/python/semiwrap/OnboardIMU.yml
index 97f70ec98c..45d208b4b9 100644
--- a/wpilibc/src/main/python/semiwrap/OnboardIMU.yml
+++ b/wpilibc/src/main/python/semiwrap/OnboardIMU.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::OnboardIMU:
+  wpi::OnboardIMU:
     enums:
       MountOrientation:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/PS4Controller.yml b/wpilibc/src/main/python/semiwrap/PS4Controller.yml
index 6a0b5dc33b..6864efd150 100644
--- a/wpilibc/src/main/python/semiwrap/PS4Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/PS4Controller.yml
@@ -3,9 +3,9 @@ extra_includes:
 - wpi/event/BooleanEvent.hpp
 
 classes:
-  frc::PS4Controller:
+  wpi::PS4Controller:
     ignored_bases:
-    - wpi::SendableHelper<PS4Controller>
+    - wpi::util::SendableHelper<PS4Controller>
     methods:
       PS4Controller:
       GetLeftX:
@@ -74,7 +74,7 @@ classes:
       GetTouchpadButtonPressed:
       GetTouchpadButtonReleased:
       InitSendable:
-  frc::PS4Controller::Button:
+  wpi::PS4Controller::Button:
     attributes:
       kSquare:
       kCross:
@@ -90,7 +90,7 @@ classes:
       kR3:
       kPS:
       kTouchpad:
-  frc::PS4Controller::Axis:
+  wpi::PS4Controller::Axis:
     attributes:
       kLeftX:
       kLeftY:
diff --git a/wpilibc/src/main/python/semiwrap/PS5Controller.yml b/wpilibc/src/main/python/semiwrap/PS5Controller.yml
index f18b7d8ee9..afe1a1cc95 100644
--- a/wpilibc/src/main/python/semiwrap/PS5Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/PS5Controller.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PS5Controller:
+  wpi::PS5Controller:
     ignored_bases:
-    - wpi::SendableHelper<PS5Controller>
+    - wpi::util::SendableHelper<PS5Controller>
     methods:
       PS5Controller:
       GetLeftX:
@@ -73,7 +73,7 @@ classes:
       GetTouchpadButtonPressed:
       GetTouchpadButtonReleased:
       InitSendable:
-  frc::PS5Controller::Button:
+  wpi::PS5Controller::Button:
     attributes:
       kSquare:
       kCross:
@@ -89,7 +89,7 @@ classes:
       kR3:
       kPS:
       kTouchpad:
-  frc::PS5Controller::Axis:
+  wpi::PS5Controller::Axis:
     attributes:
       kLeftX:
       kLeftY:
diff --git a/wpilibc/src/main/python/semiwrap/PWM.yml b/wpilibc/src/main/python/semiwrap/PWM.yml
index 62287d38bb..1ce7cff460 100644
--- a/wpilibc/src/main/python/semiwrap/PWM.yml
+++ b/wpilibc/src/main/python/semiwrap/PWM.yml
@@ -4,9 +4,9 @@ extra_includes:
 - wpi/util/SmallString.hpp
 
 classes:
-  frc::PWM:
+  wpi::PWM:
     ignored_bases:
-    - wpi::SendableHelper<PWM>
+    - wpi::util::SendableHelper<PWM>
     enums:
       OutputPeriod:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
index 5078b7da93..9a847a5f27 100644
--- a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMMotorController:
+  wpi::PWMMotorController:
     ignored_bases:
-    - wpi::SendableHelper<PWMMotorController>
+    - wpi::util::SendableHelper<PWMMotorController>
     attributes:
       m_pwm:
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/PWMSparkFlex.yml b/wpilibc/src/main/python/semiwrap/PWMSparkFlex.yml
index 631385f360..a5664c6572 100644
--- a/wpilibc/src/main/python/semiwrap/PWMSparkFlex.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMSparkFlex.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::PWMSparkFlex:
+  wpi::PWMSparkFlex:
     methods:
       PWMSparkFlex:
diff --git a/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml b/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
index 2133741ed0..0f1d565874 100644
--- a/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMSparkMax:
+  wpi::PWMSparkMax:
     methods:
       PWMSparkMax:
diff --git a/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml b/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
index 1e52875d9d..a64fdd6c8b 100644
--- a/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMTalonFX:
+  wpi::PWMTalonFX:
     methods:
       PWMTalonFX:
diff --git a/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml b/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
index e94d9b616d..02145178bd 100644
--- a/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMTalonSRX:
+  wpi::PWMTalonSRX:
     methods:
       PWMTalonSRX:
diff --git a/wpilibc/src/main/python/semiwrap/PWMVenom.yml b/wpilibc/src/main/python/semiwrap/PWMVenom.yml
index cc65942e6b..89e4bec595 100644
--- a/wpilibc/src/main/python/semiwrap/PWMVenom.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMVenom.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMVenom:
+  wpi::PWMVenom:
     methods:
       PWMVenom:
diff --git a/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml b/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
index 66d922322b..4f071fbe02 100644
--- a/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PWMVictorSPX:
+  wpi::PWMVictorSPX:
     methods:
       PWMVictorSPX:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticHub.yml b/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
index fa00e3631d..b6f7576fc7 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
@@ -5,7 +5,7 @@ extra_includes:
 - wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
-  frc::PneumaticHub:
+  wpi::PneumaticHub:
     methods:
       PneumaticHub:
         overloads:
@@ -44,7 +44,7 @@ classes:
       GetAnalogVoltage:
       GetPressure:
       ReportUsage:
-  frc::PneumaticHub::Version:
+  wpi::PneumaticHub::Version:
     attributes:
       FirmwareMajor:
       FirmwareMinor:
@@ -52,7 +52,7 @@ classes:
       HardwareMinor:
       HardwareMajor:
       UniqueId:
-  frc::PneumaticHub::Faults:
+  wpi::PneumaticHub::Faults:
     attributes:
       Channel0Fault:
       Channel1Fault:
@@ -78,7 +78,7 @@ classes:
       HardwareFault:
     methods:
       GetChannelFault:
-  frc::PneumaticHub::StickyFaults:
+  wpi::PneumaticHub::StickyFaults:
     attributes:
       CompressorOverCurrent:
       CompressorOpen:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml b/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
index d9aba5bf79..0adeac1500 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
@@ -6,7 +6,7 @@ extra_includes:
 
 
 classes:
-  frc::PneumaticsBase:
+  wpi::PneumaticsBase:
     methods:
       GetCompressor:
       GetPressureSwitch:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml b/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
index 2a519bfe77..30c68c1e8b 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
@@ -5,7 +5,7 @@ extra_includes:
 - wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
-  frc::PneumaticsControlModule:
+  wpi::PneumaticsControlModule:
     methods:
       PneumaticsControlModule:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/PowerDistribution.yml b/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
index e415fc8fdf..66109fc036 100644
--- a/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
+++ b/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::PowerDistribution:
+  wpi::PowerDistribution:
     ignored_bases:
-    - wpi::SendableHelper<PowerDistribution>
+    - wpi::util::SendableHelper<PowerDistribution>
     attributes:
       kDefaultModule:
     enums:
@@ -32,7 +32,7 @@ classes:
       GetNumChannels:
       GetAllCurrents:
       InitSendable:
-  frc::PowerDistribution::Version:
+  wpi::PowerDistribution::Version:
     attributes:
       FirmwareMajor:
       FirmwareMinor:
@@ -40,7 +40,7 @@ classes:
       HardwareMinor:
       HardwareMajor:
       UniqueId:
-  frc::PowerDistribution::Faults:
+  wpi::PowerDistribution::Faults:
     attributes:
       Channel0BreakerFault:
       Channel1BreakerFault:
@@ -71,7 +71,7 @@ classes:
       HardwareFault:
     methods:
       GetBreakerFault:
-  frc::PowerDistribution::StickyFaults:
+  wpi::PowerDistribution::StickyFaults:
     attributes:
       Channel0BreakerFault:
       Channel1BreakerFault:
diff --git a/wpilibc/src/main/python/semiwrap/Preferences.yml b/wpilibc/src/main/python/semiwrap/Preferences.yml
index 7d8bd60574..ae2f0320a2 100644
--- a/wpilibc/src/main/python/semiwrap/Preferences.yml
+++ b/wpilibc/src/main/python/semiwrap/Preferences.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::Preferences:
+  wpi::Preferences:
     methods:
       GetKeys:
       GetString:
diff --git a/wpilibc/src/main/python/semiwrap/RobotBase.yml b/wpilibc/src/main/python/semiwrap/RobotBase.yml
index 683769a484..7fa1f770ab 100644
--- a/wpilibc/src/main/python/semiwrap/RobotBase.yml
+++ b/wpilibc/src/main/python/semiwrap/RobotBase.yml
@@ -13,7 +13,7 @@ functions:
   ResetMotorSafety:
     ignore: true
 classes:
-  frc::RobotBase:
+  wpi::RobotBase:
     attributes:
       m_threadId:
         ignore: true
diff --git a/wpilibc/src/main/python/semiwrap/RobotController.yml b/wpilibc/src/main/python/semiwrap/RobotController.yml
index eeaa85e4e3..422ba4cdac 100644
--- a/wpilibc/src/main/python/semiwrap/RobotController.yml
+++ b/wpilibc/src/main/python/semiwrap/RobotController.yml
@@ -1,12 +1,12 @@
 classes:
-  frc::CANStatus:
+  wpi::CANStatus:
     attributes:
       percentBusUtilization:
       busOffCount:
       txFullCount:
       receiveErrorCount:
       transmitErrorCount:
-  frc::RobotController:
+  wpi::RobotController:
     nodelete: true
     methods:
       GetSerialNumber:
diff --git a/wpilibc/src/main/python/semiwrap/RobotState.yml b/wpilibc/src/main/python/semiwrap/RobotState.yml
index 63c29f64e8..2ccb2d0e84 100644
--- a/wpilibc/src/main/python/semiwrap/RobotState.yml
+++ b/wpilibc/src/main/python/semiwrap/RobotState.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::RobotState:
+  wpi::RobotState:
     nodelete: true
     methods:
       IsDisabled:
diff --git a/wpilibc/src/main/python/semiwrap/SendableBuilderImpl.yml b/wpilibc/src/main/python/semiwrap/SendableBuilderImpl.yml
index c4cee26d95..ee320df3a8 100644
--- a/wpilibc/src/main/python/semiwrap/SendableBuilderImpl.yml
+++ b/wpilibc/src/main/python/semiwrap/SendableBuilderImpl.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SendableBuilderImpl:
+  wpi::SendableBuilderImpl:
     methods:
       SendableBuilderImpl:
       SetTable:
diff --git a/wpilibc/src/main/python/semiwrap/SendableChooser.yml b/wpilibc/src/main/python/semiwrap/SendableChooser.yml
index 68947a3c31..1cb5fc1dce 100644
--- a/wpilibc/src/main/python/semiwrap/SendableChooser.yml
+++ b/wpilibc/src/main/python/semiwrap/SendableChooser.yml
@@ -2,7 +2,7 @@ extra_includes:
 - gilsafe_object.h
 
 classes:
-  frc::SendableChooser:
+  wpi::SendableChooser:
     template_params:
     - T
     methods:
@@ -12,7 +12,7 @@ classes:
       GetSelected:
         # weirdness because return type
         cpp_code: |
-          [](frc::SendableChooser<T> * __that) -> py::object {
+          [](wpi::SendableChooser<T> * __that) -> py::object {
             auto v = __that->GetSelected();
             if (!v) {
               return py::none();
@@ -22,7 +22,7 @@ classes:
       OnChange:
         # more weirdness
         cpp_code: |
-          [](frc::SendableChooser<T> *self, std::function<void(T)> fn) {
+          [](wpi::SendableChooser<T> *self, std::function<void(T)> fn) {
             self->OnChange([fn](T v) {
               py::gil_scoped_acquire lock;
               if (v) {
@@ -37,6 +37,6 @@ classes:
 
 templates:
   SendableChooser:
-    qualname: frc::SendableChooser
+    qualname: wpi::SendableChooser
     params:
     - semiwrap::gilsafe_object
diff --git a/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml b/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
index e4764ab316..4ac230e5da 100644
--- a/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
+++ b/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::SendableChooserBase:
+  wpi::SendableChooserBase:
     ignored_bases:
-    - wpi::SendableHelper<SendableChooserBase>
+    - wpi::util::SendableHelper<SendableChooserBase>
     attributes:
       kDefault:
       kOptions:
diff --git a/wpilibc/src/main/python/semiwrap/SensorUtil.yml b/wpilibc/src/main/python/semiwrap/SensorUtil.yml
index 1de1a6eb02..4c2f284a71 100644
--- a/wpilibc/src/main/python/semiwrap/SensorUtil.yml
+++ b/wpilibc/src/main/python/semiwrap/SensorUtil.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SensorUtil:
+  wpi::SensorUtil:
     nodelete: true
     methods:
       CheckDigitalChannel:
diff --git a/wpilibc/src/main/python/semiwrap/SerialPort.yml b/wpilibc/src/main/python/semiwrap/SerialPort.yml
index 0bb859adb0..8788584017 100644
--- a/wpilibc/src/main/python/semiwrap/SerialPort.yml
+++ b/wpilibc/src/main/python/semiwrap/SerialPort.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SerialPort:
+  wpi::SerialPort:
     enums:
       Parity:
       StopBits:
@@ -12,19 +12,19 @@ classes:
           int, Port, int, Parity, StopBits:
             param_override:
               port:
-                default: frc::SerialPort::Port::kOnboard
+                default: wpi::SerialPort::Port::kOnboard
               parity:
-                default: frc::SerialPort::Parity::kParity_None
+                default: wpi::SerialPort::Parity::kParity_None
               stopBits:
-                default: frc::SerialPort::StopBits::kStopBits_One
+                default: wpi::SerialPort::StopBits::kStopBits_One
           int, std::string_view, Port, int, Parity, StopBits:
             param_override:
               port:
-                default: frc::SerialPort::Port::kOnboard
+                default: wpi::SerialPort::Port::kOnboard
               parity:
-                default: frc::SerialPort::Parity::kParity_None
+                default: wpi::SerialPort::Parity::kParity_None
               stopBits:
-                default: frc::SerialPort::StopBits::kStopBits_One
+                default: wpi::SerialPort::StopBits::kStopBits_One
       SetFlowControl:
       EnableTermination:
         param_override:
diff --git a/wpilibc/src/main/python/semiwrap/SharpIR.yml b/wpilibc/src/main/python/semiwrap/SharpIR.yml
index b460021e83..ec1e4805f2 100644
--- a/wpilibc/src/main/python/semiwrap/SharpIR.yml
+++ b/wpilibc/src/main/python/semiwrap/SharpIR.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::SharpIR:
+  wpi::SharpIR:
     ignored_bases:
-    - wpi::SendableHelper<SharpIR>
+    - wpi::util::SendableHelper<SharpIR>
     methods:
       GP2Y0A02YK0F:
       GP2Y0A21YK0F:
diff --git a/wpilibc/src/main/python/semiwrap/SmartDashboard.yml b/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
index 54452f8319..e19d3155ab 100644
--- a/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
+++ b/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
@@ -4,7 +4,7 @@ extra_includes:
 - wpi/util/sendable/SendableRegistry.hpp
 
 classes:
-  frc::SmartDashboard:
+  wpi::SmartDashboard:
     methods:
       init:
       ContainsKey:
@@ -16,9 +16,9 @@ classes:
       PutData:
         # overrides ensure data doesn't die if this is the only reference
         overloads:
-          std::string_view, wpi::Sendable*:
+          std::string_view, wpi::util::Sendable*:
             cpp_code: |
-              [](py::str &key, std::shared_ptr<wpi::Sendable> data) {
+              [](py::str &key, std::shared_ptr<wpi::util::Sendable> data) {
                 if (!data) {
                   throw FRC_MakeError(err::NullParameter, "{}", "value");
                 }
@@ -31,19 +31,19 @@ classes:
                 }
 
                 std::string_view keyRef(raw_str, raw_size);
-                frc::SmartDashboard::PutData(keyRef, data.get());
+                wpi::SmartDashboard::PutData(keyRef, data.get());
 
                 // this comes after the PutData to ensure that the original object doesn't die
                 // while PutData is called
                 rpy::addSmartDashboardData(key, data);
               }
-          wpi::Sendable*:
+          wpi::util::Sendable*:
             cpp_code: |
-              [](std::shared_ptr<wpi::Sendable> value) {
-                frc::SmartDashboard::PutData(value.get());
+              [](std::shared_ptr<wpi::util::Sendable> value) {
+                wpi::SmartDashboard::PutData(value.get());
                 // this comes after the PutData to ensure that the original object doesn't die
                 // while PutData is called
-                auto name = wpi::SendableRegistry::GetName(value.get());
+                auto name = wpi::util::SendableRegistry::GetName(value.get());
                 if (!name.empty()) {
                   py::str key(name);
                   rpy::addSmartDashboardData(key, value);
@@ -55,11 +55,11 @@ classes:
       GetBoolean:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_BOOLEAN) return defaultValue;
               return py::cast(value.GetBoolean());
@@ -69,11 +69,11 @@ classes:
       GetNumber:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_DOUBLE) return defaultValue;
               return py::cast(value.GetDouble());
@@ -83,11 +83,11 @@ classes:
       GetString:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_STRING) return defaultValue;
               return py::cast(value.GetString());
@@ -97,11 +97,11 @@ classes:
       GetBooleanArray:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-            nt::Value value;
+            wpi::nt::Value value;
             {
               py::gil_scoped_release release;
-              auto entry = frc::SmartDashboard::GetEntry(key);
-              value = nt::GetEntryValue(entry.GetHandle());
+              auto entry = wpi::SmartDashboard::GetEntry(key);
+              value = wpi::nt::GetEntryValue(entry.GetHandle());
             }
             if (!value || value.type() != NT_BOOLEAN_ARRAY) return defaultValue;
             // ntcore will return bit vector by default. Convert to List[bool]
@@ -118,11 +118,11 @@ classes:
       GetNumberArray:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_DOUBLE_ARRAY) return defaultValue;
               return py::cast(value.GetDoubleArray());
@@ -132,11 +132,11 @@ classes:
       GetStringArray:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_STRING_ARRAY) return defaultValue;
               return py::cast(value.GetStringArray());
@@ -146,11 +146,11 @@ classes:
       GetRaw:
         cpp_code: |
           [](std::string_view key, py::object defaultValue) -> py::object {
-              nt::Value value;
+              wpi::nt::Value value;
               {
                 py::gil_scoped_release release;
-                auto entry = frc::SmartDashboard::GetEntry(key);
-                value = nt::GetEntryValue(entry.GetHandle());
+                auto entry = wpi::SmartDashboard::GetEntry(key);
+                value = wpi::nt::GetEntryValue(entry.GetHandle());
               }
               if (!value || value.type() != NT_STRING) return defaultValue;
               return py::cast(value.GetString());
diff --git a/wpilibc/src/main/python/semiwrap/Solenoid.yml b/wpilibc/src/main/python/semiwrap/Solenoid.yml
index 29a05579ef..717eb2d312 100644
--- a/wpilibc/src/main/python/semiwrap/Solenoid.yml
+++ b/wpilibc/src/main/python/semiwrap/Solenoid.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::Solenoid:
+  wpi::Solenoid:
     ignored_bases:
-    - wpi::SendableHelper<Solenoid>
+    - wpi::util::SendableHelper<Solenoid>
     methods:
       Solenoid:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/Spark.yml b/wpilibc/src/main/python/semiwrap/Spark.yml
index 87f3143e18..5094bb7489 100644
--- a/wpilibc/src/main/python/semiwrap/Spark.yml
+++ b/wpilibc/src/main/python/semiwrap/Spark.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::Spark:
+  wpi::Spark:
     methods:
       Spark:
diff --git a/wpilibc/src/main/python/semiwrap/SparkMini.yml b/wpilibc/src/main/python/semiwrap/SparkMini.yml
index fa2f380434..964f852f60 100644
--- a/wpilibc/src/main/python/semiwrap/SparkMini.yml
+++ b/wpilibc/src/main/python/semiwrap/SparkMini.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::SparkMini:
+  wpi::SparkMini:
     methods:
       SparkMini:
diff --git a/wpilibc/src/main/python/semiwrap/StadiaController.yml b/wpilibc/src/main/python/semiwrap/StadiaController.yml
index 7a03fafb40..ec4ba04451 100644
--- a/wpilibc/src/main/python/semiwrap/StadiaController.yml
+++ b/wpilibc/src/main/python/semiwrap/StadiaController.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::StadiaController:
+  wpi::StadiaController:
     ignored_bases:
-    - wpi::SendableHelper<StadiaController>
+    - wpi::util::SendableHelper<StadiaController>
     methods:
       StadiaController:
       GetLeftX:
@@ -78,7 +78,7 @@ classes:
       GetRightBumperButtonPressed:
       GetRightBumperButtonReleased:
       InitSendable:
-  frc::StadiaController::Button:
+  wpi::StadiaController::Button:
     attributes:
       kA:
       kB:
@@ -95,7 +95,7 @@ classes:
       kLeftTrigger:
       kGoogle:
       kFrame:
-  frc::StadiaController::Axis:
+  wpi::StadiaController::Axis:
     attributes:
       kLeftX:
       kRightX:
diff --git a/wpilibc/src/main/python/semiwrap/SysIdRoutineLog.yml b/wpilibc/src/main/python/semiwrap/SysIdRoutineLog.yml
index f8e020e5c2..45d79c3279 100644
--- a/wpilibc/src/main/python/semiwrap/SysIdRoutineLog.yml
+++ b/wpilibc/src/main/python/semiwrap/SysIdRoutineLog.yml
@@ -7,29 +7,29 @@ enums:
       .def("__str__", &SysIdRoutineLog::StateEnumToString)
 
 classes:
-  frc::sysid::SysIdRoutineLog:
+  wpi::sysid::SysIdRoutineLog:
     methods:
       SysIdRoutineLog:
       RecordState:
       Motor:
       StateEnumToString:
-  frc::sysid::SysIdRoutineLog::MotorLog:
+  wpi::sysid::SysIdRoutineLog::MotorLog:
     methods:
       value:
       voltage:
       position:
         overloads:
-          units::meter_t:
-          units::turn_t:
+          wpi::units::meter_t:
+          wpi::units::turn_t:
             rename: angularPosition
       velocity:
         overloads:
-          units::meters_per_second_t:
-          units::turns_per_second_t:
+          wpi::units::meters_per_second_t:
+          wpi::units::turns_per_second_t:
             rename: angularVelocity
       acceleration:
         overloads:
-          units::meters_per_second_squared_t:
-          units::turns_per_second_squared_t:
+          wpi::units::meters_per_second_squared_t:
+          wpi::units::turns_per_second_squared_t:
             rename: angularAcceleration
       current:
diff --git a/wpilibc/src/main/python/semiwrap/SystemServer.yml b/wpilibc/src/main/python/semiwrap/SystemServer.yml
index 21bfd10ca8..16aa56d149 100644
--- a/wpilibc/src/main/python/semiwrap/SystemServer.yml
+++ b/wpilibc/src/main/python/semiwrap/SystemServer.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::SystemServer:
+  wpi::SystemServer:
     methods:
       GetSystemServer:
diff --git a/wpilibc/src/main/python/semiwrap/Talon.yml b/wpilibc/src/main/python/semiwrap/Talon.yml
index 4af53569f0..3b06fe904d 100644
--- a/wpilibc/src/main/python/semiwrap/Talon.yml
+++ b/wpilibc/src/main/python/semiwrap/Talon.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::Talon:
+  wpi::Talon:
     methods:
       Talon:
diff --git a/wpilibc/src/main/python/semiwrap/TimedRobot.yml b/wpilibc/src/main/python/semiwrap/TimedRobot.yml
index bbbd87e2a5..0f57397833 100644
--- a/wpilibc/src/main/python/semiwrap/TimedRobot.yml
+++ b/wpilibc/src/main/python/semiwrap/TimedRobot.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::TimedRobot:
+  wpi::TimedRobot:
     attributes:
       kDefaultPeriod:
     methods:
@@ -12,5 +12,5 @@ classes:
             default: 0_s
       TimedRobot:
         overloads:
-          units::second_t:
-          units::hertz_t:
+          wpi::units::second_t:
+          wpi::units::hertz_t:
diff --git a/wpilibc/src/main/python/semiwrap/Timer.yml b/wpilibc/src/main/python/semiwrap/Timer.yml
index 5b50a3f2fb..869d27d118 100644
--- a/wpilibc/src/main/python/semiwrap/Timer.yml
+++ b/wpilibc/src/main/python/semiwrap/Timer.yml
@@ -2,7 +2,7 @@ functions:
   Wait:
   GetTime:
 classes:
-  frc::Timer:
+  wpi::Timer:
     methods:
       Timer:
       Get:
diff --git a/wpilibc/src/main/python/semiwrap/TimesliceRobot.yml b/wpilibc/src/main/python/semiwrap/TimesliceRobot.yml
index 1e507942da..298e31ced0 100644
--- a/wpilibc/src/main/python/semiwrap/TimesliceRobot.yml
+++ b/wpilibc/src/main/python/semiwrap/TimesliceRobot.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::TimesliceRobot:
+  wpi::TimesliceRobot:
     methods:
       TimesliceRobot:
       Schedule:
diff --git a/wpilibc/src/main/python/semiwrap/Tracer.yml b/wpilibc/src/main/python/semiwrap/Tracer.yml
index 0f7284e2ea..95767e438a 100644
--- a/wpilibc/src/main/python/semiwrap/Tracer.yml
+++ b/wpilibc/src/main/python/semiwrap/Tracer.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/util/raw_ostream.hpp
 
 classes:
-  frc::Tracer:
+  wpi::Tracer:
     methods:
       Tracer:
       ResetTimer:
@@ -12,15 +12,15 @@ classes:
       PrintEpochs:
         overloads:
           '':
-          wpi::raw_ostream&:
+          wpi::util::raw_ostream&:
             ignore: true
 
 inline_code: |-
   cls_Tracer
     .def("getEpochs",
       [](Tracer * self) -> py::str {
-        wpi::SmallString<128> buf;
-        wpi::raw_svector_ostream s(buf);
+        wpi::util::SmallString<128> buf;
+        wpi::util::raw_svector_ostream s(buf);
         self->PrintEpochs(s);
         return py::cast(s.str());
       },
diff --git a/wpilibc/src/main/python/semiwrap/VictorSP.yml b/wpilibc/src/main/python/semiwrap/VictorSP.yml
index cdf9b95be2..d81438eaa3 100644
--- a/wpilibc/src/main/python/semiwrap/VictorSP.yml
+++ b/wpilibc/src/main/python/semiwrap/VictorSP.yml
@@ -2,6 +2,6 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  frc::VictorSP:
+  wpi::VictorSP:
     methods:
       VictorSP:
diff --git a/wpilibc/src/main/python/semiwrap/Watchdog.yml b/wpilibc/src/main/python/semiwrap/Watchdog.yml
index cd00aca4b5..e00b98c485 100644
--- a/wpilibc/src/main/python/semiwrap/Watchdog.yml
+++ b/wpilibc/src/main/python/semiwrap/Watchdog.yml
@@ -1,17 +1,17 @@
 classes:
-  frc::Watchdog:
+  wpi::Watchdog:
     methods:
       Watchdog:
         overloads:
-          units::second_t, std::function<void ()>:
-          units::second_t, Callable&&, Arg&&, Args&&...:
+          wpi::units::second_t, std::function<void ()>:
+          wpi::units::second_t, Callable&&, Arg&&, Args&&...:
             ignore: true
       GetTime:
       SetTimeout:
         overloads:
           double:
             ignore: true
-          units::second_t:
+          wpi::units::second_t:
       GetTimeout:
       IsExpired:
       AddEpoch:
diff --git a/wpilibc/src/main/python/semiwrap/XboxController.yml b/wpilibc/src/main/python/semiwrap/XboxController.yml
index 0fac38d8b8..05d1301b4f 100644
--- a/wpilibc/src/main/python/semiwrap/XboxController.yml
+++ b/wpilibc/src/main/python/semiwrap/XboxController.yml
@@ -4,9 +4,9 @@ extra_includes:
 - wpi/event/BooleanEvent.hpp
 
 classes:
-  frc::XboxController:
+  wpi::XboxController:
     ignored_bases:
-    - wpi::SendableHelper<XboxController>
+    - wpi::util::SendableHelper<XboxController>
     methods:
       XboxController:
       GetLeftX:
@@ -70,7 +70,7 @@ classes:
       GetRightBumperButtonPressed:
       GetRightBumperButtonReleased:
       InitSendable:
-  frc::XboxController::Button:
+  wpi::XboxController::Button:
     attributes:
       kLeftBumper:
       kRightBumper:
@@ -82,7 +82,7 @@ classes:
       kY:
       kBack:
       kStart:
-  frc::XboxController::Axis:
+  wpi::XboxController::Axis:
     attributes:
       kLeftX:
       kRightX:
diff --git a/wpilibc/src/main/python/semiwrap/counter/Tachometer.yml b/wpilibc/src/main/python/semiwrap/counter/Tachometer.yml
index 21a59af959..4c3a692d0a 100644
--- a/wpilibc/src/main/python/semiwrap/counter/Tachometer.yml
+++ b/wpilibc/src/main/python/semiwrap/counter/Tachometer.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::Tachometer:
+  wpi::Tachometer:
     ignored_bases:
-    - wpi::SendableHelper<Tachometer>
+    - wpi::util::SendableHelper<Tachometer>
     methods:
       Tachometer:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml b/wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml
index 9941ef0c38..512eff831d 100644
--- a/wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml
+++ b/wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::UpDownCounter:
+  wpi::UpDownCounter:
     ignored_bases:
-    - wpi::SendableHelper<UpDownCounter>
+    - wpi::util::SendableHelper<UpDownCounter>
     methods:
       UpDownCounter:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml b/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
index dcbfe1771e..2d0f029971 100644
--- a/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
@@ -3,9 +3,9 @@ extra_includes:
 - wpi/hardware/motor/MotorController.hpp
 
 classes:
-  frc::DifferentialDrive:
+  wpi::DifferentialDrive:
     ignored_bases:
-    - wpi::SendableHelper<DifferentialDrive>
+    - wpi::util::SendableHelper<DifferentialDrive>
     methods:
       DifferentialDrive:
         overloads:
@@ -103,7 +103,7 @@ classes:
       * :meth:`curvatureDrive` is similar in concept to
         ``RobotDrive.drive`` with the addition of a quick turn
         mode. However, it is not designed to give exactly the same response.
-  frc::DifferentialDrive::WheelSpeeds:
+  wpi::DifferentialDrive::WheelSpeeds:
     attributes:
       left:
       right:
diff --git a/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml b/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
index 7ec40ff6d6..d713db8827 100644
--- a/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
@@ -3,11 +3,11 @@ extra_includes:
 - wpi/hardware/motor/MotorController.hpp
 
 classes:
-  frc::MecanumDrive:
+  wpi::MecanumDrive:
     force_type_casters:
-    - units::radian_t
+    - wpi::units::radian_t
     ignored_bases:
-    - wpi::SendableHelper<MecanumDrive>
+    - wpi::util::SendableHelper<MecanumDrive>
     methods:
       MecanumDrive:
         overloads:
@@ -21,16 +21,16 @@ classes:
       DriveCartesian:
         param_override:
           gyroAngle:
-            default: frc::Rotation2d(0_rad)
+            default: wpi::math::Rotation2d(0_rad)
       DrivePolar:
       DriveCartesianIK:
         param_override:
           gyroAngle:
-            default: frc::Rotation2d(0_rad)
+            default: wpi::math::Rotation2d(0_rad)
       StopMotor:
       GetDescription:
       InitSendable:
-  frc::MecanumDrive::WheelSpeeds:
+  wpi::MecanumDrive::WheelSpeeds:
     attributes:
       frontLeft:
       frontRight:
diff --git a/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml b/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
index 47e6a9315e..a146ef0fa0 100644
--- a/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/util/SmallString.hpp
 
 classes:
-  frc::RobotDriveBase:
+  wpi::RobotDriveBase:
     attributes:
       m_deadband:
       m_maxOutput:
diff --git a/wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml b/wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml
index 7de3bc73f4..69dc7fd6f0 100644
--- a/wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml
+++ b/wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::BooleanEvent:
+  wpi::BooleanEvent:
     methods:
       BooleanEvent:
       GetAsBoolean:
diff --git a/wpilibc/src/main/python/semiwrap/event/EventLoop.yml b/wpilibc/src/main/python/semiwrap/event/EventLoop.yml
index eab98c2db5..0f678cfd99 100644
--- a/wpilibc/src/main/python/semiwrap/event/EventLoop.yml
+++ b/wpilibc/src/main/python/semiwrap/event/EventLoop.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::EventLoop:
+  wpi::EventLoop:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml b/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
index 05ebc9736a..f6521d5095 100644
--- a/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
+++ b/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
@@ -4,21 +4,21 @@ extra_includes:
 - wpi/nt/NetworkTableInstance.hpp
 
 classes:
-  frc::NetworkBooleanEvent:
+  wpi::NetworkBooleanEvent:
     force_no_trampoline: true
     methods:
       NetworkBooleanEvent:
         overloads:
-          EventLoop*, nt::BooleanTopic:
+          EventLoop*, wpi::nt::BooleanTopic:
             cpp_code: |
-              [](EventLoop *loop, nt::BooleanTopic &topic) {
+              [](EventLoop *loop, wpi::nt::BooleanTopic &topic) {
                 return std::make_unique<NetworkBooleanEvent>(loop, std::move(topic));
               }
-          EventLoop*, nt::BooleanSubscriber:
+          EventLoop*, wpi::nt::BooleanSubscriber:
             cpp_code: |
-              [](EventLoop *loop, nt::BooleanSubscriber &sub) {
+              [](EventLoop *loop, wpi::nt::BooleanSubscriber &sub) {
                 return std::make_unique<NetworkBooleanEvent>(loop, std::move(sub));
               }
-          EventLoop*, std::shared_ptr<nt::NetworkTable>, std::string_view:
+          EventLoop*, std::shared_ptr<wpi::nt::NetworkTable>, std::string_view:
           EventLoop*, std::string_view, std::string_view:
-          EventLoop*, nt::NetworkTableInstance, std::string_view, std::string_view:
+          EventLoop*, wpi::nt::NetworkTableInstance, std::string_view, std::string_view:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml b/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
index 59dff03910..8f8080585a 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/accelerometer/ADXL345_I2C.hpp
 
 classes:
-  frc::sim::ADXL345Sim:
+  wpi::sim::ADXL345Sim:
     methods:
       ADXL345Sim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
index c0dbc08dd2..ac48cce4fe 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/led/AddressableLED.hpp
 
 classes:
-  frc::sim::AddressableLEDSim:
+  wpi::sim::AddressableLEDSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
index 10352621a2..01e06327bf 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/rotation/AnalogEncoder.hpp
 
 classes:
-  frc::sim::AnalogEncoderSim:
+  wpi::sim::AnalogEncoderSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
index fff6a8603f..f13e7c0ae5 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/discrete/AnalogInput.hpp
 
 classes:
-  frc::sim::AnalogInputSim:
+  wpi::sim::AnalogInputSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/BatterySim.yml b/wpilibc/src/main/python/semiwrap/simulation/BatterySim.yml
index e840ddf7fc..ef2ad412d3 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/BatterySim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/BatterySim.yml
@@ -1,13 +1,13 @@
 classes:
-  frc::sim::BatterySim:
+  wpi::sim::BatterySim:
     force_type_casters:
-    - units::ampere_t
+    - wpi::units::ampere_t
     methods:
       Calculate:
         overloads:
-          units::volt_t, units::ohm_t, std::span<const units::ampere_t>:
-          units::volt_t, units::ohm_t, std::initializer_list<units::ampere_t>:
+          wpi::units::volt_t, wpi::units::ohm_t, std::span<const wpi::units::ampere_t>:
+          wpi::units::volt_t, wpi::units::ohm_t, std::initializer_list<wpi::units::ampere_t>:
             ignore: true
-          std::span<const units::ampere_t>:
-          std::initializer_list<units::ampere_t>:
+          std::span<const wpi::units::ampere_t>:
+          std::initializer_list<wpi::units::ampere_t>:
             ignore: true
diff --git a/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
index 60f8e7b585..463ded844a 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/hardware/pneumatic/Compressor.hpp
 
 classes:
-  frc::sim::CTREPCMSim:
+  wpi::sim::CTREPCMSim:
     typealias:
-    - frc::PneumaticsBase
+    - wpi::PneumaticsBase
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/CallbackStore.yml b/wpilibc/src/main/python/semiwrap/simulation/CallbackStore.yml
index 5254c98d48..eb974c231d 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/CallbackStore.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/CallbackStore.yml
@@ -4,7 +4,7 @@ functions:
   ConstBufferCallbackStoreThunk:
     ignore: true
 classes:
-  frc::sim::CallbackStore:
+  wpi::sim::CallbackStore:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DCMotorSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DCMotorSim.yml
index 19ba351052..79b9b4c34b 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DCMotorSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DCMotorSim.yml
@@ -1,14 +1,14 @@
 classes:
-  frc::sim::DCMotorSim:
+  wpi::sim::DCMotorSim:
     typealias:
-    - frc::DCMotor
+    - wpi::math::DCMotor
     methods:
       DCMotorSim:
         overloads:
-          const LinearSystem<2, 1, 2>&, const DCMotor&, const std::array<double, 2>&:
+          const wpi::math::LinearSystem<2, 1, 2>&, const wpi::math::DCMotor&, const std::array<double, 2>&:
             param_override:
               plant:
-                x_type: frc::LinearSystem<2,1,2>
+                x_type: wpi::math::LinearSystem<2,1,2>
       SetState:
       GetAngularPosition:
       GetAngularVelocity:
@@ -27,9 +27,9 @@ inline_code: |
   cls_DCMotorSim
     // java API compatibility
     .def("getAngularPositionRotations", [](const DCMotorSim &self) {
-      return units::turn_t{self.GetAngularPosition()};
+      return wpi::units::turn_t{self.GetAngularPosition()};
     }, py::doc("Returns the DC motor position in rotations"))
     .def("getAngularVelocityRPM", [](const DCMotorSim &self) {
-      return units::revolutions_per_minute_t{self.GetAngularVelocity()};
+      return wpi::units::revolutions_per_minute_t{self.GetAngularVelocity()};
     }, py::doc("Returns the DC motor velocity in revolutions per minute"))
   ;
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
index a231bcf38e..1643f6cdbf 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/hardware/discrete/DigitalOutput.hpp
 
 classes:
-  frc::sim::DIOSim:
+  wpi::sim::DIOSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
index 045bfe7673..8c779e82c4 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
@@ -1,16 +1,16 @@
 classes:
-  frc::sim::DifferentialDrivetrainSim:
+  wpi::sim::DifferentialDrivetrainSim:
     typealias:
-    - frc::DCMotor
-    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    - wpi::math::DCMotor
+    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
     methods:
       DifferentialDrivetrainSim:
         overloads:
-          LinearSystem<2, 2, 2>, units::meter_t, DCMotor, double, units::meter_t, const std::array<double, 7>&:
+          wpi::math::LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::math::DCMotor, double, wpi::units::meter_t, const std::array<double, 7>&:
             param_override:
               measurementStdDevs:
                 default: std::array<double, 7>{}
-          ? frc::DCMotor, double, units::kilogram_square_meter_t, units::kilogram_t, units::meter_t, units::meter_t, const std::array<double, 7>&
+          ? wpi::math::DCMotor, double, wpi::units::kilogram_square_meter_t, wpi::units::kilogram_t, wpi::units::meter_t, wpi::units::meter_t, const std::array<double, 7>&
           : param_override:
               measurementStdDevs:
                 default: std::array<double, 7>{}
@@ -33,15 +33,15 @@ classes:
       Dynamics:
       CreateKitbotSim:
         overloads:
-          frc::DCMotor, double, units::meter_t, const std::array<double, 7>&:
+          wpi::math::DCMotor, double, wpi::units::meter_t, const std::array<double, 7>&:
             param_override:
               measurementStdDevs:
                 default: std::array<double, 7>{}
-          frc::DCMotor, double, units::meter_t, units::kilogram_square_meter_t, const std::array<double, 7>&:
+          wpi::math::DCMotor, double, wpi::units::meter_t, wpi::units::kilogram_square_meter_t, const std::array<double, 7>&:
             param_override:
               measurementStdDevs:
                 default: std::array<double, 7>{}
-  frc::sim::DifferentialDrivetrainSim::State:
+  wpi::sim::DifferentialDrivetrainSim::State:
     attributes:
       kX:
       kY:
@@ -50,14 +50,14 @@ classes:
       kRightVelocity:
       kLeftPosition:
       kRightPosition:
-  frc::sim::DifferentialDrivetrainSim::KitbotGearing:
+  wpi::sim::DifferentialDrivetrainSim::KitbotGearing:
     attributes:
       k12p75:
       k10p71:
       k8p45:
       k7p31:
       k5p95:
-  frc::sim::DifferentialDrivetrainSim::KitbotMotor:
+  wpi::sim::DifferentialDrivetrainSim::KitbotMotor:
     attributes:
       SingleCIMPerSide:
       DualCIMPerSide:
@@ -67,7 +67,7 @@ classes:
       DualFalcon500PerSide:
       SingleNEOPerSide:
       DualNEOPerSide:
-  frc::sim::DifferentialDrivetrainSim::KitbotWheelSize:
+  wpi::sim::DifferentialDrivetrainSim::KitbotWheelSize:
     attributes:
       kSixInch:
       kEightInch:
@@ -75,22 +75,22 @@ classes:
 
 inline_code: |-
   cls_DifferentialDrivetrainSim
-    .def("getLeftPositionFeet", [](DifferentialDrivetrainSim * self) -> units::foot_t {
+    .def("getLeftPositionFeet", [](DifferentialDrivetrainSim * self) -> wpi::units::foot_t {
       return self->GetLeftPosition();
     })
-    .def("getLeftPositionInches", [](DifferentialDrivetrainSim * self) -> units::inch_t {
+    .def("getLeftPositionInches", [](DifferentialDrivetrainSim * self) -> wpi::units::inch_t {
       return self->GetLeftPosition();
     })
-    .def("getLeftVelocityFps", [](DifferentialDrivetrainSim * self) -> units::feet_per_second_t {
+    .def("getLeftVelocityFps", [](DifferentialDrivetrainSim * self) -> wpi::units::feet_per_second_t {
       return self->GetLeftVelocity();
     })
-    .def("getRightPositionFeet", [](DifferentialDrivetrainSim * self) -> units::foot_t {
+    .def("getRightPositionFeet", [](DifferentialDrivetrainSim * self) -> wpi::units::foot_t {
       return self->GetRightPosition();
     })
-    .def("getRightPositionInches", [](DifferentialDrivetrainSim * self) -> units::inch_t {
+    .def("getRightPositionInches", [](DifferentialDrivetrainSim * self) -> wpi::units::inch_t {
       return self->GetRightPosition();
     })
-    .def("getRightVelocityFps", [](DifferentialDrivetrainSim * self) -> units::feet_per_second_t {
+    .def("getRightVelocityFps", [](DifferentialDrivetrainSim * self) -> wpi::units::feet_per_second_t {
       return self->GetRightVelocity();
     })
   ;
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
index b705c370b5..e537214864 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/discrete/DigitalOutput.hpp
 
 classes:
-  frc::sim::DigitalPWMSim:
+  wpi::sim::DigitalPWMSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DoubleSolenoidSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DoubleSolenoidSim.yml
index 4b44c64500..4678e03a84 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DoubleSolenoidSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DoubleSolenoidSim.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::sim::DoubleSolenoidSim:
+  wpi::sim::DoubleSolenoidSim:
     typealias:
-    - frc::PneumaticsModuleType
+    - wpi::PneumaticsModuleType
     methods:
       DoubleSolenoidSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml
index b04367a661..273c2584fe 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::sim::DriverStationSim:
+  wpi::sim::DriverStationSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
index 8eaba60d6e..174e96fddd 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/rotation/DutyCycleEncoder.hpp
 
 classes:
-  frc::sim::DutyCycleEncoderSim:
+  wpi::sim::DutyCycleEncoderSim:
     methods:
       DutyCycleEncoderSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
index c76b86186f..a15d245dcf 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/rotation/DutyCycle.hpp
 
 classes:
-  frc::sim::DutyCycleSim:
+  wpi::sim::DutyCycleSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml b/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
index 8301854dfb..b086ba47ed 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
@@ -1,21 +1,21 @@
 classes:
-  frc::sim::ElevatorSim:
+  wpi::sim::ElevatorSim:
     typealias:
-    - frc::DCMotor
-    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
-    - template <int I> using Vectord = frc::Vectord<I>
+    - wpi::math::DCMotor
+    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
     methods:
       ElevatorSim:
         overloads:
-          ? const LinearSystem<2, 1, 2>&, const DCMotor&, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          ? const wpi::math::LinearSystem<2, 1, 2>&, const wpi::math::DCMotor&, wpi::units::meter_t, wpi::units::meter_t, bool, wpi::units::meter_t, const std::array<double, 2>&
           : param_override:
               measurementStdDevs:
                 default: std::array<double, 2>{0.0, 0.0}
-          ? const DCMotor&, double, units::kilogram_t, units::meter_t, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          ? const wpi::math::DCMotor&, double, wpi::units::kilogram_t, wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t, bool, wpi::units::meter_t, const std::array<double, 2>&
           : param_override:
               measurementStdDevs:
                 default: std::array<double, 2>{0.0}
-          ? decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)), const DCMotor&, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          ? decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)), const wpi::math::DCMotor&, wpi::units::meter_t, wpi::units::meter_t, bool, wpi::units::meter_t, const std::array<double, 2>&
           : ignore: true
       SetState:
       WouldHitLowerLimit:
@@ -30,13 +30,13 @@ classes:
 
 inline_code: |-
   cls_ElevatorSim
-    .def("getPositionFeet", [](ElevatorSim * self) -> units::foot_t {
+    .def("getPositionFeet", [](ElevatorSim * self) -> wpi::units::foot_t {
       return self->GetPosition();
     })
-    .def("getPositionInches", [](ElevatorSim * self) -> units::inch_t {
+    .def("getPositionInches", [](ElevatorSim * self) -> wpi::units::inch_t {
       return self->GetPosition();
     })
-    .def("getVelocityFps", [](ElevatorSim * self) -> units::feet_per_second_t {
+    .def("getVelocityFps", [](ElevatorSim * self) -> wpi::units::feet_per_second_t {
       return self->GetVelocity();
     })
   ;
diff --git a/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
index 92d0dc91ed..9b4288ba40 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/rotation/Encoder.hpp
 
 classes:
-  frc::sim::EncoderSim:
+  wpi::sim::EncoderSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml b/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
index 4e80360f8c..23b2c4d0c2 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
@@ -1,16 +1,16 @@
 classes:
-  frc::sim::FlywheelSim:
+  wpi::sim::FlywheelSim:
     typealias:
-    - frc::DCMotor
-    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    - wpi::math::DCMotor
+    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
     methods:
       FlywheelSim:
         overloads:
-          const LinearSystem<1, 1, 1>&, const DCMotor&, double, const std::array<double, 1>&:
+          const wpi::math::LinearSystem<1, 1, 1>&, const wpi::math::DCMotor&, double, const std::array<double, 1>&:
             param_override:
               measurementStdDevs:
                 default: std::array<double, 1>{0.0}
-          const DCMotor&, double, units::kilogram_square_meter_t, const std::array<double, 1>&:
+          const wpi::math::DCMotor&, double, wpi::units::kilogram_square_meter_t, const std::array<double, 1>&:
             param_override:
               measurementStdDevs:
                 default: std::array<double, 1>{0.0}
diff --git a/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml b/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
index 4ce6851641..a9572823aa 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/Gamepad.hpp
 
 classes:
-  frc::sim::GamepadSim:
+  wpi::sim::GamepadSim:
     force_no_trampoline: true
     methods:
       GamepadSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml b/wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml
index 41fc24e297..f001bd92cf 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::sim::GenericHIDSim:
+  wpi::sim::GenericHIDSim:
     methods:
       GenericHIDSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml b/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
index e17e514312..2b080ac824 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/Joystick.hpp
 
 classes:
-  frc::sim::JoystickSim:
+  wpi::sim::JoystickSim:
     force_no_trampoline: true
     methods:
       JoystickSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml b/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
index 9261649ed2..0006ff4b43 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
@@ -1,8 +1,8 @@
 classes:
-  frc::sim::LinearSystemSim:
+  wpi::sim::LinearSystemSim:
     typealias:
-    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
-    - template <int I> using Vectord = frc::Vectord<I>
+    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
     template_params:
     - int States
     - int Inputs
@@ -25,7 +25,7 @@ classes:
           int [const]:
       SetInput:
         overloads:
-          const Vectord<Inputs>&:
+          const wpi::math::Vectord<Inputs>&:
           int, double:
       GetInput:
         overloads:
@@ -38,37 +38,37 @@ classes:
 
 templates:
   LinearSystemSim_1_1_1:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 1
     - 1
     - 1
   LinearSystemSim_1_1_2:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 1
     - 1
     - 2
   LinearSystemSim_2_1_1:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 2
     - 1
     - 1
   LinearSystemSim_2_1_2:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 2
     - 1
     - 2
   LinearSystemSim_2_2_1:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 2
     - 2
     - 1
   LinearSystemSim_2_2_2:
-    qualname: frc::sim::LinearSystemSim
+    qualname: wpi::sim::LinearSystemSim
     params:
     - 2
     - 2
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
index 6196e21854..cc19ca4968 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/PS4Controller.hpp
 
 classes:
-  frc::sim::PS4ControllerSim:
+  wpi::sim::PS4ControllerSim:
     force_no_trampoline: true
     methods:
       PS4ControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
index 3f71bb8533..36cb9c57c1 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/PS5Controller.hpp
 
 classes:
-  frc::sim::PS5ControllerSim:
+  wpi::sim::PS5ControllerSim:
     force_no_trampoline: true
     methods:
       PS5ControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
index 2b1e8e7d3d..8f65140ba3 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::sim::PWMMotorControllerSim:
+  wpi::sim::PWMMotorControllerSim:
     methods:
       PWMMotorControllerSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
index 8c35569bc1..dd58ff550f 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/hardware/motor/PWMMotorController.hpp
 
 classes:
-  frc::sim::PWMSim:
+  wpi::sim::PWMSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PneumaticsBaseSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PneumaticsBaseSim.yml
index 4dc83550b0..6e62b57697 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PneumaticsBaseSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PneumaticsBaseSim.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::sim::PneumaticsBaseSim:
+  wpi::sim::PneumaticsBaseSim:
     typealias:
-    - frc::PneumaticsBase
+    - wpi::PneumaticsBase
     attributes:
       m_index:
     force_type_casters:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
index d9e0eadec0..ca67074740 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/hardware/power/PowerDistribution.hpp
 
 classes:
-  frc::sim::PowerDistributionSim:
+  wpi::sim::PowerDistributionSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml b/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
index a7d63adb7a..16e23cb778 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
@@ -2,9 +2,9 @@ extra_includes:
 - wpi/hardware/pneumatic/Compressor.hpp
 
 classes:
-  frc::sim::REVPHSim:
+  wpi::sim::REVPHSim:
     typealias:
-    - frc::PneumaticsBase
+    - wpi::PneumaticsBase
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/RoboRioSim.yml b/wpilibc/src/main/python/semiwrap/simulation/RoboRioSim.yml
index 75a6cdb25d..3cdb3fff7e 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/RoboRioSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/RoboRioSim.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::sim::RoboRioSim:
+  wpi::sim::RoboRioSim:
     force_type_casters:
     - std::function
     methods:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SendableChooserSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SendableChooserSim.yml
index 8fde3ba616..778bc3c9d6 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SendableChooserSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SendableChooserSim.yml
@@ -1,8 +1,8 @@
 classes:
-  frc::sim::SendableChooserSim:
+  wpi::sim::SendableChooserSim:
     methods:
       SendableChooserSim:
         overloads:
           std::string_view:
-          nt::NetworkTableInstance, std::string_view:
+          wpi::nt::NetworkTableInstance, std::string_view:
       SetSelected:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SharpIRSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SharpIRSim.yml
index 5b9659ae7f..3f75e476af 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SharpIRSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SharpIRSim.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SharpIRSim:
+  wpi::SharpIRSim:
     methods:
       SharpIRSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SimDeviceSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SimDeviceSim.yml
index 8be1e5942b..4eac4dc700 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SimDeviceSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SimDeviceSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - pybind11/stl.h
 
 classes:
-  frc::sim::SimDeviceSim:
+  wpi::sim::SimDeviceSim:
     doc: |
       Interact with a generic simulated device
 
@@ -65,7 +65,7 @@ classes:
 
 inline_code: |
   cls_SimDeviceSim
-    .def("enumerateValues", [](frc::sim::SimDeviceSim * that) {
+    .def("enumerateValues", [](wpi::sim::SimDeviceSim * that) {
       std::vector<std::pair<std::string, bool>> values;
       that->EnumerateValues([&values](const char * name, HAL_SimValueHandle handle,
                                HAL_Bool readonly, const struct HAL_Value * value){
@@ -76,7 +76,7 @@ inline_code: |
     "Returns a list of (name, readonly) tuples of available values for this device")
     .def_static("enumerateDevices", [](const char * prefix) {
       std::vector<std::string> devices;
-      frc::sim::SimDeviceSim::EnumerateDevices(prefix, [&devices](const char * name, HAL_SimDeviceHandle handle) {
+      wpi::sim::SimDeviceSim::EnumerateDevices(prefix, [&devices](const char * name, HAL_SimDeviceHandle handle) {
         devices.push_back(std::string(name));
       });
       return devices;
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
index 7321580345..08cf0b5e78 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
@@ -1,17 +1,17 @@
 classes:
-  frc::sim::SingleJointedArmSim:
+  wpi::sim::SingleJointedArmSim:
     typealias:
-    - frc::DCMotor
-    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
-    - template <int I> using Vectord = frc::Vectord<I>
+    - wpi::math::DCMotor
+    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
     methods:
       SingleJointedArmSim:
         overloads:
-          ? const LinearSystem<2, 1, 2>&, const DCMotor&, double, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
+          ? const wpi::math::LinearSystem<2, 1, 2>&, const wpi::math::DCMotor&, double, wpi::units::meter_t, wpi::units::radian_t, wpi::units::radian_t, bool, wpi::units::radian_t, const std::array<double, 2>&
           : param_override:
               measurementStdDevs:
                 default: std::array<double, 2>{0.0, 0.0}
-          ? const DCMotor&, double, units::kilogram_square_meter_t, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
+          ? const wpi::math::DCMotor&, double, wpi::units::kilogram_square_meter_t, wpi::units::meter_t, wpi::units::radian_t, wpi::units::radian_t, bool, wpi::units::radian_t, const std::array<double, 2>&
           : param_override:
               measurementStdDevs:
                 default: std::array<double, 2>{0.0, 0.0}
@@ -29,10 +29,10 @@ classes:
 
 inline_code: |-
   cls_SingleJointedArmSim
-    .def("getAngleDegrees", [](SingleJointedArmSim * self) -> units::degree_t {
+    .def("getAngleDegrees", [](SingleJointedArmSim * self) -> wpi::units::degree_t {
       return self->GetAngle();
     })
-    .def("getVelocityDps", [](SingleJointedArmSim * self) -> units::degrees_per_second_t {
+    .def("getVelocityDps", [](SingleJointedArmSim * self) -> wpi::units::degrees_per_second_t {
       return self->GetVelocity();
     })
   ;
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SolenoidSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SolenoidSim.yml
index 8cee1025ad..bd495d9805 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SolenoidSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SolenoidSim.yml
@@ -1,9 +1,9 @@
 classes:
-  frc::sim::SolenoidSim:
+  wpi::sim::SolenoidSim:
     force_type_casters:
     - std::function
     typealias:
-    - frc::PneumaticsModuleType
+    - wpi::PneumaticsModuleType
     methods:
       SolenoidSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
index 7b3a5a03c4..171bbec1a0 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/driverstation/StadiaController.hpp
 
 classes:
-  frc::sim::StadiaControllerSim:
+  wpi::sim::StadiaControllerSim:
     force_no_trampoline: true
     methods:
       StadiaControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
index 540ecd9c9c..9f1eb5813b 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
@@ -2,10 +2,10 @@ extra_includes:
 - wpi/driverstation/XboxController.hpp
 
 classes:
-  frc::sim::XboxControllerSim:
+  wpi::sim::XboxControllerSim:
     force_no_trampoline: true
     typealias:
-    - frc::XboxController
+    - wpi::XboxController
     methods:
       XboxControllerSim:
         overloads:
diff --git a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
index 107d55fc5c..e3f880e905 100644
--- a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
+++ b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
@@ -3,23 +3,23 @@
 
 #ifndef __FRC_SYSTEMCORE__
 
-namespace frc::impl {
+namespace wpi::impl {
 void ResetSmartDashboardInstance();
 void ResetMotorSafety();
-} // namespace frc::impl
+} // namespace wpi::impl
 
 namespace wpi::impl {
 void ResetSendableRegistry();
 } // namespace wpi::impl
 
 void resetWpilibSimulationData() {
-  frc::impl::ResetSmartDashboardInstance();
-  frc::impl::ResetMotorSafety();
+  wpi::impl::ResetSmartDashboardInstance();
+  wpi::impl::ResetMotorSafety();
   wpi::impl::ResetSendableRegistry();
 }
 
 void resetMotorSafety() {
-  frc::impl::ResetMotorSafety();
+  wpi::impl::ResetMotorSafety();
 }
 
 #else
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
index 5e39962b2f..9243a63bcc 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
@@ -6,15 +6,15 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 void PyMotorControllerGroup::Initialize() {
   for (auto motorController : m_motorControllers) {
-    wpi::SendableRegistry::AddChild(this, motorController.get());
+    wpi::util::SendableRegistry::AddChild(this, motorController.get());
   }
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::Add(this, "MotorControllerGroup", instances);
+  wpi::util::SendableRegistry::Add(this, "MotorControllerGroup", instances);
 }
 
 void PyMotorControllerGroup::Set(double speed) {
@@ -23,7 +23,7 @@ void PyMotorControllerGroup::Set(double speed) {
   }
 }
 
-void PyMotorControllerGroup::SetVoltage(units::volt_t output) {
+void PyMotorControllerGroup::SetVoltage(wpi::units::volt_t output) {
   for (auto motorController : m_motorControllers) {
     motorController->SetVoltage(m_isInverted ? -output : output);
   }
@@ -54,7 +54,7 @@ void PyMotorControllerGroup::StopMotor() {
   }
 }
 
-void PyMotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
+void PyMotorControllerGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.AddDoubleProperty("Value", [=, this]() { return Get(); },
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
index 54d4043de1..26714d64f7 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
@@ -13,13 +13,13 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi {
 
-class PyMotorControllerGroup : public wpi::Sendable,
+class PyMotorControllerGroup : public wpi::util::Sendable,
                              public MotorController,
-                             public wpi::SendableHelper<PyMotorControllerGroup> {
+                             public wpi::util::SendableHelper<PyMotorControllerGroup> {
  public:
-  PyMotorControllerGroup(std::vector<std::shared_ptr<frc::MotorController>> &&args) :
+  PyMotorControllerGroup(std::vector<std::shared_ptr<wpi::MotorController>> &&args) :
     m_motorControllers(args) {}
   ~PyMotorControllerGroup() override = default;
 
@@ -27,20 +27,20 @@ class PyMotorControllerGroup : public wpi::Sendable,
   PyMotorControllerGroup& operator=(PyMotorControllerGroup&&) = default;
 
   void Set(double speed) override;
-  void SetVoltage(units::volt_t output) override;
+  void SetVoltage(wpi::units::volt_t output) override;
   double Get() const override;
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void Initialize();
 
   bool m_isInverted = false;
-  std::vector<std::shared_ptr<frc::MotorController>> m_motorControllers;
+  std::vector<std::shared_ptr<wpi::MotorController>> m_motorControllers;
 };
 
 }  // namespace rpy
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
index 62ab763c1d..e12173aa10 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
@@ -16,7 +16,7 @@
 #include <pybind11/functional.h>
 #include <gilsafe_object.h>
 
-using namespace frc;
+using namespace wpi;
 using namespace pybind11::literals;
 
 // Hang the thread since returning to the caller is going to crash when we try
@@ -144,7 +144,7 @@ void PyNotifier::SetCallback(std::function<void()> handler) {
   m_handler = handler;
 }
 
-void PyNotifier::StartSingle(units::second_t delay) {
+void PyNotifier::StartSingle(wpi::units::second_t delay) {
   std::scoped_lock lock(m_processMutex);
   m_periodic = false;
   m_period = delay;
@@ -152,7 +152,7 @@ void PyNotifier::StartSingle(units::second_t delay) {
   UpdateAlarm();
 }
 
-void PyNotifier::StartPeriodic(units::second_t period) {
+void PyNotifier::StartPeriodic(wpi::units::second_t period) {
   std::scoped_lock lock(m_processMutex);
   m_periodic = true;
   m_period = period;
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
index 8ef024c0cb..ebd39b4fc8 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
@@ -19,7 +19,7 @@
 
 #include <semiwrap.h>
 
-namespace frc {
+namespace wpi {
 
 class PyNotifier {
  public:
@@ -66,7 +66,7 @@ class PyNotifier {
    *
    * @param delay Amount of time to wait before the handler is called.
    */
-  void StartSingle(units::second_t delay);
+  void StartSingle(wpi::units::second_t delay);
 
   /**
    * Register for periodic event notification.
@@ -78,7 +78,7 @@ class PyNotifier {
    * @param period Period to call the handler starting one period
    *               after the call to this method.
    */
-  void StartPeriodic(units::second_t period);
+  void StartPeriodic(wpi::units::second_t period);
 
   /**
    * Stop timer events from occurring.
@@ -125,7 +125,7 @@ private:
   py::object m_thread;
 
   // Held while updating process information
-  wpi::mutex m_processMutex;
+  wpi::util::mutex m_processMutex;
 
   // HAL handle, atomic for proper destruction
   std::atomic<HAL_NotifierHandle> m_notifier{0};
@@ -134,13 +134,13 @@ private:
   std::function<void()> m_handler;
 
   // The absolute expiration time
-  units::second_t m_expirationTime = 0_s;
+  wpi::units::second_t m_expirationTime = 0_s;
 
   // The relative time (either periodic or single)
-  units::second_t m_period = 0_s;
+  wpi::units::second_t m_period = 0_s;
 
   // True if this is a periodic event
   bool m_periodic = false;
 };
 
-} // namespace frc
+} // namespace wpi
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.cpp b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.cpp
index 13cf561f21..9b8d430024 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.cpp
@@ -15,7 +15,7 @@ static py::dict &getSmartDashboardData() {
   return data;
 }
 
-void addSmartDashboardData(py::str &key, std::shared_ptr<wpi::Sendable> data) {
+void addSmartDashboardData(py::str &key, std::shared_ptr<wpi::util::Sendable> data) {
   auto &sdData = getSmartDashboardData();
   sdData[key] = py::cast(data);
 }
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
index 3d341e34c2..6ec19f63b2 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
@@ -10,7 +10,7 @@ namespace rpy {
 // These functions must be called with the GIL held
 //
 
-void addSmartDashboardData(py::str &key, std::shared_ptr<wpi::Sendable> data);
+void addSmartDashboardData(py::str &key, std::shared_ptr<wpi::util::Sendable> data);
 void clearSmartDashboardData();
 void destroySmartDashboardData();
 
diff --git a/wpilibc/src/test/native/cpp/AlertTest.cpp b/wpilibc/src/test/native/cpp/AlertTest.cpp
index 596a5bcd17..0af76e3db6 100644
--- a/wpilibc/src/test/native/cpp/AlertTest.cpp
+++ b/wpilibc/src/test/native/cpp/AlertTest.cpp
@@ -18,7 +18,7 @@
 #include "wpi/smartdashboard/SmartDashboard.hpp"
 #include "wpi/util/Alert.hpp"
 
-using namespace frc;
+using namespace wpi;
 using enum Alert::AlertType;
 class AlertsTest : public ::testing::Test {
  public:
@@ -52,7 +52,7 @@ class AlertsTest : public ::testing::Test {
            activeAlerts.end();
   }
 
-  void Update() { frc::SmartDashboard::UpdateValues(); }
+  void Update() { wpi::SmartDashboard::UpdateValues(); }
 
  private:
   std::string GetSubtableName(Alert::AlertType type) {
@@ -68,8 +68,8 @@ class AlertsTest : public ::testing::Test {
     }
   }
 
-  const nt::StringArraySubscriber GetSubscriberForType(Alert::AlertType type) {
-    return nt::NetworkTableInstance::GetDefault()
+  const wpi::nt::StringArraySubscriber GetSubscriberForType(Alert::AlertType type) {
+    return wpi::nt::NetworkTableInstance::GetDefault()
         .GetStringArrayTopic(fmt::format("/SmartDashboard/{}/{}",
                                          GetGroupName(), GetSubtableName(type)))
         .Subscribe({});
@@ -158,16 +158,16 @@ TEST_F(AlertsTest, SetTextWhileSet) {
 }
 
 TEST_F(AlertsTest, SetTextDoesNotAffectFirstOrderSort) {
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
 
   auto a = MakeAlert("A", kError);
   auto b = MakeAlert("B", kError);
   auto c = MakeAlert("C", kError);
 
   a.Set(true);
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   b.Set(true);
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   c.Set(true);
 
   auto expectedEndState = GetActiveAlerts(kError);
@@ -176,7 +176,7 @@ TEST_F(AlertsTest, SetTextDoesNotAffectFirstOrderSort) {
   b.SetText("AFTER");
 
   EXPECT_STATE(kError, expectedEndState);
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 }
 
 TEST_F(AlertsTest, MoveAssign) {
@@ -209,42 +209,42 @@ TEST_F(AlertsTest, MoveConstruct) {
 }
 
 TEST_F(AlertsTest, SortOrder) {
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
   auto a = MakeAlert("A", kInfo);
   auto b = MakeAlert("B", kInfo);
   auto c = MakeAlert("C", kInfo);
   a.Set(true);
   EXPECT_STATE(kInfo, "A");
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   b.Set(true);
   EXPECT_STATE(kInfo, "B", "A");
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   c.Set(true);
   EXPECT_STATE(kInfo, "C", "B", "A");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   c.Set(false);
   EXPECT_STATE(kInfo, "B", "A");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   c.Set(true);
   EXPECT_STATE(kInfo, "C", "B", "A");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   a.Set(false);
   EXPECT_STATE(kInfo, "C", "B");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   b.Set(false);
   EXPECT_STATE(kInfo, "C");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   b.Set(true);
   EXPECT_STATE(kInfo, "B", "C");
 
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   a.Set(true);
   EXPECT_STATE(kInfo, "A", "B", "C");
 
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 }
diff --git a/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp b/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
index 1f1fad930a..9d02abeae0 100644
--- a/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
+++ b/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
@@ -9,8 +9,8 @@
 #include "wpi/simulation/AnalogInputSim.hpp"
 #include "wpi/simulation/RoboRioSim.hpp"
 
-namespace frc {
-using namespace frc::sim;
+namespace wpi {
+using namespace wpi::sim;
 TEST(AnalogPotentiometerTest, InitializeWithAnalogInput) {
   HAL_Initialize(500, 0);
 
@@ -78,7 +78,7 @@ TEST(AnalogPotentiometerTest, WithModifiedBatteryVoltage) {
   EXPECT_EQ(90, pot.Get());
 
   // Simulate a lower battery voltage
-  RoboRioSim::SetUserVoltage3V3(units::volt_t{2.5});
+  RoboRioSim::SetUserVoltage3V3(wpi::units::volt_t{2.5});
 
   sim.SetVoltage(2.5);
   EXPECT_EQ(270.0, pot.Get());
@@ -89,4 +89,4 @@ TEST(AnalogPotentiometerTest, WithModifiedBatteryVoltage) {
   sim.SetVoltage(0.0);
   EXPECT_EQ(90.0, pot.Get());
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
index 6b31311886..b3aaa7c890 100644
--- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
+++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
@@ -9,10 +9,10 @@
 #include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 #include "wpi/hardware/pneumatic/Solenoid.hpp"
 
-namespace frc {
+namespace wpi {
 
 TEST(DoubleSolenoidCTRETest, ValidInitialization) {
-  DoubleSolenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
   solenoid.Set(DoubleSolenoid::kReverse);
   EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
 
@@ -25,29 +25,29 @@ TEST(DoubleSolenoidCTRETest, ValidInitialization) {
 
 TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
-  Solenoid solenoid{0, 5, frc::PneumaticsModuleType::CTREPCM, 2};
-  EXPECT_THROW(DoubleSolenoid(0, 5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_THROW(DoubleSolenoid(0, 5, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
-  Solenoid solenoid{0, 6, frc::PneumaticsModuleType::CTREPCM, 3};
-  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTREPCM, 3};
+  EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
   PneumaticsControlModule pcm{0, 6};
   // Single solenoid that is reused for forward port
-  Solenoid solenoid0(0, 6, frc::PneumaticsModuleType::CTREPCM, 2);
-  Solenoid solenoid1(0, 6, frc::PneumaticsModuleType::CTREPCM, 3);
-  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTREPCM, 2);
+  Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTREPCM, 3);
+  EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidCTRETest, Toggle) {
-  DoubleSolenoid solenoid{0, 4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
   // Bootstrap it into reverse
   solenoid.Set(DoubleSolenoid::kReverse);
 
@@ -64,12 +64,12 @@ TEST(DoubleSolenoidCTRETest, Toggle) {
 }
 
 TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
-  EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
+  EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 100, 1),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
-  EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
+  EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 0, 100),
                std::runtime_error);
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
index 079f6c0e1e..2dbfc738c9 100644
--- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
+++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
@@ -9,10 +9,10 @@
 #include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 #include "wpi/hardware/pneumatic/Solenoid.hpp"
 
-namespace frc {
+namespace wpi {
 
 TEST(DoubleSolenoidREVTest, ValidInitialization) {
-  DoubleSolenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
   solenoid.Set(DoubleSolenoid::kReverse);
   EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
 
@@ -25,29 +25,29 @@ TEST(DoubleSolenoidREVTest, ValidInitialization) {
 
 TEST(DoubleSolenoidREVTest, ThrowForwardPortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
-  Solenoid solenoid{0, 5, frc::PneumaticsModuleType::CTREPCM, 2};
-  EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_THROW(DoubleSolenoid(5, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidREVTest, ThrowReversePortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
-  Solenoid solenoid{0, 6, frc::PneumaticsModuleType::CTREPCM, 3};
-  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTREPCM, 3};
+  EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidREVTest, ThrowBothPortsAlreadyInitialized) {
   PneumaticsControlModule pcm{0, 6};
   // Single solenoid that is reused for forward port
-  Solenoid solenoid0(0, 6, frc::PneumaticsModuleType::CTREPCM, 2);
-  Solenoid solenoid1(0, 6, frc::PneumaticsModuleType::CTREPCM, 3);
-  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+  Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTREPCM, 2);
+  Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTREPCM, 3);
+  EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidREVTest, Toggle) {
-  DoubleSolenoid solenoid{0, 4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
   // Bootstrap it into reverse
   solenoid.Set(DoubleSolenoid::kReverse);
 
@@ -64,12 +64,12 @@ TEST(DoubleSolenoidREVTest, Toggle) {
 }
 
 TEST(DoubleSolenoidREVTest, InvalidForwardPort) {
-  EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
+  EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 100, 1),
                std::runtime_error);
 }
 
 TEST(DoubleSolenoidREVTest, InvalidReversePort) {
-  EXPECT_THROW(DoubleSolenoid(0, 0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
+  EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 0, 100),
                std::runtime_error);
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/DriverStationTest.cpp b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
index 1f70ac3ce4..92742bebae 100644
--- a/wpilibc/src/test/native/cpp/DriverStationTest.cpp
+++ b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
@@ -16,16 +16,16 @@ class IsJoystickConnectedParametersTest
     : public ::testing::TestWithParam<std::tuple<int, int, int, bool>> {};
 
 TEST_P(IsJoystickConnectedParametersTest, IsJoystickConnected) {
-  frc::sim::DriverStationSim::SetJoystickAxesMaximumIndex(
+  wpi::sim::DriverStationSim::SetJoystickAxesMaximumIndex(
       1, std::get<0>(GetParam()));
-  frc::sim::DriverStationSim::SetJoystickButtonsMaximumIndex(
+  wpi::sim::DriverStationSim::SetJoystickButtonsMaximumIndex(
       1, std::get<1>(GetParam()));
-  frc::sim::DriverStationSim::SetJoystickPOVsMaximumIndex(
+  wpi::sim::DriverStationSim::SetJoystickPOVsMaximumIndex(
       1, std::get<2>(GetParam()));
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   ASSERT_EQ(std::get<3>(GetParam()),
-            frc::DriverStation::IsJoystickConnected(1));
+            wpi::DriverStation::IsJoystickConnected(1));
 }
 
 INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTest,
@@ -44,16 +44,16 @@ TEST_P(JoystickConnectionWarningTest, JoystickConnectionWarnings) {
   ::testing::internal::CaptureStderr();
 
   // Set FMS and Silence settings
-  frc::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::DriverStation::SilenceJoystickConnectionWarning(std::get<1>(GetParam()));
+  wpi::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::DriverStation::SilenceJoystickConnectionWarning(std::get<1>(GetParam()));
 
   // Create joystick and attempt to retrieve button.
-  frc::Joystick joystick(0);
+  wpi::Joystick joystick(0);
   joystick.GetRawButton(1);
 
-  frc::sim::StepTiming(1_s);
-  EXPECT_EQ(frc::DriverStation::IsJoystickConnectionWarningSilenced(),
+  wpi::sim::StepTiming(1_s);
+  EXPECT_EQ(wpi::DriverStation::IsJoystickConnectionWarningSilenced(),
             std::get<2>(GetParam()));
   EXPECT_EQ(::testing::internal::GetCapturedStderr().substr(
                 0, std::get<3>(GetParam()).size()),
diff --git a/wpilibc/src/test/native/cpp/GenericHIDTest.cpp b/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
index 388b9db69e..a7a7cb2e3f 100644
--- a/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
+++ b/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/driverstation/GenericHID.hpp"
 #include "wpi/simulation/GenericHIDSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 using RumbleType = GenericHID::RumbleType;
 static constexpr double kEpsilon = 0.0001;
 TEST(GenericHIDTest, RumbleRange) {
diff --git a/wpilibc/src/test/native/cpp/JoystickTest.cpp b/wpilibc/src/test/native/cpp/JoystickTest.cpp
index 4454d5da81..d4fc628cb1 100644
--- a/wpilibc/src/test/native/cpp/JoystickTest.cpp
+++ b/wpilibc/src/test/native/cpp/JoystickTest.cpp
@@ -9,7 +9,7 @@
 #include "JoystickTestMacros.hpp"
 #include "wpi/simulation/JoystickSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 // https://github.com/wpilibsuite/allwpilib/issues/1550
 TEST(JoystickTest, FastDeconstruction) {
@@ -52,18 +52,18 @@ TEST(JoystickTest, GetDirection) {
   joysim.SetX(0.5);
   joysim.SetY(0);
   joysim.NotifyNewData();
-  ASSERT_NEAR(units::radian_t{90_deg}.value(), joy.GetDirection().value(),
+  ASSERT_NEAR(wpi::units::radian_t{90_deg}.value(), joy.GetDirection().value(),
               0.001);
 
   joysim.SetX(0);
   joysim.SetY(-.5);
   joysim.NotifyNewData();
-  ASSERT_NEAR(units::radian_t{0_deg}.value(), joy.GetDirection().value(),
+  ASSERT_NEAR(wpi::units::radian_t{0_deg}.value(), joy.GetDirection().value(),
               0.001);
 
   joysim.SetX(0.5);
   joysim.SetY(-0.5);
   joysim.NotifyNewData();
-  ASSERT_NEAR(units::radian_t{45_deg}.value(), joy.GetDirection().value(),
+  ASSERT_NEAR(wpi::units::radian_t{45_deg}.value(), joy.GetDirection().value(),
               0.001);
 }
diff --git a/wpilibc/src/test/native/cpp/LEDPatternTest.cpp b/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
index e0bd6a009a..4057e2c774 100644
--- a/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
+++ b/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi {
 
 static LEDPattern whiteYellowPurple{[](auto data, auto writer) {
   for (size_t led = 0; led < data.size(); led++) {
@@ -187,7 +187,7 @@ TEST(LEDPatternTest, ScrollRelativeForward) {
 
   // Scrolling at 1/256th of the buffer per second,
   // or 1 individual diode per second
-  auto scroll = pattern.ScrollAtRelativeSpeed(units::hertz_t{1 / 256.0});
+  auto scroll = pattern.ScrollAtRelativeSpeed(wpi::units::hertz_t{1 / 256.0});
 
   static uint64_t now = 0ull;
   WPI_SetNowImpl([] { return now; });
@@ -210,7 +210,7 @@ TEST(LEDPatternTest, ScrollRelativeForward) {
       // t=2,   channel value = (254, 255, 0, ..., 252, 253)
       // t=255, channel value = (1, 2, 3, ..., 255, 0)
       // t=256, channel value = (0, 1, 2, ..., 254, 255)
-      int ch = frc::FloorMod(static_cast<int>(led - time), 256);
+      int ch = wpi::math::FloorMod(static_cast<int>(led - time), 256);
       AssertIndexColor(buffer, led, Color{ch, ch, ch});
     }
   }
@@ -230,7 +230,7 @@ TEST(LEDPatternTest, ScrollRelativeBackward) {
 
   // Scrolling at 1/256th of the buffer per second,
   // or 1 individual diode per second
-  auto scroll = pattern.ScrollAtRelativeSpeed(units::hertz_t{-1 / 256.0});
+  auto scroll = pattern.ScrollAtRelativeSpeed(wpi::units::hertz_t{-1 / 256.0});
 
   static uint64_t now = 0ull;
   WPI_SetNowImpl([] { return now; });
@@ -253,7 +253,7 @@ TEST(LEDPatternTest, ScrollRelativeBackward) {
       // t=2,   channel value = (254, 255, 0, ..., 252, 253)
       // t=255, channel value = (1, 2, 3, ..., 255, 0)
       // t=256, channel value = (0, 1, 2, ..., 254, 255)
-      int ch = frc::FloorMod(static_cast<int>(led + time), 256);
+      int ch = wpi::math::FloorMod(static_cast<int>(led + time), 256);
       AssertIndexColor(buffer, led, Color{ch, ch, ch});
     }
   }
@@ -297,7 +297,7 @@ TEST(LEDPatternTest, ScrollAbsoluteForward) {
       // t=2,   channel value = (254, 255, 0, ..., 252, 253)
       // t=255, channel value = (1, 2, 3, ..., 255, 0)
       // t=256, channel value = (0, 1, 2, ..., 254, 255)
-      int ch = frc::FloorMod(static_cast<int>(led - time), 256);
+      int ch = wpi::math::FloorMod(static_cast<int>(led - time), 256);
       AssertIndexColor(buffer, led, Color{ch, ch, ch});
     }
   }
@@ -341,7 +341,7 @@ TEST(LEDPatternTest, ScrollAbsoluteBackward) {
       // t=2,   channel value = (254, 255, 0, ..., 252, 253)
       // t=255, channel value = (1, 2, 3, ..., 255, 0)
       // t=256, channel value = (0, 1, 2, ..., 254, 255)
-      int ch = frc::FloorMod(static_cast<int>(led + time), 256);
+      int ch = wpi::math::FloorMod(static_cast<int>(led + time), 256);
       AssertIndexColor(buffer, led, Color{ch, ch, ch});
     }
   }
@@ -874,7 +874,7 @@ TEST(LEDPatternTest, RelativeScrollingMask) {
 
   auto pattern = LEDPattern::Steps(colorSteps)
                      .Mask(LEDPattern::Steps(maskSteps))
-                     .ScrollAtRelativeSpeed(units::hertz_t{1e6 / 8.0});
+                     .ScrollAtRelativeSpeed(wpi::units::hertz_t{1e6 / 8.0});
 
   pattern.ApplyTo(buffer);
 
@@ -1029,7 +1029,7 @@ TEST(LEDPatternTest, AbsoluteScrollingMask) {
 
 void AssertIndexColor(std::span<AddressableLED::LEDData> data, int index,
                       Color color) {
-  frc::Color8Bit color8bit{color};
+  wpi::Color8Bit color8bit{color};
 
   EXPECT_EQ(color8bit.red, data[index].r & 0xFF);
   EXPECT_EQ(color8bit.green, data[index].g & 0xFF);
@@ -1037,7 +1037,7 @@ void AssertIndexColor(std::span<AddressableLED::LEDData> data, int index,
 }
 
 Color LerpColors(Color a, Color b, double t) {
-  return Color{wpi::Lerp(a.red, b.red, t), wpi::Lerp(a.green, b.green, t),
-               wpi::Lerp(a.blue, b.blue, t)};
+  return Color{wpi::util::Lerp(a.red, b.red, t), wpi::util::Lerp(a.green, b.green, t),
+               wpi::util::Lerp(a.blue, b.blue, t)};
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/NotifierTest.cpp b/wpilibc/src/test/native/cpp/NotifierTest.cpp
index 2af8892574..64fe065c91 100644
--- a/wpilibc/src/test/native/cpp/NotifierTest.cpp
+++ b/wpilibc/src/test/native/cpp/NotifierTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/simulation/SimHooks.hpp"
 #include "wpi/system/Notifier.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 
diff --git a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
index 09dc06517a..6e7bae8b89 100644
--- a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
@@ -9,7 +9,7 @@
 #include "JoystickTestMacros.hpp"
 #include "wpi/simulation/PS4ControllerSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 BUTTON_TEST(PS4Controller, SquareButton)
 BUTTON_TEST(PS4Controller, CrossButton)
diff --git a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
index 11b6fd59f3..1a6a5b905b 100644
--- a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
@@ -9,7 +9,7 @@
 #include "JoystickTestMacros.hpp"
 #include "wpi/simulation/PS5ControllerSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 BUTTON_TEST(PS5Controller, SquareButton)
 BUTTON_TEST(PS5Controller, CrossButton)
diff --git a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
index b1fce42b8e..49f391a8f7 100644
--- a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
+++ b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
@@ -13,16 +13,16 @@
 #include "wpi/util/raw_ostream.hpp"
 
 TEST(ScopedTracerTest, Timing) {
-  wpi::SmallString<128> buf;
-  wpi::raw_svector_ostream os(buf);
+  wpi::util::SmallString<128> buf;
+  wpi::util::raw_svector_ostream os(buf);
 
-  frc::sim::PauseTiming();
+  wpi::sim::PauseTiming();
   {
-    frc::ScopedTracer tracer("timing_test", os);
-    frc::sim::StepTiming(1.5_s);
+    wpi::ScopedTracer tracer("timing_test", os);
+    wpi::sim::StepTiming(1.5_s);
   }
-  frc::sim::ResumeTiming();
+  wpi::sim::ResumeTiming();
 
   std::string_view out = os.str();
-  EXPECT_TRUE(wpi::starts_with(out, "\ttiming_test: 1.5"));
+  EXPECT_TRUE(wpi::util::starts_with(out, "\ttiming_test: 1.5"));
 }
diff --git a/wpilibc/src/test/native/cpp/SharpIRTest.cpp b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
index 84074a08d9..6ebc8046ea 100644
--- a/wpilibc/src/test/native/cpp/SharpIRTest.cpp
+++ b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/hardware/range/SharpIR.hpp"
 #include "wpi/simulation/SharpIRSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 TEST(SharpIRTest, SimDevices) {
   SharpIR s = SharpIR::GP2Y0A02YK0F(1);
diff --git a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
index 83676caf30..516bc708ac 100644
--- a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
+++ b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
@@ -9,9 +9,9 @@
 #include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 #include "wpi/hardware/pneumatic/Solenoid.hpp"
 
-namespace frc {
+namespace wpi {
 TEST(SolenoidCTRETest, ValidInitialization) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2};
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
   EXPECT_EQ(2, solenoid.GetChannel());
 
   solenoid.Set(true);
@@ -22,24 +22,24 @@ TEST(SolenoidCTRETest, ValidInitialization) {
 }
 
 TEST(SolenoidCTRETest, DoubleInitialization) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2};
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::CTREPCM, 2),
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 2),
                std::runtime_error);
 }
 
 TEST(SolenoidCTRETest, DoubleInitializationFromDoubleSolenoid) {
-  DoubleSolenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::CTREPCM, 2),
+  DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 2),
                std::runtime_error);
 }
 
 TEST(SolenoidCTRETest, InvalidChannel) {
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::CTREPCM, 100),
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 100),
                std::runtime_error);
 }
 
 TEST(SolenoidCTRETest, Toggle) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::CTREPCM, 2};
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
   solenoid.Set(true);
   EXPECT_TRUE(solenoid.Get());
 
@@ -49,4 +49,4 @@ TEST(SolenoidCTRETest, Toggle) {
   solenoid.Toggle();
   EXPECT_TRUE(solenoid.Get());
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
index e899a9ad2b..4042e274b4 100644
--- a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
+++ b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
@@ -9,9 +9,9 @@
 #include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 #include "wpi/hardware/pneumatic/Solenoid.hpp"
 
-namespace frc {
+namespace wpi {
 TEST(SolenoidREVTest, ValidInitialization) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::REVPH, 2};
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
   EXPECT_EQ(2, solenoid.GetChannel());
 
   solenoid.Set(true);
@@ -22,24 +22,24 @@ TEST(SolenoidREVTest, ValidInitialization) {
 }
 
 TEST(SolenoidREVTest, DoubleInitialization) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::REVPH, 2};
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::REVPH, 2),
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
                std::runtime_error);
 }
 
 TEST(SolenoidREVTest, DoubleInitializationFromDoubleSolenoid) {
-  DoubleSolenoid solenoid{0, 3, frc::PneumaticsModuleType::REVPH, 2, 3};
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::REVPH, 2),
+  DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2, 3};
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
                std::runtime_error);
 }
 
 TEST(SolenoidREVTest, InvalidChannel) {
-  EXPECT_THROW(Solenoid(0, 3, frc::PneumaticsModuleType::REVPH, 100),
+  EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 100),
                std::runtime_error);
 }
 
 TEST(SolenoidREVTest, Toggle) {
-  Solenoid solenoid{0, 3, frc::PneumaticsModuleType::REVPH, 2};
+  Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
   solenoid.Set(true);
   EXPECT_TRUE(solenoid.Get());
 
@@ -49,4 +49,4 @@ TEST(SolenoidREVTest, Toggle) {
   solenoid.Toggle();
   EXPECT_TRUE(solenoid.Get());
 }
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp b/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
index f639adc5e8..e9fc2e08f8 100644
--- a/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
+++ b/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
@@ -6,7 +6,7 @@
 
 #include <fmt/format.h>
 
-namespace frc::sim {
+namespace wpi::sim {
 
 void BooleanCallback::HandleCallback(std::string_view name,
                                      const HAL_Value* value) {
@@ -82,4 +82,4 @@ void DoubleCallback::HandleCallback(std::string_view name,
   m_lastValue = value->data.v_double;
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
index 967604be45..8cf5057ee2 100644
--- a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
@@ -14,16 +14,16 @@
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 inline constexpr auto kPeriod = 20_ms;
 
 namespace {
 class TimedRobotTest : public ::testing::Test {
  protected:
-  void SetUp() override { frc::sim::PauseTiming(); }
+  void SetUp() override { wpi::sim::PauseTiming(); }
 
-  void TearDown() override { frc::sim::ResumeTiming(); }
+  void TearDown() override { wpi::sim::ResumeTiming(); }
 };
 
 class MockRobot : public TimedRobot {
@@ -85,9 +85,9 @@ TEST_F(TimedRobotTest, DisabledMode) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -107,7 +107,7 @@ TEST_F(TimedRobotTest, DisabledMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
@@ -127,7 +127,7 @@ TEST_F(TimedRobotTest, DisabledMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
@@ -156,11 +156,11 @@ TEST_F(TimedRobotTest, AutonomousMode) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(true);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(true);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -180,7 +180,7 @@ TEST_F(TimedRobotTest, AutonomousMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -200,7 +200,7 @@ TEST_F(TimedRobotTest, AutonomousMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -229,11 +229,11 @@ TEST_F(TimedRobotTest, TeleopMode) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -253,7 +253,7 @@ TEST_F(TimedRobotTest, TeleopMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -273,7 +273,7 @@ TEST_F(TimedRobotTest, TeleopMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -301,11 +301,11 @@ TEST_F(TimedRobotTest, TestMode) {
   MockRobot robot;
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(true);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(true);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -325,7 +325,7 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -345,7 +345,7 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -365,11 +365,11 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(20_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(20_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
@@ -399,11 +399,11 @@ TEST_F(TimedRobotTest, ModeChange) {
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
   // Start in disabled
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -415,7 +415,7 @@ TEST_F(TimedRobotTest, ModeChange) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -428,12 +428,12 @@ TEST_F(TimedRobotTest, ModeChange) {
   EXPECT_EQ(0u, robot.m_testExitCount);
 
   // Transition to autonomous
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(true);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(true);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -446,12 +446,12 @@ TEST_F(TimedRobotTest, ModeChange) {
   EXPECT_EQ(0u, robot.m_testExitCount);
 
   // Transition to teleop
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -464,12 +464,12 @@ TEST_F(TimedRobotTest, ModeChange) {
   EXPECT_EQ(0u, robot.m_testExitCount);
 
   // Transition to test
-  frc::sim::DriverStationSim::SetEnabled(true);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(true);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(true);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(true);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -482,12 +482,12 @@ TEST_F(TimedRobotTest, ModeChange) {
   EXPECT_EQ(0u, robot.m_testExitCount);
 
   // Transition to disabled
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::SetAutonomous(false);
-  frc::sim::DriverStationSim::SetTest(false);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::SetAutonomous(false);
+  wpi::sim::DriverStationSim::SetTest(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
-  frc::sim::StepTiming(kPeriod);
+  wpi::sim::StepTiming(kPeriod);
 
   EXPECT_EQ(2u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -511,21 +511,21 @@ TEST_F(TimedRobotTest, AddPeriodic) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(0u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod / 2.0);
+  wpi::sim::StepTiming(kPeriod / 2.0);
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(1u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod / 2.0);
+  wpi::sim::StepTiming(kPeriod / 2.0);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
@@ -550,33 +550,33 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(0u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod * 3.0 / 8.0);
+  wpi::sim::StepTiming(kPeriod * 3.0 / 8.0);
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(0u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod * 3.0 / 8.0);
+  wpi::sim::StepTiming(kPeriod * 3.0 / 8.0);
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(1u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod / 4.0);
+  wpi::sim::StepTiming(kPeriod / 4.0);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
   EXPECT_EQ(1u, callbackCount);
 
-  frc::sim::StepTiming(kPeriod / 4.0);
+  wpi::sim::StepTiming(kPeriod / 4.0);
 
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
diff --git a/wpilibc/src/test/native/cpp/TimerTest.cpp b/wpilibc/src/test/native/cpp/TimerTest.cpp
index 120aaf2504..c3a9b13b55 100644
--- a/wpilibc/src/test/native/cpp/TimerTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimerTest.cpp
@@ -8,17 +8,17 @@
 
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 class TimerTest : public ::testing::Test {
  protected:
   void SetUp() override {
-    frc::sim::PauseTiming();
-    frc::sim::RestartTiming();
+    wpi::sim::PauseTiming();
+    wpi::sim::RestartTiming();
   }
 
-  void TearDown() override { frc::sim::ResumeTiming(); }
+  void TearDown() override { wpi::sim::ResumeTiming(); }
 };
 
 }  // namespace
@@ -29,19 +29,19 @@ TEST_F(TimerTest, StartStop) {
   // Verify timer is initialized as stopped
   EXPECT_EQ(timer.Get(), 0_s);
   EXPECT_FALSE(timer.IsRunning());
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 0_s);
   EXPECT_FALSE(timer.IsRunning());
 
   // Verify timer increments after it's started
   timer.Start();
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
   EXPECT_TRUE(timer.IsRunning());
 
   // Verify timer stops incrementing after it's stopped
   timer.Stop();
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
   EXPECT_FALSE(timer.IsRunning());
 }
@@ -52,7 +52,7 @@ TEST_F(TimerTest, Reset) {
 
   // Advance timer to 500 ms
   EXPECT_EQ(timer.Get(), 0_s);
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
 
   // Verify timer reports 0 ms after reset
@@ -60,13 +60,13 @@ TEST_F(TimerTest, Reset) {
   EXPECT_EQ(timer.Get(), 0_s);
 
   // Verify timer continues incrementing
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
 
   // Verify timer doesn't start incrementing after reset if it was stopped
   timer.Stop();
   timer.Reset();
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 0_ms);
 }
 
@@ -77,13 +77,13 @@ TEST_F(TimerTest, HasElapsed) {
   EXPECT_TRUE(timer.HasElapsed(0_s));
 
   // Verify timer doesn't report elapsed time when stopped
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_FALSE(timer.HasElapsed(400_ms));
 
   timer.Start();
 
   // Verify timer reports >= 400 ms has elapsed after multiple calls
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_TRUE(timer.HasElapsed(400_ms));
   EXPECT_TRUE(timer.HasElapsed(400_ms));
 }
@@ -95,26 +95,26 @@ TEST_F(TimerTest, AdvanceIfElapsed) {
   EXPECT_TRUE(timer.AdvanceIfElapsed(0_s));
 
   // Verify timer doesn't report elapsed time when stopped
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_FALSE(timer.AdvanceIfElapsed(400_ms));
 
   timer.Start();
 
   // Verify timer reports >= 400 ms has elapsed for only first call
-  frc::sim::StepTiming(500_ms);
+  wpi::sim::StepTiming(500_ms);
   EXPECT_TRUE(timer.AdvanceIfElapsed(400_ms));
   EXPECT_FALSE(timer.AdvanceIfElapsed(400_ms));
 
   // Verify timer reports >= 400 ms has elapsed for two calls
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   EXPECT_TRUE(timer.AdvanceIfElapsed(400_ms));
   EXPECT_TRUE(timer.AdvanceIfElapsed(400_ms));
   EXPECT_FALSE(timer.AdvanceIfElapsed(400_ms));
 }
 
 TEST_F(TimerTest, GetFPGATimestamp) {
-  auto start = frc::Timer::GetFPGATimestamp();
-  frc::sim::StepTiming(500_ms);
-  auto end = frc::Timer::GetFPGATimestamp();
+  auto start = wpi::Timer::GetFPGATimestamp();
+  wpi::sim::StepTiming(500_ms);
+  auto end = wpi::Timer::GetFPGATimestamp();
   EXPECT_EQ(start + 500_ms, end);
 }
diff --git a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
index ae52e53bed..d9d119245b 100644
--- a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
@@ -14,14 +14,14 @@
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 class TimesliceRobotTest : public ::testing::Test {
  protected:
-  void SetUp() override { frc::sim::PauseTiming(); }
+  void SetUp() override { wpi::sim::PauseTiming(); }
 
-  void TearDown() override { frc::sim::ResumeTiming(); }
+  void TearDown() override { wpi::sim::ResumeTiming(); }
 };
 
 class MockRobot : public TimesliceRobot {
@@ -52,33 +52,33 @@ TEST_F(TimesliceRobotTest, Schedule) {
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
-  frc::sim::DriverStationSim::SetEnabled(false);
-  frc::sim::DriverStationSim::NotifyNewData();
-  frc::sim::StepTiming(0_ms);  // Wait for Notifiers
+  wpi::sim::DriverStationSim::SetEnabled(false);
+  wpi::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   // Functions scheduled with addPeriodic() are delayed by one period before
   // their first run (5 ms for this test's callbacks here and 20 ms for
   // robotPeriodic()).
-  frc::sim::StepTiming(5_ms);
+  wpi::sim::StepTiming(5_ms);
 
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(0u, callbackCount1);
   EXPECT_EQ(0u, callbackCount2);
 
   // Step to 1.5 ms
-  frc::sim::StepTiming(1.5_ms);
+  wpi::sim::StepTiming(1.5_ms);
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(0u, callbackCount1);
   EXPECT_EQ(0u, callbackCount2);
 
   // Step to 2.25 ms
-  frc::sim::StepTiming(0.75_ms);
+  wpi::sim::StepTiming(0.75_ms);
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(1u, callbackCount1);
   EXPECT_EQ(0u, callbackCount2);
 
   // Step to 2.75 ms
-  frc::sim::StepTiming(0.5_ms);
+  wpi::sim::StepTiming(0.5_ms);
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(1u, callbackCount1);
   EXPECT_EQ(1u, callbackCount2);
diff --git a/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp b/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
index 1ef9b775e8..bcac069008 100644
--- a/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
+++ b/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
@@ -11,13 +11,13 @@
 
 class UnitNetworkTablesTest : public ::testing::Test {
  public:
-  UnitNetworkTablesTest() : inst{nt::NetworkTableInstance::Create()} {}
-  ~UnitNetworkTablesTest() override { nt::NetworkTableInstance::Destroy(inst); }
-  nt::NetworkTableInstance inst;
+  UnitNetworkTablesTest() : inst{wpi::nt::NetworkTableInstance::Create()} {}
+  ~UnitNetworkTablesTest() override { wpi::nt::NetworkTableInstance::Destroy(inst); }
+  wpi::nt::NetworkTableInstance inst;
 };
 
 TEST_F(UnitNetworkTablesTest, Publish) {
-  auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
+  auto topic = wpi::nt::UnitTopic<wpi::units::meter_t>{inst.GetTopic("meterTest")};
   auto pub = topic.Publish();
   pub.Set(2_m);
   ASSERT_EQ(topic.GetProperty("unit"), "meter");
@@ -25,7 +25,7 @@ TEST_F(UnitNetworkTablesTest, Publish) {
 }
 
 TEST_F(UnitNetworkTablesTest, SubscribeDouble) {
-  auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
+  auto topic = wpi::nt::UnitTopic<wpi::units::meter_t>{inst.GetTopic("meterTest")};
   auto pub = topic.Publish();
   auto sub = inst.GetDoubleTopic("meterTest").Subscribe(0);
   ASSERT_EQ(sub.Get(), 0);
@@ -35,7 +35,7 @@ TEST_F(UnitNetworkTablesTest, SubscribeDouble) {
 }
 
 TEST_F(UnitNetworkTablesTest, SubscribeUnit) {
-  auto topic = nt::UnitTopic<units::meter_t>{inst.GetTopic("meterTest")};
+  auto topic = wpi::nt::UnitTopic<wpi::units::meter_t>{inst.GetTopic("meterTest")};
   auto pub = topic.Publish();
   auto sub = topic.Subscribe(0_m);
   ASSERT_EQ(sub.Get(), 0_m);
diff --git a/wpilibc/src/test/native/cpp/WatchdogTest.cpp b/wpilibc/src/test/native/cpp/WatchdogTest.cpp
index 4adab69f0e..4db08d836c 100644
--- a/wpilibc/src/test/native/cpp/WatchdogTest.cpp
+++ b/wpilibc/src/test/native/cpp/WatchdogTest.cpp
@@ -10,14 +10,14 @@
 
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 namespace {
 class WatchdogTest : public ::testing::Test {
  protected:
-  void SetUp() override { frc::sim::PauseTiming(); }
+  void SetUp() override { wpi::sim::PauseTiming(); }
 
-  void TearDown() override { frc::sim::ResumeTiming(); }
+  void TearDown() override { wpi::sim::ResumeTiming(); }
 };
 
 }  // namespace
@@ -29,7 +29,7 @@ TEST_F(WatchdogTest, EnableDisable) {
 
   // Run 1
   watchdog.Enable();
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.Disable();
 
   EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
@@ -37,7 +37,7 @@ TEST_F(WatchdogTest, EnableDisable) {
   // Run 2
   watchdogCounter = 0;
   watchdog.Enable();
-  frc::sim::StepTiming(0.4_s);
+  wpi::sim::StepTiming(0.4_s);
   watchdog.Disable();
 
   EXPECT_EQ(1u, watchdogCounter)
@@ -46,7 +46,7 @@ TEST_F(WatchdogTest, EnableDisable) {
   // Run 3
   watchdogCounter = 0;
   watchdog.Enable();
-  frc::sim::StepTiming(1_s);
+  wpi::sim::StepTiming(1_s);
   watchdog.Disable();
 
   EXPECT_EQ(1u, watchdogCounter)
@@ -59,9 +59,9 @@ TEST_F(WatchdogTest, Reset) {
   Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
 
   watchdog.Enable();
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.Reset();
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.Disable();
 
   EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
@@ -73,13 +73,13 @@ TEST_F(WatchdogTest, SetTimeout) {
   Watchdog watchdog(1_s, [&] { watchdogCounter++; });
 
   watchdog.Enable();
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.SetTimeout(0.2_s);
 
   EXPECT_EQ(0.2_s, watchdog.GetTimeout());
   EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
 
-  frc::sim::StepTiming(0.3_s);
+  wpi::sim::StepTiming(0.3_s);
   watchdog.Disable();
 
   EXPECT_EQ(1u, watchdogCounter)
@@ -92,7 +92,7 @@ TEST_F(WatchdogTest, IsExpired) {
   watchdog.Enable();
 
   EXPECT_FALSE(watchdog.IsExpired());
-  frc::sim::StepTiming(0.3_s);
+  wpi::sim::StepTiming(0.3_s);
   EXPECT_TRUE(watchdog.IsExpired());
 
   watchdog.Disable();
@@ -110,9 +110,9 @@ TEST_F(WatchdogTest, Epochs) {
   // Run 1
   watchdog.Enable();
   watchdog.AddEpoch("Epoch 1");
-  frc::sim::StepTiming(0.1_s);
+  wpi::sim::StepTiming(0.1_s);
   watchdog.AddEpoch("Epoch 2");
-  frc::sim::StepTiming(0.1_s);
+  wpi::sim::StepTiming(0.1_s);
   watchdog.AddEpoch("Epoch 3");
   watchdog.Disable();
 
@@ -121,9 +121,9 @@ TEST_F(WatchdogTest, Epochs) {
   // Run 2
   watchdog.Enable();
   watchdog.AddEpoch("Epoch 1");
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.Reset();
-  frc::sim::StepTiming(0.2_s);
+  wpi::sim::StepTiming(0.2_s);
   watchdog.AddEpoch("Epoch 2");
   watchdog.Disable();
 
@@ -138,13 +138,13 @@ TEST_F(WatchdogTest, MultiWatchdog) {
   Watchdog watchdog2(0.6_s, [&] { watchdogCounter2++; });
 
   watchdog2.Enable();
-  frc::sim::StepTiming(0.25_s);
+  wpi::sim::StepTiming(0.25_s);
   EXPECT_EQ(0u, watchdogCounter1) << "Watchdog triggered early";
   EXPECT_EQ(0u, watchdogCounter2) << "Watchdog triggered early";
 
   // Sleep enough such that only the watchdog enabled later times out first
   watchdog1.Enable();
-  frc::sim::StepTiming(0.25_s);
+  wpi::sim::StepTiming(0.25_s);
   watchdog1.Disable();
   watchdog2.Disable();
 
diff --git a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp b/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
index f68405de65..1308e5ba4d 100644
--- a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
@@ -9,7 +9,7 @@
 #include "JoystickTestMacros.hpp"
 #include "wpi/simulation/XboxControllerSim.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 BUTTON_TEST(XboxController, LeftBumperButton)
 BUTTON_TEST(XboxController, RightBumperButton)
diff --git a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
index e12b3b82ab..b43fe505aa 100644
--- a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
@@ -9,240 +9,240 @@
 
 TEST(DifferentialDriveTest, ArcadeDriveIK) {
   // Forward
-  auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, false);
+  auto speeds = wpi::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.5, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
   EXPECT_DOUBLE_EQ(0.5, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
   EXPECT_DOUBLE_EQ(-0.5, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(-0.5, speeds.right);
 
   // Left turn (xSpeed with negative sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Left turn (xSpeed with positive sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Right turn (xSpeed with negative sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Right turn (xSpeed with positive sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 }
 
 TEST(DifferentialDriveTest, ArcadeDriveIKSquared) {
   // Forward
-  auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, true);
+  auto speeds = wpi::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, true);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.25, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
   EXPECT_DOUBLE_EQ(0.25, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, true);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, true);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
   EXPECT_DOUBLE_EQ(-0.25, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(-0.25, speeds.right);
 
   // Left turn (xSpeed with negative sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Left turn (xSpeed with positive sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Right turn (xSpeed with negative sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Right turn (xSpeed with positive sign)
-  speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
+  speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 }
 
 TEST(DifferentialDriveTest, CurvatureDriveIK) {
   // Forward
-  auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, false);
+  auto speeds = wpi::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
   EXPECT_DOUBLE_EQ(0.25, speeds.left);
   EXPECT_DOUBLE_EQ(0.75, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
   EXPECT_DOUBLE_EQ(0.75, speeds.left);
   EXPECT_DOUBLE_EQ(0.25, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, false);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
   EXPECT_DOUBLE_EQ(-0.75, speeds.left);
   EXPECT_DOUBLE_EQ(-0.25, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
   EXPECT_DOUBLE_EQ(-0.25, speeds.left);
   EXPECT_DOUBLE_EQ(-0.75, speeds.right);
 }
 
 TEST(DifferentialDriveTest, CurvatureDriveIKTurnInPlace) {
   // Forward
-  auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, true);
+  auto speeds = wpi::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, true);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, true);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, true);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.0, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
+  speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
   EXPECT_DOUBLE_EQ(0.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 }
 
 TEST(DifferentialDriveTest, TankDriveIK) {
   // Forward
-  auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, false);
+  auto speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 1.0, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, false);
+  speeds = wpi::DifferentialDrive::TankDriveIK(0.5, 1.0, false);
   EXPECT_DOUBLE_EQ(0.5, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, false);
+  speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 0.5, false);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.5, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, false);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -1.0, false);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, false);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, -1.0, false);
   EXPECT_DOUBLE_EQ(-0.5, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::TankDriveIK(-0.5, 1.0, false);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, 1.0, false);
   EXPECT_DOUBLE_EQ(-0.5, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 }
 
 TEST(DifferentialDriveTest, TankDriveIKSquared) {
   // Forward
-  auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, true);
+  auto speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 1.0, true);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward left turn
-  speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, true);
+  speeds = wpi::DifferentialDrive::TankDriveIK(0.5, 1.0, true);
   EXPECT_DOUBLE_EQ(0.25, speeds.left);
   EXPECT_DOUBLE_EQ(1.0, speeds.right);
 
   // Forward right turn
-  speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, true);
+  speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 0.5, true);
   EXPECT_DOUBLE_EQ(1.0, speeds.left);
   EXPECT_DOUBLE_EQ(0.25, speeds.right);
 
   // Backward
-  speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, true);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -1.0, true);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward left turn
-  speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, true);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, -1.0, true);
   EXPECT_DOUBLE_EQ(-0.25, speeds.left);
   EXPECT_DOUBLE_EQ(-1.0, speeds.right);
 
   // Backward right turn
-  speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -0.5, true);
+  speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -0.5, true);
   EXPECT_DOUBLE_EQ(-1.0, speeds.left);
   EXPECT_DOUBLE_EQ(-0.25, speeds.right);
 }
 
 TEST(DifferentialDriveTest, ArcadeDrive) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
@@ -278,9 +278,9 @@ TEST(DifferentialDriveTest, ArcadeDrive) {
 }
 
 TEST(DifferentialDriveTest, ArcadeDriveSquared) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
@@ -316,9 +316,9 @@ TEST(DifferentialDriveTest, ArcadeDriveSquared) {
 }
 
 TEST(DifferentialDriveTest, CurvatureDrive) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
@@ -354,9 +354,9 @@ TEST(DifferentialDriveTest, CurvatureDrive) {
 }
 
 TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
@@ -392,9 +392,9 @@ TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
 }
 
 TEST(DifferentialDriveTest, TankDrive) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
@@ -430,9 +430,9 @@ TEST(DifferentialDriveTest, TankDrive) {
 }
 
 TEST(DifferentialDriveTest, TankDriveSquared) {
-  frc::MockPWMMotorController left;
-  frc::MockPWMMotorController right;
-  frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
+  wpi::MockPWMMotorController left;
+  wpi::MockPWMMotorController right;
+  wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
                                [&](double output) { right.Set(output); }};
   drive.SetDeadband(0.0);
 
diff --git a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
index 0a386641a0..55baf33288 100644
--- a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
@@ -9,35 +9,35 @@
 
 TEST(MecanumDriveTest, CartesianIK) {
   // Forward
-  auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
+  auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
 
   // Left
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
 
   // Right
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
 
   // Rotate CCW
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
 
   // Rotate CW
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -46,35 +46,35 @@ TEST(MecanumDriveTest, CartesianIK) {
 
 TEST(MecanumDriveTest, CartesianIKGyro90CW) {
   // Forward in global frame; left in robot frame
-  auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
+  auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
 
   // Left in global frame; backward in robot frame
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
 
   // Right in global frame; forward in robot frame
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
 
   // Rotate CCW
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
 
   // Rotate CW
-  speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
+  speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
   EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
   EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
   EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -82,11 +82,11 @@ TEST(MecanumDriveTest, CartesianIKGyro90CW) {
 }
 
 TEST(MecanumDriveTest, Cartesian) {
-  frc::MockPWMMotorController fl;
-  frc::MockPWMMotorController rl;
-  frc::MockPWMMotorController fr;
-  frc::MockPWMMotorController rr;
-  frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
+  wpi::MockPWMMotorController fl;
+  wpi::MockPWMMotorController rl;
+  wpi::MockPWMMotorController fr;
+  wpi::MockPWMMotorController rr;
+  wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
                           [&](double output) { rl.Set(output); },
                           [&](double output) { fr.Set(output); },
                           [&](double output) { rr.Set(output); }};
@@ -129,11 +129,11 @@ TEST(MecanumDriveTest, Cartesian) {
 }
 
 TEST(MecanumDriveTest, CartesianGyro90CW) {
-  frc::MockPWMMotorController fl;
-  frc::MockPWMMotorController rl;
-  frc::MockPWMMotorController fr;
-  frc::MockPWMMotorController rr;
-  frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
+  wpi::MockPWMMotorController fl;
+  wpi::MockPWMMotorController rl;
+  wpi::MockPWMMotorController fr;
+  wpi::MockPWMMotorController rr;
+  wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
                           [&](double output) { rl.Set(output); },
                           [&](double output) { fr.Set(output); },
                           [&](double output) { rr.Set(output); }};
@@ -176,11 +176,11 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
 }
 
 TEST(MecanumDriveTest, Polar) {
-  frc::MockPWMMotorController fl;
-  frc::MockPWMMotorController rl;
-  frc::MockPWMMotorController fr;
-  frc::MockPWMMotorController rr;
-  frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
+  wpi::MockPWMMotorController fl;
+  wpi::MockPWMMotorController rl;
+  wpi::MockPWMMotorController fr;
+  wpi::MockPWMMotorController rr;
+  wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
                           [&](double output) { rl.Set(output); },
                           [&](double output) { fr.Set(output); },
                           [&](double output) { rr.Set(output); }};
diff --git a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
index 08a16c6fbd..ae048a6d0a 100644
--- a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/event/BooleanEvent.hpp"
 #include "wpi/event/EventLoop.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 TEST(BooleanEventTest, BinaryCompositions) {
   EventLoop loop;
diff --git a/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp b/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
index c15b2ca35b..895e483986 100644
--- a/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
@@ -7,18 +7,18 @@
 #include "wpi/event/EventLoop.hpp"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 TEST(EventLoopTest, ConcurrentModification) {
   EventLoop loop;
 
-  loop.Bind([&loop] { ASSERT_THROW(loop.Bind([] {}), frc::RuntimeError); });
+  loop.Bind([&loop] { ASSERT_THROW(loop.Bind([] {}), wpi::RuntimeError); });
 
   loop.Poll();
 
   loop.Clear();
 
-  loop.Bind([&loop] { ASSERT_THROW(loop.Clear(), frc::RuntimeError); });
+  loop.Bind([&loop] { ASSERT_THROW(loop.Clear(), wpi::RuntimeError); });
 
   loop.Poll();
 }
diff --git a/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
index ab926f14ee..091282014e 100644
--- a/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
@@ -9,20 +9,20 @@
 #include "wpi/nt/BooleanTopic.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 class NetworkBooleanEventTest : public ::testing::Test {
  public:
   NetworkBooleanEventTest() {
-    m_inst = nt::NetworkTableInstance::Create();
+    m_inst = wpi::nt::NetworkTableInstance::Create();
     m_inst.StartLocal();
   }
 
   ~NetworkBooleanEventTest() override {
-    nt::NetworkTableInstance::Destroy(m_inst);
+    wpi::nt::NetworkTableInstance::Destroy(m_inst);
   }
 
-  nt::NetworkTableInstance m_inst;
+  wpi::nt::NetworkTableInstance m_inst;
 };
 
 TEST_F(NetworkBooleanEventTest, Set) {
diff --git a/wpilibc/src/test/native/cpp/main.cpp b/wpilibc/src/test/native/cpp/main.cpp
index 1af368e2d5..9bea26b945 100644
--- a/wpilibc/src/test/native/cpp/main.cpp
+++ b/wpilibc/src/test/native/cpp/main.cpp
@@ -7,7 +7,7 @@
 #include "wpi/hal/HALBase.h"
 
 #ifndef __FRC_SYSTEMCORE__
-namespace frc::impl {
+namespace wpi::impl {
 void ResetMotorSafety();
 }
 #endif
@@ -17,7 +17,7 @@ int main(int argc, char** argv) {
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
 #ifndef __FRC_SYSTEMCORE__
-  frc::impl::ResetMotorSafety();
+  wpi::impl::ResetMotorSafety();
 #endif
   return ret;
 }
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
index 868c199494..dd4f2bc281 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
@@ -4,7 +4,7 @@
 
 #include "motorcontrol/MockMotorController.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 void MockMotorController::Set(double speed) {
   m_speed = m_isInverted ? -speed : speed;
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
index 8cb6aa3723..877f2ed65a 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
@@ -4,7 +4,7 @@
 
 #include "motorcontrol/MockPWMMotorController.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 void MockPWMMotorController::Set(double speed) {
   m_speed = m_isInverted ? -speed : speed;
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
index bab0feb43e..6eeeae570c 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
@@ -12,7 +12,7 @@
 #include "motorcontrol/MockMotorController.hpp"
 #include "wpi/util/deprecated.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
 
diff --git a/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
index 2411bf6b3b..e84a8e3601 100644
--- a/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/led/AddressableLED.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(AddressableLEDSimTest, InitializationCallback) {
   HAL_Initialize(500, 0);
@@ -120,4 +120,4 @@ TEST(AddressableLEDSimTest, SetData) {
   EXPECT_EQ(0xFF, simData[2].b);
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
index 441814d0d4..7756dc787c 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
@@ -13,12 +13,12 @@
 #include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
 TEST(AnalogEncoderSimTest, Basic) {
-  frc::AnalogInput ai(0);
-  frc::AnalogEncoder encoder{ai, 360, 0};
-  frc::sim::AnalogEncoderSim encoderSim{encoder};
+  wpi::AnalogInput ai(0);
+  wpi::AnalogEncoder encoder{ai, 360, 0};
+  wpi::sim::AnalogEncoderSim encoderSim{encoder};
 
   encoderSim.Set(180);
   EXPECT_NEAR(encoder.Get(), 180, 1E-8);
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
index b413e01603..3fc8005108 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/discrete/AnalogInput.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(AnalogInputSimTest, SetInitialized) {
   HAL_Initialize(500, 0);
@@ -92,4 +92,4 @@ TEST(AnalogInputSimTest, SetAverageBits) {
   EXPECT_EQ(3504, callback.GetLastValue());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
index c84985714b..301ff1885c 100644
--- a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
 #include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(CTREPCMSimTest, InitializedCallback) {
   CTREPCMSim sim;
@@ -33,7 +33,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
   CTREPCMSim sim(pcm);
   sim.ResetData();
 
-  DoubleSolenoid doubleSolenoid{0, frc::PneumaticsModuleType::CTREPCM, 3, 4};
+  DoubleSolenoid doubleSolenoid{0, wpi::PneumaticsModuleType::CTREPCM, 3, 4};
 
   BooleanCallback callback3;
   BooleanCallback callback4;
@@ -147,4 +147,4 @@ TEST(CTREPCMSimTest, SetCompressorCurrent) {
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(35.04, callback.GetLastValue());
 }
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
index a52758d5f8..ec67dfdbe0 100644
--- a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -15,16 +15,16 @@
 #include "wpi/system/RobotController.hpp"
 
 TEST(DCMotorSimTest, VoltageSteadyState) {
-  frc::DCMotor gearbox = frc::DCMotor::NEO(1);
-  auto plant = frc::LinearSystemId::DCMotorSystem(
-      frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
-  frc::sim::DCMotorSim sim{plant, gearbox};
+  wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
+  auto plant = wpi::math::LinearSystemId::DCMotorSystem(
+      wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
+  wpi::sim::DCMotorSim sim{plant, gearbox};
 
-  frc::Encoder encoder{0, 1};
-  frc::sim::EncoderSim encoderSim{encoder};
-  frc::PWMVictorSPX motor{0};
+  wpi::Encoder encoder{0, 1};
+  wpi::sim::EncoderSim encoderSim{encoder};
+  wpi::PWMVictorSPX motor{0};
 
-  frc::sim::RoboRioSim::ResetData();
+  wpi::sim::RoboRioSim::ResetData();
   encoderSim.ResetData();
 
   // Spin-up
@@ -33,10 +33,10 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
     motor.SetVoltage(12_V);
 
     // Then, SimulationPeriodic runs
-    frc::sim::RoboRioSim::SetVInVoltage(
-        frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+    wpi::sim::RoboRioSim::SetVInVoltage(
+        wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
     sim.SetInputVoltage(motor.Get() *
-                        frc::RobotController::GetBatteryVoltage());
+                        wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
   }
@@ -49,10 +49,10 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
     motor.SetVoltage(0_V);
 
     // Then, SimulationPeriodic runs
-    frc::sim::RoboRioSim::SetVInVoltage(
-        frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+    wpi::sim::RoboRioSim::SetVInVoltage(
+        wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
     sim.SetInputVoltage(motor.Get() *
-                        frc::RobotController::GetBatteryVoltage());
+                        wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
   }
@@ -61,18 +61,18 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
 }
 
 TEST(DCMotorSimTest, PositionFeedbackControl) {
-  frc::DCMotor gearbox = frc::DCMotor::NEO(1);
-  auto plant = frc::LinearSystemId::DCMotorSystem(
-      frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
-  frc::sim::DCMotorSim sim{plant, gearbox};
+  wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
+  auto plant = wpi::math::LinearSystemId::DCMotorSystem(
+      wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
+  wpi::sim::DCMotorSim sim{plant, gearbox};
 
-  frc::PIDController controller{0.04, 0.0, 0.001};
+  wpi::math::PIDController controller{0.04, 0.0, 0.001};
 
-  frc::Encoder encoder{0, 1};
-  frc::sim::EncoderSim encoderSim{encoder};
-  frc::PWMVictorSPX motor{0};
+  wpi::Encoder encoder{0, 1};
+  wpi::sim::EncoderSim encoderSim{encoder};
+  wpi::PWMVictorSPX motor{0};
 
-  frc::sim::RoboRioSim::ResetData();
+  wpi::sim::RoboRioSim::ResetData();
   encoderSim.ResetData();
 
   for (int i = 0; i < 140; i++) {
@@ -80,10 +80,10 @@ TEST(DCMotorSimTest, PositionFeedbackControl) {
     motor.Set(controller.Calculate(encoder.GetDistance(), 750));
 
     // Then, SimulationPeriodic runs
-    frc::sim::RoboRioSim::SetVInVoltage(
-        frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+    wpi::sim::RoboRioSim::SetVInVoltage(
+        wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
     sim.SetInputVoltage(motor.Get() *
-                        frc::RobotController::GetBatteryVoltage());
+                        wpi::RobotController::GetBatteryVoltage());
     sim.Update(20_ms);
     encoderSim.SetDistance(sim.GetAngularPosition().value());
     encoderSim.SetRate(sim.GetAngularVelocity().value());
diff --git a/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
index 906db14322..2df96dad0a 100644
--- a/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hardware/discrete/DigitalInput.hpp"
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(DIOSimTest, Initialization) {
   HAL_Initialize(500, 0);
@@ -77,4 +77,4 @@ TEST(DIOSimTest, Output) {
   EXPECT_TRUE(valueCallback.WasTriggered());
   EXPECT_FALSE(valueCallback.GetLastValue());
 }
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
index 504f062607..2567378170 100644
--- a/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
@@ -18,29 +18,29 @@
 #include "wpi/units/moment_of_inertia.hpp"
 
 TEST(DifferentialDrivetrainSimTest, Convergence) {
-  auto motor = frc::DCMotor::NEO(2);
-  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+  auto motor = wpi::math::DCMotor::NEO(2);
+  auto plant = wpi::math::LinearSystemId::DrivetrainVelocitySystem(
       motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
 
-  frc::DifferentialDriveKinematics kinematics{24_in};
-  frc::sim::DifferentialDrivetrainSim sim{
+  wpi::math::DifferentialDriveKinematics kinematics{24_in};
+  wpi::sim::DifferentialDrivetrainSim sim{
       plant, 24_in, motor,
       1.0,   2_in,  {0.001, 0.001, 0.0001, 0.1, 0.1, 0.005, 0.005}};
 
-  frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
-  frc::LTVUnicycleController feedback{20_ms};
+  wpi::math::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
+  wpi::math::LTVUnicycleController feedback{20_ms};
 
-  feedforward.Reset(frc::Vectord<2>{0.0, 0.0});
+  feedforward.Reset(wpi::math::Vectord<2>{0.0, 0.0});
 
   // Ground truth.
-  frc::Vectord<7> groundTruthX = frc::Vectord<7>::Zero();
+  wpi::math::Vectord<7> groundTruthX = wpi::math::Vectord<7>::Zero();
 
-  frc::TrajectoryConfig config{1_mps, 1_mps_sq};
+  wpi::math::TrajectoryConfig config{1_mps, 1_mps_sq};
   config.AddConstraint(
-      frc::DifferentialDriveKinematicsConstraint(kinematics, 1_mps));
+      wpi::math::DifferentialDriveKinematicsConstraint(kinematics, 1_mps));
 
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      frc::Pose2d{}, {}, frc::Pose2d{2_m, 2_m, 0_rad}, config);
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      wpi::math::Pose2d{}, {}, wpi::math::Pose2d{2_m, 2_m, 0_rad}, config);
 
   for (auto t = 0_s; t < trajectory.TotalTime(); t += 20_ms) {
     auto state = trajectory.Sample(t);
@@ -48,34 +48,34 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
 
     auto [l, r] = kinematics.ToWheelSpeeds(feedbackOut);
     auto voltages =
-        feedforward.Calculate(frc::Vectord<2>{l.value(), r.value()});
+        feedforward.Calculate(wpi::math::Vectord<2>{l.value(), r.value()});
 
     // Sim periodic code.
-    sim.SetInputs(units::volt_t{voltages(0, 0)}, units::volt_t{voltages(1, 0)});
+    sim.SetInputs(wpi::units::volt_t{voltages(0, 0)}, wpi::units::volt_t{voltages(1, 0)});
     sim.Update(20_ms);
 
     // Update ground truth.
-    groundTruthX = frc::RKDP(
-        [&sim](const auto& x, const auto& u) -> frc::Vectord<7> {
+    groundTruthX = wpi::math::RKDP(
+        [&sim](const auto& x, const auto& u) -> wpi::math::Vectord<7> {
           return sim.Dynamics(x, u);
         },
         groundTruthX, voltages, 20_ms);
   }
 
   // 2 inch tolerance is OK since our ground truth is an approximation of the
-  // ODE solution using RKDP anyway
+  // ODE solution using wpi::math::RKDP anyway
   EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().value(), 0.05);
   EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().value(), 0.05);
   EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().value(), 0.01);
 }
 
 TEST(DifferentialDrivetrainSimTest, Current) {
-  auto motor = frc::DCMotor::NEO(2);
-  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+  auto motor = wpi::math::DCMotor::NEO(2);
+  auto plant = wpi::math::LinearSystemId::DrivetrainVelocitySystem(
       motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
 
-  frc::DifferentialDriveKinematics kinematics{24_in};
-  frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
+  wpi::math::DifferentialDriveKinematics kinematics{24_in};
+  wpi::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
 
   sim.SetInputs(-12_V, 12_V);
   for (int i = 0; i < 10; ++i) {
@@ -97,12 +97,12 @@ TEST(DifferentialDrivetrainSimTest, Current) {
 }
 
 TEST(DifferentialDrivetrainSimTest, ModelStability) {
-  auto motor = frc::DCMotor::NEO(2);
-  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+  auto motor = wpi::math::DCMotor::NEO(2);
+  auto plant = wpi::math::LinearSystemId::DrivetrainVelocitySystem(
       motor, 50_kg, 2_in, 12_in, 2_kg_sq_m, 5.0);
 
-  frc::DifferentialDriveKinematics kinematics{24_in};
-  frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
+  wpi::math::DifferentialDriveKinematics kinematics{24_in};
+  wpi::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
 
   sim.SetInputs(2_V, 4_V);
 
@@ -111,5 +111,5 @@ TEST(DifferentialDrivetrainSimTest, ModelStability) {
     sim.Update(20_ms);
   }
 
-  EXPECT_LT(units::math::abs(sim.GetPose().Translation().Norm()), 100_m);
+  EXPECT_LT(wpi::units::math::abs(sim.GetPose().Translation().Norm()), 100_m);
 }
diff --git a/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
index ae598cb3ef..2e32d1ba0f 100644
--- a/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(DigitalPWMSimTest, Initialize) {
   HAL_Initialize(500, 0);
@@ -54,4 +54,4 @@ TEST(DigitalPWMSimTest, SetPin) {
   EXPECT_EQ(191, callback.GetLastValue());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
index 31b03d9ffc..d2f4926602 100644
--- a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
@@ -14,8 +14,8 @@
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
-using namespace frc;
-using namespace frc::sim;
+using namespace wpi;
+using namespace wpi::sim;
 
 TEST(DriverStationTest, Enabled) {
   HAL_Initialize(500, 0);
@@ -138,7 +138,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // Unknown
   allianceStation = HAL_AllianceStationID_kUnknown;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_FALSE(DriverStation::GetAlliance().has_value());
   EXPECT_FALSE(DriverStation::GetLocation().has_value());
@@ -148,7 +148,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // B1
   allianceStation = HAL_AllianceStationID_kBlue1;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
   EXPECT_EQ(1, DriverStation::GetLocation());
@@ -158,7 +158,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // B2
   allianceStation = HAL_AllianceStationID_kBlue2;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
   EXPECT_EQ(2, DriverStation::GetLocation());
@@ -168,7 +168,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // B3
   allianceStation = HAL_AllianceStationID_kBlue3;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
   EXPECT_EQ(3, DriverStation::GetLocation());
@@ -178,7 +178,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // R1
   allianceStation = HAL_AllianceStationID_kRed1;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
   EXPECT_EQ(1, DriverStation::GetLocation());
@@ -188,7 +188,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // R2
   allianceStation = HAL_AllianceStationID_kRed2;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
   EXPECT_EQ(2, DriverStation::GetLocation());
@@ -198,7 +198,7 @@ TEST(DriverStationTest, AllianceStationId) {
   // R3
   allianceStation = HAL_AllianceStationID_kRed3;
   DriverStationSim::SetAllianceStationId(allianceStation);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
   EXPECT_EQ(3, DriverStation::GetLocation());
@@ -233,7 +233,7 @@ TEST(DriverStationTest, MatchTime) {
                                                         false);
   constexpr double kTestTime = 19.174;
   DriverStationSim::SetMatchTime(kTestTime);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime());
   EXPECT_EQ(kTestTime, DriverStation::GetMatchTime().value());
   EXPECT_TRUE(callback.WasTriggered());
diff --git a/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
index 571934ce60..f08497c22f 100644
--- a/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(DutyCycleEncoderSimTest, Set) {
   HAL_Initialize(500, 0);
@@ -34,4 +34,4 @@ TEST(DutyCycleEncoderSimTest, SetIsConnected) {
   EXPECT_FALSE(enc.IsConnected());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
index 0373ab3372..eadfc8fd3a 100644
--- a/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hardware/discrete/DigitalInput.hpp"
 #include "wpi/hardware/rotation/DutyCycle.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(DutyCycleSimTest, Initialization) {
   HAL_Initialize(500, 0);
@@ -64,4 +64,4 @@ TEST(DutyCycleSimTest, SetOutput) {
   EXPECT_EQ(229.174, callback.GetLastValue());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
index cdd426a1da..d1d7b382f5 100644
--- a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
@@ -17,23 +17,23 @@
 #include "wpi/units/time.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
 TEST(ElevatorSimTest, StateSpaceSim) {
-  frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
+  wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
                             0_m, 3_m, true, 0_m, {0.01});
-  frc::PIDController controller(10, 0.0, 0.0);
+  wpi::math::PIDController controller(10, 0.0, 0.0);
 
-  frc::PWMVictorSPX motor(0);
-  frc::Encoder encoder(0, 1);
-  frc::sim::EncoderSim encoderSim(encoder);
+  wpi::PWMVictorSPX motor(0);
+  wpi::Encoder encoder(0, 1);
+  wpi::sim::EncoderSim encoderSim(encoder);
 
   for (size_t i = 0; i < 100; ++i) {
     controller.SetSetpoint(2.0);
     auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
-    motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());
+    motor.Set(nextVoltage / wpi::RobotController::GetInputVoltage());
 
-    frc::Vectord<1> u{motor.Get() * frc::RobotController::GetInputVoltage()};
+    wpi::math::Vectord<1> u{motor.Get() * wpi::RobotController::GetInputVoltage()};
     sim.SetInput(u);
     sim.Update(20_ms);
 
@@ -46,7 +46,7 @@ TEST(ElevatorSimTest, StateSpaceSim) {
 
 TEST(ElevatorSimTest, InitialState) {
   constexpr auto startingHeight = 0.5_m;
-  frc::sim::ElevatorSim sim(frc::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
+  wpi::sim::ElevatorSim sim(wpi::math::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
                             1_m, true, startingHeight, {0.01, 0.0});
 
   EXPECT_DOUBLE_EQ(startingHeight.value(), sim.GetPosition().value());
@@ -54,10 +54,10 @@ TEST(ElevatorSimTest, InitialState) {
 }
 
 TEST(ElevatorSimTest, MinMax) {
-  frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
+  wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
                             0_m, 1_m, true, 0_m, {0.01});
   for (size_t i = 0; i < 100; ++i) {
-    sim.SetInput(frc::Vectord<1>{0.0});
+    sim.SetInput(wpi::math::Vectord<1>{0.0});
     sim.Update(20_ms);
 
     auto height = sim.GetPosition();
@@ -65,7 +65,7 @@ TEST(ElevatorSimTest, MinMax) {
   }
 
   for (size_t i = 0; i < 100; ++i) {
-    sim.SetInput(frc::Vectord<1>{12.0});
+    sim.SetInput(wpi::math::Vectord<1>{12.0});
     sim.Update(20_ms);
 
     auto height = sim.GetPosition();
@@ -74,21 +74,21 @@ TEST(ElevatorSimTest, MinMax) {
 }
 
 TEST(ElevatorSimTest, Stability) {
-  frc::sim::ElevatorSim sim{
-      frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
+  wpi::sim::ElevatorSim sim{
+      wpi::math::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
 
-  sim.SetState(frc::Vectord<2>{0.0, 0.0});
-  sim.SetInput(frc::Vectord<1>{12.0});
+  sim.SetState(wpi::math::Vectord<2>{0.0, 0.0});
+  sim.SetInput(wpi::math::Vectord<1>{12.0});
   for (int i = 0; i < 50; ++i) {
     sim.Update(20_ms);
   }
 
-  frc::LinearSystem<2, 1, 1> system =
-      frc::LinearSystemId::ElevatorSystem(frc::DCMotor::Vex775Pro(4), 4_kg,
+  wpi::math::LinearSystem<2, 1, 1> system =
+      wpi::math::LinearSystemId::ElevatorSystem(wpi::math::DCMotor::Vex775Pro(4), 4_kg,
                                           0.5_in, 100)
           .Slice(0);
   EXPECT_NEAR_UNITS(
-      units::meter_t{system.CalculateX(frc::Vectord<2>{0.0, 0.0},
-                                       frc::Vectord<1>{12.0}, 20_ms * 50)(0)},
+      wpi::units::meter_t{system.CalculateX(wpi::math::Vectord<2>{0.0, 0.0},
+                                       wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
       sim.GetPosition(), 1_cm);
 }
diff --git a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
index 17b5415137..97a578a229 100644
--- a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hardware/rotation/Encoder.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 namespace {
 constexpr double kDefaultDistancePerPulse = .0005;
@@ -232,4 +232,4 @@ TEST(EncoderSimTest, Reset) {
   EXPECT_EQ(0, encoder.GetDistance());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
index b6b724d298..3c329fcaf4 100644
--- a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/power/PowerDistribution.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(PowerDistributionSimTest, Initialize) {
   HAL_Initialize(500, 0);
@@ -22,7 +22,7 @@ TEST(PowerDistributionSimTest, Initialize) {
   BooleanCallback callback;
 
   auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
-  PowerDistribution pdp(0, 2, frc::PowerDistribution::ModuleType::kCTRE);
+  PowerDistribution pdp(0, 2, wpi::PowerDistribution::ModuleType::kCTRE);
   EXPECT_TRUE(sim.GetInitialized());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_TRUE(callback.GetLastValue());
@@ -35,7 +35,7 @@ TEST(PowerDistributionSimTest, Initialize) {
 
 TEST(PowerDistributionSimTest, SetTemperature) {
   HAL_Initialize(500, 0);
-  PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
+  PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
   PowerDistributionSim sim(pdp);
 
   DoubleCallback callback;
@@ -50,7 +50,7 @@ TEST(PowerDistributionSimTest, SetTemperature) {
 
 TEST(PowerDistributionSimTest, SetVoltage) {
   HAL_Initialize(500, 0);
-  PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
+  PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
   PowerDistributionSim sim(pdp);
 
   DoubleCallback callback;
@@ -65,7 +65,7 @@ TEST(PowerDistributionSimTest, SetVoltage) {
 
 TEST(PowerDistributionSimTest, SetCurrent) {
   HAL_Initialize(500, 0);
-  PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kCTRE};
+  PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kCTRE};
   PowerDistributionSim sim(pdp);
 
   for (int channel = 0; channel < HAL_GetNumCTREPDPChannels(); ++channel) {
@@ -84,7 +84,7 @@ TEST(PowerDistributionSimTest, SetCurrent) {
 
 TEST(PowerDistributionSimTest, GetAllCurrents) {
   HAL_Initialize(500, 0);
-  PowerDistribution pdp{0, 2, frc::PowerDistribution::ModuleType::kRev};
+  PowerDistribution pdp{0, 2, wpi::PowerDistribution::ModuleType::kRev};
   PowerDistributionSim sim(pdp);
 
   // setup
@@ -103,4 +103,4 @@ TEST(PowerDistributionSimTest, GetAllCurrents) {
   }
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
index a84a1216e3..310b54e212 100644
--- a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
@@ -9,10 +9,10 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/motor/Spark.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 TEST(PWMMotorControllerSimTest, TestMotor) {
-  frc::Spark spark{0};
-  frc::sim::PWMMotorControllerSim sim{spark};
+  wpi::Spark spark{0};
+  wpi::sim::PWMMotorControllerSim sim{spark};
 
   spark.Set(0);
   EXPECT_EQ(0, sim.GetSpeed());
@@ -23,4 +23,4 @@ TEST(PWMMotorControllerSimTest, TestMotor) {
   spark.Set(-0.785);
   EXPECT_EQ(-0.785, sim.GetSpeed());
 }
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
index 1d3638cecc..e9986541f0 100644
--- a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/hal/HAL.h"
 #include "wpi/hardware/discrete/PWM.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(PWMSimTest, Initialize) {
   HAL_Initialize(500, 0);
@@ -61,4 +61,4 @@ TEST(PWMSimTest, SetOutputPeriod) {
   EXPECT_EQ(3504, callback.GetLastValue());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
index 55f43681af..0016d17c8e 100644
--- a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
 #include "wpi/hardware/pneumatic/PneumaticHub.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(REVPHSimTest, InitializedCallback) {
   REVPHSim sim;
@@ -33,7 +33,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
   REVPHSim sim(ph);
   sim.ResetData();
 
-  DoubleSolenoid doubleSolenoid{0, 1, frc::PneumaticsModuleType::REVPH, 3, 4};
+  DoubleSolenoid doubleSolenoid{0, 1, wpi::PneumaticsModuleType::REVPH, 3, 4};
 
   BooleanCallback callback3;
   BooleanCallback callback4;
@@ -191,4 +191,4 @@ TEST(REVPHSimTest, SetCompressorCurrent) {
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(35.04, callback.GetLastValue());
 }
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
index 8e22650782..3dd4ba7c7d 100644
--- a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/hal/HALBase.h"
 #include "wpi/system/RobotController.hpp"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 TEST(RoboRioSimTest, SetVin) {
   RoboRioSim::ResetData();
@@ -23,7 +23,7 @@ TEST(RoboRioSimTest, SetVin) {
       voltageCallback.GetCallback(), false);
   constexpr double kTestVoltage = 1.91;
 
-  RoboRioSim::SetVInVoltage(units::volt_t{kTestVoltage});
+  RoboRioSim::SetVInVoltage(wpi::units::volt_t{kTestVoltage});
   EXPECT_TRUE(voltageCallback.WasTriggered());
   EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
   EXPECT_EQ(kTestVoltage, RoboRioSim::GetVInVoltage().value());
@@ -38,7 +38,7 @@ TEST(RoboRioSimTest, SetBrownout) {
       voltageCallback.GetCallback(), false);
   constexpr double kTestVoltage = 1.91;
 
-  RoboRioSim::SetBrownoutVoltage(units::volt_t{kTestVoltage});
+  RoboRioSim::SetBrownoutVoltage(wpi::units::volt_t{kTestVoltage});
   EXPECT_TRUE(voltageCallback.WasTriggered());
   EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
   EXPECT_EQ(kTestVoltage, RoboRioSim::GetBrownoutVoltage().value());
@@ -64,13 +64,13 @@ TEST(RoboRioSimTest, Set3V3) {
   constexpr double kTestCurrent = 174;
   constexpr int kTestFaults = 229;
 
-  RoboRioSim::SetUserVoltage3V3(units::volt_t{kTestVoltage});
+  RoboRioSim::SetUserVoltage3V3(wpi::units::volt_t{kTestVoltage});
   EXPECT_TRUE(voltageCallback.WasTriggered());
   EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
   EXPECT_EQ(kTestVoltage, RoboRioSim::GetUserVoltage3V3().value());
   EXPECT_EQ(kTestVoltage, RobotController::GetVoltage3V3());
 
-  RoboRioSim::SetUserCurrent3V3(units::ampere_t{kTestCurrent});
+  RoboRioSim::SetUserCurrent3V3(wpi::units::ampere_t{kTestCurrent});
   EXPECT_TRUE(currentCallback.WasTriggered());
   EXPECT_EQ(kTestCurrent, currentCallback.GetLastValue());
   EXPECT_EQ(kTestCurrent, RoboRioSim::GetUserCurrent3V3().value());
@@ -97,7 +97,7 @@ TEST(RoboRioSimTest, SetCPUTemp) {
       RoboRioSim::RegisterCPUTempCallback(callback.GetCallback(), false);
   constexpr double kCPUTemp = 100.0;
 
-  RoboRioSim::SetCPUTemp(units::celsius_t{kCPUTemp});
+  RoboRioSim::SetCPUTemp(wpi::units::celsius_t{kCPUTemp});
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(kCPUTemp, callback.GetLastValue());
   EXPECT_EQ(kCPUTemp, RoboRioSim::GetCPUTemp().value());
@@ -156,4 +156,4 @@ TEST(RoboRioSimTest, SetComments) {
   EXPECT_EQ(kCommentsTruncated, RobotController::GetComments());
 }
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
index 9f14e65f6a..832d46c35b 100644
--- a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
@@ -9,14 +9,14 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/simulation/SimDeviceSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
 TEST(SimDeviceSimTest, Basic) {
-  hal::SimDevice dev{"test"};
-  hal::SimBoolean devBool = dev.CreateBoolean("bool", false, false);
+  wpi::hal::SimDevice dev{"test"};
+  wpi::hal::SimBoolean devBool = dev.CreateBoolean("bool", false, false);
 
   SimDeviceSim sim{"test"};
-  hal::SimBoolean simBool = sim.GetBoolean("bool");
+  wpi::hal::SimBoolean simBool = sim.GetBoolean("bool");
   EXPECT_FALSE(simBool.Get());
   simBool.Set(true);
   EXPECT_TRUE(devBool.Get());
@@ -25,7 +25,7 @@ TEST(SimDeviceSimTest, Basic) {
 }
 
 TEST(SimDeviceSimTest, EnumerateDevices) {
-  hal::SimDevice dev{"test"};
+  wpi::hal::SimDevice dev{"test"};
 
   bool foundit = false;
   SimDeviceSim::EnumerateDevices(
diff --git a/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp b/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
index ff58114ce3..2e3c2a6a20 100644
--- a/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
@@ -19,7 +19,7 @@
 #include "wpi/simulation/PowerDistributionSim.hpp"
 #include "wpi/simulation/RoboRioSim.hpp"
 
-using namespace frc::sim;
+using namespace wpi::sim;
 
 TEST(SimInitializationTest, AllInitialize) {
   HAL_Initialize(500, 0);
diff --git a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
index dcc1b24325..29749a8290 100644
--- a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
@@ -9,12 +9,12 @@
 #include "wpi/simulation/SingleJointedArmSim.hpp"
 
 TEST(SingleJointedArmTest, Disabled) {
-  frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
+  wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
                                     30_in, -180_deg, 0_deg, true, 90_deg);
-  sim.SetState(frc::Vectord<2>{0.0, 0.0});
+  sim.SetState(wpi::math::Vectord<2>{0.0, 0.0});
 
   for (size_t i = 0; i < 12 / 0.02; ++i) {
-    sim.SetInput(frc::Vectord<1>{0.0});
+    sim.SetInput(wpi::math::Vectord<1>{0.0});
     sim.Update(20_ms);
   }
 
@@ -24,7 +24,7 @@ TEST(SingleJointedArmTest, Disabled) {
 
 TEST(SingleJointedArmTest, InitialState) {
   constexpr auto startingAngle = 45_deg;
-  frc::sim::SingleJointedArmSim sim(frc::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
+  wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
                                     30_in, 0_deg, 90_deg, true, startingAngle);
 
   EXPECT_EQ(startingAngle, sim.GetAngle());
diff --git a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
index 1bb974c16a..2bc7ffa1d1 100644
--- a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
@@ -22,31 +22,31 @@
 #include "wpi/units/angular_velocity.hpp"
 
 TEST(StateSpaceSimTest, FlywheelSim) {
-  const frc::LinearSystem<1, 1, 1> plant =
-      frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(
+  const wpi::math::LinearSystem<1, 1, 1> plant =
+      wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(
           0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq);
-  frc::sim::FlywheelSim sim{plant, frc::DCMotor::NEO(2)};
-  frc::PIDController controller{0.2, 0.0, 0.0};
-  frc::SimpleMotorFeedforward<units::radian> feedforward{
+  wpi::sim::FlywheelSim sim{plant, wpi::math::DCMotor::NEO(2)};
+  wpi::math::PIDController controller{0.2, 0.0, 0.0};
+  wpi::math::SimpleMotorFeedforward<wpi::units::radian> feedforward{
       0_V, 0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq};
-  frc::Encoder encoder{0, 1};
-  frc::sim::EncoderSim encoderSim{encoder};
-  frc::PWMVictorSPX motor{0};
+  wpi::Encoder encoder{0, 1};
+  wpi::sim::EncoderSim encoderSim{encoder};
+  wpi::PWMVictorSPX motor{0};
 
-  frc::sim::RoboRioSim::ResetData();
+  wpi::sim::RoboRioSim::ResetData();
   encoderSim.ResetData();
 
   for (int i = 0; i < 100; i++) {
     // RobotPeriodic runs first
     auto voltageOut = controller.Calculate(encoder.GetRate(), 200.0);
-    motor.SetVoltage(units::volt_t{voltageOut} +
+    motor.SetVoltage(wpi::units::volt_t{voltageOut} +
                      feedforward.Calculate(200_rad_per_s));
 
     // Then, SimulationPeriodic runs
-    frc::sim::RoboRioSim::SetVInVoltage(
-        frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+    wpi::sim::RoboRioSim::SetVInVoltage(
+        wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
     sim.SetInput(
-        frc::Vectord<1>{motor.Get() * frc::RobotController::GetInputVoltage()});
+        wpi::math::Vectord<1>{motor.Get() * wpi::RobotController::GetInputVoltage()});
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().value());
   }
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
index 510fd50156..7d764cd55d 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
@@ -14,61 +14,61 @@
 class Mechanism2dTest;
 
 TEST(Mechanism2dTest, Canvas) {
-  frc::Mechanism2d mechanism{5, 10};
-  auto dimsEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  wpi::Mechanism2d mechanism{5, 10};
+  auto dimsEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/dims");
-  auto colorEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  auto colorEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/backgroundColor");
-  frc::SmartDashboard::PutData("mechanism", &mechanism);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::PutData("mechanism", &mechanism);
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(5.0, dimsEntry.GetDoubleArray({})[0]);
   EXPECT_EQ(10.0, dimsEntry.GetDoubleArray({})[1]);
   EXPECT_EQ("#000020", colorEntry.GetString(""));
   mechanism.SetBackgroundColor({255, 255, 255});
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ("#FFFFFF", colorEntry.GetString(""));
 }
 
 TEST(Mechanism2dTest, Root) {
-  frc::Mechanism2d mechanism{5, 10};
-  auto xEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  wpi::Mechanism2d mechanism{5, 10};
+  auto xEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/x");
-  auto yEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  auto yEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/y");
-  frc::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
-  frc::SmartDashboard::PutData("mechanism", &mechanism);
-  frc::SmartDashboard::UpdateValues();
+  wpi::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
+  wpi::SmartDashboard::PutData("mechanism", &mechanism);
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(1.0, xEntry.GetDouble(0.0));
   EXPECT_EQ(2.0, yEntry.GetDouble(0.0));
   root->SetPosition(2, 4);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(2.0, xEntry.GetDouble(0.0));
   EXPECT_EQ(4.0, yEntry.GetDouble(0.0));
 }
 
 TEST(Mechanism2dTest, Ligament) {
-  frc::Mechanism2d mechanism{5, 10};
-  auto angleEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  wpi::Mechanism2d mechanism{5, 10};
+  auto angleEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/ligament/angle");
-  auto colorEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  auto colorEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/ligament/color");
-  auto lengthEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  auto lengthEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/ligament/length");
-  auto weightEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
+  auto weightEntry = wpi::nt::NetworkTableInstance::GetDefault().GetEntry(
       "/SmartDashboard/mechanism/root/ligament/weight");
-  frc::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
-  frc::MechanismLigament2d* ligament = root->Append<frc::MechanismLigament2d>(
-      "ligament", 3, units::degree_t{90}, 1, frc::Color8Bit{255, 255, 255});
-  frc::SmartDashboard::PutData("mechanism", &mechanism);
+  wpi::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
+  wpi::MechanismLigament2d* ligament = root->Append<wpi::MechanismLigament2d>(
+      "ligament", 3, wpi::units::degree_t{90}, 1, wpi::Color8Bit{255, 255, 255});
+  wpi::SmartDashboard::PutData("mechanism", &mechanism);
   EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
   EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
   EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
   EXPECT_EQ(ligament->GetLineWeight(), weightEntry.GetDouble(0.0));
-  ligament->SetAngle(units::degree_t{45});
+  ligament->SetAngle(wpi::units::degree_t{45});
   ligament->SetColor({0, 0, 0});
   ligament->SetLength(2);
   ligament->SetLineWeight(4);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
   EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
   EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
@@ -77,7 +77,7 @@ TEST(Mechanism2dTest, Ligament) {
   colorEntry.SetString("#FF00FF");
   lengthEntry.SetDouble(4.0);
   weightEntry.SetDouble(6.0);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
   EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
   EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
index e2c37a048e..3cc09862d5 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -16,8 +16,8 @@
 class SendableChooserTest : public ::testing::TestWithParam<int> {};
 
 TEST_P(SendableChooserTest, ReturnsSelected) {
-  frc::SendableChooser<int> chooser;
-  frc::sim::SendableChooserSim chooserSim{
+  wpi::SendableChooser<int> chooser;
+  wpi::sim::SendableChooserSim chooserSim{
       fmt::format("/SmartDashboard/ReturnsSelectedChooser{}/", GetParam())};
 
   for (int i = 1; i <= 3; i++) {
@@ -25,16 +25,16 @@ TEST_P(SendableChooserTest, ReturnsSelected) {
   }
   chooser.SetDefaultOption("0", 0);
 
-  frc::SmartDashboard::PutData(
+  wpi::SmartDashboard::PutData(
       fmt::format("ReturnsSelectedChooser{}", GetParam()), &chooser);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   chooserSim.SetSelected(std::to_string(GetParam()));
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
   EXPECT_EQ(GetParam(), chooser.GetSelected());
 }
 
 TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
-  frc::SendableChooser<int> chooser;
+  wpi::SendableChooser<int> chooser;
 
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
@@ -48,7 +48,7 @@ TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
 
 TEST(SendableChooserTest,
      DefaultConstructableIsReturnedOnNoSelectAndNoDefault) {
-  frc::SendableChooser<int> chooser;
+  wpi::SendableChooser<int> chooser;
 
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
@@ -58,8 +58,8 @@ TEST(SendableChooserTest,
 }
 
 TEST(SendableChooserTest, ChangeListener) {
-  frc::SendableChooser<int> chooser;
-  frc::sim::SendableChooserSim chooserSim{
+  wpi::SendableChooser<int> chooser;
+  wpi::sim::SendableChooserSim chooserSim{
       "/SmartDashboard/ChangeListenerChooser/"};
 
   for (int i = 1; i <= 3; i++) {
@@ -68,10 +68,10 @@ TEST(SendableChooserTest, ChangeListener) {
   int currentVal = 0;
   chooser.OnChange([&](int val) { currentVal = val; });
 
-  frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
+  wpi::SmartDashboard::UpdateValues();
   chooserSim.SetSelected("3");
-  frc::SmartDashboard::UpdateValues();
+  wpi::SmartDashboard::UpdateValues();
 
   EXPECT_EQ(3, currentVal);
 }
diff --git a/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp b/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
index 8c6fb18466..08b834a6d2 100644
--- a/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
+++ b/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/Color8Bit.hpp"
 
 TEST(Color8BitTest, ConstructDefault) {
-  constexpr frc::Color8Bit color;
+  constexpr wpi::Color8Bit color;
 
   EXPECT_EQ(0, color.red);
   EXPECT_EQ(0, color.green);
@@ -17,7 +17,7 @@ TEST(Color8BitTest, ConstructDefault) {
 }
 
 TEST(Color8BitTest, ConstructFromInts) {
-  constexpr frc::Color8Bit color{255, 128, 64};
+  constexpr wpi::Color8Bit color{255, 128, 64};
 
   EXPECT_EQ(255, color.red);
   EXPECT_EQ(128, color.green);
@@ -25,7 +25,7 @@ TEST(Color8BitTest, ConstructFromInts) {
 }
 
 TEST(Color8BitTest, ConstructFromColor) {
-  constexpr frc::Color8Bit color{frc::Color{255, 128, 64}};
+  constexpr wpi::Color8Bit color{wpi::Color{255, 128, 64}};
 
   EXPECT_EQ(255, color.red);
   EXPECT_EQ(128, color.green);
@@ -33,24 +33,24 @@ TEST(Color8BitTest, ConstructFromColor) {
 }
 
 TEST(Color8BitTest, ConstructFromHexString) {
-  constexpr frc::Color8Bit color{"#FF8040"};
+  constexpr wpi::Color8Bit color{"#FF8040"};
 
   EXPECT_EQ(255, color.red);
   EXPECT_EQ(128, color.green);
   EXPECT_EQ(64, color.blue);
 
   // No leading #
-  EXPECT_THROW(frc::Color8Bit{"112233"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color8Bit{"112233"}, std::invalid_argument);
 
   // Too long
-  EXPECT_THROW(frc::Color8Bit{"#11223344"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color8Bit{"#11223344"}, std::invalid_argument);
 
   // Invalid hex characters
-  EXPECT_THROW(frc::Color8Bit{"#$$$$$$"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color8Bit{"#$$$$$$"}, std::invalid_argument);
 }
 
 TEST(Color8BitTest, ImplicitConversionToColor) {
-  frc::Color color = frc::Color8Bit{255, 128, 64};
+  wpi::Color color = wpi::Color8Bit{255, 128, 64};
 
   EXPECT_NEAR(1.0, color.red, 1e-2);
   EXPECT_NEAR(0.5, color.green, 1e-2);
@@ -58,13 +58,13 @@ TEST(Color8BitTest, ImplicitConversionToColor) {
 }
 
 TEST(Color8BitTest, ToHexString) {
-  constexpr frc::Color8Bit color1{255, 128, 64};
+  constexpr wpi::Color8Bit color1{255, 128, 64};
   EXPECT_EQ("#FF8040", color1.HexString());
 
   // Ensure conversion to std::string works
   [[maybe_unused]]
   std::string str = color1.HexString();
 
-  frc::Color8Bit color2{255, 128, 64};
+  wpi::Color8Bit color2{255, 128, 64};
   EXPECT_EQ("#FF8040", color2.HexString());
 }
diff --git a/wpilibc/src/test/native/cpp/util/ColorTest.cpp b/wpilibc/src/test/native/cpp/util/ColorTest.cpp
index c352bb14b9..2d06cc8e1b 100644
--- a/wpilibc/src/test/native/cpp/util/ColorTest.cpp
+++ b/wpilibc/src/test/native/cpp/util/ColorTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/Color.hpp"
 
 TEST(ColorTest, ConstructDefault) {
-  constexpr frc::Color color;
+  constexpr wpi::Color color;
 
   EXPECT_DOUBLE_EQ(0.0, color.red);
   EXPECT_DOUBLE_EQ(0.0, color.green);
@@ -18,7 +18,7 @@ TEST(ColorTest, ConstructDefault) {
 
 TEST(ColorTest, ConstructFromDoubles) {
   {
-    constexpr frc::Color color{1.0, 0.5, 0.25};
+    constexpr wpi::Color color{1.0, 0.5, 0.25};
 
     EXPECT_NEAR(1.0, color.red, 1e-2);
     EXPECT_NEAR(0.5, color.green, 1e-2);
@@ -26,7 +26,7 @@ TEST(ColorTest, ConstructFromDoubles) {
   }
 
   {
-    constexpr frc::Color color{1.0, 0.0, 0.0};
+    constexpr wpi::Color color{1.0, 0.0, 0.0};
 
     // Check for exact match to ensure round-and-clamp is correct
     EXPECT_EQ(1.0, color.red);
@@ -36,7 +36,7 @@ TEST(ColorTest, ConstructFromDoubles) {
 }
 
 TEST(ColorTest, ConstructFromInts) {
-  constexpr frc::Color color{255, 128, 64};
+  constexpr wpi::Color color{255, 128, 64};
 
   EXPECT_NEAR(1.0, color.red, 1e-2);
   EXPECT_NEAR(0.5, color.green, 1e-2);
@@ -44,24 +44,24 @@ TEST(ColorTest, ConstructFromInts) {
 }
 
 TEST(ColorTest, ConstructFromHexString) {
-  constexpr frc::Color color{"#FF8040"};
+  constexpr wpi::Color color{"#FF8040"};
 
   EXPECT_NEAR(1.0, color.red, 1e-2);
   EXPECT_NEAR(0.5, color.green, 1e-2);
   EXPECT_NEAR(0.25, color.blue, 1e-2);
 
   // No leading #
-  EXPECT_THROW(frc::Color{"112233"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color{"112233"}, std::invalid_argument);
 
   // Too long
-  EXPECT_THROW(frc::Color{"#11223344"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color{"#11223344"}, std::invalid_argument);
 
   // Invalid hex characters
-  EXPECT_THROW(frc::Color{"#$$$$$$"}, std::invalid_argument);
+  EXPECT_THROW(wpi::Color{"#$$$$$$"}, std::invalid_argument);
 }
 
 TEST(ColorTest, FromHSV) {
-  constexpr frc::Color color = frc::Color::FromHSV(90, 128, 64);
+  constexpr wpi::Color color = wpi::Color::FromHSV(90, 128, 64);
 
   EXPECT_DOUBLE_EQ(0.125732421875, color.red);
   EXPECT_DOUBLE_EQ(0.251220703125, color.green);
@@ -69,13 +69,13 @@ TEST(ColorTest, FromHSV) {
 }
 
 TEST(ColorTest, ToHexString) {
-  constexpr frc::Color color1{255, 128, 64};
+  constexpr wpi::Color color1{255, 128, 64};
   EXPECT_EQ("#FF8040", color1.HexString());
 
   // Ensure conversion to std::string works
   [[maybe_unused]]
   std::string str = color1.HexString();
 
-  frc::Color color2{255, 128, 64};
+  wpi::Color color2{255, 128, 64};
   EXPECT_EQ("#FF8040", color2.HexString());
 }
diff --git a/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp b/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
index 348bd15d92..7ea903b906 100644
--- a/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
+++ b/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/hal/Value.h"
 
-namespace frc::sim {
+namespace wpi::sim {
 
 template <typename ValueType>
 class BaseCallbackHelper {
@@ -61,4 +61,4 @@ class DoubleCallback : public BaseCallbackHelper<double> {
   void HandleCallback(std::string_view name, const HAL_Value* value) override;
 };
 
-}  // namespace frc::sim
+}  // namespace wpi::sim
diff --git a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
index 1d14727780..5eabe930e7 100644
--- a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
+++ b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
@@ -7,7 +7,7 @@
 #include "wpi/hardware/motor/MotorController.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace frc {
+namespace wpi {
 
 WPI_IGNORE_DEPRECATED
 
@@ -27,4 +27,4 @@ class MockMotorController : public MotorController {
 
 WPI_UNIGNORE_DEPRECATED
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp b/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
index 18bd1f5615..a839c9aedc 100644
--- a/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
+++ b/wpilibc/src/test/native/include/motorcontrol/MockPWMMotorController.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace frc {
+namespace wpi {
 
 class MockPWMMotorController {
  public:
@@ -20,4 +20,4 @@ class MockPWMMotorController {
   bool m_isInverted = false;
 };
 
-}  // namespace frc
+}  // namespace wpi
diff --git a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
index 8b480207df..73acebd179 100644
--- a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
@@ -15,7 +15,7 @@
  * Command will *not* work!
  */
 class ReplaceMeCommand2
-    : public frc2::CommandHelper<frc2::Command, ReplaceMeCommand2> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::Command, ReplaceMeCommand2> {
  public:
   /* You should consider using the more terse Command factories API instead
    * https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands
diff --git a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
index 9114cb6e6c..4369e0aabd 100644
--- a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
@@ -11,7 +11,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 class ReplaceMeInstantCommand2
-    : public frc2::CommandHelper<frc2::InstantCommand,
+    : public wpi::cmd::CommandHelper<wpi::cmd::InstantCommand,
                                  ReplaceMeInstantCommand2> {
  public:
   ReplaceMeInstantCommand2();
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
index baa00521b0..4405659dd1 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
@@ -11,7 +11,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 class ReplaceMeParallelCommandGroup
-    : public frc2::CommandHelper<frc2::ParallelCommandGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::ParallelCommandGroup,
                                  ReplaceMeParallelCommandGroup> {
  public:
   ReplaceMeParallelCommandGroup();
diff --git a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
index b7b65e40ca..c0fcc57cb2 100644
--- a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
@@ -11,7 +11,7 @@
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeParallelDeadlineGroup::ReplaceMeParallelDeadlineGroup()
     // The deadline command
-    : CommandHelper{frc2::InstantCommand{[] {}}} {
+    : CommandHelper{wpi::cmd::InstantCommand{[] {}}} {
   // Add your commands here, e.g.
   // AddCommands(FooCommand{}, BarCommand{});
 }
diff --git a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
index 2ec4a7bd6a..6ed5c7d21a 100644
--- a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
@@ -11,7 +11,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 class ReplaceMeParallelDeadlineGroup
-    : public frc2::CommandHelper<frc2::ParallelDeadlineGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::ParallelDeadlineGroup,
                                  ReplaceMeParallelDeadlineGroup> {
  public:
   ReplaceMeParallelDeadlineGroup();
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
index 635ef64176..866e2916d2 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
@@ -11,7 +11,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 class ReplaceMeParallelRaceGroup
-    : public frc2::CommandHelper<frc2::ParallelRaceGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::ParallelRaceGroup,
                                  ReplaceMeParallelRaceGroup> {
  public:
   ReplaceMeParallelRaceGroup();
diff --git a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
index fd02c378e6..d15902cdd4 100644
--- a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
@@ -11,7 +11,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 class ReplaceMeSequentialCommandGroup
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup,
                                  ReplaceMeSequentialCommandGroup> {
  public:
   ReplaceMeSequentialCommandGroup();
diff --git a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
index c98e3c0141..8669026d35 100644
--- a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
@@ -6,7 +6,7 @@
 
 #include <wpi/commands2/SubsystemBase.hpp>
 
-class ReplaceMeSubsystem2 : public frc2::SubsystemBase {
+class ReplaceMeSubsystem2 : public wpi::cmd::SubsystemBase {
  public:
   ReplaceMeSubsystem2();
 
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
index 4c47b07ae2..e2d3de4307 100644
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
@@ -19,6 +19,6 @@ void Robot::RobotPeriodic() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
index 4c17cc6d21..b97cd31a88 100644
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
@@ -10,7 +10,7 @@
 #include <wpi/hardware/led/LEDPattern.hpp>
 #include <wpi/opmode/TimedRobot.hpp>
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -19,19 +19,19 @@ class Robot : public frc::TimedRobot {
   static constexpr int kLength = 60;
 
   // SmartIO port 1
-  frc::AddressableLED m_led{1};
-  std::array<frc::AddressableLED::LEDData, kLength>
+  wpi::AddressableLED m_led{1};
+  std::array<wpi::AddressableLED::LEDData, kLength>
       m_ledBuffer;  // Reuse the buffer
 
   // Our LED strip has a density of 120 LEDs per meter
-  units::meter_t kLedSpacing{1 / 120.0};
+  wpi::units::meter_t kLedSpacing{1 / 120.0};
 
   // Create an LED pattern that will display a rainbow across
   // all hues at maximum saturation and half brightness
-  frc::LEDPattern m_rainbow = frc::LEDPattern::Rainbow(255, 128);
+  wpi::LEDPattern m_rainbow = wpi::LEDPattern::Rainbow(255, 128);
 
   // Create a new pattern that scrolls the rainbow pattern across the LED
   // strip, moving at a speed of 1 meter per second.
-  frc::LEDPattern m_scrollingRainbow =
+  wpi::LEDPattern m_scrollingRainbow =
       m_rainbow.ScrollAtAbsoluteSpeed(1_mps, kLedSpacing);
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
index 77cf206af0..0e071b248c 100644
--- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
@@ -31,7 +31,7 @@
  * Be aware that the performance on this is much worse than a coprocessor
  * solution!
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // We need to run our vision program in a separate thread. If not, our robot
@@ -49,7 +49,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   static void VisionThread() {
-    frc::AprilTagDetector detector;
+    wpi::apriltag::AprilTagDetector detector;
     // look for tag36h11, correct 1 error bit
     // hamming 1 allocates 781KB, 2 allocates 27.4 MB, 3 allocates 932 MB
     // max of 1 recommended for RoboRIO 1, while hamming 2 is feasible on the
@@ -58,24 +58,24 @@ class Robot : public frc::TimedRobot {
 
     // Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000
     // (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21)
-    frc::AprilTagPoseEstimator::Config poseEstConfig = {
+    wpi::apriltag::AprilTagPoseEstimator::Config poseEstConfig = {
         .tagSize = 6.5_in,
         .fx = 699.3778103158814,
         .fy = 677.7161226393544,
         .cx = 345.6059345433618,
         .cy = 207.12741326228522};
-    frc::AprilTagPoseEstimator estimator(poseEstConfig);
+    wpi::apriltag::AprilTagPoseEstimator estimator(poseEstConfig);
 
     // Get the USB camera from CameraServer
-    cs::UsbCamera camera = frc::CameraServer::StartAutomaticCapture();
+    wpi::cs::UsbCamera camera = wpi::CameraServer::StartAutomaticCapture();
     // Set the resolution
     camera.SetResolution(640, 480);
 
     // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetVideo();
+    wpi::cs::CvSink cvSink = wpi::CameraServer::GetVideo();
     // Setup a CvSource. This will send images back to the Dashboard
-    cs::CvSource outputStream =
-        frc::CameraServer::PutVideo("Detected", 640, 480);
+    wpi::cs::CvSource outputStream =
+        wpi::CameraServer::PutVideo("Detected", 640, 480);
 
     // Mats are very memory expensive. Lets reuse this Mat.
     cv::Mat mat;
@@ -88,7 +88,7 @@ class Robot : public frc::TimedRobot {
 
     // We'll output to NT
     auto tagsTable =
-        nt::NetworkTableInstance::GetDefault().GetTable("apriltags");
+        wpi::nt::NetworkTableInstance::GetDefault().GetTable("apriltags");
     auto pubTags = tagsTable->GetIntegerArrayTopic("tags").Publish();
 
     while (true) {
@@ -105,27 +105,27 @@ class Robot : public frc::TimedRobot {
       cv::cvtColor(mat, grayMat, cv::COLOR_BGR2GRAY);
 
       cv::Size g_size = grayMat.size();
-      frc::AprilTagDetector::Results detections =
+      wpi::apriltag::AprilTagDetector::Results detections =
           detector.Detect(g_size.width, g_size.height, grayMat.data);
 
       // have not seen any tags yet
       tags.clear();
 
-      for (const frc::AprilTagDetection* detection : detections) {
+      for (const wpi::apriltag::AprilTagDetection* detection : detections) {
         // remember we saw this tag
         tags.push_back(detection->GetId());
 
         // draw lines around the tag
         for (int i = 0; i <= 3; i++) {
           int j = (i + 1) % 4;
-          const frc::AprilTagDetection::Point pti = detection->GetCorner(i);
-          const frc::AprilTagDetection::Point ptj = detection->GetCorner(j);
+          const wpi::apriltag::AprilTagDetection::Point pti = detection->GetCorner(i);
+          const wpi::apriltag::AprilTagDetection::Point ptj = detection->GetCorner(j);
           line(mat, cv::Point(pti.x, pti.y), cv::Point(ptj.x, ptj.y),
                outlineColor, 2);
         }
 
         // mark the center of the tag
-        const frc::AprilTagDetection::Point c = detection->GetCenter();
+        const wpi::apriltag::AprilTagDetection::Point c = detection->GetCenter();
         int ll = 10;
         line(mat, cv::Point(c.x - ll, c.y), cv::Point(c.x + ll, c.y),
              crossColor, 2);
@@ -138,10 +138,10 @@ class Robot : public frc::TimedRobot {
                 crossColor, 3);
 
         // determine pose
-        frc::Transform3d pose = estimator.Estimate(*detection);
+        wpi::math::Transform3d pose = estimator.Estimate(*detection);
 
         // put pose into NT
-        frc::Rotation3d rotation = pose.Rotation();
+        wpi::math::Rotation3d rotation = pose.Rotation();
         tagsTable->GetEntry(fmt::format("pose_{}", detection->GetId()))
             .SetDoubleArray(
                 {{ pose.X().value(),
@@ -164,6 +164,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
index 9baa0905c0..d8509f4f42 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -11,18 +11,18 @@
  * This is a demo program showing the use of the DifferentialDrive class.
  * Runs the motors with arcade steering.
  */
-class Robot : public frc::TimedRobot {
-  frc::PWMSparkMax m_leftMotor{0};
-  frc::PWMSparkMax m_rightMotor{1};
-  frc::DifferentialDrive m_robotDrive{
+class Robot : public wpi::TimedRobot {
+  wpi::PWMSparkMax m_leftMotor{0};
+  wpi::PWMSparkMax m_rightMotor{1};
+  wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  frc::Joystick m_stick{0};
+  wpi::Joystick m_stick{0};
 
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
@@ -38,6 +38,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
index 58c319541c..6b428ee01f 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -11,18 +11,18 @@
  * This is a demo program showing the use of the DifferentialDrive class.
  * Runs the motors with split arcade steering and an Xbox controller.
  */
-class Robot : public frc::TimedRobot {
-  frc::PWMSparkMax m_leftMotor{0};
-  frc::PWMSparkMax m_rightMotor{1};
-  frc::DifferentialDrive m_robotDrive{
+class Robot : public wpi::TimedRobot {
+  wpi::PWMSparkMax m_leftMotor{0};
+  wpi::PWMSparkMax m_rightMotor{1};
+  wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  frc::XboxController m_driverController{0};
+  wpi::XboxController m_driverController{0};
 
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
@@ -41,6 +41,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
index 15cfb53301..ac3dfd9bff 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -29,6 +29,6 @@ void Robot::DisabledInit() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
index cead817b37..b443e5159b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
@@ -13,19 +13,19 @@ Arm::Arm() {
   m_encoder.SetDistancePerPulse(kArmEncoderDistPerPulse);
 
   // Put Mechanism 2d to SmartDashboard
-  frc::SmartDashboard::PutData("Arm Sim", &m_mech2d);
+  wpi::SmartDashboard::PutData("Arm Sim", &m_mech2d);
 
   // Set the Arm position setpoint and P constant to Preferences if the keys
   // don't already exist
-  frc::Preferences::InitDouble(kArmPositionKey, m_armSetpoint.value());
-  frc::Preferences::InitDouble(kArmPKey, m_armKp);
+  wpi::Preferences::InitDouble(kArmPositionKey, m_armSetpoint.value());
+  wpi::Preferences::InitDouble(kArmPKey, m_armKp);
 }
 
 void Arm::SimulationPeriodic() {
   // In this method, we update our simulation of what our arm is doing
   // First, we set our "inputs" (voltages)
   m_armSim.SetInput(
-      frc::Vectord<1>{m_motor.Get() * frc::RobotController::GetInputVoltage()});
+      wpi::math::Vectord<1>{m_motor.Get() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_armSim.Update(20_ms);
@@ -34,8 +34,8 @@ void Arm::SimulationPeriodic() {
   // voltage
   m_encoderSim.SetDistance(m_armSim.GetAngle().value());
   // SimBattery estimates loaded battery voltages
-  frc::sim::RoboRioSim::SetVInVoltage(
-      frc::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()}));
+  wpi::sim::RoboRioSim::SetVInVoltage(
+      wpi::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()}));
 
   // Update the Mechanism Arm angle based on the simulated arm angle
   m_arm->SetAngle(m_armSim.GetAngle());
@@ -43,10 +43,10 @@ void Arm::SimulationPeriodic() {
 
 void Arm::LoadPreferences() {
   // Read Preferences for Arm setpoint and kP on entering Teleop
-  m_armSetpoint = units::degree_t{
-      frc::Preferences::GetDouble(kArmPositionKey, m_armSetpoint.value())};
-  if (m_armKp != frc::Preferences::GetDouble(kArmPKey, m_armKp)) {
-    m_armKp = frc::Preferences::GetDouble(kArmPKey, m_armKp);
+  m_armSetpoint = wpi::units::degree_t{
+      wpi::Preferences::GetDouble(kArmPositionKey, m_armSetpoint.value())};
+  if (m_armKp != wpi::Preferences::GetDouble(kArmPKey, m_armKp)) {
+    m_armKp = wpi::Preferences::GetDouble(kArmPKey, m_armKp);
     m_controller.SetP(m_armKp);
   }
 }
@@ -55,8 +55,8 @@ void Arm::ReachSetpoint() {
   // Here, we run PID control like normal, with a setpoint read from
   // preferences in degrees.
   double pidOutput = m_controller.Calculate(
-      m_encoder.GetDistance(), (units::radian_t{m_armSetpoint}.value()));
-  m_motor.SetVoltage(units::volt_t{pidOutput});
+      m_encoder.GetDistance(), (wpi::units::radian_t{m_armSetpoint}.value()));
+  m_motor.SetVoltage(wpi::units::volt_t{pidOutput});
 }
 
 void Arm::Stop() {
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
index 816a7d39db..cda5ee0317 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
@@ -31,14 +31,14 @@ inline constexpr std::string_view kArmPositionKey = "ArmPosition";
 inline constexpr std::string_view kArmPKey = "ArmP";
 
 inline constexpr double kDefaultArmKp = 50.0;
-inline constexpr units::degree_t kDefaultArmSetpoint = 75.0_deg;
+inline constexpr wpi::units::degree_t kDefaultArmSetpoint = 75.0_deg;
 
-inline constexpr units::radian_t kMinAngle = -75.0_deg;
-inline constexpr units::radian_t kMaxAngle = 255.0_deg;
+inline constexpr wpi::units::radian_t kMinAngle = -75.0_deg;
+inline constexpr wpi::units::radian_t kMaxAngle = 255.0_deg;
 
 inline constexpr double kArmReduction = 200.0;
-inline constexpr units::kilogram_t kArmMass = 8.0_kg;
-inline constexpr units::meter_t kArmLength = 30.0_in;
+inline constexpr wpi::units::kilogram_t kArmMass = 8.0_kg;
+inline constexpr wpi::units::meter_t kArmLength = 30.0_in;
 
 // distance per pulse = (angle per revolution) / (pulses per revolution)
 //  = (2 * PI rads) / (4096 pulses)
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
index 53f13e7f0c..032fff4033 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
@@ -12,7 +12,7 @@
 /**
  * This is a sample program to demonstrate the use of arm simulation.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
   void SimulationPeriodic() override;
@@ -21,6 +21,6 @@ class Robot : public frc::TimedRobot {
   void DisabledInit() override;
 
  private:
-  frc::Joystick m_joystick{kJoystickPort};
+  wpi::Joystick m_joystick{kJoystickPort};
   Arm m_arm;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
index 01abb0d076..ae87d939b5 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
@@ -31,38 +31,38 @@ class Arm {
  private:
   // The P gain for the PID controller that drives this arm.
   double m_armKp = kDefaultArmKp;
-  units::degree_t m_armSetpoint = kDefaultArmSetpoint;
+  wpi::units::degree_t m_armSetpoint = kDefaultArmSetpoint;
 
   // The arm gearbox represents a gearbox containing two Vex 775pro motors.
-  frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2);
+  wpi::math::DCMotor m_armGearbox = wpi::math::DCMotor::Vex775Pro(2);
 
   // Standard classes for controlling our arm
-  frc::PIDController m_controller{m_armKp, 0, 0};
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
-  frc::PWMSparkMax m_motor{kMotorPort};
+  wpi::math::PIDController m_controller{m_armKp, 0, 0};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::PWMSparkMax m_motor{kMotorPort};
 
   // Simulation classes help us simulate what's going on, including gravity.
   // This sim represents an arm with 2 775s, a 600:1 reduction, a mass of 5kg,
   // 30in overall arm length, range of motion in [-75, 255] degrees, and noise
   // with a standard deviation of 1 encoder tick.
-  frc::sim::SingleJointedArmSim m_armSim{
+  wpi::sim::SingleJointedArmSim m_armSim{
       m_armGearbox,
       kArmReduction,
-      frc::sim::SingleJointedArmSim::EstimateMOI(kArmLength, kArmMass),
+      wpi::sim::SingleJointedArmSim::EstimateMOI(kArmLength, kArmMass),
       kArmLength,
       kMinAngle,
       kMaxAngle,
       true,
       0_deg,
       {kArmEncoderDistPerPulse}};
-  frc::sim::EncoderSim m_encoderSim{m_encoder};
+  wpi::sim::EncoderSim m_encoderSim{m_encoder};
 
   // Create a Mechanism2d display of an Arm
-  frc::Mechanism2d m_mech2d{60, 60};
-  frc::MechanismRoot2d* m_armBase = m_mech2d.GetRoot("ArmBase", 30, 30);
-  frc::MechanismLigament2d* m_armTower =
-      m_armBase->Append<frc::MechanismLigament2d>(
-          "Arm Tower", 30, -90_deg, 6, frc::Color8Bit{frc::Color::kBlue});
-  frc::MechanismLigament2d* m_arm = m_armBase->Append<frc::MechanismLigament2d>(
-      "Arm", 30, m_armSim.GetAngle(), 6, frc::Color8Bit{frc::Color::kYellow});
+  wpi::Mechanism2d m_mech2d{60, 60};
+  wpi::MechanismRoot2d* m_armBase = m_mech2d.GetRoot("ArmBase", 30, 30);
+  wpi::MechanismLigament2d* m_armTower =
+      m_armBase->Append<wpi::MechanismLigament2d>(
+          "Arm Tower", 30, -90_deg, 6, wpi::Color8Bit{wpi::Color::kBlue});
+  wpi::MechanismLigament2d* m_arm = m_armBase->Append<wpi::MechanismLigament2d>(
+      "Arm", 30, m_armSim.GetAngle(), 6, wpi::Color8Bit{wpi::Color::kYellow});
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
index 3a83020687..b68b7551c8 100644
--- a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
@@ -11,11 +11,11 @@
  * Distribution Panel via CAN. The information will be displayed under variables
  * through the SmartDashboard.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Put the PDP itself to the dashboard
-    frc::SmartDashboard::PutData("PDP", &m_pdp);
+    wpi::SmartDashboard::PutData("PDP", &m_pdp);
   }
 
   void RobotPeriodic() override {
@@ -23,39 +23,39 @@ class Robot : public frc::TimedRobot {
     // The PDP returns the current in increments of 0.125A.
     // At low currents the current readings tend to be less accurate.
     double current7 = m_pdp.GetCurrent(7);
-    frc::SmartDashboard::PutNumber("Current Channel 7", current7);
+    wpi::SmartDashboard::PutNumber("Current Channel 7", current7);
 
     // Get the voltage going into the PDP, in Volts.
     // The PDP returns the voltage in increments of 0.05 Volts.
     double voltage = m_pdp.GetVoltage();
-    frc::SmartDashboard::PutNumber("Voltage", voltage);
+    wpi::SmartDashboard::PutNumber("Voltage", voltage);
 
     // Retrieves the temperature of the PDP, in degrees Celsius.
     double temperatureCelsius = m_pdp.GetTemperature();
-    frc::SmartDashboard::PutNumber("Temperature", temperatureCelsius);
+    wpi::SmartDashboard::PutNumber("Temperature", temperatureCelsius);
 
     // Get the total current of all channels.
     double totalCurrent = m_pdp.GetTotalCurrent();
-    frc::SmartDashboard::PutNumber("Total Current", totalCurrent);
+    wpi::SmartDashboard::PutNumber("Total Current", totalCurrent);
 
     // Get the total power of all channels.
     // Power is the bus voltage multiplied by the current with the units Watts.
     double totalPower = m_pdp.GetTotalPower();
-    frc::SmartDashboard::PutNumber("Total Power", totalPower);
+    wpi::SmartDashboard::PutNumber("Total Power", totalPower);
 
     // Get the total energy of all channels.
     // Energy is the power summed over time with units Joules.
     double totalEnergy = m_pdp.GetTotalEnergy();
-    frc::SmartDashboard::PutNumber("Total Energy", totalEnergy);
+    wpi::SmartDashboard::PutNumber("Total Energy", totalEnergy);
   }
 
  private:
   // Object for dealing with the Power Distribution Panel (PDP).
-  frc::PowerDistribution m_pdp{0};
+  wpi::PowerDistribution m_pdp{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
index 0ed23babec..86a9a96b20 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
@@ -4,7 +4,7 @@
 
 #include "Drivetrain.hpp"
 
-void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
+void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
   const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
   const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
   const double leftOutput = m_leftPIDController.Calculate(
@@ -12,17 +12,17 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
   const double rightOutput = m_rightPIDController.Calculate(
       m_rightEncoder.GetRate(), speeds.right.value());
 
-  m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
-  m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
+  m_leftLeader.SetVoltage(wpi::units::volt_t{leftOutput} + leftFeedforward);
+  m_rightLeader.SetVoltage(wpi::units::volt_t{rightOutput} + rightFeedforward);
 }
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::radians_per_second_t rot) {
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::radians_per_second_t rot) {
   SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot}));
 }
 
 void Drivetrain::UpdateOdometry() {
   m_odometry.Update(m_imu.GetRotation2d(),
-                    units::meter_t{m_leftEncoder.GetDistance()},
-                    units::meter_t{m_rightEncoder.GetDistance()});
+                    wpi::units::meter_t{m_leftEncoder.GetDistance()},
+                    wpi::units::meter_t{m_rightEncoder.GetDistance()});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
index bbc136e116..3564349923 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     TeleopPeriodic();
@@ -32,18 +32,18 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_speedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_speedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   Drivetrain m_drive;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
index ca300d571f..6487ac102b 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
@@ -45,40 +45,40 @@ class Drivetrain {
     m_rightEncoder.Reset();
   }
 
-  static constexpr units::meters_per_second_t kMaxSpeed =
+  static constexpr wpi::units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
-  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
-  void Drive(units::meters_per_second_t xSpeed,
-             units::radians_per_second_t rot);
+  void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::radians_per_second_t rot);
   void UpdateOdometry();
 
  private:
-  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
+  static constexpr wpi::units::meter_t kTrackwidth = 0.381_m * 2;
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMSparkMax m_leftLeader{1};
-  frc::PWMSparkMax m_leftFollower{2};
-  frc::PWMSparkMax m_rightLeader{3};
-  frc::PWMSparkMax m_rightFollower{4};
+  wpi::PWMSparkMax m_leftLeader{1};
+  wpi::PWMSparkMax m_leftFollower{2};
+  wpi::PWMSparkMax m_rightLeader{3};
+  wpi::PWMSparkMax m_rightFollower{4};
 
-  frc::Encoder m_leftEncoder{0, 1};
-  frc::Encoder m_rightEncoder{2, 3};
+  wpi::Encoder m_leftEncoder{0, 1};
+  wpi::Encoder m_rightEncoder{2, 3};
 
-  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
-  frc::DifferentialDriveOdometry m_odometry{
-      m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
-      units::meter_t{m_rightEncoder.GetDistance()}};
+  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
+  wpi::math::DifferentialDriveOdometry m_odometry{
+      m_imu.GetRotation2d(), wpi::units::meter_t{m_leftEncoder.GetDistance()},
+      wpi::units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
index e93771d4a8..a18e8dd08a 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -28,11 +28,11 @@ Drivetrain::Drivetrain() {
   m_leftEncoder.Reset();
   m_rightEncoder.Reset();
 
-  frc::SmartDashboard::PutData("FieldSim", &m_fieldSim);
-  frc::SmartDashboard::PutData("Approximation", &m_fieldApproximation);
+  wpi::SmartDashboard::PutData("FieldSim", &m_fieldSim);
+  wpi::SmartDashboard::PutData("Approximation", &m_fieldApproximation);
 }
 
-void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
+void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
   const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
   const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
   const double leftOutput = m_leftPIDController.Calculate(
@@ -40,22 +40,22 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
   const double rightOutput = m_rightPIDController.Calculate(
       m_rightEncoder.GetRate(), speeds.right.value());
 
-  m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
-  m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
+  m_leftLeader.SetVoltage(wpi::units::volt_t{leftOutput} + leftFeedforward);
+  m_rightLeader.SetVoltage(wpi::units::volt_t{rightOutput} + rightFeedforward);
 }
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::radians_per_second_t rot) {
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::radians_per_second_t rot) {
   SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot}));
 }
 
 void Drivetrain::PublishCameraToObject(
-    frc::Pose3d objectInField, frc::Transform3d robotToCamera,
-    nt::DoubleArrayEntry& cameraToObjectEntry,
-    frc::sim::DifferentialDrivetrainSim drivetrainSimulator) {
-  frc::Pose3d robotInField{drivetrainSimulator.GetPose()};
-  frc::Pose3d cameraInField = robotInField + robotToCamera;
-  frc::Transform3d cameraToObject{cameraInField, objectInField};
+    wpi::math::Pose3d objectInField, wpi::math::Transform3d robotToCamera,
+    wpi::nt::DoubleArrayEntry& cameraToObjectEntry,
+    wpi::sim::DifferentialDrivetrainSim drivetrainSimulator) {
+  wpi::math::Pose3d robotInField{drivetrainSimulator.GetPose()};
+  wpi::math::Pose3d cameraInField = robotInField + robotToCamera;
+  wpi::math::Transform3d cameraToObject{cameraInField, objectInField};
 
   // Publishes double array with Translation3D elements {x, y, z} and Rotation3D
   // elements {w, x, y, z} which describe the cameraToObject transformation.
@@ -69,24 +69,24 @@ void Drivetrain::PublishCameraToObject(
   cameraToObjectEntry.Set(val);
 }
 
-frc::Pose3d Drivetrain::ObjectToRobotPose(
-    frc::Pose3d objectInField, frc::Transform3d robotToCamera,
-    nt::DoubleArrayEntry& cameraToObjectEntry) {
+wpi::math::Pose3d Drivetrain::ObjectToRobotPose(
+    wpi::math::Pose3d objectInField, wpi::math::Transform3d robotToCamera,
+    wpi::nt::DoubleArrayEntry& cameraToObjectEntry) {
   std::vector<double> val{cameraToObjectEntry.Get()};
 
   // Reconstruct cameraToObject Transform3D from networktables.
-  frc::Translation3d translation{units::meter_t{val[0]}, units::meter_t{val[1]},
-                                 units::meter_t{val[2]}};
-  frc::Rotation3d rotation{frc::Quaternion{val[3], val[4], val[5], val[6]}};
-  frc::Transform3d cameraToObject{translation, rotation};
+  wpi::math::Translation3d translation{wpi::units::meter_t{val[0]}, wpi::units::meter_t{val[1]},
+                                 wpi::units::meter_t{val[2]}};
+  wpi::math::Rotation3d rotation{wpi::math::Quaternion{val[3], val[4], val[5], val[6]}};
+  wpi::math::Transform3d cameraToObject{translation, rotation};
 
-  return frc::ObjectToRobotPose(objectInField, cameraToObject, robotToCamera);
+  return wpi::math::ObjectToRobotPose(objectInField, cameraToObject, robotToCamera);
 }
 
 void Drivetrain::UpdateOdometry() {
   m_poseEstimator.Update(m_imu.GetRotation2d(),
-                         units::meter_t{m_leftEncoder.GetDistance()},
-                         units::meter_t{m_rightEncoder.GetDistance()});
+                         wpi::units::meter_t{m_leftEncoder.GetDistance()},
+                         wpi::units::meter_t{m_rightEncoder.GetDistance()});
 
   // Publish cameraToObject transformation to networktables --this would
   // normally be handled by the computer vision solution.
@@ -95,28 +95,28 @@ void Drivetrain::UpdateOdometry() {
 
   // Compute the robot's field-relative position exclusively from vision
   // measurements.
-  frc::Pose3d visionMeasurement3d = ObjectToRobotPose(
+  wpi::math::Pose3d visionMeasurement3d = ObjectToRobotPose(
       m_objectInField, m_robotToCamera, m_cameraToObjectEntryRef);
 
-  // Convert robot's pose from Pose3d to Pose2d needed to apply vision
+  // Convert robot's pose from wpi::math::Pose3d to wpi::math::Pose2d needed to apply vision
   // measurements.
-  frc::Pose2d visionMeasurement2d = visionMeasurement3d.ToPose2d();
+  wpi::math::Pose2d visionMeasurement2d = visionMeasurement3d.ToPose2d();
 
   // Apply vision measurements. For simulation purposes only, we don't input a
   // latency delay -- on a real robot, this must be calculated based either on
   // known latency or timestamps.
   m_poseEstimator.AddVisionMeasurement(visionMeasurement2d,
-                                       frc::Timer::GetTimestamp());
+                                       wpi::Timer::GetTimestamp());
 }
 
 void Drivetrain::SimulationPeriodic() {
   // To update our simulation, we set motor voltage inputs, update the
   // simulation, and write the simulated positions and velocities to our
   // simulated encoder and gyro.
-  m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
-                                      frc::RobotController::GetInputVoltage(),
-                                  units::volt_t{m_rightLeader.Get()} *
-                                      frc::RobotController::GetInputVoltage());
+  m_drivetrainSimulator.SetInputs(wpi::units::volt_t{m_leftLeader.Get()} *
+                                      wpi::RobotController::GetInputVoltage(),
+                                  wpi::units::volt_t{m_rightLeader.Get()} *
+                                      wpi::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
   m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value());
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
index a012a7b0e1..18d3b31f4e 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     TeleopPeriodic();
@@ -36,18 +36,18 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_speedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_speedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   Drivetrain m_drive;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
index 014a3581ec..5d1453f7db 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
@@ -41,9 +41,9 @@ class Drivetrain {
  public:
   Drivetrain();
 
-  static constexpr units::meters_per_second_t kMaxSpeed =
+  static constexpr wpi::units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
   /**
@@ -51,15 +51,15 @@ class Drivetrain {
    *
    * @param speeds The desired wheel speeds.
    */
-  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
+  void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
 
   /** Drives the robot with the given linear velocity and angular velocity.
    *
    * @param xSpeed Linear velocity.
    * @param rot Angular Velocity.
    */
-  void Drive(units::meters_per_second_t xSpeed,
-             units::radians_per_second_t rot);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::radians_per_second_t rot);
 
   /**
    * Updates the field-relative position.
@@ -90,9 +90,9 @@ class Drivetrain {
    * robot's drivetrain.
    */
   void PublishCameraToObject(
-      frc::Pose3d objectInField, frc::Transform3d robotToCamera,
-      nt::DoubleArrayEntry& cameraToObjectEntry,
-      frc::sim::DifferentialDrivetrainSim drivetrainSimulator);
+      wpi::math::Pose3d objectInField, wpi::math::Transform3d robotToCamera,
+      wpi::nt::DoubleArrayEntry& cameraToObjectEntry,
+      wpi::sim::DifferentialDrivetrainSim drivetrainSimulator);
 
   /**
    * Queries the camera-to-object transformation from networktables to compute
@@ -106,71 +106,71 @@ class Drivetrain {
    * @param cameraToObjectEntry The networktables entry publishing and querying
    * example computer vision measurements.
    */
-  frc::Pose3d ObjectToRobotPose(frc::Pose3d objectInField,
-                                frc::Transform3d robotToCamera,
-                                nt::DoubleArrayEntry& cameraToObjectEntry);
+  wpi::math::Pose3d ObjectToRobotPose(wpi::math::Pose3d objectInField,
+                                wpi::math::Transform3d robotToCamera,
+                                wpi::nt::DoubleArrayEntry& cameraToObjectEntry);
 
  private:
-  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
-  static constexpr units::meter_t kWheelRadius = 0.0508_m;
+  static constexpr wpi::units::meter_t kTrackwidth = 0.381_m * 2;
+  static constexpr wpi::units::meter_t kWheelRadius = 0.0508_m;
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr std::array<double, 7> kDefaultVal{0.0, 0.0, 0.0, 0.0,
                                                      0.0, 0.0, 0.0};
 
-  frc::Transform3d m_robotToCamera{
-      frc::Translation3d{1_m, 1_m, 1_m},
-      frc::Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi / 2}}};
+  wpi::math::Transform3d m_robotToCamera{
+      wpi::math::Translation3d{1_m, 1_m, 1_m},
+      wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi / 2}}};
 
-  nt::NetworkTableInstance m_inst{nt::NetworkTableInstance::GetDefault()};
-  nt::DoubleArrayTopic m_cameraToObjectTopic{
+  wpi::nt::NetworkTableInstance m_inst{wpi::nt::NetworkTableInstance::GetDefault()};
+  wpi::nt::DoubleArrayTopic m_cameraToObjectTopic{
       m_inst.GetDoubleArrayTopic("m_cameraToObjectTopic")};
-  nt::DoubleArrayEntry m_cameraToObjectEntry =
+  wpi::nt::DoubleArrayEntry m_cameraToObjectEntry =
       m_cameraToObjectTopic.GetEntry(kDefaultVal);
-  nt::DoubleArrayEntry& m_cameraToObjectEntryRef = m_cameraToObjectEntry;
+  wpi::nt::DoubleArrayEntry& m_cameraToObjectEntryRef = m_cameraToObjectEntry;
 
-  frc::AprilTagFieldLayout m_aprilTagFieldLayout{
-      frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
-  frc::Pose3d m_objectInField{m_aprilTagFieldLayout.GetTagPose(0).value()};
+  wpi::apriltag::AprilTagFieldLayout m_aprilTagFieldLayout{
+      wpi::apriltag::AprilTagFieldLayout::LoadField(wpi::apriltag::AprilTagField::k2024Crescendo)};
+  wpi::math::Pose3d m_objectInField{m_aprilTagFieldLayout.GetTagPose(0).value()};
 
-  frc::PWMSparkMax m_leftLeader{1};
-  frc::PWMSparkMax m_leftFollower{2};
-  frc::PWMSparkMax m_rightLeader{3};
-  frc::PWMSparkMax m_rightFollower{4};
+  wpi::PWMSparkMax m_leftLeader{1};
+  wpi::PWMSparkMax m_leftFollower{2};
+  wpi::PWMSparkMax m_rightLeader{3};
+  wpi::PWMSparkMax m_rightFollower{4};
 
-  frc::Encoder m_leftEncoder{0, 1};
-  frc::Encoder m_rightEncoder{2, 3};
+  wpi::Encoder m_leftEncoder{0, 1};
+  wpi::Encoder m_rightEncoder{2, 3};
 
-  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
+  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::DifferentialDrivePoseEstimator m_poseEstimator{
+  wpi::math::DifferentialDrivePoseEstimator m_poseEstimator{
       m_kinematics,
       m_imu.GetRotation2d(),
-      units::meter_t{m_leftEncoder.GetDistance()},
-      units::meter_t{m_rightEncoder.GetDistance()},
-      frc::Pose2d{},
+      wpi::units::meter_t{m_leftEncoder.GetDistance()},
+      wpi::units::meter_t{m_rightEncoder.GetDistance()},
+      wpi::math::Pose2d{},
       {0.01, 0.01, 0.01},
       {0.1, 0.1, 0.1}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
 
   // Simulation classes
-  frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
-  frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
-  frc::Field2d m_fieldSim;
-  frc::Field2d m_fieldApproximation;
-  frc::LinearSystem<2, 2, 2> m_drivetrainSystem =
-      frc::LinearSystemId::IdentifyDrivetrainSystem(
+  wpi::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
+  wpi::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
+  wpi::Field2d m_fieldSim;
+  wpi::Field2d m_fieldApproximation;
+  wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
+      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
           1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
-  frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
-      m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
+  wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
+      m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index d4f9b4e52f..16f4123f08 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -13,12 +13,12 @@
  */
 class ExampleGlobalMeasurementSensor {
  public:
-  static frc::Pose2d GetEstimatedGlobalPose(
-      const frc::Pose2d& estimatedRobotPose) {
-    auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
-                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
+  static wpi::math::Pose2d GetEstimatedGlobalPose(
+      const wpi::math::Pose2d& estimatedRobotPose) {
+    auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
+    return wpi::math::Pose2d{estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d{units::radian_t{randVec(2)}}};
+                           wpi::math::Rotation2d{wpi::units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
index 3cd22ea1b3..719104caa2 100644
--- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
@@ -8,22 +8,22 @@
 
 void Robot::RobotPeriodic() {
   // pull alliance port high if on red alliance, pull low if on blue alliance
-  m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
-                       frc::DriverStation::kRed);
+  m_allianceOutput.Set(wpi::DriverStation::GetAlliance() ==
+                       wpi::DriverStation::kRed);
 
   // pull enabled port high if enabled, low if disabled
-  m_enabledOutput.Set(frc::DriverStation::IsEnabled());
+  m_enabledOutput.Set(wpi::DriverStation::IsEnabled());
 
   // pull auto port high if in autonomous, low if in teleop (or disabled)
-  m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
+  m_autonomousOutput.Set(wpi::DriverStation::IsAutonomous());
 
   // pull alert port high if match time remaining is between 30 and 25 seconds
-  auto matchTime = frc::DriverStation::GetMatchTime();
+  auto matchTime = wpi::DriverStation::GetMatchTime();
   m_alertOutput.Set(matchTime <= 30_s && matchTime >= 25_s);
 }
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
index ec24e1f048..70c95bffa2 100644
--- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
@@ -13,7 +13,7 @@
  * This is a sample program demonstrating how to communicate to a light
  * controller from the robot code using the roboRIO's DIO ports.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   // define ports for communication with light controller
   static constexpr int kAlliancePort = 0;
@@ -24,8 +24,8 @@ class Robot : public frc::TimedRobot {
   void RobotPeriodic() override;
 
  private:
-  frc::DigitalOutput m_allianceOutput{kAlliancePort};
-  frc::DigitalOutput m_enabledOutput{kEnabledPort};
-  frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
-  frc::DigitalOutput m_alertOutput{kAlertPort};
+  wpi::DigitalOutput m_allianceOutput{kAlliancePort};
+  wpi::DigitalOutput m_enabledOutput{kEnabledPort};
+  wpi::DigitalOutput m_autonomousOutput{kAutonomousPort};
+  wpi::DigitalOutput m_alertOutput{kAlertPort};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
index de43981c60..1b76bdb73d 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -18,7 +18,7 @@ Robot::Robot() {}
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -67,6 +67,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index b3c825e314..87502b1437 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -13,7 +13,7 @@ RobotContainer::RobotContainer() {
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::cmd::Run(
+  m_drive.SetDefaultCommand(wpi::cmd::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
                             -m_driverController.GetRightX());
@@ -40,7 +40,7 @@ void RobotContainer::ConfigureButtonBindings() {
       m_drive.DynamicProfiledDriveDistance(3_m).WithTimeout(10_s));
 }
 
-frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+wpi::cmd::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return frc2::cmd::None();
+  return wpi::cmd::cmd::None();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
index e19392b09d..7d10603054 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -14,8 +14,8 @@ DriveSubsystem::DriveSubsystem()
       m_rightLeader{kRightMotor1Port},
       m_rightFollower{kRightMotor2Port},
       m_feedforward{ks, kv, ka} {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
 
   // We need to invert one side of the drivetrain so that positive voltages
   // result in both sides moving forward. Depending on how your robot's
@@ -34,21 +34,21 @@ void DriveSubsystem::Periodic() {
 }
 
 void DriveSubsystem::SetDriveStates(
-    frc::TrapezoidProfile<units::meters>::State currentLeft,
-    frc::TrapezoidProfile<units::meters>::State currentRight,
-    frc::TrapezoidProfile<units::meters>::State nextLeft,
-    frc::TrapezoidProfile<units::meters>::State nextRight) {
+    wpi::math::TrapezoidProfile<wpi::units::meters>::State currentLeft,
+    wpi::math::TrapezoidProfile<wpi::units::meters>::State currentRight,
+    wpi::math::TrapezoidProfile<wpi::units::meters>::State nextLeft,
+    wpi::math::TrapezoidProfile<wpi::units::meters>::State nextRight) {
   // Feedforward is divided by battery voltage to normalize it to [-1, 1]
   m_leftLeader.SetSetpoint(
       ExampleSmartMotorController::PIDMode::kPosition,
       currentLeft.position.value(),
       m_feedforward.Calculate(currentLeft.velocity, nextLeft.velocity) /
-          frc::RobotController::GetBatteryVoltage());
+          wpi::RobotController::GetBatteryVoltage());
   m_rightLeader.SetSetpoint(
       ExampleSmartMotorController::PIDMode::kPosition,
       currentRight.position.value(),
       m_feedforward.Calculate(currentRight.velocity, nextRight.velocity) /
-          frc::RobotController::GetBatteryVoltage());
+          wpi::RobotController::GetBatteryVoltage());
 }
 
 void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
@@ -60,20 +60,20 @@ void DriveSubsystem::ResetEncoders() {
   m_rightLeader.ResetEncoder();
 }
 
-units::meter_t DriveSubsystem::GetLeftEncoderDistance() {
-  return units::meter_t{m_leftLeader.GetEncoderDistance()};
+wpi::units::meter_t DriveSubsystem::GetLeftEncoderDistance() {
+  return wpi::units::meter_t{m_leftLeader.GetEncoderDistance()};
 }
 
-units::meter_t DriveSubsystem::GetRightEncoderDistance() {
-  return units::meter_t{m_rightLeader.GetEncoderDistance()};
+wpi::units::meter_t DriveSubsystem::GetRightEncoderDistance() {
+  return wpi::units::meter_t{m_rightLeader.GetEncoderDistance()};
 }
 
 void DriveSubsystem::SetMaxOutput(double maxOutput) {
   m_drive.SetMaxOutput(maxOutput);
 }
 
-frc2::CommandPtr DriveSubsystem::ProfiledDriveDistance(
-    units::meter_t distance) {
+wpi::cmd::CommandPtr DriveSubsystem::ProfiledDriveDistance(
+    wpi::units::meter_t distance) {
   return StartRun(
              [&] {
                // Restart timer so profile setpoints start at the beginning
@@ -94,8 +94,8 @@ frc2::CommandPtr DriveSubsystem::ProfiledDriveDistance(
       .Until([&] { return m_profile.IsFinished(0_s); });
 }
 
-frc2::CommandPtr DriveSubsystem::DynamicProfiledDriveDistance(
-    units::meter_t distance) {
+wpi::cmd::CommandPtr DriveSubsystem::DynamicProfiledDriveDistance(
+    wpi::units::meter_t distance) {
   return StartRun(
              [&] {
                // Restart timer so profile setpoints start at the beginning
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
index 81e325f9ca..503a97b73a 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
@@ -22,7 +22,7 @@
  */
 
 namespace DriveConstants {
-inline constexpr units::second_t kDt{0.02};
+inline constexpr wpi::units::second_t kDt{0.02};
 inline constexpr int kLeftMotor1Port = 0;
 inline constexpr int kLeftMotor2Port = 1;
 inline constexpr int kRightMotor1Port = 2;
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
index ef3760deda..b49f882eb4 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
@@ -11,7 +11,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -26,7 +26,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
index 9aed0824ef..265366f67c 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
@@ -23,11 +23,11 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
-  frc2::CommandXboxController m_driverController{
+  wpi::cmd::CommandXboxController m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
@@ -36,10 +36,10 @@ class RobotContainer {
   DriveSubsystem m_drive;
 
   // RobotContainer-owned commands
-  frc2::CommandPtr m_driveHalfSpeed =
-      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
-  frc2::CommandPtr m_driveFullSpeed =
-      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
+  wpi::cmd::CommandPtr m_driveHalfSpeed =
+      wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
+  wpi::cmd::CommandPtr m_driveFullSpeed =
+      wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
index 612b16a1bd..cb0b2e31ca 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
@@ -16,7 +16,7 @@
 #include "Constants.hpp"
 #include "ExampleSmartMotorController.hpp"
 
-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public wpi::cmd::SubsystemBase {
  public:
   DriveSubsystem();
 
@@ -35,10 +35,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param nextLeft The next left wheel state.
    * @param nextRight The next right wheel state.
    */
-  void SetDriveStates(frc::TrapezoidProfile<units::meters>::State currentLeft,
-                      frc::TrapezoidProfile<units::meters>::State currentRight,
-                      frc::TrapezoidProfile<units::meters>::State nextLeft,
-                      frc::TrapezoidProfile<units::meters>::State nextRight);
+  void SetDriveStates(wpi::math::TrapezoidProfile<wpi::units::meters>::State currentLeft,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State currentRight,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State nextLeft,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State nextRight);
 
   /**
    * Drives the robot using arcade controls.
@@ -58,14 +58,14 @@ class DriveSubsystem : public frc2::SubsystemBase {
    *
    * @return the average of the TWO encoder readings
    */
-  units::meter_t GetLeftEncoderDistance();
+  wpi::units::meter_t GetLeftEncoderDistance();
 
   /**
    * Gets the distance of the right encoder.
    *
    * @return the average of the TWO encoder readings
    */
-  units::meter_t GetRightEncoderDistance();
+  wpi::units::meter_t GetRightEncoderDistance();
 
   /**
    * Sets the max output of the drive.  Useful for scaling the drive to drive
@@ -82,7 +82,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  frc2::CommandPtr ProfiledDriveDistance(units::meter_t distance);
+  wpi::cmd::CommandPtr ProfiledDriveDistance(wpi::units::meter_t distance);
 
   /**
    * Creates a command to drive forward a specified distance using a motion
@@ -91,14 +91,14 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  frc2::CommandPtr DynamicProfiledDriveDistance(units::meter_t distance);
+  wpi::cmd::CommandPtr DynamicProfiledDriveDistance(wpi::units::meter_t distance);
 
  private:
-  frc::TrapezoidProfile<units::meters> m_profile{
+  wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{
       {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration}};
-  frc::Timer m_timer;
-  units::meter_t m_initialLeftDistance;
-  units::meter_t m_initialRightDistance;
+  wpi::Timer m_timer;
+  wpi::units::meter_t m_initialLeftDistance;
+  wpi::units::meter_t m_initialRightDistance;
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
 
@@ -109,10 +109,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   ExampleSmartMotorController m_rightFollower;
 
   // A feedforward component for the drive
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward;
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward;
 
   // The robot's drive
-  frc::DifferentialDrive m_drive{
+  wpi::DifferentialDrive m_drive{
       [&](double output) { m_leftLeader.Set(output); },
       [&](double output) { m_rightLeader.Set(output); }};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
index 49fbd3c3ab..eee460eb5f 100644
--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
@@ -10,14 +10,14 @@
 constexpr double fullRange = 1.3;
 constexpr double expectedZero = 0.0;
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   // 2nd parameter is the range of values. This sensor will output between
   // 0 and the passed in value.
   // 3rd parameter is the the physical value where you want "0" to be. How
   // to measure this is fairly easy. Set the value to 0, place the mechanism
   // where you want "0" to be, and observe the value on the dashboard, That
   // is the value to enter for the 3rd parameter.
-  frc::DutyCycleEncoder m_dutyCycleEncoder{0, fullRange, expectedZero};
+  wpi::DutyCycleEncoder m_dutyCycleEncoder{0, fullRange, expectedZero};
 
  public:
   Robot() {
@@ -56,18 +56,18 @@ class Robot : public frc::TimedRobot {
     // This does not change where "0" is, so no calibration numbers need
     // to be changed.
     double percentOfRange = fullRange * 0.1;
-    double shiftedOutput = frc::InputModulus(output, 0 - percentOfRange,
+    double shiftedOutput = wpi::math::InputModulus(output, 0 - percentOfRange,
                                              fullRange - percentOfRange);
 
-    frc::SmartDashboard::PutBoolean("Connected", connected);
-    frc::SmartDashboard::PutNumber("Frequency", frequency.value());
-    frc::SmartDashboard::PutNumber("Output", output);
-    frc::SmartDashboard::PutNumber("ShiftedOutput", shiftedOutput);
+    wpi::SmartDashboard::PutBoolean("Connected", connected);
+    wpi::SmartDashboard::PutNumber("Frequency", frequency.value());
+    wpi::SmartDashboard::PutNumber("Output", output);
+    wpi::SmartDashboard::PutNumber("ShiftedOutput", shiftedOutput);
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
index 371e54a309..1faee99457 100644
--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
@@ -7,8 +7,8 @@
 #include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
 
-class Robot : public frc::TimedRobot {
-  frc::DutyCycle m_dutyCycle{0};  // Duty cycle input
+class Robot : public wpi::TimedRobot {
+  wpi::DutyCycle m_dutyCycle{0};  // Duty cycle input
 
  public:
   Robot() {}
@@ -21,13 +21,13 @@ class Robot : public frc::TimedRobot {
     // 1 is fully on, 0 is fully off
     auto output = m_dutyCycle.GetOutput();
 
-    frc::SmartDashboard::PutNumber("Frequency", frequency.value());
-    frc::SmartDashboard::PutNumber("Duty Cycle", output);
+    wpi::SmartDashboard::PutNumber("Frequency", frequency.value());
+    wpi::SmartDashboard::PutNumber("Duty Cycle", output);
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
index f7c9b35b53..6479442f82 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
@@ -16,9 +16,9 @@
 
 #include "ExampleSmartMotorController.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
-  static constexpr units::second_t kDt = 20_ms;
+  static constexpr wpi::units::second_t kDt = 20_ms;
 
   Robot() {
     // Note: These gains are fake, and will have to be tuned for your robot.
@@ -46,22 +46,22 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::Joystick m_joystick{1};
+  wpi::Joystick m_joystick{1};
   ExampleSmartMotorController m_motor{1};
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
       // Note: These gains are fake, and will have to be tuned for your robot.
       1_V, 1_V / 1_mps, 1_V / 1_mps_sq};
 
   // Create a motion profile with the given maximum velocity and maximum
   // acceleration constraints for the next setpoint.
-  frc::ExponentialProfile<units::meters, units::volts> m_profile{
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts> m_profile{
       {10_V, 1_V / 1_mps, 1_V / 1_mps_sq}};
-  frc::ExponentialProfile<units::meters, units::volts>::State m_goal;
-  frc::ExponentialProfile<units::meters, units::volts>::State m_setpoint;
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State m_goal;
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State m_setpoint;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
index eb74029829..82c64241d0 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
@@ -39,6 +39,6 @@ void Robot::DisabledInit() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
index f727f5591f..a9d785fb9c 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
@@ -14,14 +14,14 @@ Elevator::Elevator() {
   // Put Mechanism 2d to SmartDashboard
   // To view the Elevator visualization, select Network Tables -> SmartDashboard
   // -> Elevator Sim
-  frc::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
+  wpi::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
 }
 
 void Elevator::SimulationPeriodic() {
   // In this method, we update our simulation of what our elevator is doing
   // First, we set our "inputs" (voltages)
-  m_elevatorSim.SetInput(frc::Vectord<1>{
-      m_motorSim.GetSpeed() * frc::RobotController::GetInputVoltage()});
+  m_elevatorSim.SetInput(wpi::math::Vectord<1>{
+      m_motorSim.GetSpeed() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_elevatorSim.Update(20_ms);
@@ -30,8 +30,8 @@ void Elevator::SimulationPeriodic() {
   // voltage
   m_encoderSim.SetDistance(m_elevatorSim.GetPosition().value());
   // SimBattery estimates loaded battery voltages
-  frc::sim::RoboRioSim::SetVInVoltage(
-      frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
+  wpi::sim::RoboRioSim::SetVInVoltage(
+      wpi::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
 }
 
 void Elevator::UpdateTelemetry() {
@@ -39,8 +39,8 @@ void Elevator::UpdateTelemetry() {
   m_elevatorMech2d->SetLength(m_encoder.GetDistance());
 }
 
-void Elevator::ReachGoal(units::meter_t goal) {
-  frc::ExponentialProfile<units::meters, units::volts>::State goalState{goal,
+void Elevator::ReachGoal(wpi::units::meter_t goal) {
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State goalState{goal,
                                                                         0_mps};
 
   auto next = m_profile.Calculate(20_ms, m_setpoint, goalState);
@@ -50,7 +50,7 @@ void Elevator::ReachGoal(units::meter_t goal) {
   auto feedforwardOutput =
       m_feedforward.Calculate(m_setpoint.velocity, next.velocity);
 
-  m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput);
+  m_motor.SetVoltage(wpi::units::volt_t{pidOutput} + feedforwardOutput);
 
   m_setpoint = next;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
index a3c97c7866..9a5e38658d 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
@@ -34,20 +34,20 @@ inline constexpr double kElevatorKp = 0.75;
 inline constexpr double kElevatorKi = 0.0;
 inline constexpr double kElevatorKd = 0.0;
 
-inline constexpr units::volt_t kElevatorMaxV = 10_V;
-inline constexpr units::volt_t kElevatorkS = 0.0_V;
-inline constexpr units::volt_t kElevatorkG = 0.62_V;
+inline constexpr wpi::units::volt_t kElevatorMaxV = 10_V;
+inline constexpr wpi::units::volt_t kElevatorkS = 0.0_V;
+inline constexpr wpi::units::volt_t kElevatorkG = 0.62_V;
 inline constexpr auto kElevatorkV = 3.9_V / 1_mps;
 inline constexpr auto kElevatorkA = 0.06_V / 1_mps_sq;
 
 inline constexpr double kElevatorGearing = 5.0;
-inline constexpr units::meter_t kElevatorDrumRadius = 1_in;
-inline constexpr units::kilogram_t kCarriageMass = 12_lb;
+inline constexpr wpi::units::meter_t kElevatorDrumRadius = 1_in;
+inline constexpr wpi::units::kilogram_t kCarriageMass = 12_lb;
 
-inline constexpr units::meter_t kSetpoint = 42.875_in;
-inline constexpr units::meter_t kLowerSetpoint = 15_in;
-inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
-inline constexpr units::meter_t kMaxElevatorHeight = 50_in;
+inline constexpr wpi::units::meter_t kSetpoint = 42.875_in;
+inline constexpr wpi::units::meter_t kLowerSetpoint = 15_in;
+inline constexpr wpi::units::meter_t kMinElevatorHeight = 0_cm;
+inline constexpr wpi::units::meter_t kMaxElevatorHeight = 50_in;
 
 // distance per pulse = (distance per revolution) / (pulses per revolution)
 //  = (Pi * D) / ppr
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
index ec33857b69..34f0c6a84b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
@@ -12,7 +12,7 @@
 /**
  * This is a sample program to demonstrate the use of elevator simulation.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
   void RobotPeriodic() override;
@@ -22,6 +22,6 @@ class Robot : public frc::TimedRobot {
   void DisabledInit() override;
 
  private:
-  frc::Joystick m_joystick{Constants::kJoystickPort};
+  wpi::Joystick m_joystick{Constants::kJoystickPort};
   Elevator m_elevator;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
index 8b040e913b..db2869077e 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
@@ -26,34 +26,34 @@ class Elevator {
   Elevator();
   void SimulationPeriodic();
   void UpdateTelemetry();
-  void ReachGoal(units::meter_t goal);
+  void ReachGoal(wpi::units::meter_t goal);
   void Reset();
   void Stop();
 
  private:
   // This gearbox represents a gearbox containing 4 Vex 775pro motors.
-  frc::DCMotor m_elevatorGearbox = frc::DCMotor::NEO(2);
+  wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::NEO(2);
 
   // Standard classes for controlling our elevator
-  frc::ExponentialProfile<units::meters, units::volts>::Constraints
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::Constraints
       m_constraints{Constants::kElevatorMaxV, Constants::kElevatorkV,
                     Constants::kElevatorkA};
-  frc::ExponentialProfile<units::meters, units::volts> m_profile{m_constraints};
-  frc::ExponentialProfile<units::meters, units::volts>::State m_setpoint;
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts> m_profile{m_constraints};
+  wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State m_setpoint;
 
-  frc::PIDController m_controller{
+  wpi::math::PIDController m_controller{
       Constants::kElevatorKp, Constants::kElevatorKi, Constants::kElevatorKd};
 
-  frc::ElevatorFeedforward m_feedforward{
+  wpi::math::ElevatorFeedforward m_feedforward{
       Constants::kElevatorkS, Constants::kElevatorkG, Constants::kElevatorkV,
       Constants::kElevatorkA};
-  frc::Encoder m_encoder{Constants::kEncoderAChannel,
+  wpi::Encoder m_encoder{Constants::kEncoderAChannel,
                          Constants::kEncoderBChannel};
-  frc::PWMSparkMax m_motor{Constants::kMotorPort};
-  frc::sim::PWMMotorControllerSim m_motorSim{m_motor};
+  wpi::PWMSparkMax m_motor{Constants::kMotorPort};
+  wpi::sim::PWMMotorControllerSim m_motorSim{m_motor};
 
   // Simulation classes help us simulate what's going on, including gravity.
-  frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
+  wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
                                       Constants::kElevatorGearing,
                                       Constants::kCarriageMass,
                                       Constants::kElevatorDrumRadius,
@@ -62,13 +62,13 @@ class Elevator {
                                       true,
                                       0_m,
                                       {0.005}};
-  frc::sim::EncoderSim m_encoderSim{m_encoder};
+  wpi::sim::EncoderSim m_encoderSim{m_encoder};
 
   // Create a Mechanism2d display of an elevator
-  frc::Mechanism2d m_mech2d{10_in / 1_m, 51_in / 1_m};
-  frc::MechanismRoot2d* m_elevatorRoot =
+  wpi::Mechanism2d m_mech2d{10_in / 1_m, 51_in / 1_m};
+  wpi::MechanismRoot2d* m_elevatorRoot =
       m_mech2d.GetRoot("Elevator Root", 5_in / 1_m, 0.5_in / 1_m);
-  frc::MechanismLigament2d* m_elevatorMech2d =
-      m_elevatorRoot->Append<frc::MechanismLigament2d>(
+  wpi::MechanismLigament2d* m_elevatorMech2d =
+      m_elevatorRoot->Append<wpi::MechanismLigament2d>(
           "Elevator", m_elevatorSim.GetPosition().value(), 90_deg);
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index d4da52a748..58af891b13 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -17,9 +17,9 @@
 #include <wpi/units/velocity.hpp>
 #include <wpi/units/voltage.hpp>
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
-  static constexpr units::second_t kDt = 20_ms;
+  static constexpr wpi::units::second_t kDt = 20_ms;
 
   Robot() {
     m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * std::numbers::pi * 1.5);
@@ -34,37 +34,37 @@ class Robot : public frc::TimedRobot {
 
     // Run controller and update motor output
     m_motor.SetVoltage(
-        units::volt_t{
-            m_controller.Calculate(units::meter_t{m_encoder.GetDistance()})} +
+        wpi::units::volt_t{
+            m_controller.Calculate(wpi::units::meter_t{m_encoder.GetDistance()})} +
         m_feedforward.Calculate(m_controller.GetSetpoint().velocity));
   }
 
  private:
-  static constexpr units::meters_per_second_t kMaxVelocity = 1.75_mps;
-  static constexpr units::meters_per_second_squared_t kMaxAcceleration =
+  static constexpr wpi::units::meters_per_second_t kMaxVelocity = 1.75_mps;
+  static constexpr wpi::units::meters_per_second_squared_t kMaxAcceleration =
       0.75_mps_sq;
   static constexpr double kP = 1.3;
   static constexpr double kI = 0.0;
   static constexpr double kD = 0.7;
-  static constexpr units::volt_t kS = 1.1_V;
-  static constexpr units::volt_t kG = 1.2_V;
+  static constexpr wpi::units::volt_t kS = 1.1_V;
+  static constexpr wpi::units::volt_t kG = 1.2_V;
   static constexpr auto kV = 1.3_V / 1_mps;
 
-  frc::Joystick m_joystick{1};
-  frc::Encoder m_encoder{1, 2};
-  frc::PWMSparkMax m_motor{1};
+  wpi::Joystick m_joystick{1};
+  wpi::Encoder m_encoder{1, 2};
+  wpi::PWMSparkMax m_motor{1};
 
   // Create a PID controller whose setpoint's change is subject to maximum
   // velocity and acceleration constraints.
-  frc::TrapezoidProfile<units::meters>::Constraints m_constraints{
+  wpi::math::TrapezoidProfile<wpi::units::meters>::Constraints m_constraints{
       kMaxVelocity, kMaxAcceleration};
-  frc::ProfiledPIDController<units::meters> m_controller{kP, kI, kD,
+  wpi::math::ProfiledPIDController<wpi::units::meters> m_controller{kP, kI, kD,
                                                          m_constraints, kDt};
-  frc::ElevatorFeedforward m_feedforward{kS, kG, kV};
+  wpi::math::ElevatorFeedforward m_feedforward{kS, kG, kV};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
index 8b41513dd4..a015d903e9 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -34,6 +34,6 @@ void Robot::DisabledInit() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
index 3206082c9e..d5140a7636 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
@@ -14,14 +14,14 @@ Elevator::Elevator() {
   // Put Mechanism 2d to SmartDashboard
   // To view the Elevator visualization, select Network Tables -> SmartDashboard
   // -> Elevator Sim
-  frc::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
+  wpi::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
 }
 
 void Elevator::SimulationPeriodic() {
   // In this method, we update our simulation of what our elevator is doing
   // First, we set our "inputs" (voltages)
-  m_elevatorSim.SetInput(frc::Vectord<1>{
-      m_motorSim.GetSpeed() * frc::RobotController::GetInputVoltage()});
+  m_elevatorSim.SetInput(wpi::math::Vectord<1>{
+      m_motorSim.GetSpeed() * wpi::RobotController::GetInputVoltage()});
 
   // Next, we update it. The standard loop time is 20ms.
   m_elevatorSim.Update(20_ms);
@@ -30,8 +30,8 @@ void Elevator::SimulationPeriodic() {
   // voltage
   m_encoderSim.SetDistance(m_elevatorSim.GetPosition().value());
   // SimBattery estimates loaded battery voltages
-  frc::sim::RoboRioSim::SetVInVoltage(
-      frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
+  wpi::sim::RoboRioSim::SetVInVoltage(
+      wpi::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
 }
 
 void Elevator::UpdateTelemetry() {
@@ -39,14 +39,14 @@ void Elevator::UpdateTelemetry() {
   m_elevatorMech2d->SetLength(m_encoder.GetDistance());
 }
 
-void Elevator::ReachGoal(units::meter_t goal) {
+void Elevator::ReachGoal(wpi::units::meter_t goal) {
   m_controller.SetGoal(goal);
   // With the setpoint value we run PID control like normal
   double pidOutput =
-      m_controller.Calculate(units::meter_t{m_encoder.GetDistance()});
-  units::volt_t feedforwardOutput =
+      m_controller.Calculate(wpi::units::meter_t{m_encoder.GetDistance()});
+  wpi::units::volt_t feedforwardOutput =
       m_feedforward.Calculate(m_controller.GetSetpoint().velocity);
-  m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput);
+  m_motor.SetVoltage(wpi::units::volt_t{pidOutput} + feedforwardOutput);
 }
 
 void Elevator::Stop() {
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
index 928bfa061d..e5afd4a072 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
@@ -34,18 +34,18 @@ inline constexpr double kElevatorKp = 5.0;
 inline constexpr double kElevatorKi = 0.0;
 inline constexpr double kElevatorKd = 0.0;
 
-inline constexpr units::volt_t kElevatorkS = 0.0_V;
-inline constexpr units::volt_t kElevatorkG = 0.762_V;
+inline constexpr wpi::units::volt_t kElevatorkS = 0.0_V;
+inline constexpr wpi::units::volt_t kElevatorkG = 0.762_V;
 inline constexpr auto kElevatorkV = 0.762_V / 1_mps;
 inline constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
 
 inline constexpr double kElevatorGearing = 10.0;
-inline constexpr units::meter_t kElevatorDrumRadius = 2_in;
-inline constexpr units::kilogram_t kCarriageMass = 4.0_kg;
+inline constexpr wpi::units::meter_t kElevatorDrumRadius = 2_in;
+inline constexpr wpi::units::kilogram_t kCarriageMass = 4.0_kg;
 
-inline constexpr units::meter_t kSetpoint = 75_cm;
-inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
-inline constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
+inline constexpr wpi::units::meter_t kSetpoint = 75_cm;
+inline constexpr wpi::units::meter_t kMinElevatorHeight = 0_cm;
+inline constexpr wpi::units::meter_t kMaxElevatorHeight = 1.25_m;
 
 // distance per pulse = (distance per revolution) / (pulses per revolution)
 //  = (Pi * D) / ppr
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
index ea1bf8775f..1c0ac7a33a 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
@@ -12,7 +12,7 @@
 /**
  * This is a sample program to demonstrate the use of elevator simulation.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
   void RobotPeriodic() override;
@@ -21,6 +21,6 @@ class Robot : public frc::TimedRobot {
   void DisabledInit() override;
 
  private:
-  frc::Joystick m_joystick{Constants::kJoystickPort};
+  wpi::Joystick m_joystick{Constants::kJoystickPort};
   Elevator m_elevator;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
index 8ed8bd3a2e..64f1591c4b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
@@ -26,30 +26,30 @@ class Elevator {
   Elevator();
   void SimulationPeriodic();
   void UpdateTelemetry();
-  void ReachGoal(units::meter_t goal);
+  void ReachGoal(wpi::units::meter_t goal);
   void Stop();
 
  private:
   // This gearbox represents a gearbox containing 4 Vex 775pro motors.
-  frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
+  wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::Vex775Pro(4);
 
   // Standard classes for controlling our elevator
-  frc::TrapezoidProfile<units::meters>::Constraints m_constraints{2.45_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meters>::Constraints m_constraints{2.45_mps,
                                                                   2.45_mps_sq};
-  frc::ProfiledPIDController<units::meters> m_controller{
+  wpi::math::ProfiledPIDController<wpi::units::meters> m_controller{
       Constants::kElevatorKp, Constants::kElevatorKi, Constants::kElevatorKd,
       m_constraints};
 
-  frc::ElevatorFeedforward m_feedforward{
+  wpi::math::ElevatorFeedforward m_feedforward{
       Constants::kElevatorkS, Constants::kElevatorkG, Constants::kElevatorkV,
       Constants::kElevatorkA};
-  frc::Encoder m_encoder{Constants::kEncoderAChannel,
+  wpi::Encoder m_encoder{Constants::kEncoderAChannel,
                          Constants::kEncoderBChannel};
-  frc::PWMSparkMax m_motor{Constants::kMotorPort};
-  frc::sim::PWMMotorControllerSim m_motorSim{m_motor};
+  wpi::PWMSparkMax m_motor{Constants::kMotorPort};
+  wpi::sim::PWMMotorControllerSim m_motorSim{m_motor};
 
   // Simulation classes help us simulate what's going on, including gravity.
-  frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
+  wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
                                       Constants::kElevatorGearing,
                                       Constants::kCarriageMass,
                                       Constants::kElevatorDrumRadius,
@@ -58,13 +58,13 @@ class Elevator {
                                       true,
                                       0_m,
                                       {0.01}};
-  frc::sim::EncoderSim m_encoderSim{m_encoder};
+  wpi::sim::EncoderSim m_encoderSim{m_encoder};
 
   // Create a Mechanism2d display of an elevator
-  frc::Mechanism2d m_mech2d{20, 50};
-  frc::MechanismRoot2d* m_elevatorRoot =
+  wpi::Mechanism2d m_mech2d{20, 50};
+  wpi::MechanismRoot2d* m_elevatorRoot =
       m_mech2d.GetRoot("Elevator Root", 10, 0);
-  frc::MechanismLigament2d* m_elevatorMech2d =
-      m_elevatorRoot->Append<frc::MechanismLigament2d>(
+  wpi::MechanismLigament2d* m_elevatorMech2d =
+      m_elevatorRoot->Append<wpi::MechanismLigament2d>(
           "Elevator", m_elevatorSim.GetPosition().value(), 90_deg);
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index 9ffb16b58c..736df29e7e 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -16,9 +16,9 @@
 
 #include "ExampleSmartMotorController.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
-  static constexpr units::second_t kDt = 20_ms;
+  static constexpr wpi::units::second_t kDt = 20_ms;
 
   Robot() {
     // Note: These gains are fake, and will have to be tuned for your robot.
@@ -43,21 +43,21 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::Joystick m_joystick{1};
+  wpi::Joystick m_joystick{1};
   ExampleSmartMotorController m_motor{1};
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
       // Note: These gains are fake, and will have to be tuned for your robot.
       1_V, 1.5_V * 1_s / 1_m};
 
   // Create a motion profile with the given maximum velocity and maximum
   // acceleration constraints for the next setpoint.
-  frc::TrapezoidProfile<units::meters> m_profile{{1.75_mps, 0.75_mps_sq}};
-  frc::TrapezoidProfile<units::meters>::State m_goal;
-  frc::TrapezoidProfile<units::meters>::State m_setpoint;
+  wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{{1.75_mps, 0.75_mps_sq}};
+  wpi::math::TrapezoidProfile<wpi::units::meters>::State m_goal;
+  wpi::math::TrapezoidProfile<wpi::units::meters>::State m_setpoint;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index 8d92d4441d..4ceaa2348d 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -27,7 +27,7 @@
  * distance that the robot drives can be precisely controlled during the
  * autonomous mode.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     /* Defines the number of samples to average when determining the rate.
@@ -53,10 +53,10 @@ class Robot : public frc::TimedRobot {
 
   void TeleopPeriodic() override {
     // Retrieve the net displacement of the Encoder since the last Reset.
-    frc::SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
+    wpi::SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
 
     // Retrieve the current rate of the encoder.
-    frc::SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
+    wpi::SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
   }
 
  private:
@@ -76,11 +76,11 @@ class Robot : public frc::TimedRobot {
    * and defaults to k4X. Faster (k4X) encoding gives greater positional
    * precision but more noise in the rate.
    */
-  frc::Encoder m_encoder{1, 2, false, frc::Encoder::k4X};
+  wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::k4X};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
index fd47f6880d..0aa6895dc6 100644
--- a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
@@ -18,17 +18,17 @@
 static const auto SHOT_VELOCITY = 200_rpm;
 static const auto TOLERANCE = 8_rpm;
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     m_controller.SetTolerance(TOLERANCE.value());
 
-    frc::BooleanEvent isBallAtKicker{&m_loop, [] {
+    wpi::BooleanEvent isBallAtKicker{&m_loop, [] {
                                        return false;
                                        //    return kickerSensor.GetRange() <
                                        //           KICKER_THRESHOLD;
                                      }};
-    frc::BooleanEvent intakeButton{
+    wpi::BooleanEvent intakeButton{
         &m_loop, [&joystick = m_joystick] { return joystick.GetRawButton(2); }};
 
     // if the thumb button is held
@@ -45,7 +45,7 @@ class Robot : public frc::TimedRobot {
         // stop the intake
         .IfHigh([&intake = m_intake] { intake.Set(0.0); });
 
-    frc::BooleanEvent shootTrigger{
+    wpi::BooleanEvent shootTrigger{
         &m_loop, [&joystick = m_joystick] { return joystick.GetTrigger(); }};
 
     // if the trigger is held
@@ -54,15 +54,15 @@ class Robot : public frc::TimedRobot {
         .IfHigh([&shooter = m_shooter, &controller = m_controller, &ff = m_ff,
                  &encoder = m_shooterEncoder] {
           shooter.SetVoltage(
-              units::volt_t{controller.Calculate(encoder.GetRate(),
+              wpi::units::volt_t{controller.Calculate(encoder.GetRate(),
                                                  SHOT_VELOCITY.value())} +
-              ff.Calculate(units::radians_per_second_t{SHOT_VELOCITY}));
+              ff.Calculate(wpi::units::radians_per_second_t{SHOT_VELOCITY}));
         });
     // if not, stop
     (!shootTrigger).IfHigh([&shooter = m_shooter] { shooter.Set(0.0); });
 
-    frc::BooleanEvent atTargetVelocity =
-        frc::BooleanEvent(
+    wpi::BooleanEvent atTargetVelocity =
+        wpi::BooleanEvent(
             &m_loop,
             [&controller = m_controller] { return controller.AtSetpoint(); })
             // debounce for more stability
@@ -81,21 +81,21 @@ class Robot : public frc::TimedRobot {
   void RobotPeriodic() override { m_loop.Poll(); }
 
  private:
-  frc::PWMSparkMax m_shooter{0};
-  frc::Encoder m_shooterEncoder{0, 1};
-  frc::PIDController m_controller{0.3, 0, 0};
-  frc::SimpleMotorFeedforward<units::radians> m_ff{0.1_V, 0.065_V / 1_rpm};
+  wpi::PWMSparkMax m_shooter{0};
+  wpi::Encoder m_shooterEncoder{0, 1};
+  wpi::math::PIDController m_controller{0.3, 0, 0};
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_ff{0.1_V, 0.065_V / 1_rpm};
 
-  frc::PWMSparkMax m_kicker{1};
+  wpi::PWMSparkMax m_kicker{1};
 
-  frc::PWMSparkMax m_intake{3};
+  wpi::PWMSparkMax m_intake{3};
 
-  frc::EventLoop m_loop{};
-  frc::Joystick m_joystick{0};
+  wpi::EventLoop m_loop{};
+  wpi::Joystick m_joystick{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
index b115ff94c3..281db535f7 100644
--- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -15,21 +15,21 @@
 #include <wpi/units/moment_of_inertia.hpp>
 
 /**
- * This is a sample program to demonstrate the use of a BangBangController with
+ * This is a sample program to demonstrate the use of a wpi::math::BangBangController with
  * a flywheel to control speed.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   /**
    * Controls flywheel to a set speed (RPM) controlled by a joystick.
    */
   void TeleopPeriodic() override {
     // Scale setpoint value between 0 and maxSetpointValue
-    units::radians_per_second_t setpoint =
-        units::math::max(0_rpm, m_joystick.GetRawAxis(0) * kMaxSetpointValue);
+    wpi::units::radians_per_second_t setpoint =
+        wpi::units::math::max(0_rpm, m_joystick.GetRawAxis(0) * kMaxSetpointValue);
 
     // Set setpoint and measurement of the bang-bang controller
-    units::volt_t bangOutput =
+    wpi::units::volt_t bangOutput =
         m_bangBangController.Calculate(m_encoder.GetRate(), setpoint.value()) *
         12_V;
 
@@ -42,7 +42,7 @@ class Robot : public frc::TimedRobot {
 
   Robot() {
     // Add bang-bang controller to SmartDashboard and networktables.
-    frc::SmartDashboard::PutData("BangBangController", &m_bangBangController);
+    wpi::SmartDashboard::PutData("BangBangController", &m_bangBangController);
   }
 
   /**
@@ -53,7 +53,7 @@ class Robot : public frc::TimedRobot {
     // simulation, and write the simulated velocities to our simulated encoder
     m_flywheelSim.SetInputVoltage(
         m_flywheelMotor.Get() *
-        units::volt_t{frc::RobotController::GetInputVoltage()});
+        wpi::units::volt_t{wpi::RobotController::GetInputVoltage()});
     m_flywheelSim.Update(20_ms);
     m_encoderSim.SetRate(m_flywheelSim.GetAngularVelocity().value());
   }
@@ -64,23 +64,23 @@ class Robot : public frc::TimedRobot {
   static constexpr int kEncoderBChannel = 1;
 
   // Max setpoint for joystick control
-  static constexpr units::radians_per_second_t kMaxSetpointValue = 6000_rpm;
+  static constexpr wpi::units::radians_per_second_t kMaxSetpointValue = 6000_rpm;
 
   // Joystick to control setpoint
-  frc::Joystick m_joystick{0};
+  wpi::Joystick m_joystick{0};
 
-  frc::PWMSparkMax m_flywheelMotor{kMotorPort};
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::PWMSparkMax m_flywheelMotor{kMotorPort};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::BangBangController m_bangBangController;
+  wpi::math::BangBangController m_bangBangController;
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  static constexpr units::volt_t kFlywheelKs = 0.0001_V;
+  static constexpr wpi::units::volt_t kFlywheelKs = 0.0001_V;
   static constexpr decltype(1_V / 1_rad_per_s) kFlywheelKv = 0.000195_V / 1_rpm;
   static constexpr decltype(1_V / 1_rad_per_s_sq) kFlywheelKa =
       0.0003_V / 1_rev_per_m_per_s;
-  frc::SimpleMotorFeedforward<units::radians> m_feedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_feedforward{
       kFlywheelKs, kFlywheelKv, kFlywheelKa};
 
   // Simulation classes help us simulate our robot
@@ -90,19 +90,19 @@ class Robot : public frc::TimedRobot {
   static constexpr double kFlywheelGearing = 1.0;
 
   // 1/2 MR²
-  static constexpr units::kilogram_square_meter_t kFlywheelMomentOfInertia =
+  static constexpr wpi::units::kilogram_square_meter_t kFlywheelMomentOfInertia =
       0.5 * 1.5_lb * 4_in * 4_in;
 
-  frc::DCMotor m_gearbox = frc::DCMotor::NEO(1);
-  frc::LinearSystem<1, 1, 1> m_plant{frc::LinearSystemId::FlywheelSystem(
+  wpi::math::DCMotor m_gearbox = wpi::math::DCMotor::NEO(1);
+  wpi::math::LinearSystem<1, 1, 1> m_plant{wpi::math::LinearSystemId::FlywheelSystem(
       m_gearbox, kFlywheelMomentOfInertia, kFlywheelGearing)};
 
-  frc::sim::FlywheelSim m_flywheelSim{m_plant, m_gearbox};
-  frc::sim::EncoderSim m_encoderSim{m_encoder};
+  wpi::sim::FlywheelSim m_flywheelSim{m_plant, m_gearbox};
+  wpi::sim::EncoderSim m_encoderSim{m_encoder};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index f721bee724..b6ff8b6b7c 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -8,11 +8,11 @@
 #include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/system/Timer.hpp>
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_left);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_right);
 
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
@@ -49,18 +49,18 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Robot drive system
-  frc::PWMSparkMax m_left{0};
-  frc::PWMSparkMax m_right{1};
-  frc::DifferentialDrive m_robotDrive{
+  wpi::PWMSparkMax m_left{0};
+  wpi::PWMSparkMax m_right{1};
+  wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_left.Set(output); },
       [&](double output) { m_right.Set(output); }};
 
-  frc::XboxController m_controller{0};
-  frc::Timer m_timer;
+  wpi::XboxController m_controller{0};
+  wpi::Timer m_timer;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 3b8dc7329b..7dd6f510ae 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -15,7 +15,7 @@
  * robot drive straight. This program uses a joystick to drive forwards and
  * backwards while the gyro is used for direction keeping.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // We need to invert one side of the drivetrain so that positive voltages
@@ -23,8 +23,8 @@ class Robot : public frc::TimedRobot {
     // gearbox is constructed, you might have to invert the left side instead.
     m_right.SetInverted(true);
 
-    wpi::SendableRegistry::AddChild(&m_drive, &m_left);
-    wpi::SendableRegistry::AddChild(&m_drive, &m_right);
+    wpi::util::SendableRegistry::AddChild(&m_drive, &m_left);
+    wpi::util::SendableRegistry::AddChild(&m_drive, &m_right);
   }
 
   /**
@@ -44,21 +44,21 @@ class Robot : public frc::TimedRobot {
 
   static constexpr int kLeftMotorPort = 0;
   static constexpr int kRightMotorPort = 1;
-  static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation =
-      frc::OnboardIMU::kFlat;
+  static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
+      wpi::OnboardIMU::kFlat;
   static constexpr int kJoystickPort = 0;
 
-  frc::PWMSparkMax m_left{kLeftMotorPort};
-  frc::PWMSparkMax m_right{kRightMotorPort};
-  frc::DifferentialDrive m_drive{[&](double output) { m_left.Set(output); },
+  wpi::PWMSparkMax m_left{kLeftMotorPort};
+  wpi::PWMSparkMax m_right{kRightMotorPort};
+  wpi::DifferentialDrive m_drive{[&](double output) { m_left.Set(output); },
                                  [&](double output) { m_right.Set(output); }};
 
-  frc::OnboardIMU m_imu{kIMUMountOrientation};
-  frc::Joystick m_joystick{kJoystickPort};
+  wpi::OnboardIMU m_imu{kIMUMountOrientation};
+  wpi::Joystick m_joystick{kJoystickPort};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
index 876af1b314..059b224af4 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -13,13 +13,13 @@
  * maintain rotation vectors in relation to the starting orientation of the
  * robot (field-oriented controls).
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
 
     // Invert the right side motors. You may need to change or remove this to
     // match your robot.
@@ -40,26 +40,26 @@ class Robot : public frc::TimedRobot {
   static constexpr int kRearLeftMotorPort = 1;
   static constexpr int kFrontRightMotorPort = 2;
   static constexpr int kRearRightMotorPort = 3;
-  static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation =
-      frc::OnboardIMU::kFlat;
+  static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
+      wpi::OnboardIMU::kFlat;
   static constexpr int kJoystickPort = 0;
 
-  frc::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
-  frc::PWMSparkMax m_rearLeft{kRearLeftMotorPort};
-  frc::PWMSparkMax m_frontRight{kFrontRightMotorPort};
-  frc::PWMSparkMax m_rearRight{kRearRightMotorPort};
-  frc::MecanumDrive m_robotDrive{
+  wpi::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
+  wpi::PWMSparkMax m_rearLeft{kRearLeftMotorPort};
+  wpi::PWMSparkMax m_frontRight{kFrontRightMotorPort};
+  wpi::PWMSparkMax m_rearRight{kRearRightMotorPort};
+  wpi::MecanumDrive m_robotDrive{
       [&](double output) { m_frontLeft.Set(output); },
       [&](double output) { m_rearLeft.Set(output); },
       [&](double output) { m_frontRight.Set(output); },
       [&](double output) { m_rearRight.Set(output); }};
 
-  frc::OnboardIMU m_imu{kIMUMountOrientation};
-  frc::Joystick m_joystick{kJoystickPort};
+  wpi::OnboardIMU m_imu{kIMUMountOrientation};
+  wpi::Joystick m_joystick{kJoystickPort};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
index a65f524314..f3a5693620 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -11,11 +11,11 @@
 
 Robot::Robot() {
   // Start recording to data log
-  frc::DataLogManager::Start();
+  wpi::DataLogManager::Start();
 
   // Record DS control and joystick data.
   // Change to `false` to not record joystick data.
-  frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
+  wpi::DriverStation::StartDataLog(wpi::DataLogManager::GetLog(), true);
 }
 
 /**
@@ -27,7 +27,7 @@ Robot::Robot() {
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
@@ -76,6 +76,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index caf50ec9d6..bd1a8ec805 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -15,16 +15,16 @@ RobotContainer::RobotContainer() {
   m_chooser.AddOption("Complex Auto", m_complexAuto.get());
 
   // Put the chooser on the dashboard
-  frc::SmartDashboard::PutData("Autonomous", &m_chooser);
+  wpi::SmartDashboard::PutData("Autonomous", &m_chooser);
   // Put subsystems to dashboard.
-  frc::SmartDashboard::PutData("Drivetrain", &m_drive);
-  frc::SmartDashboard::PutData("HatchSubsystem", &m_hatch);
+  wpi::SmartDashboard::PutData("Drivetrain", &m_drive);
+  wpi::SmartDashboard::PutData("HatchSubsystem", &m_hatch);
 
   // Configure the button bindings
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::cmd::Run(
+  m_drive.SetDefaultCommand(wpi::cmd::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
                             -m_driverController.GetRightX());
@@ -41,11 +41,11 @@ void RobotContainer::ConfigureButtonBindings() {
   m_driverController.Square().OnTrue(m_hatch.ReleaseHatchCommand());
   // While holding R1, drive at half speed
   m_driverController.R1()
-      .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
-      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));
+      .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
+      .OnFalse(wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+wpi::cmd::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
   return m_chooser.GetSelected();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
index 473fdbfbfa..d6515a4156 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
@@ -11,8 +11,8 @@
 
 using namespace AutoConstants;
 
-frc2::CommandPtr autos::SimpleAuto(DriveSubsystem* drive) {
-  return frc2::FunctionalCommand(
+wpi::cmd::CommandPtr autos::SimpleAuto(DriveSubsystem* drive) {
+  return wpi::cmd::FunctionalCommand(
              // Reset encoders on command start
              [drive] { drive->ResetEncoders(); },
              // Drive forward while the command is executing
@@ -30,11 +30,11 @@ frc2::CommandPtr autos::SimpleAuto(DriveSubsystem* drive) {
       .ToPtr();
 }
 
-frc2::CommandPtr autos::ComplexAuto(DriveSubsystem* drive,
+wpi::cmd::CommandPtr autos::ComplexAuto(DriveSubsystem* drive,
                                     HatchSubsystem* hatch) {
-  return frc2::cmd::Sequence(
+  return wpi::cmd::cmd::Sequence(
       // Drive forward the specified distance
-      frc2::FunctionalCommand(
+      wpi::cmd::FunctionalCommand(
           // Reset encoders on command start
           [drive] { drive->ResetEncoders(); },
           // Drive forward while the command is executing
@@ -54,7 +54,7 @@ frc2::CommandPtr autos::ComplexAuto(DriveSubsystem* drive,
       hatch->ReleaseHatchCommand(),
       // Drive backward the specified distance
       // Drive forward the specified distance
-      frc2::FunctionalCommand(
+      wpi::cmd::FunctionalCommand(
           // Reset encoders on command start
           [drive] { drive->ResetEncoders(); },
           // Drive backward while the command is executing
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
index 0d1c8a6f4e..3421e69341 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
@@ -15,8 +15,8 @@ DriveSubsystem::DriveSubsystem()
       m_right2{kRightMotor2Port},
       m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
       m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_left1);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_right1);
 
   m_left1.AddFollower(m_left2);
   m_right1.AddFollower(m_right2);
@@ -52,7 +52,7 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
   m_drive.SetMaxOutput(maxOutput);
 }
 
-void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
+void DriveSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
   SubsystemBase::InitSendable(builder);
 
   // Publish encoder distances to telemetry.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
index cf47294bd5..6ebc783f4a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
@@ -9,27 +9,27 @@
 using namespace HatchConstants;
 
 HatchSubsystem::HatchSubsystem()
-    : m_hatchSolenoid{0, frc::PneumaticsModuleType::CTREPCM,
+    : m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTREPCM,
                       kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
 
-frc2::CommandPtr HatchSubsystem::GrabHatchCommand() {
+wpi::cmd::CommandPtr HatchSubsystem::GrabHatchCommand() {
   // implicitly require `this`
   return this->RunOnce(
-      [this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward); });
+      [this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::kForward); });
 }
 
-frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
+wpi::cmd::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
   // implicitly require `this`
   return this->RunOnce(
-      [this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse); });
+      [this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::kReverse); });
 }
 
-void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
+void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
   SubsystemBase::InitSendable(builder);
 
   // Publish the solenoid state to telemetry.
   builder.AddBooleanProperty(
       "extended",
-      [this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
+      [this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::kForward; },
       nullptr);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
index 7a9d5e7e42..219b7b9799 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
@@ -9,7 +9,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -24,7 +24,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  wpi::cmd::Command* m_autonomousCommand = nullptr;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
index 0358d8c556..bf90d22f37 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
@@ -27,11 +27,11 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  wpi::cmd::Command* GetAutonomousCommand();
 
  private:
   // The driver's controller
-  frc2::CommandPS4Controller m_driverController{
+  wpi::cmd::CommandPS4Controller m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
@@ -43,11 +43,11 @@ class RobotContainer {
   // Commands owned by RobotContainer
 
   // The autonomous routines
-  frc2::CommandPtr m_simpleAuto = autos::SimpleAuto(&m_drive);
-  frc2::CommandPtr m_complexAuto = autos::ComplexAuto(&m_drive, &m_hatch);
+  wpi::cmd::CommandPtr m_simpleAuto = autos::SimpleAuto(&m_drive);
+  wpi::cmd::CommandPtr m_complexAuto = autos::ComplexAuto(&m_drive, &m_hatch);
 
   // The chooser for the autonomous routines
-  frc::SendableChooser<frc2::Command*> m_chooser;
+  wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
index 979689161d..59afdd21d9 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
@@ -15,12 +15,12 @@ namespace autos {
 /**
  * A simple auto that drives forward, then stops.
  */
-frc2::CommandPtr SimpleAuto(DriveSubsystem* drive);
+wpi::cmd::CommandPtr SimpleAuto(DriveSubsystem* drive);
 
 /**
  * A complex auto command that drives forward, releases a hatch, and then drives
  * backward.
  */
-frc2::CommandPtr ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
+wpi::cmd::CommandPtr ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
 
 }  // namespace autos
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
index 88339eb767..f8896a27af 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
@@ -11,7 +11,7 @@
 
 #include "Constants.hpp"
 
-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public wpi::cmd::SubsystemBase {
  public:
   DriveSubsystem();
 
@@ -50,25 +50,25 @@ class DriveSubsystem : public frc2::SubsystemBase {
    */
   void SetMaxOutput(double maxOutput);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMSparkMax m_left1;
-  frc::PWMSparkMax m_left2;
-  frc::PWMSparkMax m_right1;
-  frc::PWMSparkMax m_right2;
+  wpi::PWMSparkMax m_left1;
+  wpi::PWMSparkMax m_left2;
+  wpi::PWMSparkMax m_right1;
+  wpi::PWMSparkMax m_right2;
 
   // The robot's drive
-  frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
+  wpi::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
                                  [&](double output) { m_right1.Set(output); }};
 
   // The left-side drive encoder
-  frc::Encoder m_leftEncoder;
+  wpi::Encoder m_leftEncoder;
 
   // The right-side drive encoder
-  frc::Encoder m_rightEncoder;
+  wpi::Encoder m_rightEncoder;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
index 5e8970ac5e..ba81b034f3 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
@@ -11,7 +11,7 @@
 
 #include "Constants.hpp"
 
-class HatchSubsystem : public frc2::SubsystemBase {
+class HatchSubsystem : public wpi::cmd::SubsystemBase {
  public:
   HatchSubsystem();
 
@@ -20,17 +20,17 @@ class HatchSubsystem : public frc2::SubsystemBase {
   /**
    * Grabs the hatch.
    */
-  frc2::CommandPtr GrabHatchCommand();
+  wpi::cmd::CommandPtr GrabHatchCommand();
 
   /**
    * Releases the hatch.
    */
-  frc2::CommandPtr ReleaseHatchCommand();
+  wpi::cmd::CommandPtr ReleaseHatchCommand();
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
-  frc::DoubleSolenoid m_hatchSolenoid;
+  wpi::DoubleSolenoid m_hatchSolenoid;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
index a65f524314..f3a5693620 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -11,11 +11,11 @@
 
 Robot::Robot() {
   // Start recording to data log
-  frc::DataLogManager::Start();
+  wpi::DataLogManager::Start();
 
   // Record DS control and joystick data.
   // Change to `false` to not record joystick data.
-  frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
+  wpi::DriverStation::StartDataLog(wpi::DataLogManager::GetLog(), true);
 }
 
 /**
@@ -27,7 +27,7 @@ Robot::Robot() {
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
@@ -76,6 +76,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index 928a670e4f..7ce8aea9e2 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -20,10 +20,10 @@ RobotContainer::RobotContainer() {
   m_chooser.AddOption("Complex Auto", &m_complexAuto);
 
   // Put the chooser on the dashboard
-  frc::SmartDashboard::PutData("Autonomous", &m_chooser);
+  wpi::SmartDashboard::PutData("Autonomous", &m_chooser);
   // Put subsystems to dashboard.
-  frc::SmartDashboard::PutData("Drivetrain", &m_drive);
-  frc::SmartDashboard::PutData("HatchSubsystem", &m_hatch);
+  wpi::SmartDashboard::PutData("Drivetrain", &m_drive);
+  wpi::SmartDashboard::PutData("HatchSubsystem", &m_hatch);
 
   // Configure the button bindings
   ConfigureButtonBindings();
@@ -41,18 +41,18 @@ void RobotContainer::ConfigureButtonBindings() {
   // the scheduler thus, no memory leaks!
 
   // Grab the hatch when the 'A' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
+  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kA)
       .OnTrue(GrabHatch(&m_hatch).ToPtr());
   // Release the hatch when the 'B' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
+  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kB)
       .OnTrue(ReleaseHatch(&m_hatch).ToPtr());
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
+  wpi::cmd::JoystickButton(&m_driverController,
+                       wpi::XboxController::Button::kRightBumper)
       .WhileTrue(HalveDriveSpeed(&m_drive).ToPtr());
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+wpi::cmd::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
   return m_chooser.GetSelected();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
index 0d1c8a6f4e..3421e69341 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
@@ -15,8 +15,8 @@ DriveSubsystem::DriveSubsystem()
       m_right2{kRightMotor2Port},
       m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
       m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_left1);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_right1);
 
   m_left1.AddFollower(m_left2);
   m_right1.AddFollower(m_right2);
@@ -52,7 +52,7 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
   m_drive.SetMaxOutput(maxOutput);
 }
 
-void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
+void DriveSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
   SubsystemBase::InitSendable(builder);
 
   // Publish encoder distances to telemetry.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
index 5aa2b96317..517392617a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
@@ -9,23 +9,23 @@
 using namespace HatchConstants;
 
 HatchSubsystem::HatchSubsystem()
-    : m_hatchSolenoid{0, frc::PneumaticsModuleType::CTREPCM,
+    : m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTREPCM,
                       kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
 
 void HatchSubsystem::GrabHatch() {
-  m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);
+  m_hatchSolenoid.Set(wpi::DoubleSolenoid::kForward);
 }
 
 void HatchSubsystem::ReleaseHatch() {
-  m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
+  m_hatchSolenoid.Set(wpi::DoubleSolenoid::kReverse);
 }
 
-void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
+void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
   SubsystemBase::InitSendable(builder);
 
   // Publish the solenoid state to telemetry.
   builder.AddBooleanProperty(
       "extended",
-      [this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
+      [this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::kForward; },
       nullptr);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
index 7a9d5e7e42..219b7b9799 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
@@ -9,7 +9,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -24,7 +24,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  wpi::cmd::Command* m_autonomousCommand = nullptr;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
index c32adf6bf4..b080241199 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
@@ -26,7 +26,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  wpi::cmd::Command* GetAutonomousCommand();
 
  private:
   // The robot's subsystems and commands are defined here...
@@ -41,10 +41,10 @@ class RobotContainer {
   ComplexAuto m_complexAuto{&m_drive, &m_hatch};
 
   // The chooser for the autonomous routines
-  frc::SendableChooser<frc2::Command*> m_chooser;
+  wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  wpi::XboxController m_driverController{OIConstants::kDriverControllerPort};
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
index 25e8d6c3e9..715eebb9d0 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
@@ -16,7 +16,7 @@
  * backward.
  */
 class ComplexAuto
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup, ComplexAuto> {
  public:
   /**
    * Creates a new ComplexAuto.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
index d069c5086b..abf2dad6f5 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
@@ -18,7 +18,7 @@
  *
  * @see RunCommand
  */
-class DefaultDrive : public frc2::CommandHelper<frc2::Command, DefaultDrive> {
+class DefaultDrive : public wpi::cmd::CommandHelper<wpi::cmd::Command, DefaultDrive> {
  public:
   /**
    * Creates a new DefaultDrive.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
index 79fdde41f6..c3eb068155 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
@@ -9,7 +9,7 @@
 
 #include "subsystems/DriveSubsystem.hpp"
 
-class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
+class DriveDistance : public wpi::cmd::CommandHelper<wpi::cmd::Command, DriveDistance> {
  public:
   /**
    * Creates a new DriveDistance.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
index cfd3971ebb..11f8f9e366 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
@@ -16,7 +16,7 @@
  *
  * @see InstantCommand
  */
-class GrabHatch : public frc2::CommandHelper<frc2::Command, GrabHatch> {
+class GrabHatch : public wpi::cmd::CommandHelper<wpi::cmd::Command, GrabHatch> {
  public:
   explicit GrabHatch(HatchSubsystem* subsystem);
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
index 85e0c79ec9..b64c9209c3 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
@@ -10,7 +10,7 @@
 #include "subsystems/DriveSubsystem.hpp"
 
 class HalveDriveSpeed
-    : public frc2::CommandHelper<frc2::Command, HalveDriveSpeed> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::Command, HalveDriveSpeed> {
  public:
   explicit HalveDriveSpeed(DriveSubsystem* subsystem);
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
index 868bb88bb4..7a54ac5853 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
@@ -16,7 +16,7 @@
  *
  * @see InstantCommand
  */
-class ReleaseHatch : public frc2::CommandHelper<frc2::Command, ReleaseHatch> {
+class ReleaseHatch : public wpi::cmd::CommandHelper<wpi::cmd::Command, ReleaseHatch> {
  public:
   explicit ReleaseHatch(HatchSubsystem* subsystem);
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
index 88339eb767..f8896a27af 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
@@ -11,7 +11,7 @@
 
 #include "Constants.hpp"
 
-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public wpi::cmd::SubsystemBase {
  public:
   DriveSubsystem();
 
@@ -50,25 +50,25 @@ class DriveSubsystem : public frc2::SubsystemBase {
    */
   void SetMaxOutput(double maxOutput);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
 
   // The motor controllers
-  frc::PWMSparkMax m_left1;
-  frc::PWMSparkMax m_left2;
-  frc::PWMSparkMax m_right1;
-  frc::PWMSparkMax m_right2;
+  wpi::PWMSparkMax m_left1;
+  wpi::PWMSparkMax m_left2;
+  wpi::PWMSparkMax m_right1;
+  wpi::PWMSparkMax m_right2;
 
   // The robot's drive
-  frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
+  wpi::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
                                  [&](double output) { m_right1.Set(output); }};
 
   // The left-side drive encoder
-  frc::Encoder m_leftEncoder;
+  wpi::Encoder m_leftEncoder;
 
   // The right-side drive encoder
-  frc::Encoder m_rightEncoder;
+  wpi::Encoder m_rightEncoder;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
index 6f0ecaeaa9..4a8218e74f 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
@@ -10,7 +10,7 @@
 
 #include "Constants.hpp"
 
-class HatchSubsystem : public frc2::SubsystemBase {
+class HatchSubsystem : public wpi::cmd::SubsystemBase {
  public:
   HatchSubsystem();
 
@@ -26,10 +26,10 @@ class HatchSubsystem : public frc2::SubsystemBase {
    */
   void ReleaseHatch();
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
-  frc::DoubleSolenoid m_hatchSolenoid;
+  wpi::DoubleSolenoid m_hatchSolenoid;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
index 092ea96fb4..974f48b322 100644
--- a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
@@ -8,26 +8,26 @@
 /**
  * This is a demo program showing the use of GenericHID's rumble feature.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousInit() override {
     // Turn on rumble at the start of auto
-    m_hid.SetRumble(frc::GenericHID::RumbleType::kLeftRumble, 1.0);
-    m_hid.SetRumble(frc::GenericHID::RumbleType::kRightRumble, 1.0);
+    m_hid.SetRumble(wpi::GenericHID::RumbleType::kLeftRumble, 1.0);
+    m_hid.SetRumble(wpi::GenericHID::RumbleType::kRightRumble, 1.0);
   }
 
   void DisabledInit() override {
     // Stop the rumble when entering disabled
-    m_hid.SetRumble(frc::GenericHID::RumbleType::kLeftRumble, 0.0);
-    m_hid.SetRumble(frc::GenericHID::RumbleType::kRightRumble, 0.0);
+    m_hid.SetRumble(wpi::GenericHID::RumbleType::kLeftRumble, 0.0);
+    m_hid.SetRumble(wpi::GenericHID::RumbleType::kRightRumble, 0.0);
   }
 
  private:
-  frc::GenericHID m_hid{0};
+  wpi::GenericHID m_hid{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
index 46db9dc877..29f92f85a0 100644
--- a/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
@@ -14,7 +14,7 @@
  * and sent to the dashboard. OpenCV has many methods for different types of
  * processing.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // We need to run our vision program in a separate thread. If not, our robot
@@ -27,17 +27,17 @@ class Robot : public frc::TimedRobot {
   static void VisionThread() {
     // Create an HTTP camera. The address will need to be modified to have the
     // correct team number. The exact path will depend on the source.
-    cs::HttpCamera camera{"My Camera", "http://10.x.y.11/video/stream.mjpg"};
+    wpi::cs::HttpCamera camera{"My Camera", "http://10.x.y.11/video/stream.mjpg"};
     // Start capturing images
-    frc::CameraServer::StartAutomaticCapture(camera);
+    wpi::CameraServer::StartAutomaticCapture(camera);
     // Set the resolution
     camera.SetResolution(640, 480);
 
     // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetVideo();
+    wpi::cs::CvSink cvSink = wpi::CameraServer::GetVideo();
     // Setup a CvSource. This will send images back to the Dashboard
-    cs::CvSource outputStream =
-        frc::CameraServer::PutVideo("Rectangle", 640, 480);
+    wpi::cs::CvSource outputStream =
+        wpi::CameraServer::PutVideo("Rectangle", 640, 480);
 
     // Mats are very memory expensive. Lets reuse this Mat.
     cv::Mat mat;
@@ -62,6 +62,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
index 9b61fd5158..ff4c2a2e62 100644
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
@@ -22,9 +22,9 @@ void Robot::RobotPeriodic() {
   // alliance, enabled in teleop mode, with 43 seconds left in the match.
 
   std::string allianceString = "U";
-  auto alliance = frc::DriverStation::GetAlliance();
+  auto alliance = wpi::DriverStation::GetAlliance();
   if (alliance.has_value()) {
-    if (alliance == frc::DriverStation::Alliance::kRed) {
+    if (alliance == wpi::DriverStation::Alliance::kRed) {
       allianceString = "R";
     } else {
       allianceString = "B";
@@ -33,15 +33,15 @@ void Robot::RobotPeriodic() {
 
   auto string =
       fmt::format("{}{}{}{:03}", allianceString,
-                  frc::DriverStation::IsEnabled() ? "E" : "D",
-                  frc::DriverStation::IsAutonomous() ? "A" : "T",
-                  static_cast<int>(frc::Timer::GetMatchTime().value()));
+                  wpi::DriverStation::IsEnabled() ? "E" : "D",
+                  wpi::DriverStation::IsAutonomous() ? "A" : "T",
+                  static_cast<int>(wpi::Timer::GetMatchTime().value()));
 
   arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
 }
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
index 0e2bc795a4..4172a92b82 100644
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
@@ -13,13 +13,13 @@
  * This is a sample program demonstrating how to communicate to a light
  * controller from the robot code using the roboRIO's I2C port.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void RobotPeriodic() override;
 
-  static constexpr frc::I2C::Port kPort = frc::I2C::Port::kPort0;
+  static constexpr wpi::I2C::Port kPort = wpi::I2C::Port::kPort0;
 
  private:
   static constexpr int deviceAddress = 4;
-  frc::I2C arduino{kPort, deviceAddress};
+  wpi::I2C arduino{kPort, deviceAddress};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
index db5c5e732b..458dff7203 100644
--- a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -17,7 +17,7 @@
  * and sent to the dashboard. OpenCV has many methods for different types of
  * processing.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // We need to run our vision program in a separate thread. If not, our robot
@@ -36,15 +36,15 @@ class Robot : public frc::TimedRobot {
  private:
   static void VisionThread() {
     // Get the USB camera from CameraServer
-    cs::UsbCamera camera = frc::CameraServer::StartAutomaticCapture();
+    wpi::cs::UsbCamera camera = wpi::CameraServer::StartAutomaticCapture();
     // Set the resolution
     camera.SetResolution(640, 480);
 
     // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetVideo();
+    wpi::cs::CvSink cvSink = wpi::CameraServer::GetVideo();
     // Setup a CvSource. This will send images back to the Dashboard
-    cs::CvSource outputStream =
-        frc::CameraServer::PutVideo("Rectangle", 640, 480);
+    wpi::cs::CvSource outputStream =
+        wpi::CameraServer::PutVideo("Rectangle", 640, 480);
 
     // Mats are very memory expensive. Lets reuse this Mat.
     cv::Mat mat;
@@ -72,6 +72,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
index 6d5d7ffd88..1edeb28c9f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
@@ -6,21 +6,21 @@
 
 #include <wpi/math/kinematics/ChassisSpeeds.hpp>
 
-frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
-  return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
-          units::meters_per_second_t{m_frontRightEncoder.GetRate()},
-          units::meters_per_second_t{m_backLeftEncoder.GetRate()},
-          units::meters_per_second_t{m_backRightEncoder.GetRate()}};
+wpi::math::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
+  return {wpi::units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_frontRightEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_backLeftEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_backRightEncoder.GetRate()}};
 }
 
-frc::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
-  return {units::meter_t{m_frontLeftEncoder.GetDistance()},
-          units::meter_t{m_frontRightEncoder.GetDistance()},
-          units::meter_t{m_backLeftEncoder.GetDistance()},
-          units::meter_t{m_backRightEncoder.GetDistance()}};
+wpi::math::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
+  return {wpi::units::meter_t{m_frontLeftEncoder.GetDistance()},
+          wpi::units::meter_t{m_frontRightEncoder.GetDistance()},
+          wpi::units::meter_t{m_backLeftEncoder.GetDistance()},
+          wpi::units::meter_t{m_backRightEncoder.GetDistance()}};
 }
 
-void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
+void Drivetrain::SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds) {
   const auto frontLeftFeedforward =
       m_feedforward.Calculate(wheelSpeeds.frontLeft);
   const auto frontRightFeedforward =
@@ -39,21 +39,21 @@ void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
   const double backRightOutput = m_backRightPIDController.Calculate(
       m_backRightEncoder.GetRate(), wheelSpeeds.rearRight.value());
 
-  m_frontLeftMotor.SetVoltage(units::volt_t{frontLeftOutput} +
+  m_frontLeftMotor.SetVoltage(wpi::units::volt_t{frontLeftOutput} +
                               frontLeftFeedforward);
-  m_frontRightMotor.SetVoltage(units::volt_t{frontRightOutput} +
+  m_frontRightMotor.SetVoltage(wpi::units::volt_t{frontRightOutput} +
                                frontRightFeedforward);
-  m_backLeftMotor.SetVoltage(units::volt_t{backLeftOutput} +
+  m_backLeftMotor.SetVoltage(wpi::units::volt_t{backLeftOutput} +
                              backLeftFeedforward);
-  m_backRightMotor.SetVoltage(units::volt_t{backRightOutput} +
+  m_backRightMotor.SetVoltage(wpi::units::volt_t{backRightOutput} +
                               backRightFeedforward);
 }
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::meters_per_second_t ySpeed,
-                       units::radians_per_second_t rot, bool fieldRelative,
-                       units::second_t period) {
-  frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::meters_per_second_t ySpeed,
+                       wpi::units::radians_per_second_t rot, bool fieldRelative,
+                       wpi::units::second_t period) {
+  wpi::math::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
   if (fieldRelative) {
     chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
   }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
index dd29ae5889..eb5a574ed2 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     DriveWithJoystick(false);
@@ -18,14 +18,14 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_xspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_yspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_xspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_yspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
     // Get the x speed. We are inverting this because Xbox controllers return
@@ -52,6 +52,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
index c6c2f7aa89..360ec9fb66 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
@@ -30,50 +30,50 @@ class Drivetrain {
     m_backRightMotor.SetInverted(true);
   }
 
-  frc::MecanumDriveWheelSpeeds GetCurrentState() const;
-  frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
-  void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
-  void Drive(units::meters_per_second_t xSpeed,
-             units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
-             bool fieldRelative, units::second_t period);
+  wpi::math::MecanumDriveWheelSpeeds GetCurrentState() const;
+  wpi::math::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
+  void SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
+             bool fieldRelative, wpi::units::second_t period);
   void UpdateOdometry();
 
-  static constexpr units::meters_per_second_t kMaxSpeed =
+  static constexpr wpi::units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
  private:
-  frc::PWMSparkMax m_frontLeftMotor{1};
-  frc::PWMSparkMax m_frontRightMotor{2};
-  frc::PWMSparkMax m_backLeftMotor{3};
-  frc::PWMSparkMax m_backRightMotor{4};
+  wpi::PWMSparkMax m_frontLeftMotor{1};
+  wpi::PWMSparkMax m_frontRightMotor{2};
+  wpi::PWMSparkMax m_backLeftMotor{3};
+  wpi::PWMSparkMax m_backRightMotor{4};
 
-  frc::Encoder m_frontLeftEncoder{0, 1};
-  frc::Encoder m_frontRightEncoder{2, 3};
-  frc::Encoder m_backLeftEncoder{4, 5};
-  frc::Encoder m_backRightEncoder{6, 7};
+  wpi::Encoder m_frontLeftEncoder{0, 1};
+  wpi::Encoder m_frontRightEncoder{2, 3};
+  wpi::Encoder m_backLeftEncoder{4, 5};
+  wpi::Encoder m_backRightEncoder{6, 7};
 
-  frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-  frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-  frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+  wpi::math::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+  wpi::math::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+  wpi::math::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+  wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
 
-  frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::MecanumDriveKinematics m_kinematics{
+  wpi::math::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
-  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
+  wpi::math::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
                                        GetCurrentWheelDistances()};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index 7d802193e4..ccab39f64f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -11,13 +11,13 @@
  * This is a demo program showing how to use Mecanum control with the
  * MecanumDrive class.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
 
     // Invert the right side motors. You may need to change or remove this to
     // match your robot.
@@ -41,21 +41,21 @@ class Robot : public frc::TimedRobot {
 
   static constexpr int kJoystickChannel = 0;
 
-  frc::PWMSparkMax m_frontLeft{kFrontLeftChannel};
-  frc::PWMSparkMax m_rearLeft{kRearLeftChannel};
-  frc::PWMSparkMax m_frontRight{kFrontRightChannel};
-  frc::PWMSparkMax m_rearRight{kRearRightChannel};
-  frc::MecanumDrive m_robotDrive{
+  wpi::PWMSparkMax m_frontLeft{kFrontLeftChannel};
+  wpi::PWMSparkMax m_rearLeft{kRearLeftChannel};
+  wpi::PWMSparkMax m_frontRight{kFrontRightChannel};
+  wpi::PWMSparkMax m_rearRight{kRearRightChannel};
+  wpi::MecanumDrive m_robotDrive{
       [&](double output) { m_frontLeft.Set(output); },
       [&](double output) { m_rearLeft.Set(output); },
       [&](double output) { m_frontRight.Set(output); },
       [&](double output) { m_rearRight.Set(output); }};
 
-  frc::Joystick m_stick{kJoystickChannel};
+  wpi::Joystick m_stick{kJoystickChannel};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
index 75d69618e5..6d99b22f1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -8,30 +8,30 @@
 
 #include "ExampleGlobalMeasurementSensor.hpp"
 
-frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
-  return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
-          units::meters_per_second_t{m_frontRightEncoder.GetRate()},
-          units::meters_per_second_t{m_backLeftEncoder.GetRate()},
-          units::meters_per_second_t{m_backRightEncoder.GetRate()}};
+wpi::math::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
+  return {wpi::units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_frontRightEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_backLeftEncoder.GetRate()},
+          wpi::units::meters_per_second_t{m_backRightEncoder.GetRate()}};
 }
 
-frc::MecanumDriveWheelPositions Drivetrain::GetCurrentDistances() const {
-  return {units::meter_t{m_frontLeftEncoder.GetDistance()},
-          units::meter_t{m_frontRightEncoder.GetDistance()},
-          units::meter_t{m_backLeftEncoder.GetDistance()},
-          units::meter_t{m_backRightEncoder.GetDistance()}};
+wpi::math::MecanumDriveWheelPositions Drivetrain::GetCurrentDistances() const {
+  return {wpi::units::meter_t{m_frontLeftEncoder.GetDistance()},
+          wpi::units::meter_t{m_frontRightEncoder.GetDistance()},
+          wpi::units::meter_t{m_backLeftEncoder.GetDistance()},
+          wpi::units::meter_t{m_backRightEncoder.GetDistance()}};
 }
 
-void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
-  std::function<void(units::meters_per_second_t, const frc::Encoder&,
-                     frc::PIDController&, frc::PWMSparkMax&)>
+void Drivetrain::SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds) {
+  std::function<void(wpi::units::meters_per_second_t, const wpi::Encoder&,
+                     wpi::math::PIDController&, wpi::PWMSparkMax&)>
       calcAndSetSpeeds = [&m_feedforward = m_feedforward](
-                             units::meters_per_second_t speed,
+                             wpi::units::meters_per_second_t speed,
                              const auto& encoder, auto& controller,
                              auto& motor) {
         auto feedforward = m_feedforward.Calculate(speed);
         double output = controller.Calculate(encoder.GetRate(), speed.value());
-        motor.SetVoltage(units::volt_t{output} + feedforward);
+        motor.SetVoltage(wpi::units::volt_t{output} + feedforward);
       };
 
   calcAndSetSpeeds(wheelSpeeds.frontLeft, m_frontLeftEncoder,
@@ -44,11 +44,11 @@ void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
                    m_backRightPIDController, m_backRightMotor);
 }
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::meters_per_second_t ySpeed,
-                       units::radians_per_second_t rot, bool fieldRelative,
-                       units::second_t period) {
-  frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::meters_per_second_t ySpeed,
+                       wpi::units::radians_per_second_t rot, bool fieldRelative,
+                       wpi::units::second_t period) {
+  wpi::math::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
   if (fieldRelative) {
     chassisSpeeds = chassisSpeeds.ToRobotRelative(
         m_poseEstimator.GetEstimatedPosition().Rotation());
@@ -68,5 +68,5 @@ void Drivetrain::UpdateOdometry() {
   m_poseEstimator.AddVisionMeasurement(
       ExampleGlobalMeasurementSensor::GetEstimatedGlobalPose(
           m_poseEstimator.GetEstimatedPosition()),
-      frc::Timer::GetTimestamp() - 0.3_s);
+      wpi::Timer::GetTimestamp() - 0.3_s);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
index dd29ae5889..eb5a574ed2 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     DriveWithJoystick(false);
@@ -18,14 +18,14 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_xspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_yspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_xspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_yspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
     // Get the x speed. We are inverting this because Xbox controllers return
@@ -52,6 +52,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
index c94027326d..da042ca8b7 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
@@ -31,52 +31,52 @@ class Drivetrain {
     m_backRightMotor.SetInverted(true);
   }
 
-  frc::MecanumDriveWheelSpeeds GetCurrentState() const;
-  frc::MecanumDriveWheelPositions GetCurrentDistances() const;
-  void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
-  void Drive(units::meters_per_second_t xSpeed,
-             units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
-             bool fieldRelative, units::second_t period);
+  wpi::math::MecanumDriveWheelSpeeds GetCurrentState() const;
+  wpi::math::MecanumDriveWheelPositions GetCurrentDistances() const;
+  void SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
+             bool fieldRelative, wpi::units::second_t period);
   void UpdateOdometry();
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
  private:
-  frc::PWMSparkMax m_frontLeftMotor{1};
-  frc::PWMSparkMax m_frontRightMotor{2};
-  frc::PWMSparkMax m_backLeftMotor{3};
-  frc::PWMSparkMax m_backRightMotor{4};
+  wpi::PWMSparkMax m_frontLeftMotor{1};
+  wpi::PWMSparkMax m_frontRightMotor{2};
+  wpi::PWMSparkMax m_backLeftMotor{3};
+  wpi::PWMSparkMax m_backRightMotor{4};
 
-  frc::Encoder m_frontLeftEncoder{0, 1};
-  frc::Encoder m_frontRightEncoder{2, 3};
-  frc::Encoder m_backLeftEncoder{4, 5};
-  frc::Encoder m_backRightEncoder{6, 7};
+  wpi::Encoder m_frontLeftEncoder{0, 1};
+  wpi::Encoder m_frontRightEncoder{2, 3};
+  wpi::Encoder m_backLeftEncoder{4, 5};
+  wpi::Encoder m_backRightEncoder{6, 7};
 
-  frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-  frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-  frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+  wpi::math::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+  wpi::math::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+  wpi::math::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+  wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
 
-  frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
-  frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+  wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::MecanumDriveKinematics m_kinematics{
+  wpi::math::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::MecanumDrivePoseEstimator m_poseEstimator{
+  wpi::math::MecanumDrivePoseEstimator m_poseEstimator{
       m_kinematics,  m_imu.GetRotation2d(), GetCurrentDistances(),
-      frc::Pose2d{}, {0.1, 0.1, 0.1},       {0.1, 0.1, 0.1}};
+      wpi::math::Pose2d{}, {0.1, 0.1, 0.1},       {0.1, 0.1, 0.1}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index d4f9b4e52f..16f4123f08 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -13,12 +13,12 @@
  */
 class ExampleGlobalMeasurementSensor {
  public:
-  static frc::Pose2d GetEstimatedGlobalPose(
-      const frc::Pose2d& estimatedRobotPose) {
-    auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
-                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
+  static wpi::math::Pose2d GetEstimatedGlobalPose(
+      const wpi::math::Pose2d& estimatedRobotPose) {
+    auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
+    return wpi::math::Pose2d{estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d{units::radian_t{randVec(2)}}};
+                           wpi::math::Rotation2d{wpi::units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
index 7d06b68678..25e5d7749a 100644
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -25,7 +25,7 @@
  * the container out of scope - the appended nodes will be recursively
  * destructed!
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   static constexpr double kMetersPerPulse = 0.01;
   static constexpr double kElevatorMinimumLength = 0.5;
 
@@ -34,14 +34,14 @@ class Robot : public frc::TimedRobot {
     m_elevatorEncoder.SetDistancePerPulse(kMetersPerPulse);
 
     // publish to dashboard
-    frc::SmartDashboard::PutData("Mech2d", &m_mech);
+    wpi::SmartDashboard::PutData("Mech2d", &m_mech);
   }
 
   void RobotPeriodic() override {
     // update the dashboard mechanism's state
     m_elevator->SetLength(kElevatorMinimumLength +
                           m_elevatorEncoder.GetDistance());
-    m_wrist->SetAngle(units::degree_t{m_wristPotentiometer.Get()});
+    m_wrist->SetAngle(wpi::units::degree_t{m_wristPotentiometer.Get()});
   }
 
   void TeleopPeriodic() override {
@@ -50,27 +50,27 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::PWMSparkMax m_elevatorMotor{0};
-  frc::PWMSparkMax m_wristMotor{1};
-  frc::Encoder m_elevatorEncoder{0, 1};
-  frc::AnalogPotentiometer m_wristPotentiometer{1, 90};
-  frc::Joystick m_joystick{0};
+  wpi::PWMSparkMax m_elevatorMotor{0};
+  wpi::PWMSparkMax m_wristMotor{1};
+  wpi::Encoder m_elevatorEncoder{0, 1};
+  wpi::AnalogPotentiometer m_wristPotentiometer{1, 90};
+  wpi::Joystick m_joystick{0};
 
   // the main mechanism object
-  frc::Mechanism2d m_mech{3, 3};
+  wpi::Mechanism2d m_mech{3, 3};
   // the mechanism root node
-  frc::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 2, 0);
+  wpi::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 2, 0);
   // MechanismLigament2d objects represent each "section"/"stage" of the
   // mechanism, and are based off the root node or another ligament object
-  frc::MechanismLigament2d* m_elevator =
-      m_root->Append<frc::MechanismLigament2d>("elevator", 1, 90_deg);
-  frc::MechanismLigament2d* m_wrist =
-      m_elevator->Append<frc::MechanismLigament2d>(
-          "wrist", 0.5, 90_deg, 6, frc::Color8Bit{frc::Color::kPurple});
+  wpi::MechanismLigament2d* m_elevator =
+      m_root->Append<wpi::MechanismLigament2d>("elevator", 1, 90_deg);
+  wpi::MechanismLigament2d* m_wrist =
+      m_elevator->Append<wpi::MechanismLigament2d>(
+          "wrist", 0.5, 90_deg, 6, wpi::Color8Bit{wpi::Color::kPurple});
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
index 149681af48..77806a97ce 100644
--- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
@@ -21,7 +21,7 @@
  * In addition, the encoder value of an encoder connected to ports 0 and 1 is
  * consistently sent to the Dashboard.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopPeriodic() override { m_motor.Set(m_stick.GetY()); }
 
@@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot {
    * robot mode.
    */
   void RobotPeriodic() override {
-    frc::SmartDashboard::PutNumber("Encoder", m_encoder.GetDistance());
+    wpi::SmartDashboard::PutNumber("Encoder", m_encoder.GetDistance());
   }
 
   Robot() {
@@ -40,13 +40,13 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::Joystick m_stick{0};
-  frc::PWMSparkMax m_motor{0};
-  frc::Encoder m_encoder{0, 1};
+  wpi::Joystick m_stick{0};
+  wpi::PWMSparkMax m_motor{0};
+  wpi::Encoder m_encoder{0, 1};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
index 902b4a53a0..d1ad54c4c9 100644
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
@@ -12,7 +12,7 @@ void Robot::TeleopInit() {
 
 void Robot::TeleopPeriodic() {
   // Read from the sensor
-  units::meter_t position = units::meter_t{m_potentiometer.Get()};
+  wpi::units::meter_t position = wpi::units::meter_t{m_potentiometer.Get()};
 
   // Run the PID Controller
   double pidOut = m_pidController.Calculate(position.value());
@@ -31,6 +31,6 @@ void Robot::TeleopPeriodic() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
index 6d1bab4d76..e812187800 100644
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
@@ -18,7 +18,7 @@
  * PID controller to reach and maintain position setpoints on an elevator
  * mechanism.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopInit() override;
   void TeleopPeriodic() override;
@@ -28,10 +28,10 @@ class Robot : public frc::TimedRobot {
   static constexpr int kJoystickChannel = 3;
 
   // The elevator can move 1.5 meters from top to bottom
-  static constexpr units::meter_t kFullHeight = 1.5_m;
+  static constexpr wpi::units::meter_t kFullHeight = 1.5_m;
 
   // Bottom, middle, and top elevator setpoints
-  static constexpr std::array<units::meter_t, 3> kSetpoints = {
+  static constexpr std::array<wpi::units::meter_t, 3> kSetpoints = {
       {0.2_m, 0.8_m, 1.4_m}};
 
  private:
@@ -45,11 +45,11 @@ class Robot : public frc::TimedRobot {
   static constexpr double kD = 0.25;
 
   // Scaling is handled internally
-  frc::AnalogPotentiometer m_potentiometer{kPotChannel, kFullHeight.value()};
+  wpi::AnalogPotentiometer m_potentiometer{kPotChannel, kFullHeight.value()};
 
-  frc::PWMSparkMax m_elevatorMotor{kMotorChannel};
-  frc::PIDController m_pidController{kP, kI, kD};
-  frc::Joystick m_joystick{kJoystickChannel};
+  wpi::PWMSparkMax m_elevatorMotor{kMotorChannel};
+  wpi::math::PIDController m_pidController{kP, kI, kD};
+  wpi::Joystick m_joystick{kJoystickChannel};
 
   size_t m_index;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
index 34447b0838..b19c972486 100644
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -13,11 +13,11 @@
  * the easiest way to get camera images to the dashboard. Just add this to the
  * robot class constructor.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
 #if defined(__linux__) || defined(_WIN32)
-    frc::CameraServer::StartAutomaticCapture();
+    wpi::CameraServer::StartAutomaticCapture();
 #else
     std::fputs("Vision only available on Linux or Windows.\n", stderr);
     std::fflush(stderr);
@@ -27,6 +27,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
index baf2a58586..dcc4d4f575 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
@@ -32,7 +32,7 @@ void RapidReactCommandBot::ConfigureBindings() {
 
   // Fire the shooter with the A button
   m_driverController.A().OnTrue(
-      frc2::cmd::Parallel(
+      wpi::cmd::cmd::Parallel(
           m_shooter.ShootCommand(ShooterConstants::kShooterTarget),
           m_storage.RunCommand())
           // Since we composed this inline we should give it a name
@@ -43,7 +43,7 @@ void RapidReactCommandBot::ConfigureBindings() {
       m_pneumatics.DisableCompressorCommand());
 }
 
-frc2::CommandPtr RapidReactCommandBot::GetAutonomousCommand() {
+wpi::cmd::CommandPtr RapidReactCommandBot::GetAutonomousCommand() {
   return m_drive
       .DriveDistanceCommand(AutoConstants::kDriveDistance,
                             AutoConstants::kDriveSpeed)
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
index b70b1c37f3..8bccf119a5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -15,7 +15,7 @@ void Robot::RobotPeriodic() {
   // finished or interrupted commands, and running subsystem Periodic() methods.
   // This must be called from the robot's periodic block in order for anything
   // in the Command-based framework to work.
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 void Robot::DisabledInit() {}
@@ -26,7 +26,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_robot.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -46,13 +46,13 @@ void Robot::TeleopPeriodic() {}
 
 void Robot::TestInit() {
   // Cancels all running commands at the start of test mode.
-  frc2::CommandScheduler::GetInstance().CancelAll();
+  wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
 void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
index 1c4beb469b..663f5b6772 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
@@ -10,8 +10,8 @@
 #include <wpi/system/RobotController.hpp>
 
 Drive::Drive() {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
 
   m_leftLeader.AddFollower(m_leftFollower);
   m_rightLeader.AddFollower(m_rightFollower);
@@ -34,7 +34,7 @@ Drive::Drive() {
                             DriveConstants::kTurnRateTolerance);
 }
 
-frc2::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
+wpi::cmd::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
                                            std::function<double()> rot) {
   return Run([this, fwd = std::move(fwd), rot = std::move(rot)] {
            m_drive.ArcadeDrive(fwd(), rot());
@@ -42,7 +42,7 @@ frc2::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
       .WithName("ArcadeDrive");
 }
 
-frc2::CommandPtr Drive::DriveDistanceCommand(units::meter_t distance,
+wpi::cmd::CommandPtr Drive::DriveDistanceCommand(wpi::units::meter_t distance,
                                              double speed) {
   return RunOnce([this] {
            // Reset encoders at the start of the command
@@ -52,15 +52,15 @@ frc2::CommandPtr Drive::DriveDistanceCommand(units::meter_t distance,
       // Drive forward at specified speed
       .AndThen(Run([this, speed] { m_drive.ArcadeDrive(speed, 0.0); }))
       .Until([this, distance] {
-        return units::math::max(units::meter_t(m_leftEncoder.GetDistance()),
-                                units::meter_t(m_rightEncoder.GetDistance())) >=
+        return wpi::units::math::max(wpi::units::meter_t(m_leftEncoder.GetDistance()),
+                                wpi::units::meter_t(m_rightEncoder.GetDistance())) >=
                distance;
       })
       // Stop the drive when the command ends
       .FinallyDo([this](bool interrupted) { m_drive.StopMotor(); });
 }
 
-frc2::CommandPtr Drive::TurnToAngleCommand(units::degree_t angle) {
+wpi::cmd::CommandPtr Drive::TurnToAngleCommand(wpi::units::degree_t angle) {
   return StartRun(
              [this] { m_controller.Reset(m_imu.GetRotation2d().Degrees()); },
              [this, angle] {
@@ -71,7 +71,7 @@ frc2::CommandPtr Drive::TurnToAngleCommand(units::degree_t angle) {
                           // normalize it to [-1, 1]
                           m_feedforward.Calculate(
                               m_controller.GetSetpoint().velocity) /
-                              frc::RobotController::GetBatteryVoltage());
+                              wpi::RobotController::GetBatteryVoltage());
              })
       .Until([this] { return m_controller.AtGoal(); })
       .FinallyDo([this] { m_drive.ArcadeDrive(0, 0); });
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
index 31feb4d848..b696c8f0f4 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
@@ -4,16 +4,16 @@
 
 #include "subsystems/Intake.hpp"
 
-frc2::CommandPtr Intake::IntakeCommand() {
-  return RunOnce([this] { m_piston.Set(frc::DoubleSolenoid::kForward); })
+wpi::cmd::CommandPtr Intake::IntakeCommand() {
+  return RunOnce([this] { m_piston.Set(wpi::DoubleSolenoid::kForward); })
       .AndThen(Run([this] { m_motor.Set(1.0); }))
       .WithName("Intake");
 }
 
-frc2::CommandPtr Intake::RetractCommand() {
+wpi::cmd::CommandPtr Intake::RetractCommand() {
   return RunOnce([this] {
            m_motor.Disable();
-           m_piston.Set(frc::DoubleSolenoid::kReverse);
+           m_piston.Set(wpi::DoubleSolenoid::kReverse);
          })
       .WithName("Retract");
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
index 3f5fac46a8..ddd3ac76be 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
@@ -6,7 +6,7 @@
 
 Pneumatics::Pneumatics() {}
 
-frc2::CommandPtr Pneumatics::DisableCompressorCommand() {
+wpi::cmd::CommandPtr Pneumatics::DisableCompressorCommand() {
   return StartEnd(
       [&] {
         // Disable closed-loop mode on the compressor.
@@ -20,8 +20,8 @@ frc2::CommandPtr Pneumatics::DisableCompressorCommand() {
       });
 }
 
-units::pounds_per_square_inch_t Pneumatics::GetPressure() {
+wpi::units::pounds_per_square_inch_t Pneumatics::GetPressure() {
   // Get the pressure (in PSI) from an analog pressure sensor connected to
   // the RIO.
-  return units::pounds_per_square_inch_t{m_pressureTransducer.Get()};
+  return wpi::units::pounds_per_square_inch_t{m_pressureTransducer.Get()};
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
index 8f5d0ac648..60ba31b7f2 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
@@ -19,19 +19,19 @@ Shooter::Shooter() {
                         .WithName("Idle"));
 }
 
-frc2::CommandPtr Shooter::ShootCommand(units::turns_per_second_t setpoint) {
-  return frc2::cmd::Parallel(
+wpi::cmd::CommandPtr Shooter::ShootCommand(wpi::units::turns_per_second_t setpoint) {
+  return wpi::cmd::cmd::Parallel(
              // Run the shooter flywheel at the desired setpoint using
              // feedforward and feedback
              Run([this, setpoint] {
                m_shooterMotor.SetVoltage(
                    m_shooterFeedforward.Calculate(setpoint) +
-                   units::volt_t(m_shooterFeedback.Calculate(
+                   wpi::units::volt_t(m_shooterFeedback.Calculate(
                        m_shooterEncoder.GetRate(), setpoint.value())));
              }),
              // Wait until the shooter has reached the setpoint, and then
              // run the feeder
-             frc2::cmd::WaitUntil([this] {
+             wpi::cmd::cmd::WaitUntil([this] {
                return m_shooterFeedback.AtSetpoint();
              }).AndThen([this] { m_feederMotor.Set(1.0); }))
       .WithName("Shoot");
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
index ce2105275f..b6adc60e91 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
@@ -9,6 +9,6 @@ Storage::Storage() {
       RunOnce([this] { m_motor.Disable(); }).AndThen([] {}).WithName("Idle"));
 }
 
-frc2::CommandPtr Storage::RunCommand() {
+wpi::cmd::CommandPtr Storage::RunCommand() {
   return Run([this] { m_motor.Set(1.0); }).WithName("Run");
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
index 1639e36aba..caa3d0fd54 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
@@ -24,7 +24,7 @@ inline constexpr bool kLeftEncoderReversed = false;
 inline constexpr bool kRightEncoderReversed = true;
 
 inline constexpr double kEncoderCPR = 1024;
-inline constexpr units::meter_t kWheelDiameter = 6_in;
+inline constexpr wpi::units::meter_t kWheelDiameter = 6_in;
 inline constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
     ((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
@@ -76,7 +76,7 @@ inline constexpr auto kShooterTolerance = 50_tps;
 // robot.
 inline constexpr double kP = 1;
 
-inline constexpr units::volt_t kS = 0.05_V;
+inline constexpr wpi::units::volt_t kS = 0.05_V;
 // Should have value 12V at free speed
 inline constexpr auto kV = 12_V / kShooterFree;
 
@@ -88,7 +88,7 @@ inline constexpr int kDriverControllerPort = 0;
 }  // namespace OIConstants
 
 namespace AutoConstants {
-constexpr units::second_t kTimeout = 3_s;
-constexpr units::meter_t kDriveDistance = 2_m;
+constexpr wpi::units::second_t kTimeout = 3_s;
+constexpr wpi::units::meter_t kDriveDistance = 2_m;
 constexpr double kDriveSpeed = 0.5;
 }  // namespace AutoConstants
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
index ee40f47131..bec4bf5c59 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
@@ -29,7 +29,7 @@ class RapidReactCommandBot {
    *
    * <p>Should be called in the robot class constructor.
    *
-   * <p>Event binding methods are available on the frc2::Trigger class.
+   * <p>Event binding methods are available on the wpi::cmd::Trigger class.
    */
   void ConfigureBindings();
 
@@ -38,7 +38,7 @@ class RapidReactCommandBot {
    *
    * <p>Scheduled during Robot::AutonomousInit().
    */
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   // The robot's subsystems
@@ -49,6 +49,6 @@ class RapidReactCommandBot {
   Pneumatics m_pneumatics;
 
   // The driver's controller
-  frc2::CommandXboxController m_driverController{
+  wpi::cmd::CommandXboxController m_driverController{
       OIConstants::kDriverControllerPort};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
index 00b67e52e1..eff1a55b71 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
@@ -11,7 +11,7 @@
 
 #include "RapidReactCommandBot.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -26,5 +26,5 @@ class Robot : public frc::TimedRobot {
 
  private:
   RapidReactCommandBot m_robot;
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
index 332d084c76..9e46055379 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
@@ -19,7 +19,7 @@
 
 #include "Constants.hpp"
 
-class Drive : public frc2::SubsystemBase {
+class Drive : public wpi::cmd::SubsystemBase {
  public:
   Drive();
   /**
@@ -28,7 +28,7 @@ class Drive : public frc2::SubsystemBase {
    * @param fwd the commanded forward movement
    * @param rot the commanded rotation
    */
-  frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
+  wpi::cmd::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
                                       std::function<double()> rot);
 
   /**
@@ -38,7 +38,7 @@ class Drive : public frc2::SubsystemBase {
    * @param distance The distance to drive forward in meters
    * @param speed The fraction of max speed at which to drive
    */
-  frc2::CommandPtr DriveDistanceCommand(units::meter_t distance, double speed);
+  wpi::cmd::CommandPtr DriveDistanceCommand(wpi::units::meter_t distance, double speed);
 
   /**
    * Returns a command that turns to robot to the specified angle using a motion
@@ -46,32 +46,32 @@ class Drive : public frc2::SubsystemBase {
    *
    * @param angle The angle to turn to
    */
-  frc2::CommandPtr TurnToAngleCommand(units::degree_t angle);
+  wpi::cmd::CommandPtr TurnToAngleCommand(wpi::units::degree_t angle);
 
  private:
-  frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
-  frc::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
-  frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
-  frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
+  wpi::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
+  wpi::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
+  wpi::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
+  wpi::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
 
-  frc::DifferentialDrive m_drive{
+  wpi::DifferentialDrive m_drive{
       [&](double output) { m_leftLeader.Set(output); },
       [&](double output) { m_rightLeader.Set(output); }};
 
-  frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
+  wpi::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
                              DriveConstants::kLeftEncoderPorts[1],
                              DriveConstants::kLeftEncoderReversed};
-  frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
+  wpi::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
                               DriveConstants::kRightEncoderPorts[1],
                               DriveConstants::kRightEncoderReversed};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::ProfiledPIDController<units::radians> m_controller{
+  wpi::math::ProfiledPIDController<wpi::units::radians> m_controller{
       DriveConstants::kTurnP,
       DriveConstants::kTurnI,
       DriveConstants::kTurnD,
       {DriveConstants::kMaxTurnRate, DriveConstants::kMaxTurnAcceleration}};
-  frc::SimpleMotorFeedforward<units::radians> m_feedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_feedforward{
       DriveConstants::ks, DriveConstants::kv, DriveConstants::ka};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
index 0b460db465..71addb4f6a 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
@@ -13,22 +13,22 @@
 
 #include "Constants.hpp"
 
-class Intake : public frc2::SubsystemBase {
+class Intake : public wpi::cmd::SubsystemBase {
  public:
   Intake() = default;
 
   /** Returns a command that deploys the intake, and then runs the intake motor
    * indefinitely. */
-  frc2::CommandPtr IntakeCommand();
+  wpi::cmd::CommandPtr IntakeCommand();
 
   /** Returns a command that turns off and retracts the intake. */
-  frc2::CommandPtr RetractCommand();
+  wpi::cmd::CommandPtr RetractCommand();
 
  private:
-  frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
+  wpi::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
 
   // Double solenoid connected to two channels of a PCM with the default CAN ID
-  frc::DoubleSolenoid m_piston{0, frc::PneumaticsModuleType::CTREPCM,
+  wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTREPCM,
                                IntakeConstants::kSolenoidPorts[0],
                                IntakeConstants::kSolenoidPorts[1]};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
index c97c61b15d..0faba9eea5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
@@ -13,18 +13,18 @@
 
 #include "Constants.hpp"
 
-class Pneumatics : frc2::SubsystemBase {
+class Pneumatics : wpi::cmd::SubsystemBase {
  public:
   Pneumatics();
   /** Returns a command that disables the compressor indefinitely. */
-  frc2::CommandPtr DisableCompressorCommand();
+  wpi::cmd::CommandPtr DisableCompressorCommand();
 
   /**
    * Query the analog pressure sensor.
    *
    * @return the measured pressure, in PSI
    */
-  units::pounds_per_square_inch_t GetPressure();
+  wpi::units::pounds_per_square_inch_t GetPressure();
 
  private:
   // External analog pressure sensor
@@ -35,9 +35,9 @@ class Pneumatics : frc2::SubsystemBase {
   // pressure is 250r-25
   static constexpr double kScale = 250;
   static constexpr double kOffset = -25;
-  frc::AnalogPotentiometer m_pressureTransducer{/* the AnalogIn port*/ 2,
+  wpi::AnalogPotentiometer m_pressureTransducer{/* the AnalogIn port*/ 2,
                                                 kScale, kOffset};
 
   // Compressor connected to a PH with a default CAN ID
-  frc::Compressor m_compressor{0, frc::PneumaticsModuleType::CTREPCM};
+  wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::CTREPCM};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
index 992a8c65a7..9861bf0616 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
@@ -17,7 +17,7 @@
 
 #include "Constants.hpp"
 
-class Shooter : public frc2::SubsystemBase {
+class Shooter : public wpi::cmd::SubsystemBase {
  public:
   Shooter();
 
@@ -28,16 +28,16 @@ class Shooter : public frc2::SubsystemBase {
    *
    * @param setpointRotationsPerSecond The desired shooter velocity
    */
-  frc2::CommandPtr ShootCommand(units::turns_per_second_t setpoint);
+  wpi::cmd::CommandPtr ShootCommand(wpi::units::turns_per_second_t setpoint);
 
  private:
-  frc::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
-  frc::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
+  wpi::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
+  wpi::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
 
-  frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
+  wpi::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
                                 ShooterConstants::kEncoderPorts[1],
                                 ShooterConstants::kEncoderReversed};
-  frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_shooterFeedforward{
       ShooterConstants::kS, ShooterConstants::kV};
-  frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
+  wpi::math::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
index f29d53f38d..6e16daffdd 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
@@ -12,16 +12,16 @@
 
 #include "Constants.hpp"
 
-class Storage : frc2::SubsystemBase {
+class Storage : wpi::cmd::SubsystemBase {
  public:
   Storage();
   /** Returns a command that runs the storage motor indefinitely. */
-  frc2::CommandPtr RunCommand();
+  wpi::cmd::CommandPtr RunCommand();
 
   /** Whether the ball storage is full. */
-  frc2::Trigger HasCargo{[this] { return m_ballSensor.Get(); }};
+  wpi::cmd::Trigger HasCargo{[this] { return m_ballSensor.Get(); }};
 
  private:
-  frc::PWMSparkMax m_motor{StorageConstants::kMotorPort};
-  frc::DigitalInput m_ballSensor{StorageConstants::kBallSensorPort};
+  wpi::PWMSparkMax m_motor{StorageConstants::kMotorPort};
+  wpi::DigitalInput m_ballSensor{StorageConstants::kBallSensorPort};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
index 534158dc96..35984f0b9d 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -17,7 +17,7 @@ Robot::Robot() {}
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
@@ -66,6 +66,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
index d191e2cb7b..99b9a38b84 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
@@ -21,15 +21,15 @@ void RobotContainer::ConfigureButtonBindings() {
       [this] { return -m_controller.GetRawAxis(2); }));
 
   // Example of how to use the onboard IO
-  m_onboardButtonA.OnTrue(frc2::cmd::Print("Button A Pressed"))
-      .OnFalse(frc2::cmd::Print("Button A Released"));
+  m_onboardButtonA.OnTrue(wpi::cmd::cmd::Print("Button A Pressed"))
+      .OnFalse(wpi::cmd::cmd::Print("Button A Released"));
 
   // Setup SmartDashboard options.
   m_chooser.SetDefaultOption("Auto Routine Distance", &m_autoDistance);
   m_chooser.AddOption("Auto Routine Time", &m_autoTime);
-  frc::SmartDashboard::PutData("Auto Selector", &m_chooser);
+  wpi::SmartDashboard::PutData("Auto Selector", &m_chooser);
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+wpi::cmd::Command* RobotContainer::GetAutonomousCommand() {
   return m_chooser.GetSelected();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
index ae9499479f..61d67e3d08 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
@@ -20,5 +20,5 @@ void DriveDistance::End(bool interrupted) {
 }
 
 bool DriveDistance::IsFinished() {
-  return units::math::abs(m_drive->GetAverageDistance()) >= m_distance;
+  return wpi::units::math::abs(m_drive->GetAverageDistance()) >= m_distance;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
index 94b3fea060..e92dbfa5cb 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
@@ -33,8 +33,8 @@ bool TurnDegrees::IsFinished() {
   return GetAverageTurningDistance() >= inchPerDegree * m_angle;
 }
 
-units::meter_t TurnDegrees::GetAverageTurningDistance() {
-  auto l = units::math::abs(m_drive->GetLeftDistance());
-  auto r = units::math::abs(m_drive->GetRightDistance());
+wpi::units::meter_t TurnDegrees::GetAverageTurningDistance() {
+  auto l = wpi::units::math::abs(m_drive->GetLeftDistance());
+  auto r = wpi::units::math::abs(m_drive->GetRightDistance());
   return (l + r) / 2;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
index 3080cadc8c..efcd548406 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -15,8 +15,8 @@ using namespace DriveConstants;
 // The Romi has onboard encoders that are hardcoded
 // to use DIO pins 4/5 and 6/7 for the left and right
 Drivetrain::Drivetrain() {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
 
   // We need to invert one side of the drivetrain so that positive voltages
   // result in both sides moving forward. Depending on how your robot's
@@ -51,27 +51,27 @@ int Drivetrain::GetRightEncoderCount() {
   return m_rightEncoder.Get();
 }
 
-units::meter_t Drivetrain::GetLeftDistance() {
-  return units::meter_t{m_leftEncoder.GetDistance()};
+wpi::units::meter_t Drivetrain::GetLeftDistance() {
+  return wpi::units::meter_t{m_leftEncoder.GetDistance()};
 }
 
-units::meter_t Drivetrain::GetRightDistance() {
-  return units::meter_t{m_rightEncoder.GetDistance()};
+wpi::units::meter_t Drivetrain::GetRightDistance() {
+  return wpi::units::meter_t{m_rightEncoder.GetDistance()};
 }
 
-units::meter_t Drivetrain::GetAverageDistance() {
+wpi::units::meter_t Drivetrain::GetAverageDistance() {
   return (GetLeftDistance() + GetRightDistance()) / 2.0;
 }
 
-units::radian_t Drivetrain::GetGyroAngleX() {
+wpi::units::radian_t Drivetrain::GetGyroAngleX() {
   return m_gyro.GetAngleX();
 }
 
-units::radian_t Drivetrain::GetGyroAngleY() {
+wpi::units::radian_t Drivetrain::GetGyroAngleY() {
   return m_gyro.GetAngleY();
 }
 
-units::radian_t Drivetrain::GetGyroAngleZ() {
+wpi::units::radian_t Drivetrain::GetGyroAngleZ() {
   return m_gyro.GetAngleZ();
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
index b89d567b62..ffeab02e6f 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
@@ -9,7 +9,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -24,6 +24,6 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  wpi::cmd::Command* m_autonomousCommand = nullptr;
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
index e7a30a9613..3109e5dad4 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
@@ -38,20 +38,20 @@ class RobotContainer {
   // Your subsystem configuration should take the overlays into account
  public:
   RobotContainer();
-  frc2::Command* GetAutonomousCommand();
+  wpi::cmd::Command* GetAutonomousCommand();
 
  private:
   // Assumes a gamepad plugged into channel 0
-  frc::Joystick m_controller{0};
-  frc::SendableChooser<frc2::Command*> m_chooser;
+  wpi::Joystick m_controller{0};
+  wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   // The robot's subsystems
   Drivetrain m_drive;
-  frc::OnBoardIO m_onboardIO{frc::OnBoardIO::ChannelMode::INPUT,
-                             frc::OnBoardIO::ChannelMode::INPUT};
+  wpi::romi::OnBoardIO m_onboardIO{wpi::romi::OnBoardIO::ChannelMode::INPUT,
+                             wpi::romi::OnBoardIO::ChannelMode::INPUT};
 
   // Example button
-  frc2::Trigger m_onboardButtonA{
+  wpi::cmd::Trigger m_onboardButtonA{
       [this] { return m_onboardIO.GetButtonAPressed(); }};
 
   // Autonomous commands.
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
index 227f0924de..bd29bdefe0 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class AutonomousDistance
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup,
                                  AutonomousDistance> {
  public:
   /**
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
index 31cc56df0c..e2dde7998a 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class AutonomousTime
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup, AutonomousTime> {
  public:
   /**
    * Creates a new Autonomous Drive based on time. This will drive out for a
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
index 3b6abf364f..49fc11fb98 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
@@ -10,7 +10,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
+class DriveDistance : public wpi::cmd::CommandHelper<wpi::cmd::Command, DriveDistance> {
  public:
   /**
    * Creates a new DriveDistance. This command will drive your your robot for a
@@ -20,7 +20,7 @@ class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
    * @param distance The distance the robot will drive
    * @param drive The drivetrain subsystem on which this command will run
    */
-  DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
+  DriveDistance(double speed, wpi::units::meter_t distance, Drivetrain* drive)
       : m_speed(speed), m_distance(distance), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -32,6 +32,6 @@ class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
 
  private:
   double m_speed;
-  units::meter_t m_distance;
+  wpi::units::meter_t m_distance;
   Drivetrain* m_drive;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
index e8983b5acf..3ab5ad2a8a 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
+class DriveTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, DriveTime> {
  public:
   /**
    * Creates a new DriveTime. This command will drive your robot for a desired
@@ -21,7 +21,7 @@ class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
    * @param time How much time to drive
    * @param drive The drivetrain subsystem on which this command will run
    */
-  DriveTime(double speed, units::second_t time, Drivetrain* drive)
+  DriveTime(double speed, wpi::units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -33,7 +33,7 @@ class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
 
  private:
   double m_speed;
-  units::second_t m_duration;
+  wpi::units::second_t m_duration;
   Drivetrain* m_drive;
-  frc::Timer m_timer;
+  wpi::Timer m_timer;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
index f4682d6299..e0e7ce6f22 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class TeleopArcadeDrive
-    : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::Command, TeleopArcadeDrive> {
  public:
   /**
    * Creates a new ArcadeDrive. This command will drive your robot according to
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
index 2dd2b4cf86..90df6e892a 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
+class TurnDegrees : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnDegrees> {
  public:
   /**
    * Creates a new TurnDegrees. This command will turn your robot for a desired
@@ -21,7 +21,7 @@ class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
    * @param degrees Degrees to turn. Leverages encoders to compare distance.
    * @param drive The drive subsystem on which this command will run
    */
-  TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
+  TurnDegrees(double speed, wpi::units::degree_t angle, Drivetrain* drive)
       : m_speed(speed), m_angle(angle), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -33,8 +33,8 @@ class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
 
  private:
   double m_speed;
-  units::degree_t m_angle;
+  wpi::units::degree_t m_angle;
   Drivetrain* m_drive;
 
-  units::meter_t GetAverageTurningDistance();
+  wpi::units::meter_t GetAverageTurningDistance();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
index 3a2b4fc33f..3d8ac60f0d 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
+class TurnTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnTime> {
  public:
   /**
    * Creates a new TurnTime.
@@ -20,7 +20,7 @@ class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
    * @param time How much time to turn
    * @param drive The drive subsystem on which this command will run
    */
-  TurnTime(double speed, units::second_t time, Drivetrain* drive)
+  TurnTime(double speed, wpi::units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -32,7 +32,7 @@ class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
 
  private:
   double m_speed;
-  units::second_t m_duration;
+  wpi::units::second_t m_duration;
   Drivetrain* m_drive;
-  frc::Timer m_timer;
+  wpi::Timer m_timer;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
index 67453f4f8f..eab1e2b789 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
@@ -13,10 +13,10 @@
 #include <wpi/units/angle.hpp>
 #include <wpi/units/length.hpp>
 
-class Drivetrain : public frc2::SubsystemBase {
+class Drivetrain : public wpi::cmd::SubsystemBase {
  public:
   static constexpr double kCountsPerRevolution = 1440.0;
-  static constexpr units::meter_t kWheelDiameter = 70_mm;
+  static constexpr wpi::units::meter_t kWheelDiameter = 70_mm;
 
   Drivetrain();
 
@@ -57,42 +57,42 @@ class Drivetrain : public frc2::SubsystemBase {
    *
    * @return the left-side distance driven
    */
-  units::meter_t GetLeftDistance();
+  wpi::units::meter_t GetLeftDistance();
 
   /**
    * Gets the right distance driven.
    *
    * @return the right-side distance driven
    */
-  units::meter_t GetRightDistance();
+  wpi::units::meter_t GetRightDistance();
 
   /**
    * Returns the average distance traveled by the left and right encoders.
    *
    * @return The average distance traveled by the left and right encoders.
    */
-  units::meter_t GetAverageDistance();
+  wpi::units::meter_t GetAverageDistance();
 
   /**
    * Current angle of the Romi around the X-axis.
    *
    * @return The current angle of the Romi.
    */
-  units::radian_t GetGyroAngleX();
+  wpi::units::radian_t GetGyroAngleX();
 
   /**
    * Current angle of the Romi around the Y-axis.
    *
    * @return The current angle of the Romi.
    */
-  units::radian_t GetGyroAngleY();
+  wpi::units::radian_t GetGyroAngleY();
 
   /**
    * Current angle of the Romi around the Z-axis.
    *
    * @return The current angle of the Romi.
    */
-  units::radian_t GetGyroAngleZ();
+  wpi::units::radian_t GetGyroAngleZ();
 
   /**
    * Reset the gyro.
@@ -100,15 +100,15 @@ class Drivetrain : public frc2::SubsystemBase {
   void ResetGyro();
 
  private:
-  frc::Spark m_leftMotor{0};
-  frc::Spark m_rightMotor{1};
+  wpi::Spark m_leftMotor{0};
+  wpi::Spark m_rightMotor{1};
 
-  frc::Encoder m_leftEncoder{4, 5};
-  frc::Encoder m_rightEncoder{6, 7};
+  wpi::Encoder m_leftEncoder{4, 5};
+  wpi::Encoder m_rightEncoder{6, 7};
 
-  frc::DifferentialDrive m_drive{
+  wpi::DifferentialDrive m_drive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
 
-  frc::RomiGyro m_gyro;
+  wpi::romi::RomiGyro m_gyro;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
index 36079cc8e9..9e238c07f8 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -18,7 +18,7 @@ Robot::Robot() {}
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
@@ -67,6 +67,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
index 70bab22b3c..9b832e3028 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
@@ -13,7 +13,7 @@ RobotContainer::RobotContainer() {
   m_chooser.AddOption("TWO", CommandSelector::TWO);
   m_chooser.AddOption("THREE", CommandSelector::THREE);
 
-  frc::SmartDashboard::PutData("Auto Chooser", &m_chooser);
+  wpi::SmartDashboard::PutData("Auto Chooser", &m_chooser);
 
   // Configure the button bindings
   ConfigureButtonBindings();
@@ -23,7 +23,7 @@ void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+wpi::cmd::Command* RobotContainer::GetAutonomousCommand() {
   // Run the select command in autonomous
   return m_exampleSelectCommand.get();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
index 7a9d5e7e42..219b7b9799 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
@@ -9,7 +9,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -24,7 +24,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  wpi::cmd::Command* m_autonomousCommand = nullptr;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
index f594b09ae1..1d362c7ef8 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
@@ -20,14 +20,14 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  wpi::cmd::Command* GetAutonomousCommand();
 
  private:
   // The enum used as keys for selecting the command to run.
   enum CommandSelector { ONE, TWO, THREE };
 
   // An example of how command selector may be used with SendableChooser
-  frc::SendableChooser<CommandSelector> m_chooser;
+  wpi::SendableChooser<CommandSelector> m_chooser;
 
   // The robot's subsystems and commands are defined here...
 
@@ -35,12 +35,12 @@ class RobotContainer {
   // value returned by the selector method at runtime.  Note that selectcommand
   // takes a generic type, so the selector does not have to be an enum; it could
   // be any desired type (string, integer, boolean, double...)
-  frc2::CommandPtr m_exampleSelectCommand = frc2::cmd::Select<CommandSelector>(
+  wpi::cmd::CommandPtr m_exampleSelectCommand = wpi::cmd::cmd::Select<CommandSelector>(
       [this] { return m_chooser.GetSelected(); },
       // Maps selector values to commands
-      std::pair{ONE, frc2::cmd::Print("Command one was selected!")},
-      std::pair{TWO, frc2::cmd::Print("Command two was selected!")},
-      std::pair{THREE, frc2::cmd::Print("Command three was selected!")});
+      std::pair{ONE, wpi::cmd::cmd::Print("Command one was selected!")},
+      std::pair{TWO, wpi::cmd::cmd::Print("Command two was selected!")},
+      std::pair{THREE, wpi::cmd::cmd::Print("Command three was selected!")});
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index 33b5bbfc23..e24f4418d9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -6,7 +6,7 @@
 
 #include <wpi/system/RobotController.hpp>
 
-void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
+void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
   auto leftFeedforward = m_feedforward.Calculate(speeds.left);
   auto rightFeedforward = m_feedforward.Calculate(speeds.right);
   double leftOutput = m_leftPIDController.Calculate(m_leftEncoder.GetRate(),
@@ -14,26 +14,26 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
   double rightOutput = m_rightPIDController.Calculate(m_rightEncoder.GetRate(),
                                                       speeds.right.value());
 
-  m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
-  m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
+  m_leftLeader.SetVoltage(wpi::units::volt_t{leftOutput} + leftFeedforward);
+  m_rightLeader.SetVoltage(wpi::units::volt_t{rightOutput} + rightFeedforward);
 }
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::radians_per_second_t rot) {
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::radians_per_second_t rot) {
   SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot}));
 }
 
 void Drivetrain::UpdateOdometry() {
   m_odometry.Update(m_imu.GetRotation2d(),
-                    units::meter_t{m_leftEncoder.GetDistance()},
-                    units::meter_t{m_rightEncoder.GetDistance()});
+                    wpi::units::meter_t{m_leftEncoder.GetDistance()},
+                    wpi::units::meter_t{m_rightEncoder.GetDistance()});
 }
 
-void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
+void Drivetrain::ResetOdometry(const wpi::math::Pose2d& pose) {
   m_drivetrainSimulator.SetPose(pose);
   m_odometry.ResetPosition(m_imu.GetRotation2d(),
-                           units::meter_t{m_leftEncoder.GetDistance()},
-                           units::meter_t{m_rightEncoder.GetDistance()}, pose);
+                           wpi::units::meter_t{m_leftEncoder.GetDistance()},
+                           wpi::units::meter_t{m_rightEncoder.GetDistance()}, pose);
 }
 
 void Drivetrain::SimulationPeriodic() {
@@ -41,10 +41,10 @@ void Drivetrain::SimulationPeriodic() {
   // simulation, and write the simulated positions and velocities to our
   // simulated encoder and gyro. We negate the right side so that positive
   // voltages make the right side move forward.
-  m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
-                                      frc::RobotController::GetInputVoltage(),
-                                  units::volt_t{m_rightLeader.Get()} *
-                                      frc::RobotController::GetInputVoltage());
+  m_drivetrainSimulator.SetInputs(wpi::units::volt_t{m_leftLeader.Get()} *
+                                      wpi::RobotController::GetInputVoltage(),
+                                  wpi::units::volt_t{m_rightLeader.Get()} *
+                                      wpi::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
   m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value());
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index cdf131f3c4..7cafbd1491 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -11,12 +11,12 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
-    m_trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-        frc::Pose2d{2_m, 2_m, 0_rad}, {}, frc::Pose2d{6_m, 4_m, 0_rad},
-        frc::TrajectoryConfig(2_mps, 2_mps_sq));
+    m_trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+        wpi::math::Pose2d{2_m, 2_m, 0_rad}, {}, wpi::math::Pose2d{6_m, 4_m, 0_rad},
+        wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
   }
 
   void RobotPeriodic() override { m_drive.Periodic(); }
@@ -52,21 +52,21 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_speedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_speedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   Drivetrain m_drive;
-  frc::Trajectory m_trajectory;
-  frc::LTVUnicycleController m_feedback{20_ms};
-  frc::Timer m_timer;
+  wpi::math::Trajectory m_trajectory;
+  wpi::math::LTVUnicycleController m_feedback{20_ms};
+  wpi::Timer m_timer;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
index c0767524fe..881aaab04f 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
@@ -52,59 +52,59 @@ class Drivetrain {
 
     m_rightLeader.SetInverted(true);
 
-    frc::SmartDashboard::PutData("Field", &m_fieldSim);
+    wpi::SmartDashboard::PutData("Field", &m_fieldSim);
   }
 
-  static constexpr units::meters_per_second_t kMaxSpeed =
+  static constexpr wpi::units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
-  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
-  void Drive(units::meters_per_second_t xSpeed,
-             units::radians_per_second_t rot);
+  void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::radians_per_second_t rot);
   void UpdateOdometry();
-  void ResetOdometry(const frc::Pose2d& pose);
+  void ResetOdometry(const wpi::math::Pose2d& pose);
 
-  frc::Pose2d GetPose() const { return m_odometry.GetPose(); }
+  wpi::math::Pose2d GetPose() const { return m_odometry.GetPose(); }
 
   void SimulationPeriodic();
   void Periodic();
 
  private:
-  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
+  static constexpr wpi::units::meter_t kTrackwidth = 0.381_m * 2;
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
-  frc::PWMSparkMax m_leftLeader{1};
-  frc::PWMSparkMax m_leftFollower{2};
-  frc::PWMSparkMax m_rightLeader{3};
-  frc::PWMSparkMax m_rightFollower{4};
+  wpi::PWMSparkMax m_leftLeader{1};
+  wpi::PWMSparkMax m_leftFollower{2};
+  wpi::PWMSparkMax m_rightLeader{3};
+  wpi::PWMSparkMax m_rightFollower{4};
 
-  frc::Encoder m_leftEncoder{0, 1};
-  frc::Encoder m_rightEncoder{2, 3};
+  wpi::Encoder m_leftEncoder{0, 1};
+  wpi::Encoder m_rightEncoder{2, 3};
 
-  frc::PIDController m_leftPIDController{8.5, 0.0, 0.0};
-  frc::PIDController m_rightPIDController{8.5, 0.0, 0.0};
+  wpi::math::PIDController m_leftPIDController{8.5, 0.0, 0.0};
+  wpi::math::PIDController m_rightPIDController{8.5, 0.0, 0.0};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
-  frc::DifferentialDriveOdometry m_odometry{
-      m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
-      units::meter_t{m_rightEncoder.GetDistance()}};
+  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
+  wpi::math::DifferentialDriveOdometry m_odometry{
+      m_imu.GetRotation2d(), wpi::units::meter_t{m_leftEncoder.GetDistance()},
+      wpi::units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
 
   // Simulation classes help us simulate our robot
-  frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
-  frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
-  frc::Field2d m_fieldSim;
-  frc::LinearSystem<2, 2, 2> m_drivetrainSystem =
-      frc::LinearSystemId::IdentifyDrivetrainSystem(
+  wpi::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
+  wpi::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
+  wpi::Field2d m_fieldSim;
+  wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
+      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
           1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
-  frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
-      m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
+  wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
+      m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
index 0d33e6fc44..ae6df0d8d5 100644
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
@@ -9,9 +9,9 @@
 
 Robot::Robot() {
   // Publish elements to shuffleboard.
-  frc::SmartDashboard::PutData("Single Solenoid", &m_solenoid);
-  frc::SmartDashboard::PutData("Double Solenoid", &m_doubleSolenoid);
-  frc::SmartDashboard::PutData("Compressor", &m_compressor);
+  wpi::SmartDashboard::PutData("Single Solenoid", &m_solenoid);
+  wpi::SmartDashboard::PutData("Double Solenoid", &m_doubleSolenoid);
+  wpi::SmartDashboard::PutData("Compressor", &m_compressor);
 }
 
 void Robot::TeleopPeriodic() {
@@ -20,17 +20,17 @@ void Robot::TeleopPeriodic() {
   // Get the pressure (in PSI) from the analog sensor connected to the PH.
   // This function is supported only on the PH!
   // On a PCM, this function will return 0.
-  frc::SmartDashboard::PutNumber("PH Pressure [PSI]",
+  wpi::SmartDashboard::PutNumber("PH Pressure [PSI]",
                                  m_compressor.GetPressure().value());
   // Get compressor current draw.
-  frc::SmartDashboard::PutNumber("Compressor Current",
+  wpi::SmartDashboard::PutNumber("Compressor Current",
                                  m_compressor.GetCurrent().value());
   // Get whether the compressor is active.
-  frc::SmartDashboard::PutBoolean("Compressor Active",
+  wpi::SmartDashboard::PutBoolean("Compressor Active",
                                   m_compressor.IsEnabled());
   // Get the digital pressure switch connected to the PCM/PH.
   // The switch is open when the pressure is over ~120 PSI.
-  frc::SmartDashboard::PutBoolean("Pressure Switch",
+  wpi::SmartDashboard::PutBoolean("Pressure Switch",
                                   m_compressor.GetPressureSwitchValue());
 
   /*
@@ -45,9 +45,9 @@ void Robot::TeleopPeriodic() {
    * If a button is pressed, set the solenoid to the respective channel.
    */
   if (m_stick.GetRawButtonPressed(kDoubleSolenoidForward)) {
-    m_doubleSolenoid.Set(frc::DoubleSolenoid::kForward);
+    m_doubleSolenoid.Set(wpi::DoubleSolenoid::kForward);
   } else if (m_stick.GetRawButtonPressed(kDoubleSolenoidReverse)) {
-    m_doubleSolenoid.Set(frc::DoubleSolenoid::kReverse);
+    m_doubleSolenoid.Set(wpi::DoubleSolenoid::kReverse);
   }
 
   // On button press, toggle the compressor with the mode selected from the
@@ -89,6 +89,6 @@ void Robot::TeleopPeriodic() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
index d72be2d7be..11ce33e648 100644
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
@@ -33,27 +33,27 @@
  * single solenoids only take a single channel.
  */
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void TeleopPeriodic() override;
 
  private:
-  frc::Joystick m_stick{0};
+  wpi::Joystick m_stick{0};
 
   // Solenoid corresponds to a single solenoid.
   // In this case, it's connected to channel 0 of a PH with the default CAN
   // ID.
-  frc::Solenoid m_solenoid{0, frc::PneumaticsModuleType::REVPH, 0};
+  wpi::Solenoid m_solenoid{0, wpi::PneumaticsModuleType::REVPH, 0};
 
   // DoubleSolenoid corresponds to a double solenoid.
   // In this case, it's connected to channels 1 and 2 of a PH with the default
   // CAN ID.
-  frc::DoubleSolenoid m_doubleSolenoid{0, frc::PneumaticsModuleType::REVPH, 1,
+  wpi::DoubleSolenoid m_doubleSolenoid{0, wpi::PneumaticsModuleType::REVPH, 1,
                                        2};
 
   // Compressor connected to a PH with a default CAN ID
-  frc::Compressor m_compressor{0, frc::PneumaticsModuleType::REVPH};
+  wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::REVPH};
 
   static constexpr int kSolenoidButton = 1;
   static constexpr int kDoubleSolenoidForward = 2;
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index bacaf7a575..79eef8764a 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -22,18 +22,18 @@
  * This is a sample program to demonstrate how to use a state-space controller
  * to control an arm.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   static constexpr int kMotorPort = 0;
   static constexpr int kEncoderAChannel = 0;
   static constexpr int kEncoderBChannel = 1;
   static constexpr int kJoystickPort = 0;
 
-  static constexpr units::radian_t kRaisedPosition = 90_deg;
-  static constexpr units::radian_t kLoweredPosition = 0_deg;
+  static constexpr wpi::units::radian_t kRaisedPosition = 90_deg;
+  static constexpr wpi::units::radian_t kLoweredPosition = 0_deg;
 
   // Moment of inertia of the arm. Can be estimated with CAD. If finding this
-  // constant is difficult, LinearSystem.identifyPositionSystem may be better.
-  static constexpr units::kilogram_square_meter_t kArmMOI = 1.2_kg_sq_m;
+  // constant is difficult, wpi::math::LinearSystem.identifyPositionSystem may be better.
+  static constexpr wpi::units::kilogram_square_meter_t kArmMOI = 1.2_kg_sq_m;
 
   // Reduction between motors and encoder, as output over input. If the arm
   // spins slower than the motors, this number should be greater than one.
@@ -45,13 +45,13 @@ class Robot : public frc::TimedRobot {
   // States: [position, velocity], in radians and radians per second.
   // Inputs (what we can "put in"): [voltage], in volts.
   // Outputs (what we can measure): [position], in radians.
-  frc::LinearSystem<2, 1, 1> m_armPlant =
-      frc::LinearSystemId::SingleJointedArmSystem(frc::DCMotor::NEO(2), kArmMOI,
+  wpi::math::LinearSystem<2, 1, 1> m_armPlant =
+      wpi::math::LinearSystemId::SingleJointedArmSystem(wpi::math::DCMotor::NEO(2), kArmMOI,
                                                   kArmGearing)
           .Slice(0);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  frc::KalmanFilter<2, 1, 1> m_observer{
+  wpi::math::KalmanFilter<2, 1, 1> m_observer{
       m_armPlant,
       {0.015, 0.17},  // How accurate we think our model is
       {0.01},         // How accurate we think our encoder position
@@ -60,7 +60,7 @@ class Robot : public frc::TimedRobot {
       20_ms};
 
   // A LQR uses feedback to create voltage commands.
-  frc::LinearQuadraticRegulator<2, 1> m_controller{
+  wpi::math::LinearQuadraticRegulator<2, 1> m_controller{
       m_armPlant,
       // qelms. Velocity error tolerance, in radians and radians per second.
       // Decrease this to more heavily penalize state excursion, or make the
@@ -78,19 +78,19 @@ class Robot : public frc::TimedRobot {
 
   // The state-space loop combines a controller, observer, feedforward and plant
   // for easy control.
-  frc::LinearSystemLoop<2, 1, 1> m_loop{m_armPlant, m_controller, m_observer,
+  wpi::math::LinearSystemLoop<2, 1, 1> m_loop{m_armPlant, m_controller, m_observer,
                                         12_V, 20_ms};
 
   // An encoder set up to measure arm position in radians per second.
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMSparkMax m_motor{kMotorPort};
-  frc::XboxController m_joystick{kJoystickPort};
+  wpi::PWMSparkMax m_motor{kMotorPort};
+  wpi::XboxController m_joystick{kJoystickPort};
 
-  frc::TrapezoidProfile<units::radians> m_profile{
+  wpi::math::TrapezoidProfile<wpi::units::radians> m_profile{
       {45_deg_per_s, 90_deg_per_s / 1_s}};
 
-  frc::TrapezoidProfile<units::radians>::State m_lastProfiledReference;
+  wpi::math::TrapezoidProfile<wpi::units::radians>::State m_lastProfiledReference;
 
  public:
   Robot() {
@@ -99,17 +99,17 @@ class Robot : public frc::TimedRobot {
   }
 
   void TeleopInit() override {
-    m_loop.Reset(frc::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
+    m_loop.Reset(wpi::math::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
 
     m_lastProfiledReference = {
-        units::radian_t{m_encoder.GetDistance()},
-        units::radians_per_second_t{m_encoder.GetRate()}};
+        wpi::units::radian_t{m_encoder.GetDistance()},
+        wpi::units::radians_per_second_t{m_encoder.GetRate()}};
   }
 
   void TeleopPeriodic() override {
     // Sets the target position of our arm. This is similar to setting the
     // setpoint of a PID controller.
-    frc::TrapezoidProfile<units::radians>::State goal;
+    wpi::math::TrapezoidProfile<wpi::units::radians>::State goal;
     if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_rad_per_s};
@@ -120,11 +120,11 @@ class Robot : public frc::TimedRobot {
     m_lastProfiledReference =
         m_profile.Calculate(20_ms, m_lastProfiledReference, goal);
 
-    m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
+    m_loop.SetNextR(wpi::math::Vectord<2>{m_lastProfiledReference.position.value(),
                                     m_lastProfiledReference.velocity.value()});
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(frc::Vectord<1>{m_encoder.GetDistance()});
+    m_loop.Correct(wpi::math::Vectord<1>{m_encoder.GetDistance()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -133,12 +133,12 @@ class Robot : public frc::TimedRobot {
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
+    m_motor.SetVoltage(wpi::units::volt_t{m_loop.U(0)});
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index cafca88950..29d5ebbcb7 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -24,17 +24,17 @@
  * This is a sample program to demonstrate how to use a state-space controller
  * to control an elevator.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   static constexpr int kMotorPort = 0;
   static constexpr int kEncoderAChannel = 0;
   static constexpr int kEncoderBChannel = 1;
   static constexpr int kJoystickPort = 0;
 
-  static constexpr units::meter_t kRaisedPosition = 2_ft;
-  static constexpr units::meter_t kLoweredPosition = 0_ft;
+  static constexpr wpi::units::meter_t kRaisedPosition = 2_ft;
+  static constexpr wpi::units::meter_t kLoweredPosition = 0_ft;
 
-  static constexpr units::meter_t kDrumRadius = 0.75_in;
-  static constexpr units::kilogram_t kCarriageMass = 4.5_kg;
+  static constexpr wpi::units::meter_t kDrumRadius = 0.75_in;
+  static constexpr wpi::units::kilogram_t kCarriageMass = 4.5_kg;
   static constexpr double kGearRatio = 6.0;
 
   // The plant holds a state-space model of our elevator. This system has the
@@ -43,16 +43,16 @@ class Robot : public frc::TimedRobot {
   // States: [position, velocity], in meters and meters per second.
   // Inputs (what we can "put in"): [voltage], in volts.
   // Outputs (what we can measure): [position], in meters.
-  frc::LinearSystem<2, 1, 1> m_elevatorPlant =
-      frc::LinearSystemId::ElevatorSystem(frc::DCMotor::NEO(2), kCarriageMass,
+  wpi::math::LinearSystem<2, 1, 1> m_elevatorPlant =
+      wpi::math::LinearSystemId::ElevatorSystem(wpi::math::DCMotor::NEO(2), kCarriageMass,
                                           kDrumRadius, kGearRatio)
           .Slice(0);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  frc::KalmanFilter<2, 1, 1> m_observer{
+  wpi::math::KalmanFilter<2, 1, 1> m_observer{
       m_elevatorPlant,
-      {units::meter_t{2_in}.value(),
-       units::meters_per_second_t{40_in / 1_s}
+      {wpi::units::meter_t{2_in}.value(),
+       wpi::units::meters_per_second_t{40_in / 1_s}
            .value()},  // How accurate we think our model is
       {0.001},         // How accurate we think our encoder position
       // data is. In this case we very highly trust our encoder position
@@ -60,13 +60,13 @@ class Robot : public frc::TimedRobot {
       20_ms};
 
   // A LQR uses feedback to create voltage commands.
-  frc::LinearQuadraticRegulator<2, 1> m_controller{
+  wpi::math::LinearQuadraticRegulator<2, 1> m_controller{
       m_elevatorPlant,
       // qelms. State error tolerance, in meters and meters per second.
       // Decrease this to more heavily penalize state excursion, or make the
       // controller behave more aggressively.
-      {units::meter_t{1_in}.value(),
-       units::meters_per_second_t{10_in / 1_s}.value()},
+      {wpi::units::meter_t{1_in}.value(),
+       wpi::units::meters_per_second_t{10_in / 1_s}.value()},
       // relms. Control effort (voltage) tolerance. Decrease this to more
       // heavily penalize control effort, or make the controller less
       // aggressive. 12 is a good starting point because that is the
@@ -78,18 +78,18 @@ class Robot : public frc::TimedRobot {
 
   // The state-space loop combines a controller, observer, feedforward and plant
   // for easy control.
-  frc::LinearSystemLoop<2, 1, 1> m_loop{m_elevatorPlant, m_controller,
+  wpi::math::LinearSystemLoop<2, 1, 1> m_loop{m_elevatorPlant, m_controller,
                                         m_observer, 12_V, 20_ms};
 
   // An encoder set up to measure elevator height in meters.
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMSparkMax m_motor{kMotorPort};
-  frc::XboxController m_joystick{kJoystickPort};
+  wpi::PWMSparkMax m_motor{kMotorPort};
+  wpi::XboxController m_joystick{kJoystickPort};
 
-  frc::TrapezoidProfile<units::meters> m_profile{{3_fps, 6_fps_sq}};
+  wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{{3_fps, 6_fps_sq}};
 
-  frc::TrapezoidProfile<units::meters>::State m_lastProfiledReference;
+  wpi::math::TrapezoidProfile<wpi::units::meters>::State m_lastProfiledReference;
 
  public:
   Robot() {
@@ -100,16 +100,16 @@ class Robot : public frc::TimedRobot {
 
   void TeleopInit() override {
     // Reset our loop to make sure it's in a known state.
-    m_loop.Reset(frc::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
+    m_loop.Reset(wpi::math::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
 
-    m_lastProfiledReference = {units::meter_t{m_encoder.GetDistance()},
-                               units::meters_per_second_t{m_encoder.GetRate()}};
+    m_lastProfiledReference = {wpi::units::meter_t{m_encoder.GetDistance()},
+                               wpi::units::meters_per_second_t{m_encoder.GetRate()}};
   }
 
   void TeleopPeriodic() override {
     // Sets the target height of our elevator. This is similar to setting the
     // setpoint of a PID controller.
-    frc::TrapezoidProfile<units::meters>::State goal;
+    wpi::math::TrapezoidProfile<wpi::units::meters>::State goal;
     if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_fps};
@@ -120,11 +120,11 @@ class Robot : public frc::TimedRobot {
     m_lastProfiledReference =
         m_profile.Calculate(20_ms, m_lastProfiledReference, goal);
 
-    m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
+    m_loop.SetNextR(wpi::math::Vectord<2>{m_lastProfiledReference.position.value(),
                                     m_lastProfiledReference.velocity.value()});
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(frc::Vectord<1>{m_encoder.GetDistance()});
+    m_loop.Correct(wpi::math::Vectord<1>{m_encoder.GetDistance()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -133,12 +133,12 @@ class Robot : public frc::TimedRobot {
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
+    m_motor.SetVoltage(wpi::units::volt_t{m_loop.U(0)});
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index c4bab2cb24..3cca5bbe74 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -21,14 +21,14 @@
  * This is a sample program to demonstrate how to use a state-space controller
  * to control a flywheel.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   static constexpr int kMotorPort = 0;
   static constexpr int kEncoderAChannel = 0;
   static constexpr int kEncoderBChannel = 1;
   static constexpr int kJoystickPort = 0;
-  static constexpr units::radians_per_second_t kSpinup = 500_rpm;
+  static constexpr wpi::units::radians_per_second_t kSpinup = 500_rpm;
 
-  static constexpr units::kilogram_square_meter_t kFlywheelMomentOfInertia =
+  static constexpr wpi::units::kilogram_square_meter_t kFlywheelMomentOfInertia =
       0.00032_kg_sq_m;
 
   // Reduction between motors and encoder, as output over input. If the flywheel
@@ -41,19 +41,19 @@ class Robot : public frc::TimedRobot {
   // States: [velocity], in radians per second.
   // Inputs (what we can "put in"): [voltage], in volts.
   // Outputs (what we can measure): [velocity], in radians per second.
-  frc::LinearSystem<1, 1, 1> m_flywheelPlant =
-      frc::LinearSystemId::FlywheelSystem(
-          frc::DCMotor::NEO(2), kFlywheelMomentOfInertia, kFlywheelGearing);
+  wpi::math::LinearSystem<1, 1, 1> m_flywheelPlant =
+      wpi::math::LinearSystemId::FlywheelSystem(
+          wpi::math::DCMotor::NEO(2), kFlywheelMomentOfInertia, kFlywheelGearing);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  frc::KalmanFilter<1, 1, 1> m_observer{
+  wpi::math::KalmanFilter<1, 1, 1> m_observer{
       m_flywheelPlant,
       {3.0},   // How accurate we think our model is
       {0.01},  // How accurate we think our encoder data is
       20_ms};
 
   // A LQR uses feedback to create voltage commands.
-  frc::LinearQuadraticRegulator<1, 1> m_controller{
+  wpi::math::LinearQuadraticRegulator<1, 1> m_controller{
       m_flywheelPlant,
       // qelms. Velocity error tolerance, in radians per second. Decrease this
       // to more heavily penalize state excursion, or make the controller behave
@@ -70,14 +70,14 @@ class Robot : public frc::TimedRobot {
 
   // The state-space loop combines a controller, observer, feedforward and plant
   // for easy control.
-  frc::LinearSystemLoop<1, 1, 1> m_loop{m_flywheelPlant, m_controller,
+  wpi::math::LinearSystemLoop<1, 1, 1> m_loop{m_flywheelPlant, m_controller,
                                         m_observer, 12_V, 20_ms};
 
   // An encoder set up to measure flywheel velocity in radians per second.
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMSparkMax m_motor{kMotorPort};
-  frc::XboxController m_joystick{kJoystickPort};
+  wpi::PWMSparkMax m_motor{kMotorPort};
+  wpi::XboxController m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -86,7 +86,7 @@ class Robot : public frc::TimedRobot {
   }
 
   void TeleopInit() override {
-    m_loop.Reset(frc::Vectord<1>{m_encoder.GetRate()});
+    m_loop.Reset(wpi::math::Vectord<1>{m_encoder.GetRate()});
   }
 
   void TeleopPeriodic() override {
@@ -94,14 +94,14 @@ class Robot : public frc::TimedRobot {
     // setpoint of a PID controller.
     if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
-      m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
+      m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
       // We released the bumper, so let's spin down
-      m_loop.SetNextR(frc::Vectord<1>{0.0});
+      m_loop.SetNextR(wpi::math::Vectord<1>{0.0});
     }
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(frc::Vectord<1>{m_encoder.GetRate()});
+    m_loop.Correct(wpi::math::Vectord<1>{m_encoder.GetRate()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -110,12 +110,12 @@ class Robot : public frc::TimedRobot {
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
+    m_motor.SetVoltage(wpi::units::volt_t{m_loop.U(0)});
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index 17af787545..061cbc0978 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -20,12 +20,12 @@
  * This is a sample program to demonstrate how to use a state-space controller
  * to control a flywheel.
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
   static constexpr int kMotorPort = 0;
   static constexpr int kEncoderAChannel = 0;
   static constexpr int kEncoderBChannel = 1;
   static constexpr int kJoystickPort = 0;
-  static constexpr units::radians_per_second_t kSpinup = 500_rpm;
+  static constexpr wpi::units::radians_per_second_t kSpinup = 500_rpm;
 
   // Volts per (radian per second)
   static constexpr auto kFlywheelKv = 0.023_V / 1_rad_per_s;
@@ -41,19 +41,19 @@ class Robot : public frc::TimedRobot {
   // Outputs (what we can measure): [velocity], in radians per second.
   //
   // The Kv and Ka constants are found using the FRC Characterization toolsuite.
-  frc::LinearSystem<1, 1, 1> m_flywheelPlant =
-      frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(kFlywheelKv,
+  wpi::math::LinearSystem<1, 1, 1> m_flywheelPlant =
+      wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(kFlywheelKv,
                                                                  kFlywheelKa);
 
   // The observer fuses our encoder data and voltage inputs to reject noise.
-  frc::KalmanFilter<1, 1, 1> m_observer{
+  wpi::math::KalmanFilter<1, 1, 1> m_observer{
       m_flywheelPlant,
       {3.0},   // How accurate we think our model is
       {0.01},  // How accurate we think our encoder data is
       20_ms};
 
   // A LQR uses feedback to create voltage commands.
-  frc::LinearQuadraticRegulator<1, 1> m_controller{
+  wpi::math::LinearQuadraticRegulator<1, 1> m_controller{
       m_flywheelPlant,
       // qelms. Velocity error tolerance, in radians per second. Decrease this
       // to more heavily penalize state excursion, or make the controller behave
@@ -70,14 +70,14 @@ class Robot : public frc::TimedRobot {
 
   // The state-space loop combines a controller, observer, feedforward and plant
   // for easy control.
-  frc::LinearSystemLoop<1, 1, 1> m_loop{m_flywheelPlant, m_controller,
+  wpi::math::LinearSystemLoop<1, 1, 1> m_loop{m_flywheelPlant, m_controller,
                                         m_observer, 12_V, 20_ms};
 
   // An encoder set up to measure flywheel velocity in radians per second.
-  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
+  wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::PWMSparkMax m_motor{kMotorPort};
-  frc::XboxController m_joystick{kJoystickPort};
+  wpi::PWMSparkMax m_motor{kMotorPort};
+  wpi::XboxController m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -86,7 +86,7 @@ class Robot : public frc::TimedRobot {
   }
 
   void TeleopInit() override {
-    m_loop.Reset(frc::Vectord<1>{m_encoder.GetRate()});
+    m_loop.Reset(wpi::math::Vectord<1>{m_encoder.GetRate()});
   }
 
   void TeleopPeriodic() override {
@@ -94,14 +94,14 @@ class Robot : public frc::TimedRobot {
     // setpoint of a PID controller.
     if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
-      m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
+      m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
       // We released the bumper, so let's spin down
-      m_loop.SetNextR(frc::Vectord<1>{0.0});
+      m_loop.SetNextR(wpi::math::Vectord<1>{0.0});
     }
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(frc::Vectord<1>{m_encoder.GetRate()});
+    m_loop.Correct(wpi::math::Vectord<1>{m_encoder.GetRate()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -110,12 +110,12 @@ class Robot : public frc::TimedRobot {
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
+    m_motor.SetVoltage(wpi::units::volt_t{m_loop.U(0)});
   }
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
index 3e1d132d8a..726d500e91 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
@@ -4,11 +4,11 @@
 
 #include "Drivetrain.hpp"
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::meters_per_second_t ySpeed,
-                       units::radians_per_second_t rot, bool fieldRelative,
-                       units::second_t period) {
-  frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::meters_per_second_t ySpeed,
+                       wpi::units::radians_per_second_t rot, bool fieldRelative,
+                       wpi::units::second_t period) {
+  wpi::math::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
   if (fieldRelative) {
     chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
   }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
index e50c6681d5..1177303d88 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     DriveWithJoystick(false);
@@ -19,27 +19,27 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_xspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_yspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_xspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_yspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
     // Get the x speed. We are inverting this because Xbox controllers return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(
-                            frc::ApplyDeadband(m_controller.GetLeftY(), 0.02)) *
+                            wpi::math::ApplyDeadband(m_controller.GetLeftY(), 0.02)) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
     // we want a positive value when we pull to the left. Xbox controllers
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(
-                            frc::ApplyDeadband(m_controller.GetLeftX(), 0.02)) *
+                            wpi::math::ApplyDeadband(m_controller.GetLeftX(), 0.02)) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
@@ -47,7 +47,7 @@ class Robot : public frc::TimedRobot {
     // mathematics). Xbox controllers return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(
-                         frc::ApplyDeadband(m_controller.GetRightX(), 0.02)) *
+                         wpi::math::ApplyDeadband(m_controller.GetRightX(), 0.02)) *
                      Drivetrain::kMaxAngularSpeed;
 
     m_swerve.Drive(xSpeed, ySpeed, rot, fieldRelative, GetPeriod());
@@ -56,6 +56,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index 7b8ecc19fe..c80aeb13d2 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -33,22 +33,22 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
+      -wpi::units::radian_t{std::numbers::pi}, wpi::units::radian_t{std::numbers::pi});
 }
 
-frc::SwerveModuleState SwerveModule::GetState() const {
-  return {units::meters_per_second_t{m_driveEncoder.GetRate()},
-          units::radian_t{m_turningEncoder.GetDistance()}};
+wpi::math::SwerveModuleState SwerveModule::GetState() const {
+  return {wpi::units::meters_per_second_t{m_driveEncoder.GetRate()},
+          wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
-frc::SwerveModulePosition SwerveModule::GetPosition() const {
-  return {units::meter_t{m_driveEncoder.GetDistance()},
-          units::radian_t{m_turningEncoder.GetDistance()}};
+wpi::math::SwerveModulePosition SwerveModule::GetPosition() const {
+  return {wpi::units::meter_t{m_driveEncoder.GetDistance()},
+          wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
-void SwerveModule::SetDesiredState(frc::SwerveModuleState& referenceState) {
-  frc::Rotation2d encoderRotation{
-      units::radian_t{m_turningEncoder.GetDistance()}};
+void SwerveModule::SetDesiredState(wpi::math::SwerveModuleState& referenceState) {
+  wpi::math::Rotation2d encoderRotation{
+      wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 
   // Optimize the reference state to avoid spinning further than 90 degrees
   referenceState.Optimize(encoderRotation);
@@ -67,13 +67,13 @@ void SwerveModule::SetDesiredState(frc::SwerveModuleState& referenceState) {
 
   // Calculate the turning motor output from the turning PID controller.
   const auto turnOutput = m_turningPIDController.Calculate(
-      units::radian_t{m_turningEncoder.GetDistance()},
+      wpi::units::radian_t{m_turningEncoder.GetDistance()},
       referenceState.angle.Radians());
 
   const auto turnFeedforward = m_turnFeedforward.Calculate(
       m_turningPIDController.GetSetpoint().velocity);
 
   // Set the motor outputs.
-  m_driveMotor.SetVoltage(units::volt_t{driveOutput} + driveFeedforward);
-  m_turningMotor.SetVoltage(units::volt_t{turnOutput} + turnFeedforward);
+  m_driveMotor.SetVoltage(wpi::units::volt_t{driveOutput} + driveFeedforward);
+  m_turningMotor.SetVoltage(wpi::units::volt_t{turnOutput} + turnFeedforward);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
index 2b7860eb84..2fb4b49086 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
@@ -20,34 +20,34 @@ class Drivetrain {
  public:
   Drivetrain() { m_imu.ResetYaw(); }
 
-  void Drive(units::meters_per_second_t xSpeed,
-             units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
-             bool fieldRelative, units::second_t period);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
+             bool fieldRelative, wpi::units::second_t period);
   void UpdateOdometry();
 
-  static constexpr units::meters_per_second_t kMaxSpeed =
+  static constexpr wpi::units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
  private:
-  frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
-  frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
-  frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
-  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+  wpi::math::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
+  wpi::math::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
+  wpi::math::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
+  wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
 
   SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
   SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
   SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
   SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::SwerveDriveKinematics<4> m_kinematics{
+  wpi::math::SwerveDriveKinematics<4> m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
-  frc::SwerveDriveOdometry<4> m_odometry{
+  wpi::math::SwerveDriveOdometry<4> m_odometry{
       m_kinematics,
       m_imu.GetRotation2d(),
       {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
index 79fb5eae3a..1533d278a8 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
@@ -23,9 +23,9 @@ class SwerveModule {
   SwerveModule(int driveMotorChannel, int turningMotorChannel,
                int driveEncoderChannelA, int driveEncoderChannelB,
                int turningEncoderChannelA, int turningEncoderChannelB);
-  frc::SwerveModuleState GetState() const;
-  frc::SwerveModulePosition GetPosition() const;
-  void SetDesiredState(frc::SwerveModuleState& state);
+  wpi::math::SwerveModuleState GetState() const;
+  wpi::math::SwerveModulePosition GetPosition() const;
+  void SetDesiredState(wpi::math::SwerveModuleState& state);
 
  private:
   static constexpr double kWheelRadius = 0.0508;
@@ -36,21 +36,21 @@ class SwerveModule {
   static constexpr auto kModuleMaxAngularAcceleration =
       std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
-  frc::PWMSparkMax m_driveMotor;
-  frc::PWMSparkMax m_turningMotor;
+  wpi::PWMSparkMax m_driveMotor;
+  wpi::PWMSparkMax m_turningMotor;
 
-  frc::Encoder m_driveEncoder;
-  frc::Encoder m_turningEncoder;
+  wpi::Encoder m_driveEncoder;
+  wpi::Encoder m_turningEncoder;
 
-  frc::PIDController m_drivePIDController{1.0, 0, 0};
-  frc::ProfiledPIDController<units::radians> m_turningPIDController{
+  wpi::math::PIDController m_drivePIDController{1.0, 0, 0};
+  wpi::math::ProfiledPIDController<wpi::units::radians> m_turningPIDController{
       1.0,
       0.0,
       0.0,
       {kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
 
-  frc::SimpleMotorFeedforward<units::meters> m_driveFeedforward{1_V,
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_driveFeedforward{1_V,
                                                                 3_V / 1_mps};
-  frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_turnFeedforward{
       1_V, 0.5_V / 1_rad_per_s};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
index f75f86a8d2..f1e0d00e6b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -8,11 +8,11 @@
 
 #include "ExampleGlobalMeasurementSensor.hpp"
 
-void Drivetrain::Drive(units::meters_per_second_t xSpeed,
-                       units::meters_per_second_t ySpeed,
-                       units::radians_per_second_t rot, bool fieldRelative,
-                       units::second_t period) {
-  frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
+void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
+                       wpi::units::meters_per_second_t ySpeed,
+                       wpi::units::radians_per_second_t rot, bool fieldRelative,
+                       wpi::units::second_t period) {
+  wpi::math::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
   if (fieldRelative) {
     chassisSpeeds = chassisSpeeds.ToRobotRelative(
         m_poseEstimator.GetEstimatedPosition().Rotation());
@@ -40,5 +40,5 @@ void Drivetrain::UpdateOdometry() {
   m_poseEstimator.AddVisionMeasurement(
       ExampleGlobalMeasurementSensor::GetEstimatedGlobalPose(
           m_poseEstimator.GetEstimatedPosition()),
-      frc::Timer::GetTimestamp() - 0.3_s);
+      wpi::Timer::GetTimestamp() - 0.3_s);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
index 4382b8ef17..e8956a6d2b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 
 #include "Drivetrain.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     DriveWithJoystick(false);
@@ -18,14 +18,14 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  frc::XboxController m_controller{0};
+  wpi::XboxController m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
-  frc::SlewRateLimiter<units::scalar> m_xspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_yspeedLimiter{3 / 1_s};
-  frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_xspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_yspeedLimiter{3 / 1_s};
+  wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
     // Get the x speed. We are inverting this because Xbox controllers return
@@ -52,6 +52,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
index 408295180f..fbbd410046 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -33,22 +33,22 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
+      -wpi::units::radian_t{std::numbers::pi}, wpi::units::radian_t{std::numbers::pi});
 }
 
-frc::SwerveModuleState SwerveModule::GetState() const {
-  return {units::meters_per_second_t{m_driveEncoder.GetRate()},
-          units::radian_t{m_turningEncoder.GetDistance()}};
+wpi::math::SwerveModuleState SwerveModule::GetState() const {
+  return {wpi::units::meters_per_second_t{m_driveEncoder.GetRate()},
+          wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
-frc::SwerveModulePosition SwerveModule::GetPosition() const {
-  return {units::meter_t{m_driveEncoder.GetDistance()},
-          units::radian_t{m_turningEncoder.GetDistance()}};
+wpi::math::SwerveModulePosition SwerveModule::GetPosition() const {
+  return {wpi::units::meter_t{m_driveEncoder.GetDistance()},
+          wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
-void SwerveModule::SetDesiredState(frc::SwerveModuleState& referenceState) {
-  frc::Rotation2d encoderRotation{
-      units::radian_t{m_turningEncoder.GetDistance()}};
+void SwerveModule::SetDesiredState(wpi::math::SwerveModuleState& referenceState) {
+  wpi::math::Rotation2d encoderRotation{
+      wpi::units::radian_t{m_turningEncoder.GetDistance()}};
 
   // Optimize the reference state to avoid spinning further than 90 degrees
   referenceState.Optimize(encoderRotation);
@@ -67,13 +67,13 @@ void SwerveModule::SetDesiredState(frc::SwerveModuleState& referenceState) {
 
   // Calculate the turning motor output from the turning PID controller.
   const auto turnOutput = m_turningPIDController.Calculate(
-      units::radian_t{m_turningEncoder.GetDistance()},
+      wpi::units::radian_t{m_turningEncoder.GetDistance()},
       referenceState.angle.Radians());
 
   const auto turnFeedforward = m_turnFeedforward.Calculate(
       m_turningPIDController.GetSetpoint().velocity);
 
   // Set the motor outputs.
-  m_driveMotor.SetVoltage(units::volt_t{driveOutput} + driveFeedforward);
-  m_turningMotor.SetVoltage(units::volt_t{turnOutput} + turnFeedforward);
+  m_driveMotor.SetVoltage(wpi::units::volt_t{driveOutput} + driveFeedforward);
+  m_turningMotor.SetVoltage(wpi::units::volt_t{turnOutput} + turnFeedforward);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
index 6a8d900b0d..88d36615c6 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
@@ -21,40 +21,40 @@ class Drivetrain {
  public:
   Drivetrain() { m_imu.ResetYaw(); }
 
-  void Drive(units::meters_per_second_t xSpeed,
-             units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
-             bool fieldRelative, units::second_t period);
+  void Drive(wpi::units::meters_per_second_t xSpeed,
+             wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
+             bool fieldRelative, wpi::units::second_t period);
   void UpdateOdometry();
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
-  static constexpr units::radians_per_second_t kMaxAngularSpeed{
+  static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
       std::numbers::pi};  // 1/2 rotation per second
 
  private:
-  frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
-  frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
-  frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
-  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+  wpi::math::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
+  wpi::math::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
+  wpi::math::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
+  wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
 
   SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
   SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
   SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
   SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
 
-  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
 
-  frc::SwerveDriveKinematics<4> m_kinematics{
+  wpi::math::SwerveDriveKinematics<4> m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
-  frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
+  wpi::math::SwerveDrivePoseEstimator<4> m_poseEstimator{
       m_kinematics,
-      frc::Rotation2d{},
+      wpi::math::Rotation2d{},
       {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
        m_backLeft.GetPosition(), m_backRight.GetPosition()},
-      frc::Pose2d{},
+      wpi::math::Pose2d{},
       {0.1, 0.1, 0.1},
       {0.1, 0.1, 0.1}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index d4f9b4e52f..16f4123f08 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -13,12 +13,12 @@
  */
 class ExampleGlobalMeasurementSensor {
  public:
-  static frc::Pose2d GetEstimatedGlobalPose(
-      const frc::Pose2d& estimatedRobotPose) {
-    auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
-                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
+  static wpi::math::Pose2d GetEstimatedGlobalPose(
+      const wpi::math::Pose2d& estimatedRobotPose) {
+    auto randVec = wpi::math::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
+    return wpi::math::Pose2d{estimatedRobotPose.X() + wpi::units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + wpi::units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d{units::radian_t{randVec(2)}}};
+                           wpi::math::Rotation2d{wpi::units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
index 044c8b4f0e..f00bc07e7e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
@@ -23,9 +23,9 @@ class SwerveModule {
   SwerveModule(int driveMotorChannel, int turningMotorChannel,
                int driveEncoderChannelA, int driveEncoderChannelB,
                int turningEncoderChannelA, int turningEncoderChannelB);
-  frc::SwerveModuleState GetState() const;
-  frc::SwerveModulePosition GetPosition() const;
-  void SetDesiredState(frc::SwerveModuleState& state);
+  wpi::math::SwerveModuleState GetState() const;
+  wpi::math::SwerveModulePosition GetPosition() const;
+  void SetDesiredState(wpi::math::SwerveModuleState& state);
 
  private:
   static constexpr auto kWheelRadius = 0.0508_m;
@@ -36,21 +36,21 @@ class SwerveModule {
   static constexpr auto kModuleMaxAngularAcceleration =
       std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
-  frc::PWMSparkMax m_driveMotor;
-  frc::PWMSparkMax m_turningMotor;
+  wpi::PWMSparkMax m_driveMotor;
+  wpi::PWMSparkMax m_turningMotor;
 
-  frc::Encoder m_driveEncoder;
-  frc::Encoder m_turningEncoder;
+  wpi::Encoder m_driveEncoder;
+  wpi::Encoder m_turningEncoder;
 
-  frc::PIDController m_drivePIDController{1.0, 0, 0};
-  frc::ProfiledPIDController<units::radians> m_turningPIDController{
+  wpi::math::PIDController m_drivePIDController{1.0, 0, 0};
+  wpi::math::ProfiledPIDController<wpi::units::radians> m_turningPIDController{
       1.0,
       0.0,
       0.0,
       {kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
 
-  frc::SimpleMotorFeedforward<units::meters> m_driveFeedforward{1_V,
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_driveFeedforward{1_V,
                                                                 3_V / 1_mps};
-  frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_turnFeedforward{
       1_V, 0.5_V / 1_rad_per_s};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
index 9b66f55e3d..c1390561da 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 Robot::Robot() {}
 
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 void Robot::DisabledInit() {}
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -41,7 +41,7 @@ void Robot::TeleopPeriodic() {}
 void Robot::TeleopExit() {}
 
 void Robot::TestInit() {
-  frc2::CommandScheduler::GetInstance().CancelAll();
+  wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
 void Robot::TestPeriodic() {}
@@ -50,6 +50,6 @@ void Robot::TestExit() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
index 83f5444991..4928c0e06b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
@@ -18,27 +18,27 @@ void SysIdRoutineBot::ConfigureBindings() {
   // Using bumpers as a modifier and combining it with the buttons so that we
   // can have both sets of bindings at once
   (m_driverController.A() && m_driverController.RightBumper())
-      .WhileTrue(m_drive.SysIdQuasistatic(frc2::sysid::Direction::kForward));
+      .WhileTrue(m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
   (m_driverController.B() && m_driverController.RightBumper())
-      .WhileTrue(m_drive.SysIdQuasistatic(frc2::sysid::Direction::kReverse));
+      .WhileTrue(m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
   (m_driverController.X() && m_driverController.RightBumper())
-      .WhileTrue(m_drive.SysIdDynamic(frc2::sysid::Direction::kForward));
+      .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
   (m_driverController.Y() && m_driverController.RightBumper())
-      .WhileTrue(m_drive.SysIdDynamic(frc2::sysid::Direction::kReverse));
+      .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 
   m_shooter.SetDefaultCommand(m_shooter.RunShooterCommand(
       [this] { return m_driverController.GetLeftTriggerAxis(); }));
 
   (m_driverController.A() && m_driverController.LeftBumper())
-      .WhileTrue(m_shooter.SysIdQuasistatic(frc2::sysid::Direction::kForward));
+      .WhileTrue(m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
   (m_driverController.B() && m_driverController.LeftBumper())
-      .WhileTrue(m_shooter.SysIdQuasistatic(frc2::sysid::Direction::kReverse));
+      .WhileTrue(m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
   (m_driverController.X() && m_driverController.LeftBumper())
-      .WhileTrue(m_shooter.SysIdDynamic(frc2::sysid::Direction::kForward));
+      .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
   (m_driverController.Y() && m_driverController.LeftBumper())
-      .WhileTrue(m_shooter.SysIdDynamic(frc2::sysid::Direction::kReverse));
+      .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 }
 
-frc2::CommandPtr SysIdRoutineBot::GetAutonomousCommand() {
+wpi::cmd::CommandPtr SysIdRoutineBot::GetAutonomousCommand() {
   return m_drive.Run([] {});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
index 94fde5eb2d..2cec8fe5d3 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
@@ -7,9 +7,9 @@
 #include <wpi/commands2/Commands.hpp>
 
 Drive::Drive() {
-  m_leftMotor.AddFollower(frc::PWMSparkMax{constants::drive::kLeftMotor2Port});
+  m_leftMotor.AddFollower(wpi::PWMSparkMax{constants::drive::kLeftMotor2Port});
   m_rightMotor.AddFollower(
-      frc::PWMSparkMax{constants::drive::kRightMotor2Port});
+      wpi::PWMSparkMax{constants::drive::kRightMotor2Port});
 
   m_rightMotor.SetInverted(true);
 
@@ -21,17 +21,17 @@ Drive::Drive() {
   m_drive.SetSafetyEnabled(false);
 }
 
-frc2::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
+wpi::cmd::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
                                            std::function<double()> rot) {
-  return frc2::cmd::Run([this, fwd, rot] { m_drive.ArcadeDrive(fwd(), rot()); },
+  return wpi::cmd::cmd::Run([this, fwd, rot] { m_drive.ArcadeDrive(fwd(), rot()); },
                         {this})
       .WithName("Arcade Drive");
 }
 
-frc2::CommandPtr Drive::SysIdQuasistatic(frc2::sysid::Direction direction) {
+wpi::cmd::CommandPtr Drive::SysIdQuasistatic(wpi::cmd::sysid::Direction direction) {
   return m_sysIdRoutine.Quasistatic(direction);
 }
 
-frc2::CommandPtr Drive::SysIdDynamic(frc2::sysid::Direction direction) {
+wpi::cmd::CommandPtr Drive::SysIdDynamic(wpi::cmd::sysid::Direction direction) {
   return m_sysIdRoutine.Dynamic(direction);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
index fb0a2d8fa6..d54b2ada92 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
@@ -13,25 +13,25 @@ Shooter::Shooter() {
       constants::shooter::kEncoderDistancePerPulse.value());
 }
 
-frc2::CommandPtr Shooter::RunShooterCommand(
+wpi::cmd::CommandPtr Shooter::RunShooterCommand(
     std::function<double()> shooterSpeed) {
-  return frc2::cmd::Run(
+  return wpi::cmd::cmd::Run(
              [this, shooterSpeed] {
                m_shooterMotor.SetVoltage(
-                   units::volt_t{m_shooterFeedback.Calculate(
+                   wpi::units::volt_t{m_shooterFeedback.Calculate(
                        m_shooterEncoder.GetRate(), shooterSpeed())} +
                    m_shooterFeedforward.Calculate(
-                       units::turns_per_second_t{shooterSpeed()}));
+                       wpi::units::turns_per_second_t{shooterSpeed()}));
                m_feederMotor.Set(constants::shooter::kFeederSpeed);
              },
              {this})
       .WithName("Set Shooter Speed");
 }
 
-frc2::CommandPtr Shooter::SysIdQuasistatic(frc2::sysid::Direction direction) {
+wpi::cmd::CommandPtr Shooter::SysIdQuasistatic(wpi::cmd::sysid::Direction direction) {
   return m_sysIdRoutine.Quasistatic(direction);
 }
 
-frc2::CommandPtr Shooter::SysIdDynamic(frc2::sysid::Direction direction) {
+wpi::cmd::CommandPtr Shooter::SysIdDynamic(wpi::cmd::sysid::Direction direction) {
   return m_sysIdRoutine.Dynamic(direction);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
index 51c6058fe1..77cb1ccbae 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
@@ -27,39 +27,39 @@ inline constexpr bool kLeftEncoderReversed = false;
 inline constexpr bool kRightEncoderReversed = true;
 
 inline constexpr int kEncoderCpr = 1024;
-inline constexpr units::meter_t kWheelDiameter = 6_in;
-inline constexpr units::meter_t kEncoderDistancePerPulse =
+inline constexpr wpi::units::meter_t kWheelDiameter = 6_in;
+inline constexpr wpi::units::meter_t kEncoderDistancePerPulse =
     (kWheelDiameter * std::numbers::pi) / static_cast<double>(kEncoderCpr);
 }  // namespace drive
 
 namespace shooter {
 
 using kv_unit =
-    units::compound_unit<units::compound_unit<units::volts, units::seconds>,
-                         units::inverse<units::turns>>;
-using kv_unit_t = units::unit_t<kv_unit>;
+    wpi::units::compound_unit<wpi::units::compound_unit<wpi::units::volts, wpi::units::seconds>,
+                         wpi::units::inverse<wpi::units::turns>>;
+using kv_unit_t = wpi::units::unit_t<kv_unit>;
 
 using ka_unit =
-    units::compound_unit<units::volts,
-                         units::inverse<units::turns_per_second_squared>>;
-using ka_unit_t = units::unit_t<ka_unit>;
+    wpi::units::compound_unit<wpi::units::volts,
+                         wpi::units::inverse<wpi::units::turns_per_second_squared>>;
+using ka_unit_t = wpi::units::unit_t<ka_unit>;
 
 inline constexpr std::array<int, 2> kEncoderPorts = {4, 5};
 inline constexpr bool kEncoderReversed = false;
 inline constexpr int kEncoderCpr = 1024;
-inline constexpr units::turn_t kEncoderDistancePerPulse =
+inline constexpr wpi::units::turn_t kEncoderDistancePerPulse =
     1_tr / static_cast<double>(kEncoderCpr);
 
 inline constexpr int kShooterMotorPort = 4;
 inline constexpr int kFeederMotorPort = 5;
 
-inline constexpr units::turns_per_second_t kShooterFreeSpeed = 5300_tps;
-inline constexpr units::turns_per_second_t kShooterTargetSpeed = 4000_tps;
-inline constexpr units::turns_per_second_t kShooterTolerance = 50_tps;
+inline constexpr wpi::units::turns_per_second_t kShooterFreeSpeed = 5300_tps;
+inline constexpr wpi::units::turns_per_second_t kShooterTargetSpeed = 4000_tps;
+inline constexpr wpi::units::turns_per_second_t kShooterTolerance = 50_tps;
 
 inline constexpr double kP = 1.0;
 
-inline constexpr units::volt_t kS = 0.05_V;
+inline constexpr wpi::units::volt_t kS = 0.05_V;
 inline constexpr kv_unit_t kV = 12_V / kShooterFreeSpeed;
 inline constexpr ka_unit_t kA = 0_V * 1_s * 1_s / 1_tr;
 
@@ -77,8 +77,8 @@ inline constexpr int kBallSensorPort = 6;
 }  // namespace storage
 
 namespace autonomous {
-inline constexpr units::second_t kTimeout = 3_s;
-inline constexpr units::meter_t kDriveDistance = 2_m;
+inline constexpr wpi::units::second_t kTimeout = 3_s;
+inline constexpr wpi::units::meter_t kDriveDistance = 2_m;
 inline constexpr double kDriveSpeed = 0.5;
 }  // namespace autonomous
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
index e7ff10a265..249141697b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
@@ -11,7 +11,7 @@
 
 #include "SysIdRoutineBot.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -29,7 +29,7 @@ class Robot : public frc::TimedRobot {
   void TestExit() override;
 
  private:
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 
   SysIdRoutineBot m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
index dd8f994ffb..1671736957 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
@@ -15,11 +15,11 @@ class SysIdRoutineBot {
  public:
   SysIdRoutineBot();
 
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   void ConfigureBindings();
-  frc2::CommandXboxController m_driverController{
+  wpi::cmd::CommandXboxController m_driverController{
       constants::oi::kDriverControllerPort};
   Drive m_drive;
   Shooter m_shooter;
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
index 164bcfef04..a3130d2513 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
@@ -15,47 +15,47 @@
 
 #include "Constants.hpp"
 
-class Drive : public frc2::SubsystemBase {
+class Drive : public wpi::cmd::SubsystemBase {
  public:
   Drive();
 
-  frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
+  wpi::cmd::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
                                       std::function<double()> rot);
-  frc2::CommandPtr SysIdQuasistatic(frc2::sysid::Direction direction);
-  frc2::CommandPtr SysIdDynamic(frc2::sysid::Direction direction);
+  wpi::cmd::CommandPtr SysIdQuasistatic(wpi::cmd::sysid::Direction direction);
+  wpi::cmd::CommandPtr SysIdDynamic(wpi::cmd::sysid::Direction direction);
 
  private:
-  frc::PWMSparkMax m_leftMotor{constants::drive::kLeftMotor1Port};
-  frc::PWMSparkMax m_rightMotor{constants::drive::kRightMotor1Port};
-  frc::DifferentialDrive m_drive{[this](auto val) { m_leftMotor.Set(val); },
+  wpi::PWMSparkMax m_leftMotor{constants::drive::kLeftMotor1Port};
+  wpi::PWMSparkMax m_rightMotor{constants::drive::kRightMotor1Port};
+  wpi::DifferentialDrive m_drive{[this](auto val) { m_leftMotor.Set(val); },
                                  [this](auto val) { m_rightMotor.Set(val); }};
 
-  frc::Encoder m_leftEncoder{constants::drive::kLeftEncoderPorts[0],
+  wpi::Encoder m_leftEncoder{constants::drive::kLeftEncoderPorts[0],
                              constants::drive::kLeftEncoderPorts[1],
                              constants::drive::kLeftEncoderReversed};
 
-  frc::Encoder m_rightEncoder{constants::drive::kRightEncoderPorts[0],
+  wpi::Encoder m_rightEncoder{constants::drive::kRightEncoderPorts[0],
                               constants::drive::kRightEncoderPorts[1],
                               constants::drive::kRightEncoderReversed};
 
-  frc2::sysid::SysIdRoutine m_sysIdRoutine{
-      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
-      frc2::sysid::Mechanism{
-          [this](units::volt_t driveVoltage) {
+  wpi::cmd::sysid::SysIdRoutine m_sysIdRoutine{
+      wpi::cmd::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
+      wpi::cmd::sysid::Mechanism{
+          [this](wpi::units::volt_t driveVoltage) {
             m_leftMotor.SetVoltage(driveVoltage);
             m_rightMotor.SetVoltage(driveVoltage);
           },
-          [this](frc::sysid::SysIdRoutineLog* log) {
+          [this](wpi::sysid::SysIdRoutineLog* log) {
             log->Motor("drive-left")
                 .voltage(m_leftMotor.Get() *
-                         frc::RobotController::GetBatteryVoltage())
-                .position(units::meter_t{m_leftEncoder.GetDistance()})
-                .velocity(units::meters_per_second_t{m_leftEncoder.GetRate()});
+                         wpi::RobotController::GetBatteryVoltage())
+                .position(wpi::units::meter_t{m_leftEncoder.GetDistance()})
+                .velocity(wpi::units::meters_per_second_t{m_leftEncoder.GetRate()});
             log->Motor("drive-right")
                 .voltage(m_rightMotor.Get() *
-                         frc::RobotController::GetBatteryVoltage())
-                .position(units::meter_t{m_rightEncoder.GetDistance()})
-                .velocity(units::meters_per_second_t{m_rightEncoder.GetRate()});
+                         wpi::RobotController::GetBatteryVoltage())
+                .position(wpi::units::meter_t{m_rightEncoder.GetDistance()})
+                .velocity(wpi::units::meters_per_second_t{m_rightEncoder.GetRate()});
           },
           this}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
index 8041518a1a..c762d7a9c5 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
@@ -16,38 +16,38 @@
 
 #include "Constants.hpp"
 
-class Shooter : public frc2::SubsystemBase {
+class Shooter : public wpi::cmd::SubsystemBase {
  public:
   Shooter();
 
-  frc2::CommandPtr RunShooterCommand(std::function<double()> shooterSpeed);
-  frc2::CommandPtr SysIdQuasistatic(frc2::sysid::Direction direction);
-  frc2::CommandPtr SysIdDynamic(frc2::sysid::Direction direction);
+  wpi::cmd::CommandPtr RunShooterCommand(std::function<double()> shooterSpeed);
+  wpi::cmd::CommandPtr SysIdQuasistatic(wpi::cmd::sysid::Direction direction);
+  wpi::cmd::CommandPtr SysIdDynamic(wpi::cmd::sysid::Direction direction);
 
  private:
-  frc::PWMSparkMax m_shooterMotor{constants::shooter::kShooterMotorPort};
-  frc::PWMSparkMax m_feederMotor{constants::shooter::kFeederMotorPort};
+  wpi::PWMSparkMax m_shooterMotor{constants::shooter::kShooterMotorPort};
+  wpi::PWMSparkMax m_feederMotor{constants::shooter::kFeederMotorPort};
 
-  frc::Encoder m_shooterEncoder{constants::shooter::kEncoderPorts[0],
+  wpi::Encoder m_shooterEncoder{constants::shooter::kEncoderPorts[0],
                                 constants::shooter::kEncoderPorts[1],
                                 constants::shooter::kEncoderReversed};
 
-  frc2::sysid::SysIdRoutine m_sysIdRoutine{
-      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
-      frc2::sysid::Mechanism{
-          [this](units::volt_t driveVoltage) {
+  wpi::cmd::sysid::SysIdRoutine m_sysIdRoutine{
+      wpi::cmd::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
+      wpi::cmd::sysid::Mechanism{
+          [this](wpi::units::volt_t driveVoltage) {
             m_shooterMotor.SetVoltage(driveVoltage);
           },
-          [this](frc::sysid::SysIdRoutineLog* log) {
+          [this](wpi::sysid::SysIdRoutineLog* log) {
             log->Motor("shooter-wheel")
                 .voltage(m_shooterMotor.Get() *
-                         frc::RobotController::GetBatteryVoltage())
-                .position(units::turn_t{m_shooterEncoder.GetDistance()})
+                         wpi::RobotController::GetBatteryVoltage())
+                .position(wpi::units::turn_t{m_shooterEncoder.GetDistance()})
                 .velocity(
-                    units::turns_per_second_t{m_shooterEncoder.GetRate()});
+                    wpi::units::turns_per_second_t{m_shooterEncoder.GetRate()});
           },
           this}};
-  frc::PIDController m_shooterFeedback{constants::shooter::kP, 0, 0};
-  frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
+  wpi::math::PIDController m_shooterFeedback{constants::shooter::kP, 0, 0};
+  wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_shooterFeedforward{
       constants::shooter::kS, constants::shooter::kV, constants::shooter::kA};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
index a803c23494..5bd3cbfdd5 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
@@ -11,19 +11,19 @@
  * This is a demo program showing the use of the DifferentialDrive class.
  * Runs the motors with tank steering.
  */
-class Robot : public frc::TimedRobot {
-  frc::PWMSparkMax m_leftMotor{0};
-  frc::PWMSparkMax m_rightMotor{1};
-  frc::DifferentialDrive m_robotDrive{
+class Robot : public wpi::TimedRobot {
+  wpi::PWMSparkMax m_leftMotor{0};
+  wpi::PWMSparkMax m_rightMotor{1};
+  wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  frc::Joystick m_leftStick{0};
-  frc::Joystick m_rightStick{1};
+  wpi::Joystick m_leftStick{0};
+  wpi::Joystick m_rightStick{1};
 
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
@@ -39,6 +39,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
index bf95821712..667d40b2fa 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
@@ -11,18 +11,18 @@
  * This is a demo program showing the use of the DifferentialDrive class.
  * Runs the motors with tank steering and an Xbox controller.
  */
-class Robot : public frc::TimedRobot {
-  frc::PWMSparkMax m_leftMotor{0};
-  frc::PWMSparkMax m_rightMotor{1};
-  frc::DifferentialDrive m_robotDrive{
+class Robot : public wpi::TimedRobot {
+  wpi::PWMSparkMax m_leftMotor{0};
+  wpi::PWMSparkMax m_rightMotor{1};
+  wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  frc::XboxController m_driverController{0};
+  wpi::XboxController m_driverController{0};
 
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
+    wpi::util::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
 
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
@@ -39,6 +39,6 @@ class Robot : public frc::TimedRobot {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
index 402f648df8..ee6d5fe86a 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
@@ -27,6 +27,6 @@ void Robot::TeleopPeriodic() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
index 2f5241ee6f..ff6ae2719a 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
@@ -5,11 +5,11 @@
 #include "subsystems/Intake.hpp"
 
 void Intake::Deploy() {
-  m_piston.Set(frc::DoubleSolenoid::Value::kForward);
+  m_piston.Set(wpi::DoubleSolenoid::Value::kForward);
 }
 
 void Intake::Retract() {
-  m_piston.Set(frc::DoubleSolenoid::Value::kReverse);
+  m_piston.Set(wpi::DoubleSolenoid::Value::kReverse);
   m_motor.Set(0);  // turn off the motor
 }
 
@@ -22,5 +22,5 @@ void Intake::Activate(double speed) {
 }
 
 bool Intake::IsDeployed() const {
-  return m_piston.Get() == frc::DoubleSolenoid::Value::kForward;
+  return m_piston.Get() == wpi::DoubleSolenoid::Value::kForward;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
index e47864d3a5..3f850ede06 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
@@ -10,11 +10,11 @@
 #include "Constants.hpp"
 #include "subsystems/Intake.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopPeriodic() override;
 
  private:
   Intake m_intake;
-  frc::Joystick m_joystick{OperatorConstants::kJoystickIndex};
+  wpi::Joystick m_joystick{OperatorConstants::kJoystickIndex};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
index 9305a51c6b..44a82c0fd0 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
@@ -17,8 +17,8 @@ class Intake {
   bool IsDeployed() const;
 
  private:
-  frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
-  frc::DoubleSolenoid m_piston{0, frc::PneumaticsModuleType::CTREPCM,
+  wpi::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
+  wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTREPCM,
                                IntakeConstants::kPistonFwdChannel,
                                IntakeConstants::kPistonRevChannel};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
index 534158dc96..35984f0b9d 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
@@ -17,7 +17,7 @@ Robot::Robot() {}
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
@@ -66,6 +66,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
index 98965eecf2..54428959a6 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
@@ -22,23 +22,23 @@ void RobotContainer::ConfigureButtonBindings() {
       [this] { return -m_controller.GetRawAxis(2); }));
 
   // Example of how to use the onboard IO
-  m_userButton.OnTrue(frc2::cmd::Print("USER Button Pressed"))
-      .OnFalse(frc2::cmd::Print("USER Button Released"));
+  m_userButton.OnTrue(wpi::cmd::cmd::Print("USER Button Pressed"))
+      .OnFalse(wpi::cmd::cmd::Print("USER Button Released"));
 
-  frc2::JoystickButton(&m_controller, 1)
-      .OnTrue(frc2::cmd::RunOnce([this] { m_arm.SetAngle(45_deg); }, {}))
-      .OnFalse(frc2::cmd::RunOnce([this] { m_arm.SetAngle(0_deg); }, {}));
+  wpi::cmd::JoystickButton(&m_controller, 1)
+      .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_arm.SetAngle(45_deg); }, {}))
+      .OnFalse(wpi::cmd::cmd::RunOnce([this] { m_arm.SetAngle(0_deg); }, {}));
 
-  frc2::JoystickButton(&m_controller, 2)
-      .OnTrue(frc2::cmd::RunOnce([this] { m_arm.SetAngle(90_deg); }, {}))
-      .OnFalse(frc2::cmd::RunOnce([this] { m_arm.SetAngle(0_deg); }, {}));
+  wpi::cmd::JoystickButton(&m_controller, 2)
+      .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_arm.SetAngle(90_deg); }, {}))
+      .OnFalse(wpi::cmd::cmd::RunOnce([this] { m_arm.SetAngle(0_deg); }, {}));
 
   // Setup SmartDashboard options.
   m_chooser.SetDefaultOption("Auto Routine Distance", &m_autoDistance);
   m_chooser.AddOption("Auto Routine Time", &m_autoTime);
-  frc::SmartDashboard::PutData("Auto Selector", &m_chooser);
+  wpi::SmartDashboard::PutData("Auto Selector", &m_chooser);
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+wpi::cmd::Command* RobotContainer::GetAutonomousCommand() {
   return m_chooser.GetSelected();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
index ae9499479f..61d67e3d08 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
@@ -20,5 +20,5 @@ void DriveDistance::End(bool interrupted) {
 }
 
 bool DriveDistance::IsFinished() {
-  return units::math::abs(m_drive->GetAverageDistance()) >= m_distance;
+  return wpi::units::math::abs(m_drive->GetAverageDistance()) >= m_distance;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
index 8b0f96e708..ffe5a9a98e 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
@@ -33,8 +33,8 @@ bool TurnDegrees::IsFinished() {
   return GetAverageTurningDistance() >= inchPerDegree * m_angle;
 }
 
-units::meter_t TurnDegrees::GetAverageTurningDistance() {
-  auto l = units::math::abs(m_drive->GetLeftDistance());
-  auto r = units::math::abs(m_drive->GetRightDistance());
+wpi::units::meter_t TurnDegrees::GetAverageTurningDistance() {
+  auto l = wpi::units::math::abs(m_drive->GetLeftDistance());
+  auto r = wpi::units::math::abs(m_drive->GetRightDistance());
   return (l + r) / 2;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
index 1bf4a48b64..ad3c122a7e 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
@@ -8,6 +8,6 @@ void Arm::Periodic() {
   // This method will be called once per scheduler run.
 }
 
-void Arm::SetAngle(units::radian_t angle) {
+void Arm::SetAngle(wpi::units::radian_t angle) {
   m_armServo.SetAngle(angle);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
index 5bcdcd7202..6089fdc4c3 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
@@ -15,8 +15,8 @@ using namespace DriveConstants;
 // The XRP has onboard encoders that are hardcoded
 // to use DIO pins 4/5 and 6/7 for the left and right
 Drivetrain::Drivetrain() {
-  wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
-  wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
+  wpi::util::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
 
   // We need to invert one side of the drivetrain so that positive voltages
   // result in both sides moving forward. Depending on how your robot's
@@ -51,27 +51,27 @@ int Drivetrain::GetRightEncoderCount() {
   return m_rightEncoder.Get();
 }
 
-units::meter_t Drivetrain::GetLeftDistance() {
-  return units::meter_t{m_leftEncoder.GetDistance()};
+wpi::units::meter_t Drivetrain::GetLeftDistance() {
+  return wpi::units::meter_t{m_leftEncoder.GetDistance()};
 }
 
-units::meter_t Drivetrain::GetRightDistance() {
-  return units::meter_t{m_rightEncoder.GetDistance()};
+wpi::units::meter_t Drivetrain::GetRightDistance() {
+  return wpi::units::meter_t{m_rightEncoder.GetDistance()};
 }
 
-units::meter_t Drivetrain::GetAverageDistance() {
+wpi::units::meter_t Drivetrain::GetAverageDistance() {
   return (GetLeftDistance() + GetRightDistance()) / 2.0;
 }
 
-units::radian_t Drivetrain::GetGyroAngleX() {
+wpi::units::radian_t Drivetrain::GetGyroAngleX() {
   return m_gyro.GetAngleX();
 }
 
-units::radian_t Drivetrain::GetGyroAngleY() {
+wpi::units::radian_t Drivetrain::GetGyroAngleY() {
   return m_gyro.GetAngleY();
 }
 
-units::radian_t Drivetrain::GetGyroAngleZ() {
+wpi::units::radian_t Drivetrain::GetGyroAngleZ() {
   return m_gyro.GetAngleZ();
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
index b89d567b62..ffeab02e6f 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
@@ -9,7 +9,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -24,6 +24,6 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  wpi::cmd::Command* m_autonomousCommand = nullptr;
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
index 4e45d6be82..4592c1313b 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
@@ -39,20 +39,20 @@ class RobotContainer {
   // Your subsystem configuration should take the overlays into account
  public:
   RobotContainer();
-  frc2::Command* GetAutonomousCommand();
+  wpi::cmd::Command* GetAutonomousCommand();
 
  private:
   // Assumes a gamepad plugged into channel 0
-  frc::Joystick m_controller{0};
-  frc::SendableChooser<frc2::Command*> m_chooser;
+  wpi::Joystick m_controller{0};
+  wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   // The robot's subsystems
   Drivetrain m_drive;
   Arm m_arm;
-  frc::XRPOnBoardIO m_onboardIO;
+  wpi::xrp::XRPOnBoardIO m_onboardIO;
 
   // Example button
-  frc2::Trigger m_userButton{
+  wpi::cmd::Trigger m_userButton{
       [this] { return m_onboardIO.GetUserButtonPressed(); }};
 
   // Autonomous commands.
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
index 227f0924de..bd29bdefe0 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class AutonomousDistance
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup,
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup,
                                  AutonomousDistance> {
  public:
   /**
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
index 31cc56df0c..e2dde7998a 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class AutonomousTime
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::SequentialCommandGroup, AutonomousTime> {
  public:
   /**
    * Creates a new Autonomous Drive based on time. This will drive out for a
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
index 3b6abf364f..49fc11fb98 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
@@ -10,7 +10,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
+class DriveDistance : public wpi::cmd::CommandHelper<wpi::cmd::Command, DriveDistance> {
  public:
   /**
    * Creates a new DriveDistance. This command will drive your your robot for a
@@ -20,7 +20,7 @@ class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
    * @param distance The distance the robot will drive
    * @param drive The drivetrain subsystem on which this command will run
    */
-  DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
+  DriveDistance(double speed, wpi::units::meter_t distance, Drivetrain* drive)
       : m_speed(speed), m_distance(distance), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -32,6 +32,6 @@ class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
 
  private:
   double m_speed;
-  units::meter_t m_distance;
+  wpi::units::meter_t m_distance;
   Drivetrain* m_drive;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
index e8983b5acf..3ab5ad2a8a 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
+class DriveTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, DriveTime> {
  public:
   /**
    * Creates a new DriveTime. This command will drive your robot for a desired
@@ -21,7 +21,7 @@ class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
    * @param time How much time to drive
    * @param drive The drivetrain subsystem on which this command will run
    */
-  DriveTime(double speed, units::second_t time, Drivetrain* drive)
+  DriveTime(double speed, wpi::units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -33,7 +33,7 @@ class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
 
  private:
   double m_speed;
-  units::second_t m_duration;
+  wpi::units::second_t m_duration;
   Drivetrain* m_drive;
-  frc::Timer m_timer;
+  wpi::Timer m_timer;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
index f4682d6299..e0e7ce6f22 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
@@ -12,7 +12,7 @@
 #include "subsystems/Drivetrain.hpp"
 
 class TeleopArcadeDrive
-    : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::Command, TeleopArcadeDrive> {
  public:
   /**
    * Creates a new ArcadeDrive. This command will drive your robot according to
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
index 75fd83a885..119b116d65 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
+class TurnDegrees : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnDegrees> {
  public:
   /**
    * Creates a new TurnDegrees. This command will turn your robot for a desired
@@ -21,7 +21,7 @@ class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
    * @param angle Degrees to turn. Leverages encoders to compare distance.
    * @param drive The drive subsystem on which this command will run
    */
-  TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
+  TurnDegrees(double speed, wpi::units::degree_t angle, Drivetrain* drive)
       : m_speed(speed), m_angle(angle), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -33,8 +33,8 @@ class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
 
  private:
   double m_speed;
-  units::degree_t m_angle;
+  wpi::units::degree_t m_angle;
   Drivetrain* m_drive;
 
-  units::meter_t GetAverageTurningDistance();
+  wpi::units::meter_t GetAverageTurningDistance();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
index 3a2b4fc33f..3d8ac60f0d 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
@@ -11,7 +11,7 @@
 
 #include "subsystems/Drivetrain.hpp"
 
-class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
+class TurnTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnTime> {
  public:
   /**
    * Creates a new TurnTime.
@@ -20,7 +20,7 @@ class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
    * @param time How much time to turn
    * @param drive The drive subsystem on which this command will run
    */
-  TurnTime(double speed, units::second_t time, Drivetrain* drive)
+  TurnTime(double speed, wpi::units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
   }
@@ -32,7 +32,7 @@ class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
 
  private:
   double m_speed;
-  units::second_t m_duration;
+  wpi::units::second_t m_duration;
   Drivetrain* m_drive;
-  frc::Timer m_timer;
+  wpi::Timer m_timer;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
index 22c30451b2..6aa94b6e7c 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
@@ -8,7 +8,7 @@
 #include <wpi/units/angle.hpp>
 #include <wpi/xrp/XRPServo.hpp>
 
-class Arm : public frc2::SubsystemBase {
+class Arm : public wpi::cmd::SubsystemBase {
  public:
   /**
    * Will be called periodically whenever the CommandScheduler runs.
@@ -20,8 +20,8 @@ class Arm : public frc2::SubsystemBase {
    *
    * @param angle the commanded angle
    */
-  void SetAngle(units::radian_t angle);
+  void SetAngle(wpi::units::radian_t angle);
 
  private:
-  frc::XRPServo m_armServo{4};
+  wpi::xrp::XRPServo m_armServo{4};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
index 186b2eae79..32cad6090a 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
@@ -13,14 +13,14 @@
 #include <wpi/xrp/XRPGyro.hpp>
 #include <wpi/xrp/XRPMotor.hpp>
 
-class Drivetrain : public frc2::SubsystemBase {
+class Drivetrain : public wpi::cmd::SubsystemBase {
  public:
   static constexpr double kGearRatio =
       (30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0);  // 48.75:1
   static constexpr double kCountsPerMotorShaftRev = 12.0;
   static constexpr double kCountsPerRevolution =
       kCountsPerMotorShaftRev * kGearRatio;  // 585.0
-  static constexpr units::meter_t kWheelDiameter = 60_mm;
+  static constexpr wpi::units::meter_t kWheelDiameter = 60_mm;
 
   Drivetrain();
 
@@ -61,42 +61,42 @@ class Drivetrain : public frc2::SubsystemBase {
    *
    * @return the left-side distance driven
    */
-  units::meter_t GetLeftDistance();
+  wpi::units::meter_t GetLeftDistance();
 
   /**
    * Gets the right distance driven.
    *
    * @return the right-side distance driven
    */
-  units::meter_t GetRightDistance();
+  wpi::units::meter_t GetRightDistance();
 
   /**
    * Returns the average distance traveled by the left and right encoders.
    *
    * @return The average distance traveled by the left and right encoders.
    */
-  units::meter_t GetAverageDistance();
+  wpi::units::meter_t GetAverageDistance();
 
   /**
    * Current angle of the XRP around the X-axis.
    *
    * @return The current angle of the XRP.
    */
-  units::radian_t GetGyroAngleX();
+  wpi::units::radian_t GetGyroAngleX();
 
   /**
    * Current angle of the XRP around the Y-axis.
    *
    * @return The current angle of the XRP.
    */
-  units::radian_t GetGyroAngleY();
+  wpi::units::radian_t GetGyroAngleY();
 
   /**
    * Current angle of the XRP around the Z-axis.
    *
    * @return The current angle of the XRP.
    */
-  units::radian_t GetGyroAngleZ();
+  wpi::units::radian_t GetGyroAngleZ();
 
   /**
    * Reset the gyro.
@@ -104,15 +104,15 @@ class Drivetrain : public frc2::SubsystemBase {
   void ResetGyro();
 
  private:
-  frc::XRPMotor m_leftMotor{0};
-  frc::XRPMotor m_rightMotor{1};
+  wpi::xrp::XRPMotor m_leftMotor{0};
+  wpi::xrp::XRPMotor m_rightMotor{1};
 
-  frc::Encoder m_leftEncoder{4, 5};
-  frc::Encoder m_rightEncoder{6, 7};
+  wpi::Encoder m_leftEncoder{4, 5};
+  wpi::Encoder m_rightEncoder{6, 7};
 
-  frc::DifferentialDrive m_drive{
+  wpi::DifferentialDrive m_drive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
 
-  frc::XRPGyro m_gyro;
+  wpi::xrp::XRPGyro m_gyro;
 };
diff --git a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
index 9dc1b03872..f7dbfdc83d 100644
--- a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
@@ -11,7 +11,7 @@
  * ADXL346, 362 Accelerometer snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
 
@@ -27,12 +27,12 @@ class Robot : public frc::TimedRobot {
  private:
   // Creates an ADXL345 accelerometer object on the MXP I2C port
   // with a measurement range from -8 to 8 G's
-  frc::ADXL345_I2C m_accelerometer{frc::I2C::Port::kPort0,
-                                   frc::ADXL345_I2C::Range::kRange_8G};
+  wpi::ADXL345_I2C m_accelerometer{wpi::I2C::Port::kPort0,
+                                   wpi::ADXL345_I2C::Range::kRange_8G};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
index 2aced8d66f..59474f0a4e 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -11,7 +11,7 @@
  * Collision detection snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void RobotPeriodic() override {
     // Gets the current accelerations in the X and Y directions
@@ -23,18 +23,18 @@ class Robot : public frc::TimedRobot {
     m_prevXAccel = xAccel;
     m_prevYAccel = yAccel;
 
-    frc::SmartDashboard::PutNumber("X Jerk", xJerk.value());
-    frc::SmartDashboard::PutNumber("Y Jerk", yJerk.value());
+    wpi::SmartDashboard::PutNumber("X Jerk", xJerk.value());
+    wpi::SmartDashboard::PutNumber("Y Jerk", yJerk.value());
   }
 
  private:
-  units::meters_per_second_squared_t m_prevXAccel = 0.0_mps_sq;
-  units::meters_per_second_squared_t m_prevYAccel = 0.0_mps_sq;
-  frc::OnboardIMU m_accelerometer{frc::OnboardIMU::MountOrientation::kFlat};
+  wpi::units::meters_per_second_squared_t m_prevXAccel = 0.0_mps_sq;
+  wpi::units::meters_per_second_squared_t m_prevYAccel = 0.0_mps_sq;
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
index a0c8c8bb50..75917b31f2 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -12,27 +12,27 @@
  * Accelerometer filtering snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void RobotPeriodic() override {
-    units::meters_per_second_squared_t XAccel = m_accelerometer.GetAccelX();
+    wpi::units::meters_per_second_squared_t XAccel = m_accelerometer.GetAccelX();
     // Get the filtered X acceleration
-    units::meters_per_second_squared_t filteredXAccel =
+    wpi::units::meters_per_second_squared_t filteredXAccel =
         m_xAccelFilter.Calculate(XAccel);
 
-    frc::SmartDashboard::PutNumber("X Acceleration", XAccel.value());
-    frc::SmartDashboard::PutNumber("Filtered X Acceleration",
+    wpi::SmartDashboard::PutNumber("X Acceleration", XAccel.value());
+    wpi::SmartDashboard::PutNumber("Filtered X Acceleration",
                                    filteredXAccel.value());
   }
 
  private:
-  frc::OnboardIMU m_accelerometer{frc::OnboardIMU::MountOrientation::kFlat};
-  frc::LinearFilter<units::meters_per_second_squared_t> m_xAccelFilter =
-      frc::LinearFilter<units::meters_per_second_squared_t>::MovingAverage(10);
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t> m_xAccelFilter =
+      wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t>::MovingAverage(10);
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
index 8f0e7564d2..5e5f0b14f6 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
@@ -10,7 +10,7 @@
  * AnalogAccelerometer snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Sets the sensitivity of the accelerometer to 1 volt per G
@@ -26,11 +26,11 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Creates an analog accelerometer on analog input 0
-  frc::AnalogAccelerometer m_accelerometer{0};
+  wpi::AnalogAccelerometer m_accelerometer{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
index 2f78a7cd07..35aa7a2f00 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
@@ -9,7 +9,7 @@
  * AnalogEncoder snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
 
@@ -20,16 +20,16 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Initializes an analog encoder on Analog Input pin 0
-  frc::AnalogEncoder m_encoder{0};
+  wpi::AnalogEncoder m_encoder{0};
 
   // Initializes an analog encoder on DIO pins 0 to return a value of 4 for
   // a full rotation, with the encoder reporting 0 half way through rotation (2
   // out of 4)
-  frc::AnalogEncoder m_encoderFR{0, 4.0, 2.0};
+  wpi::AnalogEncoder m_encoderFR{0, 4.0, 2.0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
index 14f184e081..93a164ac26 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
@@ -9,7 +9,7 @@
  * AnalogInput snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-input-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added
@@ -44,11 +44,11 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Initializes an AnalogInput on port 0
-  frc::AnalogInput m_analog{0};
+  wpi::AnalogInput m_analog{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
index a2958e6a90..8129c73d40 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
@@ -10,7 +10,7 @@
  * AnalogPotentiometer snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-potentiometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Set averaging bits to 2
@@ -27,19 +27,19 @@ class Robot : public frc::TimedRobot {
   // The full range of motion (in meaningful external units) is 0-180 (this
   // could be degrees, for instance) The "starting point" of the motion, i.e.
   // where the mechanism is located when the potentiometer reads 0v, is 30.
-  frc::AnalogPotentiometer m_pot{0, 180, 30};
+  wpi::AnalogPotentiometer m_pot{0, 180, 30};
 
   // Initializes an AnalogInput on port 1
-  frc::AnalogInput m_input{1};
+  wpi::AnalogInput m_input{1};
   // Initializes an AnalogPotentiometer with the given AnalogInput
   // The full range of motion (in meaningful external units) is 0-180 (this
   // could be degrees, for instance) The "starting point" of the motion, i.e.
   // where the mechanism is located when the potentiometer reads 0v, is 30.
-  frc::AnalogPotentiometer m_pot1{&m_input, 180, 30};
+  wpi::AnalogPotentiometer m_pot1{&m_input, 180, 30};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
index 14b35a7487..7421952b94 100644
--- a/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
@@ -9,7 +9,7 @@
  * Digital Input snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/digital-input-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopPeriodic() override {
     // Gets the value of the digital input.  Returns true if the circuit is
@@ -19,11 +19,11 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Initializes a DigitalInput on DIO 0
-  frc::DigitalInput m_input{0};
+  wpi::DigitalInput m_input{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
index e31decd746..8f4a601e5a 100644
--- a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
@@ -9,7 +9,7 @@
  * DutyCycleEncoder snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {}
 
@@ -23,16 +23,16 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Initializes a duty cycle encoder on DIO pins 0
-  frc::DutyCycleEncoder m_encoder{0};
+  wpi::DutyCycleEncoder m_encoder{0};
 
   // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
   // a full rotation, with the encoder reporting 0 half way through rotation (2
   // out of 4)
-  frc::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
+  wpi::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
index c793391338..ebf76d4cf4 100644
--- a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
@@ -11,7 +11,7 @@
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
  */
 WPI_IGNORE_DEPRECATED
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Configures the encoder to return a distance of 4 for every 256 pulses
@@ -52,15 +52,15 @@ class Robot : public frc::TimedRobot {
  private:
   // Initializes an encoder on DIO pins 0 and 1
   // Defaults to 4X decoding and non-inverted
-  frc::Encoder m_encoder{0, 1};
+  wpi::Encoder m_encoder{0, 1};
 
   // Initializes an encoder on DIO pins 0 and 1
   // 2X encoding and non-inverted
-  frc::Encoder m_encoder2x{0, 1, false, frc::Encoder::EncodingType::k2X};
+  wpi::Encoder m_encoder2x{0, 1, false, wpi::Encoder::EncodingType::k2X};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
index beb66bcc12..d00a3141ec 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
@@ -11,7 +11,7 @@
  * Encoder drive to distance snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() {
     // Configures the encoder's distance-per-pulse
@@ -37,18 +37,18 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Creates an encoder on DIO ports 0 and 1.
-  frc::Encoder m_encoder{0, 1};
+  wpi::Encoder m_encoder{0, 1};
   // Initialize motor controllers and drive
-  frc::Spark leftLeader{0};
-  frc::Spark leftFollower{1};
-  frc::Spark rightLeader{2};
-  frc::Spark rightFollower{3};
-  frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+  wpi::Spark leftLeader{0};
+  wpi::Spark leftFollower{1};
+  wpi::Spark rightLeader{2};
+  wpi::Spark rightFollower{3};
+  wpi::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
                                [&](double output) { rightLeader.Set(output); }};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
index 34b0510a3e..d22b283fac 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
@@ -11,7 +11,7 @@
  * Encoder mechanism homing snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void AutonomousPeriodic() override {
     // Runs the motor backwards at half speed until the limit switch is pressed
@@ -25,14 +25,14 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::Encoder m_encoder{0, 1};
-  frc::Spark m_spark{0};
+  wpi::Encoder m_encoder{0, 1};
+  wpi::Spark m_spark{0};
   // Limit switch on DIO 2
-  frc::DigitalInput m_limit{2};
+  wpi::DigitalInput m_limit{2};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
index 66123dbb3f..68ed3e35a5 100644
--- a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
@@ -12,7 +12,7 @@
  * Limit Switch snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/limit-switch.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopPeriodic() override { SetMotorSpeed(m_joystick.GetRawAxis(2)); }
   void SetMotorSpeed(double speed) {
@@ -37,14 +37,14 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::DigitalInput m_toplimitSwitch{0};
-  frc::DigitalInput m_bottomlimitSwitch{1};
-  frc::PWMVictorSPX m_motor{0};
-  frc::Joystick m_joystick{0};
+  wpi::DigitalInput m_toplimitSwitch{0};
+  wpi::DigitalInput m_bottomlimitSwitch{1};
+  wpi::PWMVictorSPX m_motor{0};
+  wpi::Joystick m_joystick{0};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
index c46e8b72a1..279091f43a 100644
--- a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
@@ -12,7 +12,7 @@
  * Onboard IMU snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   void TeleopPeriodic() override {
     // Gets the current acceleration in the X axis
@@ -35,11 +35,11 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Creates an object for the Systemcore IMU
-  frc::OnboardIMU m_IMU{frc::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_IMU{wpi::OnboardIMU::MountOrientation::kFlat};
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
index d9015f9e15..1d79c22253 100644
--- a/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
@@ -13,19 +13,19 @@
 #include <wpi/units/voltage.hpp>
 
 /**
- * ProfiledPIDController with feedforward snippets for frc-docs.
+ * wpi::math::ProfiledPIDController with feedforward snippets for frc-docs.
  * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/profiled-pidcontroller.html
  */
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot() { m_encoder.SetDistancePerPulse(1.0 / 256.0); }
 
-  // Controls a simple motor's position using a SimpleMotorFeedforward
-  // and a ProfiledPIDController
-  void GoToPosition(units::meter_t goalPosition) {
+  // Controls a simple motor's position using a wpi::math::SimpleMotorFeedforward
+  // and a wpi::math::ProfiledPIDController
+  void GoToPosition(wpi::units::meter_t goalPosition) {
     auto pidVal = m_controller.Calculate(
-        units::meter_t{m_encoder.GetDistance()}, goalPosition);
-    m_motor.SetVoltage(units::volt_t{pidVal} +
+        wpi::units::meter_t{m_encoder.GetDistance()}, goalPosition);
+    m_motor.SetVoltage(wpi::units::volt_t{pidVal} +
                        m_feedforward.Calculate(
                            m_lastSpeed, m_controller.GetSetpoint().velocity));
     m_lastSpeed = m_controller.GetSetpoint().velocity;
@@ -37,18 +37,18 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::ProfiledPIDController<units::meters> m_controller{
+  wpi::math::ProfiledPIDController<wpi::units::meters> m_controller{
       1.0, 0.0, 0.0, {5_mps, 10_mps_sq}};
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward{0.5_V, 1.5_V / 1_mps,
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{0.5_V, 1.5_V / 1_mps,
                                                            0.3_V / 1_mps_sq};
-  frc::Encoder m_encoder{0, 1};
-  frc::PWMSparkMax m_motor{0};
+  wpi::Encoder m_encoder{0, 1};
+  wpi::PWMSparkMax m_motor{0};
 
-  units::meters_per_second_t m_lastSpeed = 0_mps;
+  wpi::units::meters_per_second_t m_lastSpeed = 0_mps;
 };
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 91dbc4c72e..0da6ef185a 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -17,7 +17,7 @@ Robot::Robot() {}
  * LiveWindow and SmartDashboard integrated updating.
  */
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 /**
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -75,6 +75,6 @@ void Robot::SimulationPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
index bd53e8b60b..c3e14f2554 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
@@ -20,7 +20,7 @@ void RobotContainer::ConfigureBindings() {
   // Configure your trigger bindings here
 
   // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-  frc2::Trigger([this] {
+  wpi::cmd::Trigger([this] {
     return m_subsystem.ExampleCondition();
   }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
 
@@ -29,7 +29,7 @@ void RobotContainer::ConfigureBindings() {
   m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
 }
 
-frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+wpi::cmd::CommandPtr RobotContainer::GetAutonomousCommand() {
   // An example command will be run in autonomous
   return autos::ExampleAuto(&m_subsystem);
 }
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
index 59f5904b11..6e9872a26b 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
@@ -8,7 +8,7 @@
 
 #include "commands/ExampleCommand.hpp"
 
-frc2::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) {
-  return frc2::cmd::Sequence(subsystem->ExampleMethodCommand(),
+wpi::cmd::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) {
+  return wpi::cmd::cmd::Sequence(subsystem->ExampleMethodCommand(),
                              ExampleCommand(subsystem).ToPtr());
 }
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
index 748a256b13..69ee3ad5a7 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
@@ -8,7 +8,7 @@ ExampleSubsystem::ExampleSubsystem() {
   // Implementation of subsystem constructor goes here.
 }
 
-frc2::CommandPtr ExampleSubsystem::ExampleMethodCommand() {
+wpi::cmd::CommandPtr ExampleSubsystem::ExampleMethodCommand() {
   // Inline construction of command goes here.
   // Subsystem::RunOnce implicitly requires `this` subsystem.
   return RunOnce([/* this */] { /* one-time action goes here */ });
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
index 31de7f348a..aa768950ec 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
@@ -11,7 +11,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it empty by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
index 4b24ca59a1..0b743339a6 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
@@ -21,11 +21,11 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   // Replace with CommandPS4Controller or CommandJoystick if needed
-  frc2::CommandXboxController m_driverController{
+  wpi::cmd::CommandXboxController m_driverController{
       OperatorConstants::kDriverControllerPort};
 
   // The robot's subsystems are defined here...
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
index 717284afe7..f6a1b1f86d 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
@@ -12,5 +12,5 @@ namespace autos {
 /**
  * Example static factory for an autonomous command.
  */
-frc2::CommandPtr ExampleAuto(ExampleSubsystem* subsystem);
+wpi::cmd::CommandPtr ExampleAuto(ExampleSubsystem* subsystem);
 }  // namespace autos
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
index 85d72e3f68..3acf4b5b7f 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
@@ -17,7 +17,7 @@
  * Command will *not* work!
  */
 class ExampleCommand
-    : public frc2::CommandHelper<frc2::Command, ExampleCommand> {
+    : public wpi::cmd::CommandHelper<wpi::cmd::Command, ExampleCommand> {
  public:
   /**
    * Creates a new ExampleCommand.
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
index c13c4aedda..1f57e8909d 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
@@ -7,14 +7,14 @@
 #include <wpi/commands2/CommandPtr.hpp>
 #include <wpi/commands2/SubsystemBase.hpp>
 
-class ExampleSubsystem : public frc2::SubsystemBase {
+class ExampleSubsystem : public wpi::cmd::SubsystemBase {
  public:
   ExampleSubsystem();
 
   /**
    * Example command factory method.
    */
-  frc2::CommandPtr ExampleMethodCommand();
+  wpi::cmd::CommandPtr ExampleMethodCommand();
 
   /**
    * An example method querying a boolean state of the subsystem (for example, a
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
index 9b66f55e3d..c1390561da 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 Robot::Robot() {}
 
 void Robot::RobotPeriodic() {
-  frc2::CommandScheduler::GetInstance().Run();
+  wpi::cmd::CommandScheduler::GetInstance().Run();
 }
 
 void Robot::DisabledInit() {}
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -41,7 +41,7 @@ void Robot::TeleopPeriodic() {}
 void Robot::TeleopExit() {}
 
 void Robot::TestInit() {
-  frc2::CommandScheduler::GetInstance().CancelAll();
+  wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
 void Robot::TestPeriodic() {}
@@ -50,6 +50,6 @@ void Robot::TestExit() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
index 30616bb7c9..2bee9a8925 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
@@ -12,6 +12,6 @@ RobotContainer::RobotContainer() {
 
 void RobotContainer::ConfigureBindings() {}
 
-frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
-  return frc2::cmd::Print("No autonomous command configured");
+wpi::cmd::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return wpi::cmd::cmd::Print("No autonomous command configured");
 }
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
index fcf8c8c81f..8939b73080 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
@@ -11,7 +11,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -29,7 +29,7 @@ class Robot : public frc::TimedRobot {
   void TestExit() override;
 
  private:
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
index bb795a347c..712cf43ea4 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
@@ -10,7 +10,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   void ConfigureBindings();
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index 2f377a4032..5ea6e23547 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -20,10 +20,10 @@ void Robot::Teleop() {}
 void Robot::Test() {}
 
 void Robot::StartCompetition() {
-  frc::internal::DriverStationModeThread modeThread;
+  wpi::internal::DriverStationModeThread modeThread;
 
-  wpi::Event event{false, false};
-  frc::DriverStation::ProvideRefreshedDataEventHandle(event.GetHandle());
+  wpi::util::Event event{false, false};
+  wpi::DriverStation::ProvideRefreshedDataEventHandle(event.GetHandle());
 
   // Tell the DS that the robot is ready to be enabled
   HAL_ObserveUserProgramStarting();
@@ -34,28 +34,28 @@ void Robot::StartCompetition() {
       Disabled();
       modeThread.InDisabled(false);
       while (IsDisabled()) {
-        wpi::WaitForObject(event.GetHandle());
+        wpi::util::WaitForObject(event.GetHandle());
       }
     } else if (IsAutonomous()) {
       modeThread.InAutonomous(true);
       Autonomous();
       modeThread.InAutonomous(false);
       while (IsAutonomousEnabled()) {
-        wpi::WaitForObject(event.GetHandle());
+        wpi::util::WaitForObject(event.GetHandle());
       }
     } else if (IsTest()) {
       modeThread.InTest(true);
       Test();
       modeThread.InTest(false);
       while (IsTest() && IsEnabled()) {
-        wpi::WaitForObject(event.GetHandle());
+        wpi::util::WaitForObject(event.GetHandle());
       }
     } else {
       modeThread.InTeleop(true);
       Teleop();
       modeThread.InTeleop(false);
       while (IsTeleopEnabled()) {
-        wpi::WaitForObject(event.GetHandle());
+        wpi::util::WaitForObject(event.GetHandle());
       }
     }
   }
@@ -67,6 +67,6 @@ void Robot::EndCompetition() {
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
index 7b8f1bad3f..d91687bcb4 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
@@ -8,7 +8,7 @@
 
 #include <wpi/opmode/RobotBase.hpp>
 
-class Robot : public frc::RobotBase {
+class Robot : public wpi::RobotBase {
  public:
   Robot();
   void Disabled();
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
index a08a1cffd5..515fe84bc8 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
@@ -10,7 +10,7 @@
 Robot::Robot() {
   m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
   m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
-  frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+  wpi::SmartDashboard::PutData("Auto Modes", &m_chooser);
 }
 
 /**
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autoSelected = m_chooser.GetSelected();
   // m_autoSelected = SmartDashboard::GetString("Auto Selector",
   //     kAutoNameDefault);
-  wpi::print("Auto selected: {}\n", m_autoSelected);
+  wpi::util::print("Auto selected: {}\n", m_autoSelected);
 
   if (m_autoSelected == kAutoNameCustom) {
     // Custom Auto goes here
@@ -73,6 +73,6 @@ void Robot::SimulationPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
index 39e5ca91dd..e034f38868 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
@@ -9,7 +9,7 @@
 #include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SendableChooser.hpp>
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -25,7 +25,7 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override;
 
  private:
-  frc::SendableChooser<std::string> m_chooser;
+  wpi::SendableChooser<std::string> m_chooser;
   const std::string kAutoNameDefault = "Default";
   const std::string kAutoNameCustom = "My Auto";
   std::string m_autoSelected;
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
index 9fde8e5794..0067b83b4c 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
@@ -24,6 +24,6 @@ void Robot::SimulationPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
index 33a087e501..aebabcb187 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
@@ -6,7 +6,7 @@
 
 #include <wpi/opmode/TimedRobot.hpp>
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
diff --git a/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
index 61300c9504..4beafe288b 100644
--- a/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 #include <wpi/util/print.hpp>
 
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
-Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
+Robot::Robot() : wpi::TimesliceRobot{5_ms, 10_ms} {
   // Runs for 2 ms after robot periodic functions
   Schedule([=] {}, 2_ms);
 
@@ -21,7 +21,7 @@ Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
 
   m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
   m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
-  frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+  wpi::SmartDashboard::PutData("Auto Modes", &m_chooser);
 }
 
 /**
@@ -49,7 +49,7 @@ void Robot::AutonomousInit() {
   m_autoSelected = m_chooser.GetSelected();
   // m_autoSelected = SmartDashboard::GetString("Auto Selector",
   //     kAutoNameDefault);
-  wpi::print("Auto selected: {}\n", m_autoSelected);
+  wpi::util::print("Auto selected: {}\n", m_autoSelected);
 
   if (m_autoSelected == kAutoNameCustom) {
     // Custom Auto goes here
@@ -80,6 +80,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
index f896468b13..927297d553 100644
--- a/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
@@ -9,7 +9,7 @@
 #include <wpi/opmode/TimesliceRobot.hpp>
 #include <wpi/smartdashboard/SendableChooser.hpp>
 
-class Robot : public frc::TimesliceRobot {
+class Robot : public wpi::TimesliceRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -23,7 +23,7 @@ class Robot : public frc::TimesliceRobot {
   void TestPeriodic() override;
 
  private:
-  frc::SendableChooser<std::string> m_chooser;
+  wpi::SendableChooser<std::string> m_chooser;
   const std::string kAutoNameDefault = "Default";
   const std::string kAutoNameCustom = "My Auto";
   std::string m_autoSelected;
diff --git a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
index ed07740f93..10a6897371 100644
--- a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
@@ -5,7 +5,7 @@
 #include "Robot.hpp"
 
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
-Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
+Robot::Robot() : wpi::TimesliceRobot{5_ms, 10_ms} {
   // Runs for 2 ms after robot periodic functions
   Schedule([=] {}, 2_ms);
 
@@ -33,6 +33,6 @@ void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
-  return frc::StartRobot<Robot>();
+  return wpi::StartRobot<Robot>();
 }
 #endif
diff --git a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
index bc3b7a2bae..8edaad8882 100644
--- a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
@@ -6,7 +6,7 @@
 
 #include <wpi/opmode/TimesliceRobot.hpp>
 
-class Robot : public frc::TimesliceRobot {
+class Robot : public wpi::TimesliceRobot {
  public:
   Robot();
 
diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
index 8fcbe076da..81fef9c41d 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
@@ -18,22 +18,22 @@
 #include "Constants.hpp"
 #include "Robot.hpp"
 
-class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
+class ArmSimulationTest : public testing::TestWithParam<wpi::units::degree_t> {
   Robot m_robot;
   std::optional<std::thread> m_thread;
 
  protected:
-  frc::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
-  frc::sim::EncoderSim m_encoderSim =
-      frc::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
-  frc::sim::JoystickSim m_joystickSim{kJoystickPort};
+  wpi::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
+  wpi::sim::EncoderSim m_encoderSim =
+      wpi::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
+  wpi::sim::JoystickSim m_joystickSim{kJoystickPort};
 
  public:
   void SetUp() override {
-    frc::sim::PauseTiming();
+    wpi::sim::PauseTiming();
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
   }
 
   void TearDown() override {
@@ -41,30 +41,30 @@ class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
     m_thread->join();
 
     m_encoderSim.ResetData();
-    frc::sim::DriverStationSim::ResetData();
-    frc::Preferences::RemoveAll();
+    wpi::sim::DriverStationSim::ResetData();
+    wpi::Preferences::RemoveAll();
   }
 };
 
 TEST_P(ArmSimulationTest, Teleop) {
-  EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPositionKey));
-  EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPKey));
-  frc::Preferences::SetDouble(kArmPositionKey, GetParam().value());
-  units::degree_t setpoint = GetParam();
+  EXPECT_TRUE(wpi::Preferences::ContainsKey(kArmPositionKey));
+  EXPECT_TRUE(wpi::Preferences::ContainsKey(kArmPKey));
+  wpi::Preferences::SetDouble(kArmPositionKey, GetParam().value());
+  wpi::units::degree_t setpoint = GetParam();
   EXPECT_DOUBLE_EQ(setpoint.value(),
-                   frc::Preferences::GetDouble(kArmPositionKey, NAN));
+                   wpi::Preferences::GetDouble(kArmPositionKey, NAN));
 
   // teleop init
   {
-    frc::sim::DriverStationSim::SetAutonomous(false);
-    frc::sim::DriverStationSim::SetEnabled(true);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetEnabled(true);
+    wpi::sim::DriverStationSim::NotifyNewData();
 
     EXPECT_TRUE(m_encoderSim.GetInitialized());
   }
 
   {
-    frc::sim::StepTiming(3_s);
+    wpi::sim::StepTiming(3_s);
 
     // Ensure arm is still at minimum angle.
     EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
@@ -75,20 +75,20 @@ TEST_P(ArmSimulationTest, Teleop) {
     m_joystickSim.SetTrigger(true);
     m_joystickSim.NotifyNewData();
 
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     EXPECT_NEAR(setpoint.value(),
-                units::radian_t(m_encoderSim.GetDistance())
-                    .convert<units::degree>()
+                wpi::units::radian_t(m_encoderSim.GetDistance())
+                    .convert<wpi::units::degree>()
                     .value(),
                 2.0);
 
     // see setpoint is held.
-    frc::sim::StepTiming(0.5_s);
+    wpi::sim::StepTiming(0.5_s);
 
     EXPECT_NEAR(setpoint.value(),
-                units::radian_t(m_encoderSim.GetDistance())
-                    .convert<units::degree>()
+                wpi::units::radian_t(m_encoderSim.GetDistance())
+                    .convert<wpi::units::degree>()
                     .value(),
                 2.0);
   }
@@ -98,7 +98,7 @@ TEST_P(ArmSimulationTest, Teleop) {
     m_joystickSim.SetTrigger(false);
     m_joystickSim.NotifyNewData();
 
-    frc::sim::StepTiming(3_s);
+    wpi::sim::StepTiming(3_s);
 
     EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
   }
@@ -109,31 +109,31 @@ TEST_P(ArmSimulationTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 75 timesteps
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     EXPECT_NEAR(setpoint.value(),
-                units::radian_t(m_encoderSim.GetDistance())
-                    .convert<units::degree>()
+                wpi::units::radian_t(m_encoderSim.GetDistance())
+                    .convert<wpi::units::degree>()
                     .value(),
                 2.0);
 
     // advance 25 timesteps to see setpoint is held.
-    frc::sim::StepTiming(0.5_s);
+    wpi::sim::StepTiming(0.5_s);
 
     EXPECT_NEAR(setpoint.value(),
-                units::radian_t(m_encoderSim.GetDistance())
-                    .convert<units::degree>()
+                wpi::units::radian_t(m_encoderSim.GetDistance())
+                    .convert<wpi::units::degree>()
                     .value(),
                 2.0);
   }
 
   {
     // Disable
-    frc::sim::DriverStationSim::SetAutonomous(false);
-    frc::sim::DriverStationSim::SetEnabled(false);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetEnabled(false);
+    wpi::sim::DriverStationSim::NotifyNewData();
 
-    frc::sim::StepTiming(3_s);
+    wpi::sim::StepTiming(3_s);
 
     ASSERT_NEAR(0.0, m_motorSim.GetSpeed(), 0.05);
     EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
@@ -143,7 +143,7 @@ TEST_P(ArmSimulationTest, Teleop) {
 INSTANTIATE_TEST_SUITE_P(
     ArmSimulationTests, ArmSimulationTest,
     testing::Values(kDefaultArmSetpoint, 25.0_deg, 50.0_deg),
-    [](const testing::TestParamInfo<units::degree_t>& info) {
+    [](const testing::TestParamInfo<wpi::units::degree_t>& info) {
       return testing::PrintToString(info.param.value())
           .append(std::string(info.param.abbreviation()));
     });
diff --git a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
index 0d02f5f016..248d3693a4 100644
--- a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
@@ -16,19 +16,19 @@
 template <typename T>
 class DigitalCommunicationTest : public testing::TestWithParam<T> {
  public:
-  frc::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
-  frc::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
-  frc::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
-  frc::sim::DIOSim m_alertOutput{Robot::kAlertPort};
+  wpi::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
+  wpi::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
+  wpi::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
+  wpi::sim::DIOSim m_alertOutput{Robot::kAlertPort};
   Robot m_robot;
   std::optional<std::thread> m_thread;
 
   void SetUp() override {
-    frc::sim::PauseTiming();
-    frc::sim::DriverStationSim::ResetData();
+    wpi::sim::PauseTiming();
+    wpi::sim::DriverStationSim::ResetData();
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);
+    wpi::sim::StepTiming(0.0_ms);
     // SimHooks.stepTiming(0.0); // Wait for Notifiers
   }
 
@@ -46,13 +46,13 @@ class AllianceTest : public DigitalCommunicationTest<HAL_AllianceStationID> {};
 
 TEST_P(AllianceTest, Alliance) {
   auto alliance = GetParam();
-  frc::sim::DriverStationSim::SetAllianceStationId(alliance);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(m_allianceOutput.GetInitialized());
   EXPECT_FALSE(m_allianceOutput.GetIsInput());
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   bool isRed = false;
   switch (alliance) {
@@ -102,13 +102,13 @@ class EnabledTest : public DigitalCommunicationTest<bool> {};
 
 TEST_P(EnabledTest, Enabled) {
   auto enabled = GetParam();
-  frc::sim::DriverStationSim::SetEnabled(enabled);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(enabled);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(m_enabledOutput.GetInitialized());
   EXPECT_FALSE(m_enabledOutput.GetIsInput());
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   EXPECT_EQ(enabled, m_enabledOutput.GetValue());
 }
@@ -120,13 +120,13 @@ class AutonomousTest : public DigitalCommunicationTest<bool> {};
 
 TEST_P(AutonomousTest, Autonomous) {
   auto autonomous = GetParam();
-  frc::sim::DriverStationSim::SetAutonomous(autonomous);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetAutonomous(autonomous);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(m_autonomousOutput.GetInitialized());
   EXPECT_FALSE(m_autonomousOutput.GetIsInput());
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   EXPECT_EQ(autonomous, m_autonomousOutput.GetValue());
 }
@@ -138,13 +138,13 @@ class AlertTest : public DigitalCommunicationTest<double> {};
 
 TEST_P(AlertTest, Alert) {
   auto matchTime = GetParam();
-  frc::sim::DriverStationSim::SetMatchTime(matchTime);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetMatchTime(matchTime);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(m_alertOutput.GetInitialized());
   EXPECT_FALSE(m_alertOutput.GetIsInput());
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   EXPECT_EQ(matchTime <= 30 && matchTime >= 25, m_alertOutput.GetValue());
 }
diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
index cb34ed35fb..04cfccb64e 100644
--- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
@@ -25,17 +25,17 @@ class ElevatorSimulationTest : public testing::Test {
   std::optional<std::thread> m_thread;
 
  protected:
-  frc::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
-  frc::sim::EncoderSim m_encoderSim =
-      frc::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
-  frc::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
+  wpi::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
+  wpi::sim::EncoderSim m_encoderSim =
+      wpi::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
+  wpi::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
 
  public:
   void SetUp() override {
-    frc::sim::PauseTiming();
+    wpi::sim::PauseTiming();
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
   }
 
   void TearDown() override {
@@ -43,23 +43,23 @@ class ElevatorSimulationTest : public testing::Test {
     m_thread->join();
 
     m_encoderSim.ResetData();
-    frc::sim::DriverStationSim::ResetData();
+    wpi::sim::DriverStationSim::ResetData();
   }
 };
 
 TEST_F(ElevatorSimulationTest, Teleop) {
   // teleop init
   {
-    frc::sim::DriverStationSim::SetAutonomous(false);
-    frc::sim::DriverStationSim::SetEnabled(true);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetEnabled(true);
+    wpi::sim::DriverStationSim::NotifyNewData();
 
     EXPECT_TRUE(m_encoderSim.GetInitialized());
   }
 
   {
     // advance 50 timesteps
-    frc::sim::StepTiming(1_s);
+    wpi::sim::StepTiming(1_s);
 
     // Ensure elevator is still at 0.
     EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
@@ -71,12 +71,12 @@ TEST_F(ElevatorSimulationTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 75 timesteps
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
 
     // advance 25 timesteps to see setpoint is held.
-    frc::sim::StepTiming(0.5_s);
+    wpi::sim::StepTiming(0.5_s);
 
     EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
   }
@@ -87,7 +87,7 @@ TEST_F(ElevatorSimulationTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 75 timesteps
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
   }
@@ -98,24 +98,24 @@ TEST_F(ElevatorSimulationTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 75 timesteps
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
 
     // advance 25 timesteps to see setpoint is held.
-    frc::sim::StepTiming(0.5_s);
+    wpi::sim::StepTiming(0.5_s);
 
     EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
   }
 
   {
     // Disable
-    frc::sim::DriverStationSim::SetAutonomous(false);
-    frc::sim::DriverStationSim::SetEnabled(false);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetEnabled(false);
+    wpi::sim::DriverStationSim::NotifyNewData();
 
     // advance 75 timesteps
-    frc::sim::StepTiming(1.5_s);
+    wpi::sim::StepTiming(1.5_s);
 
     ASSERT_NEAR(0.0, m_motorSim.GetSpeed(), 0.05);
     ASSERT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
diff --git a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
index 35c7436e62..27dfaf2972 100644
--- a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
@@ -31,14 +31,14 @@ class I2CCommunicationTest : public testing::TestWithParam<T> {
 
   void SetUp() override {
     gString = std::string();
-    frc::sim::PauseTiming();
-    frc::sim::DriverStationSim::ResetData();
+    wpi::sim::PauseTiming();
+    wpi::sim::DriverStationSim::ResetData();
     m_port = static_cast<int32_t>(Robot::kPort);
 
     m_callback = HALSIM_RegisterI2CWriteCallback(m_port, &callback, nullptr);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
   }
 
   void TearDown() override {
@@ -54,12 +54,12 @@ class AllianceTest : public I2CCommunicationTest<HAL_AllianceStationID> {};
 
 TEST_P(AllianceTest, Alliance) {
   auto alliance = GetParam();
-  frc::sim::DriverStationSim::SetAllianceStationId(alliance);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   char expected = 'U';
   switch (alliance) {
@@ -111,12 +111,12 @@ class EnabledTest : public I2CCommunicationTest<bool> {};
 
 TEST_P(EnabledTest, Enabled) {
   auto enabled = GetParam();
-  frc::sim::DriverStationSim::SetEnabled(enabled);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetEnabled(enabled);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   char expected = enabled ? 'E' : 'D';
   EXPECT_EQ(expected, gString.at(1));
@@ -129,12 +129,12 @@ class AutonomousTest : public I2CCommunicationTest<bool> {};
 
 TEST_P(AutonomousTest, Autonomous) {
   auto autonomous = GetParam();
-  frc::sim::DriverStationSim::SetAutonomous(autonomous);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetAutonomous(autonomous);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   char expected = autonomous ? 'A' : 'T';
   EXPECT_EQ(expected, gString.at(2));
@@ -147,12 +147,12 @@ class MatchTimeTest : public I2CCommunicationTest<int> {};
 
 TEST_P(MatchTimeTest, Alert) {
   auto matchTime = GetParam();
-  frc::sim::DriverStationSim::SetMatchTime(matchTime);
-  frc::sim::DriverStationSim::NotifyNewData();
+  wpi::sim::DriverStationSim::SetMatchTime(matchTime);
+  wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
 
-  frc::sim::StepTiming(20_ms);
+  wpi::sim::StepTiming(20_ms);
 
   std::string expected = fmt::format("{:03}", matchTime);
   EXPECT_EQ(expected, gString.substr(3));
diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
index 594609795f..fbdb2330c2 100644
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
@@ -22,16 +22,16 @@
 #include "Robot.hpp"
 
 class PotentiometerPIDTest : public testing::Test {
-  frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
+  wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::Vex775Pro(4);
   static constexpr double kElevatorGearing = 10.0;
-  static constexpr units::meter_t kElevatorDrumRadius = 2.0_in;
-  static constexpr units::kilogram_t kCarriageMass = 4.0_kg;
+  static constexpr wpi::units::meter_t kElevatorDrumRadius = 2.0_in;
+  static constexpr wpi::units::kilogram_t kCarriageMass = 4.0_kg;
 
   Robot m_robot;
   std::optional<std::thread> m_thread;
 
  protected:
-  frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
+  wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
                                       kElevatorGearing,
                                       kCarriageMass,
                                       kElevatorDrumRadius,
@@ -39,16 +39,16 @@ class PotentiometerPIDTest : public testing::Test {
                                       Robot::kFullHeight,
                                       true,
                                       0.0_m};
-  frc::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
-  frc::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
-  frc::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
+  wpi::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
+  wpi::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
+  wpi::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
   int32_t m_callback;
   int32_t m_port;
 
  public:
   void SimPeriodicBefore() {
     m_elevatorSim.SetInputVoltage(m_motorSim.GetSpeed() *
-                                  frc::RobotController::GetBatteryVoltage());
+                                  wpi::RobotController::GetBatteryVoltage());
     m_elevatorSim.Update(20_ms);
 
     /*
@@ -57,7 +57,7 @@ class PotentiometerPIDTest : public testing::Test {
     3.3v * (meters / range) = v
      */
     m_analogSim.SetVoltage(
-        (frc::RobotController::GetVoltage3V3() *
+        (wpi::RobotController::GetVoltage3V3() *
          (m_elevatorSim.GetPosition().value() / Robot::kFullHeight))
             .value());
   }
@@ -67,8 +67,8 @@ class PotentiometerPIDTest : public testing::Test {
   }
 
   void SetUp() override {
-    frc::sim::PauseTiming();
-    frc::sim::DriverStationSim::ResetData();
+    wpi::sim::PauseTiming();
+    wpi::sim::DriverStationSim::ResetData();
 
     m_joystickSim.SetButtonsMaximumIndex(12);
 
@@ -76,7 +76,7 @@ class PotentiometerPIDTest : public testing::Test {
         HALSIM_RegisterSimPeriodicBeforeCallback(CallSimPeriodicBefore, this);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    frc::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
   }
 
   void TearDown() override {
@@ -91,9 +91,9 @@ class PotentiometerPIDTest : public testing::Test {
 TEST_F(PotentiometerPIDTest, Teleop) {
   // teleop init
   {
-    frc::sim::DriverStationSim::SetAutonomous(false);
-    frc::sim::DriverStationSim::SetEnabled(true);
-    frc::sim::DriverStationSim::NotifyNewData();
+    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetEnabled(true);
+    wpi::sim::DriverStationSim::NotifyNewData();
 
     EXPECT_TRUE(m_analogSim.GetInitialized());
   }
@@ -101,7 +101,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
   // first setpoint
   {
     // advance 50 timesteps
-    frc::sim::StepTiming(1_s);
+    wpi::sim::StepTiming(1_s);
 
     EXPECT_NEAR(Robot::kSetpoints[0].value(),
                 m_elevatorSim.GetPosition().value(), 0.1);
@@ -114,7 +114,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 50 timesteps
-    frc::sim::StepTiming(1_s);
+    wpi::sim::StepTiming(1_s);
 
     EXPECT_NEAR(Robot::kSetpoints[1].value(),
                 m_elevatorSim.GetPosition().value(), 0.1);
@@ -126,7 +126,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 10 timesteps
-    frc::sim::StepTiming(0.2_s);
+    wpi::sim::StepTiming(0.2_s);
   }
 
   // third setpoint
@@ -136,7 +136,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 50 timesteps
-    frc::sim::StepTiming(1_s);
+    wpi::sim::StepTiming(1_s);
 
     EXPECT_NEAR(Robot::kSetpoints[2].value(),
                 m_elevatorSim.GetPosition().value(), 0.1);
@@ -148,7 +148,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 10 timesteps
-    frc::sim::StepTiming(0.2_s);
+    wpi::sim::StepTiming(0.2_s);
   }
 
   // rollover: first setpoint
@@ -158,7 +158,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
     m_joystickSim.NotifyNewData();
 
     // advance 60 timesteps
-    frc::sim::StepTiming(1.2_s);
+    wpi::sim::StepTiming(1.2_s);
     EXPECT_NEAR(Robot::kSetpoints[0].value(),
                 m_elevatorSim.GetPosition().value(), 0.1);
   }
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
index c6f541c9e8..73ba07468d 100644
--- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
@@ -13,10 +13,10 @@
 class IntakeTest : public testing::Test {
  protected:
   Intake intake;  // create our intake
-  frc::sim::PWMMotorControllerSim simMotor{
+  wpi::sim::PWMMotorControllerSim simMotor{
       IntakeConstants::kMotorPort};  // create our simulation PWM
-  frc::sim::DoubleSolenoidSim simPiston{
-      frc::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
+  wpi::sim::DoubleSolenoidSim simPiston{
+      wpi::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
       IntakeConstants::kPistonRevChannel};  // create our simulation solenoid
 };
 
@@ -36,10 +36,10 @@ TEST_F(IntakeTest, WorksWhenOpen) {
 
 TEST_F(IntakeTest, Retract) {
   intake.Retract();
-  EXPECT_EQ(frc::DoubleSolenoid::Value::kReverse, simPiston.Get());
+  EXPECT_EQ(wpi::DoubleSolenoid::Value::kReverse, simPiston.Get());
 }
 
 TEST_F(IntakeTest, Deploy) {
   intake.Deploy();
-  EXPECT_EQ(frc::DoubleSolenoid::Value::kForward, simPiston.Get());
+  EXPECT_EQ(wpi::DoubleSolenoid::Value::kForward, simPiston.Get());
 }
diff --git a/wpimath/src/dev/native/cpp/main.cpp b/wpimath/src/dev/native/cpp/main.cpp
index 93e9ca7fcc..3c5d56bb18 100644
--- a/wpimath/src/dev/native/cpp/main.cpp
+++ b/wpimath/src/dev/native/cpp/main.cpp
@@ -7,5 +7,5 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::print("{}\n", std::numbers::pi);
+  wpi::util::print("{}\n", std::numbers::pi);
 }
diff --git a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
index 1e5530cf5d..89f9629cfc 100644
--- a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
@@ -13,18 +13,18 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/system/NumericalIntegration.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-units::volt_t ArmFeedforward::Calculate(
-    units::unit_t<Angle> currentAngle, units::unit_t<Velocity> currentVelocity,
-    units::unit_t<Velocity> nextVelocity) const {
+wpi::units::volt_t ArmFeedforward::Calculate(
+    wpi::units::unit_t<Angle> currentAngle, wpi::units::unit_t<Velocity> currentVelocity,
+    wpi::units::unit_t<Velocity> nextVelocity) const {
   using VarMat = slp::VariableMatrix;
 
   // Small kₐ values make the solver ill-conditioned
-  if (kA < units::unit_t<ka_unit>{1e-1}) {
+  if (kA < wpi::units::unit_t<ka_unit>{1e-1}) {
     auto acceleration = (nextVelocity - currentVelocity) / m_dt;
-    return kS * wpi::sgn(currentVelocity.value()) + kV * currentVelocity +
-           kA * acceleration + kG * units::math::cos(currentAngle);
+    return kS * wpi::util::sgn(currentVelocity.value()) + kV * currentVelocity +
+           kA * acceleration + kG * wpi::units::math::cos(currentAngle);
   }
 
   // Arm dynamics
@@ -43,8 +43,8 @@ units::volt_t ArmFeedforward::Calculate(
 
   // Initial guess
   auto acceleration = (nextVelocity - currentVelocity) / m_dt;
-  u_k.set_value((kS * wpi::sgn(currentVelocity.value()) + kV * currentVelocity +
-                 kA * acceleration + kG * units::math::cos(currentAngle))
+  u_k.set_value((kS * wpi::util::sgn(currentVelocity.value()) + kV * currentVelocity +
+                 kA * acceleration + kG * wpi::units::math::cos(currentAngle))
                     .value());
 
   auto r_k1 = RK4<decltype(f), VarMat, VarMat>(f, r_k, u_k, m_dt);
@@ -107,5 +107,5 @@ units::volt_t ArmFeedforward::Calculate(
     }
   }
 
-  return units::volt_t{u_k.value()};
+  return wpi::units::volt_t{u_k.value()};
 }
diff --git a/wpimath/src/main/native/cpp/controller/BangBangController.cpp b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
index f8d716d3f3..d9a8e001dc 100644
--- a/wpimath/src/main/native/cpp/controller/BangBangController.cpp
+++ b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-void BangBangController::InitSendable(wpi::SendableBuilder& builder) {
+void BangBangController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("BangBangController");
   builder.AddDoubleProperty(
       "tolerance", [this] { return GetTolerance(); },
diff --git a/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp b/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
index a3610a96bd..c415f433a0 100644
--- a/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
+++ b/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
@@ -6,12 +6,12 @@
 
 #include <Eigen/QR>
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDriveWheelVoltages DifferentialDriveAccelerationLimiter::Calculate(
-    units::meters_per_second_t leftVelocity,
-    units::meters_per_second_t rightVelocity, units::volt_t leftVoltage,
-    units::volt_t rightVoltage) {
+    wpi::units::meters_per_second_t leftVelocity,
+    wpi::units::meters_per_second_t rightVelocity, wpi::units::volt_t leftVoltage,
+    wpi::units::volt_t rightVoltage) {
   Vectord<2> u{leftVoltage.value(), rightVoltage.value()};
 
   // Find unconstrained wheel accelerations
@@ -56,5 +56,5 @@ DifferentialDriveWheelVoltages DifferentialDriveAccelerationLimiter::Calculate(
   // u = B⁻¹(dx/dt - Ax)
   u = m_system.B().householderQr().solve(dxdt - m_system.A() * x);
 
-  return {units::volt_t{u(0)}, units::volt_t{u(1)}};
+  return {wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)}};
 }
diff --git a/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp b/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
index 4c40b36684..2c0a002fb9 100644
--- a/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
@@ -8,17 +8,17 @@
 
 #include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDriveWheelVoltages DifferentialDriveFeedforward::Calculate(
-    units::meters_per_second_t currentLeftVelocity,
-    units::meters_per_second_t nextLeftVelocity,
-    units::meters_per_second_t currentRightVelocity,
-    units::meters_per_second_t nextRightVelocity, units::second_t dt) {
-  frc::LinearPlantInversionFeedforward<2, 2> feedforward{m_plant, dt};
+    wpi::units::meters_per_second_t currentLeftVelocity,
+    wpi::units::meters_per_second_t nextLeftVelocity,
+    wpi::units::meters_per_second_t currentRightVelocity,
+    wpi::units::meters_per_second_t nextRightVelocity, wpi::units::second_t dt) {
+  wpi::math::LinearPlantInversionFeedforward<2, 2> feedforward{m_plant, dt};
 
   Eigen::Vector2d r{currentLeftVelocity, currentRightVelocity};
   Eigen::Vector2d nextR{nextLeftVelocity, nextRightVelocity};
   auto u = feedforward.Calculate(r, nextR);
-  return {units::volt_t{u(0)}, units::volt_t{u(1)}};
+  return {wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)}};
 }
diff --git a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
index ae9dce653c..dc65925731 100644
--- a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
@@ -10,13 +10,13 @@
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/util/MathUtil.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDriveWheelVoltages LTVDifferentialDriveController::Calculate(
-    const Pose2d& currentPose, units::meters_per_second_t leftVelocity,
-    units::meters_per_second_t rightVelocity, const Pose2d& poseRef,
-    units::meters_per_second_t leftVelocityRef,
-    units::meters_per_second_t rightVelocityRef) {
+    const Pose2d& currentPose, wpi::units::meters_per_second_t leftVelocity,
+    wpi::units::meters_per_second_t rightVelocity, const Pose2d& poseRef,
+    wpi::units::meters_per_second_t leftVelocityRef,
+    wpi::units::meters_per_second_t rightVelocityRef) {
   // This implements the linear time-varying differential drive controller in
   // theorem 8.7.4 of https://controls-in-frc.link/
   //
@@ -26,11 +26,11 @@ DifferentialDriveWheelVoltages LTVDifferentialDriveController::Calculate(
   //     [vₗ]
   //     [vᵣ]
 
-  units::meters_per_second_t velocity{(leftVelocity + rightVelocity) / 2.0};
+  wpi::units::meters_per_second_t velocity{(leftVelocity + rightVelocity) / 2.0};
 
   // The DARE is ill-conditioned if the velocity is close to zero, so don't
   // let the system stop.
-  if (units::math::abs(velocity) < 1e-4_mps) {
+  if (wpi::units::math::abs(velocity) < 1e-4_mps) {
     velocity = 1e-4_mps;
   }
 
@@ -42,7 +42,7 @@ DifferentialDriveWheelVoltages LTVDifferentialDriveController::Calculate(
                              leftVelocity.value(), rightVelocity.value()};
 
   m_error = r - x;
-  m_error(2) = frc::AngleModulus(units::radian_t{m_error(2)}).value();
+  m_error(2) = wpi::math::AngleModulus(wpi::units::radian_t{m_error(2)}).value();
 
   Eigen::Matrix<double, 5, 5> A{
       {0.0, 0.0, 0.0, 0.5, 0.5},
@@ -76,6 +76,6 @@ DifferentialDriveWheelVoltages LTVDifferentialDriveController::Calculate(
 
   Eigen::Vector2d u = K * inRobotFrame * m_error;
 
-  return DifferentialDriveWheelVoltages{units::volt_t{u(0)},
-                                        units::volt_t{u(1)}};
+  return DifferentialDriveWheelVoltages{wpi::units::volt_t{u(0)},
+                                        wpi::units::volt_t{u(1)}};
 }
diff --git a/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp b/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
index 66045bdf5f..fb84617472 100644
--- a/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
+++ b/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
@@ -8,12 +8,12 @@
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/units/math.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 ChassisSpeeds LTVUnicycleController::Calculate(
     const Pose2d& currentPose, const Pose2d& poseRef,
-    units::meters_per_second_t linearVelocityRef,
-    units::radians_per_second_t angularVelocityRef) {
+    wpi::units::meters_per_second_t linearVelocityRef,
+    wpi::units::radians_per_second_t angularVelocityRef) {
   // The change in global pose for a unicycle is defined by the following three
   // equations.
   //
@@ -53,7 +53,7 @@ ChassisSpeeds LTVUnicycleController::Calculate(
 
   // The DARE is ill-conditioned if the velocity is close to zero, so don't
   // let the system stop.
-  if (units::math::abs(linearVelocityRef) < 1e-4_mps) {
+  if (wpi::units::math::abs(linearVelocityRef) < 1e-4_mps) {
     linearVelocityRef = 1e-4_mps;
   }
 
@@ -78,7 +78,7 @@ ChassisSpeeds LTVUnicycleController::Calculate(
                     m_poseError.Rotation().Radians().value()};
   Eigen::Vector2d u = K * e;
 
-  return ChassisSpeeds{linearVelocityRef + units::meters_per_second_t{u(0)},
+  return ChassisSpeeds{linearVelocityRef + wpi::units::meters_per_second_t{u(0)},
                        0_mps,
-                       angularVelocityRef + units::radians_per_second_t{u(1)}};
+                       angularVelocityRef + wpi::units::radians_per_second_t{u(1)}};
 }
diff --git a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
index ce03b7796a..494d5fcf6e 100644
--- a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
+++ b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     LinearQuadraticRegulator<1, 1>;
@@ -13,4 +13,4 @@ template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     LinearQuadraticRegulator<2, 2>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index 3274afed37..95212bcb84 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-void PIDController::InitSendable(wpi::SendableBuilder& builder) {
+void PIDController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PIDController");
   builder.AddDoubleProperty(
       "p", [this] { return GetP(); }, [this](double value) { SetP(value); });
diff --git a/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
index c7a96b04b3..6709612efd 100644
--- a/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/math/controller/ProfiledPIDController.hpp"
 
-int frc::detail::IncrementAndGetProfiledPIDControllerInstances() {
+int wpi::math::detail::IncrementAndGetProfiledPIDControllerInstances() {
   static int instances = 0;
   return ++instances;
 }
diff --git a/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
index 296ffb58a6..6cb9d1a45d 100644
--- a/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
@@ -8,23 +8,23 @@
 
 #include "wpimath/protobuf/controller.npb.h"
 
-std::optional<frc::ArmFeedforward> wpi::Protobuf<frc::ArmFeedforward>::Unpack(
+std::optional<wpi::math::ArmFeedforward> wpi::util::Protobuf<wpi::math::ArmFeedforward>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufArmFeedforward msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::ArmFeedforward{
-      units::volt_t{msg.ks},
-      units::volt_t{msg.kg},
-      units::unit_t<frc::ArmFeedforward::kv_unit>{msg.kv},
-      units::unit_t<frc::ArmFeedforward::ka_unit>{msg.ka},
+  return wpi::math::ArmFeedforward{
+      wpi::units::volt_t{msg.ks},
+      wpi::units::volt_t{msg.kg},
+      wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{msg.kv},
+      wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{msg.ka},
   };
 }
 
-bool wpi::Protobuf<frc::ArmFeedforward>::Pack(
-    OutputStream& stream, const frc::ArmFeedforward& value) {
+bool wpi::util::Protobuf<wpi::math::ArmFeedforward>::Pack(
+    OutputStream& stream, const wpi::math::ArmFeedforward& value) {
   wpi_proto_ProtobufArmFeedforward msg{
       .ks = value.GetKs().value(),
       .kg = value.GetKg().value(),
diff --git a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
index 63163c8abb..83c014b785 100644
--- a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
@@ -6,14 +6,14 @@
 
 #include "wpimath/protobuf/controller.npb.h"
 
-std::optional<frc::DifferentialDriveFeedforward>
-wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(InputStream& stream) {
+std::optional<wpi::math::DifferentialDriveFeedforward>
+wpi::util::Protobuf<wpi::math::DifferentialDriveFeedforward>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufDifferentialDriveFeedforward msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DifferentialDriveFeedforward{
+  return wpi::math::DifferentialDriveFeedforward{
       decltype(1_V / 1_mps){msg.kv_linear},
       decltype(1_V / 1_mps_sq){msg.ka_linear},
       decltype(1_V / 1_mps){msg.kv_angular},
@@ -21,8 +21,8 @@ wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(InputStream& stream) {
   };
 }
 
-bool wpi::Protobuf<frc::DifferentialDriveFeedforward>::Pack(
-    OutputStream& stream, const frc::DifferentialDriveFeedforward& value) {
+bool wpi::util::Protobuf<wpi::math::DifferentialDriveFeedforward>::Pack(
+    OutputStream& stream, const wpi::math::DifferentialDriveFeedforward& value) {
   wpi_proto_ProtobufDifferentialDriveFeedforward msg{
       .kv_linear = value.m_kVLinear.value(),
       .ka_linear = value.m_kALinear.value(),
diff --git a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
index 8cb488fcb0..0ac2bcd1e0 100644
--- a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
@@ -8,21 +8,21 @@
 
 #include "wpimath/protobuf/controller.npb.h"
 
-std::optional<frc::DifferentialDriveWheelVoltages> wpi::Protobuf<
-    frc::DifferentialDriveWheelVoltages>::Unpack(InputStream& stream) {
+std::optional<wpi::math::DifferentialDriveWheelVoltages> wpi::util::Protobuf<
+    wpi::math::DifferentialDriveWheelVoltages>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufDifferentialDriveWheelVoltages msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DifferentialDriveWheelVoltages{
-      units::volt_t{msg.left},
-      units::volt_t{msg.right},
+  return wpi::math::DifferentialDriveWheelVoltages{
+      wpi::units::volt_t{msg.left},
+      wpi::units::volt_t{msg.right},
   };
 }
 
-bool wpi::Protobuf<frc::DifferentialDriveWheelVoltages>::Pack(
-    OutputStream& stream, const frc::DifferentialDriveWheelVoltages& value) {
+bool wpi::util::Protobuf<wpi::math::DifferentialDriveWheelVoltages>::Pack(
+    OutputStream& stream, const wpi::math::DifferentialDriveWheelVoltages& value) {
   wpi_proto_ProtobufDifferentialDriveWheelVoltages msg{
       .left = value.left.value(),
       .right = value.right.value(),
diff --git a/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
index 505929fb7d..74a1919cbe 100644
--- a/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
@@ -8,23 +8,23 @@
 
 #include "wpimath/protobuf/controller.npb.h"
 
-std::optional<frc::ElevatorFeedforward>
-wpi::Protobuf<frc::ElevatorFeedforward>::Unpack(InputStream& stream) {
+std::optional<wpi::math::ElevatorFeedforward>
+wpi::util::Protobuf<wpi::math::ElevatorFeedforward>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufElevatorFeedforward msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::ElevatorFeedforward{
-      units::volt_t{msg.ks},
-      units::volt_t{msg.kg},
-      units::unit_t<frc::ElevatorFeedforward::kv_unit>{msg.kv},
-      units::unit_t<frc::ElevatorFeedforward::ka_unit>{msg.ka},
+  return wpi::math::ElevatorFeedforward{
+      wpi::units::volt_t{msg.ks},
+      wpi::units::volt_t{msg.kg},
+      wpi::units::unit_t<wpi::math::ElevatorFeedforward::kv_unit>{msg.kv},
+      wpi::units::unit_t<wpi::math::ElevatorFeedforward::ka_unit>{msg.ka},
   };
 }
 
-bool wpi::Protobuf<frc::ElevatorFeedforward>::Pack(
-    OutputStream& stream, const frc::ElevatorFeedforward& value) {
+bool wpi::util::Protobuf<wpi::math::ElevatorFeedforward>::Pack(
+    OutputStream& stream, const wpi::math::ElevatorFeedforward& value) {
   wpi_proto_ProtobufElevatorFeedforward msg{
       .ks = value.GetKs().value(),
       .kg = value.GetKg().value(),
diff --git a/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
index a26abb4818..5d7cbe080f 100644
--- a/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
@@ -11,23 +11,23 @@ constexpr size_t kKvOff = kKgOff + 8;
 constexpr size_t kKaOff = kKvOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::ArmFeedforward>;
+using StructType = wpi::util::Struct<wpi::math::ArmFeedforward>;
 
-frc::ArmFeedforward StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::ArmFeedforward{
-      units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
-      units::volt_t{wpi::UnpackStruct<double, kKgOff>(data)},
-      units::unit_t<frc::ArmFeedforward::kv_unit>{
-          wpi::UnpackStruct<double, kKvOff>(data)},
-      units::unit_t<frc::ArmFeedforward::ka_unit>{
-          wpi::UnpackStruct<double, kKaOff>(data)},
+wpi::math::ArmFeedforward StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::ArmFeedforward{
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kKsOff>(data)},
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kKgOff>(data)},
+      wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{
+          wpi::util::UnpackStruct<double, kKvOff>(data)},
+      wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{
+          wpi::util::UnpackStruct<double, kKaOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::ArmFeedforward& value) {
-  wpi::PackStruct<kKsOff>(data, value.GetKs().value());
-  wpi::PackStruct<kKgOff>(data, value.GetKg().value());
-  wpi::PackStruct<kKvOff>(data, value.GetKv().value());
-  wpi::PackStruct<kKaOff>(data, value.GetKa().value());
+                      const wpi::math::ArmFeedforward& value) {
+  wpi::util::PackStruct<kKsOff>(data, value.GetKs().value());
+  wpi::util::PackStruct<kKgOff>(data, value.GetKg().value());
+  wpi::util::PackStruct<kKvOff>(data, value.GetKv().value());
+  wpi::util::PackStruct<kKaOff>(data, value.GetKa().value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
index 13872eca8b..db25e96ba9 100644
--- a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
@@ -11,19 +11,19 @@ constexpr size_t kKvAngularOff = kKaLinearOff + 8;
 constexpr size_t kKaAngularOff = kKvAngularOff + 8;
 }  // namespace
 
-frc::DifferentialDriveFeedforward wpi::Struct<
-    frc::DifferentialDriveFeedforward>::Unpack(std::span<const uint8_t> data) {
+wpi::math::DifferentialDriveFeedforward wpi::util::Struct<
+    wpi::math::DifferentialDriveFeedforward>::Unpack(std::span<const uint8_t> data) {
   return {
-      decltype(1_V / 1_mps){wpi::UnpackStruct<double, kKvLinearOff>(data)},
-      decltype(1_V / 1_mps_sq){wpi::UnpackStruct<double, kKaLinearOff>(data)},
-      decltype(1_V / 1_mps){wpi::UnpackStruct<double, kKvAngularOff>(data)},
-      decltype(1_V / 1_mps_sq){wpi::UnpackStruct<double, kKaAngularOff>(data)}};
+      decltype(1_V / 1_mps){wpi::util::UnpackStruct<double, kKvLinearOff>(data)},
+      decltype(1_V / 1_mps_sq){wpi::util::UnpackStruct<double, kKaLinearOff>(data)},
+      decltype(1_V / 1_mps){wpi::util::UnpackStruct<double, kKvAngularOff>(data)},
+      decltype(1_V / 1_mps_sq){wpi::util::UnpackStruct<double, kKaAngularOff>(data)}};
 }
 
-void wpi::Struct<frc::DifferentialDriveFeedforward>::Pack(
-    std::span<uint8_t> data, const frc::DifferentialDriveFeedforward& value) {
-  wpi::PackStruct<kKvLinearOff>(data, value.m_kVLinear.value());
-  wpi::PackStruct<kKaLinearOff>(data, value.m_kALinear.value());
-  wpi::PackStruct<kKvAngularOff>(data, value.m_kVAngular.value());
-  wpi::PackStruct<kKaAngularOff>(data, value.m_kAAngular.value());
+void wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Pack(
+    std::span<uint8_t> data, const wpi::math::DifferentialDriveFeedforward& value) {
+  wpi::util::PackStruct<kKvLinearOff>(data, value.m_kVLinear.value());
+  wpi::util::PackStruct<kKaLinearOff>(data, value.m_kALinear.value());
+  wpi::util::PackStruct<kKvAngularOff>(data, value.m_kVAngular.value());
+  wpi::util::PackStruct<kKaAngularOff>(data, value.m_kAAngular.value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
index e56a7278ca..364575a77f 100644
--- a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
@@ -9,18 +9,18 @@ constexpr size_t kLeftOff = 0;
 constexpr size_t kRightOff = kLeftOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelVoltages>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelVoltages>;
 
-frc::DifferentialDriveWheelVoltages StructType::Unpack(
+wpi::math::DifferentialDriveWheelVoltages StructType::Unpack(
     std::span<const uint8_t> data) {
-  return frc::DifferentialDriveWheelVoltages{
-      units::volt_t{wpi::UnpackStruct<double, kLeftOff>(data)},
-      units::volt_t{wpi::UnpackStruct<double, kRightOff>(data)},
+  return wpi::math::DifferentialDriveWheelVoltages{
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kLeftOff>(data)},
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kRightOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::DifferentialDriveWheelVoltages& value) {
-  wpi::PackStruct<kLeftOff>(data, value.left.value());
-  wpi::PackStruct<kRightOff>(data, value.right.value());
+                      const wpi::math::DifferentialDriveWheelVoltages& value) {
+  wpi::util::PackStruct<kLeftOff>(data, value.left.value());
+  wpi::util::PackStruct<kRightOff>(data, value.right.value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
index ca761b84da..5d39451843 100644
--- a/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
@@ -11,23 +11,23 @@ constexpr size_t kKvOff = kKgOff + 8;
 constexpr size_t kKaOff = kKvOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::ElevatorFeedforward>;
+using StructType = wpi::util::Struct<wpi::math::ElevatorFeedforward>;
 
-frc::ElevatorFeedforward StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::ElevatorFeedforward{
-      units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
-      units::volt_t{wpi::UnpackStruct<double, kKgOff>(data)},
-      units::unit_t<frc::ElevatorFeedforward::kv_unit>{
-          wpi::UnpackStruct<double, kKvOff>(data)},
-      units::unit_t<frc::ElevatorFeedforward::ka_unit>{
-          wpi::UnpackStruct<double, kKaOff>(data)},
+wpi::math::ElevatorFeedforward StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::ElevatorFeedforward{
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kKsOff>(data)},
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kKgOff>(data)},
+      wpi::units::unit_t<wpi::math::ElevatorFeedforward::kv_unit>{
+          wpi::util::UnpackStruct<double, kKvOff>(data)},
+      wpi::units::unit_t<wpi::math::ElevatorFeedforward::ka_unit>{
+          wpi::util::UnpackStruct<double, kKaOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::ElevatorFeedforward& value) {
-  wpi::PackStruct<kKsOff>(data, value.GetKs().value());
-  wpi::PackStruct<kKgOff>(data, value.GetKg().value());
-  wpi::PackStruct<kKvOff>(data, value.GetKv().value());
-  wpi::PackStruct<kKaOff>(data, value.GetKa().value());
+                      const wpi::math::ElevatorFeedforward& value) {
+  wpi::util::PackStruct<kKsOff>(data, value.GetKs().value());
+  wpi::util::PackStruct<kKgOff>(data, value.GetKg().value());
+  wpi::util::PackStruct<kKvOff>(data, value.GetKv().value());
+  wpi::util::PackStruct<kKaOff>(data, value.GetKa().value());
 }
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index f5f91f43e8..53b1e7e76f 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -6,11 +6,11 @@
 
 #include <vector>
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
     DifferentialDriveKinematics& kinematics, const Rotation2d& gyroAngle,
-    units::meter_t leftDistance, units::meter_t rightDistance,
+    wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
     const Pose2d& initialPose)
     : DifferentialDrivePoseEstimator{
           kinematics,  gyroAngle,          leftDistance,   rightDistance,
@@ -18,9 +18,9 @@ DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
 
 DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
     DifferentialDriveKinematics& kinematics, const Rotation2d& gyroAngle,
-    units::meter_t leftDistance, units::meter_t rightDistance,
-    const Pose2d& initialPose, const wpi::array<double, 3>& stateStdDevs,
-    const wpi::array<double, 3>& visionMeasurementStdDevs)
+    wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
+    const Pose2d& initialPose, const wpi::util::array<double, 3>& stateStdDevs,
+    const wpi::util::array<double, 3>& visionMeasurementStdDevs)
     : PoseEstimator(kinematics, m_odometryImpl, stateStdDevs,
                     visionMeasurementStdDevs),
       m_odometryImpl{gyroAngle, leftDistance, rightDistance, initialPose} {
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
index 526e38fb6e..df353666fa 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
@@ -4,11 +4,11 @@
 
 #include "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDrivePoseEstimator3d::DifferentialDrivePoseEstimator3d(
     DifferentialDriveKinematics& kinematics, const Rotation3d& gyroAngle,
-    units::meter_t leftDistance, units::meter_t rightDistance,
+    wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
     const Pose3d& initialPose)
     : DifferentialDrivePoseEstimator3d{
           kinematics,          gyroAngle,   leftDistance,
@@ -17,9 +17,9 @@ DifferentialDrivePoseEstimator3d::DifferentialDrivePoseEstimator3d(
 
 DifferentialDrivePoseEstimator3d::DifferentialDrivePoseEstimator3d(
     DifferentialDriveKinematics& kinematics, const Rotation3d& gyroAngle,
-    units::meter_t leftDistance, units::meter_t rightDistance,
-    const Pose3d& initialPose, const wpi::array<double, 4>& stateStdDevs,
-    const wpi::array<double, 4>& visionMeasurementStdDevs)
+    wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
+    const Pose3d& initialPose, const wpi::util::array<double, 4>& stateStdDevs,
+    const wpi::util::array<double, 4>& visionMeasurementStdDevs)
     : PoseEstimator3d(kinematics, m_odometryImpl, stateStdDevs,
                       visionMeasurementStdDevs),
       m_odometryImpl{gyroAngle, leftDistance, rightDistance, initialPose} {
diff --git a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
index fa2f8b5f05..9dac81cd55 100644
--- a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
+++ b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/math/estimator/KalmanFilter.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) KalmanFilter<1, 1, 1>;
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) KalmanFilter<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
index 64a51f853d..8fc47e94bd 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
@@ -9,20 +9,20 @@
 #include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace frc;
+using namespace wpi::math;
 
-frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
+wpi::math::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
     MecanumDriveKinematics& kinematics, const Rotation2d& gyroAngle,
     const MecanumDriveWheelPositions& wheelPositions, const Pose2d& initialPose)
     : MecanumDrivePoseEstimator{kinematics,      gyroAngle,
                                 wheelPositions,  initialPose,
                                 {0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}} {}
 
-frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
+wpi::math::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
     MecanumDriveKinematics& kinematics, const Rotation2d& gyroAngle,
     const MecanumDriveWheelPositions& wheelPositions, const Pose2d& initialPose,
-    const wpi::array<double, 3>& stateStdDevs,
-    const wpi::array<double, 3>& visionMeasurementStdDevs)
+    const wpi::util::array<double, 3>& stateStdDevs,
+    const wpi::util::array<double, 3>& visionMeasurementStdDevs)
     : PoseEstimator(kinematics, m_odometryImpl, stateStdDevs,
                     visionMeasurementStdDevs),
       m_odometryImpl(kinematics, gyroAngle, wheelPositions, initialPose) {
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
index 3b5a9dafc5..763ceca26b 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
@@ -9,9 +9,9 @@
 #include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace frc;
+using namespace wpi::math;
 
-frc::MecanumDrivePoseEstimator3d::MecanumDrivePoseEstimator3d(
+wpi::math::MecanumDrivePoseEstimator3d::MecanumDrivePoseEstimator3d(
     MecanumDriveKinematics& kinematics, const Rotation3d& gyroAngle,
     const MecanumDriveWheelPositions& wheelPositions, const Pose3d& initialPose)
     : MecanumDrivePoseEstimator3d{
@@ -19,11 +19,11 @@ frc::MecanumDrivePoseEstimator3d::MecanumDrivePoseEstimator3d(
           wheelPositions,       initialPose,
           {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}} {}
 
-frc::MecanumDrivePoseEstimator3d::MecanumDrivePoseEstimator3d(
+wpi::math::MecanumDrivePoseEstimator3d::MecanumDrivePoseEstimator3d(
     MecanumDriveKinematics& kinematics, const Rotation3d& gyroAngle,
     const MecanumDriveWheelPositions& wheelPositions, const Pose3d& initialPose,
-    const wpi::array<double, 4>& stateStdDevs,
-    const wpi::array<double, 4>& visionMeasurementStdDevs)
+    const wpi::util::array<double, 4>& stateStdDevs,
+    const wpi::util::array<double, 4>& visionMeasurementStdDevs)
     : PoseEstimator3d(kinematics, m_odometryImpl, stateStdDevs,
                       visionMeasurementStdDevs),
       m_odometryImpl(kinematics, gyroAngle, wheelPositions, initialPose) {
diff --git a/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp b/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
index f4876f72a1..1230d1af92 100644
--- a/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
@@ -4,11 +4,11 @@
 
 #include "wpi/math/estimator/MerweUKF.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<3, 3, 1, MerweScaledSigmaPoints<3>>;
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<5, 3, 3, MerweScaledSigmaPoints<5>>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/estimator/S3UKF.cpp b/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
index 5b6185f343..8966b6de4e 100644
--- a/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
+++ b/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
@@ -4,11 +4,11 @@
 
 #include "wpi/math/estimator/S3UKF.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<3, 3, 1, S3SigmaPoints<3>>;
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<5, 3, 3, S3SigmaPoints<5>>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
index bcff8c1b5c..8561d0d572 100644
--- a/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
@@ -4,11 +4,11 @@
 
 #include "wpi/math/estimator/SteadyStateKalmanFilter.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SteadyStateKalmanFilter<1, 1, 1>;
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SteadyStateKalmanFilter<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
index 8d79095272..c7ce436f8b 100644
--- a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SwerveDrivePoseEstimator<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
index 1e446f824c..575ff93f70 100644
--- a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SwerveDrivePoseEstimator3d<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/filter/Debouncer.cpp b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
index 3e4f4c9038..afdde6a115 100644
--- a/wpimath/src/main/native/cpp/filter/Debouncer.cpp
+++ b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/math/util/MathShared.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-Debouncer::Debouncer(units::second_t debounceTime, DebounceType type)
+Debouncer::Debouncer(wpi::units::second_t debounceTime, DebounceType type)
     : m_debounceTime(debounceTime), m_debounceType(type) {
   m_baseline = m_debounceType == DebounceType::kFalling;
   ResetTimer();
diff --git a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
index e3b9f42529..3cd00ac852 100644
--- a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
@@ -6,7 +6,7 @@
 
 #include <sleipnir/optimization/problem.hpp>
 
-using namespace frc;
+using namespace wpi::math;
 
 Translation2d Ellipse2d::Nearest(const Translation2d& point) const {
   // Check if already in ellipse
@@ -41,8 +41,8 @@ Translation2d Ellipse2d::Nearest(const Translation2d& point) const {
 
     problem.solve();
 
-    rotPoint = frc::Translation2d{units::meter_t{x.value()},
-                                  units::meter_t{y.value()}};
+    rotPoint = wpi::math::Translation2d{wpi::units::meter_t{x.value()},
+                                  wpi::units::meter_t{y.value()}};
   }
 
   // Undo rotation
diff --git a/wpimath/src/main/native/cpp/geometry/Pose2d.cpp b/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
index 924a6449d6..b3e2449639 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
@@ -6,12 +6,12 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Pose2d& pose) {
-  json = wpi::json{{"translation", pose.Translation()},
+void wpi::math::to_json(wpi::util::json& json, const Pose2d& pose) {
+  json = wpi::util::json{{"translation", pose.Translation()},
                    {"rotation", pose.Rotation()}};
 }
 
-void frc::from_json(const wpi::json& json, Pose2d& pose) {
+void wpi::math::from_json(const wpi::util::json& json, Pose2d& pose) {
   pose = Pose2d{json.at("translation").get<Translation2d>(),
                 json.at("rotation").get<Rotation2d>()};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index 22cfd3b266..6b41b0730c 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -6,12 +6,12 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Pose3d& pose) {
-  json = wpi::json{{"translation", pose.Translation()},
+void wpi::math::to_json(wpi::util::json& json, const Pose3d& pose) {
+  json = wpi::util::json{{"translation", pose.Translation()},
                    {"rotation", pose.Rotation()}};
 }
 
-void frc::from_json(const wpi::json& json, Pose3d& pose) {
+void wpi::math::from_json(const wpi::util::json& json, Pose3d& pose) {
   pose = Pose3d{json.at("translation").get<Translation3d>(),
                 json.at("rotation").get<Rotation3d>()};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/Quaternion.cpp b/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
index 91873908aa..e4738dded6 100644
--- a/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
@@ -6,14 +6,14 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Quaternion& quaternion) {
-  json = wpi::json{{"W", quaternion.W()},
+void wpi::math::to_json(wpi::util::json& json, const Quaternion& quaternion) {
+  json = wpi::util::json{{"W", quaternion.W()},
                    {"X", quaternion.X()},
                    {"Y", quaternion.Y()},
                    {"Z", quaternion.Z()}};
 }
 
-void frc::from_json(const wpi::json& json, Quaternion& quaternion) {
+void wpi::math::from_json(const wpi::util::json& json, Quaternion& quaternion) {
   quaternion =
       Quaternion{json.at("W").get<double>(), json.at("X").get<double>(),
                  json.at("Y").get<double>(), json.at("Z").get<double>()};
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
index b139bd0063..3c3b195def 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -6,10 +6,10 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Rotation2d& rotation) {
-  json = wpi::json{{"radians", rotation.Radians().value()}};
+void wpi::math::to_json(wpi::util::json& json, const Rotation2d& rotation) {
+  json = wpi::util::json{{"radians", rotation.Radians().value()}};
 }
 
-void frc::from_json(const wpi::json& json, Rotation2d& rotation) {
-  rotation = Rotation2d{units::radian_t{json.at("radians").get<double>()}};
+void wpi::math::from_json(const wpi::util::json& json, Rotation2d& rotation) {
+  rotation = Rotation2d{wpi::units::radian_t{json.at("radians").get<double>()}};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index 01ae1c88f3..5b81b54666 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -6,10 +6,10 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Rotation3d& rotation) {
-  json = wpi::json{{"quaternion", rotation.GetQuaternion()}};
+void wpi::math::to_json(wpi::util::json& json, const Rotation3d& rotation) {
+  json = wpi::util::json{{"quaternion", rotation.GetQuaternion()}};
 }
 
-void frc::from_json(const wpi::json& json, Rotation3d& rotation) {
+void wpi::math::from_json(const wpi::util::json& json, Rotation3d& rotation) {
   rotation = Rotation3d{json.at("quaternion").get<Quaternion>()};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
index 93ec5b7418..0a85c360ce 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
@@ -6,12 +6,12 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Translation2d& translation) {
+void wpi::math::to_json(wpi::util::json& json, const Translation2d& translation) {
   json =
-      wpi::json{{"x", translation.X().value()}, {"y", translation.Y().value()}};
+      wpi::util::json{{"x", translation.X().value()}, {"y", translation.Y().value()}};
 }
 
-void frc::from_json(const wpi::json& json, Translation2d& translation) {
-  translation = Translation2d{units::meter_t{json.at("x").get<double>()},
-                              units::meter_t{json.at("y").get<double>()}};
+void wpi::math::from_json(const wpi::util::json& json, Translation2d& translation) {
+  translation = Translation2d{wpi::units::meter_t{json.at("x").get<double>()},
+                              wpi::units::meter_t{json.at("y").get<double>()}};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
index 0216cf1193..df4c81a932 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
@@ -6,14 +6,14 @@
 
 #include "wpi/util/json.hpp"
 
-void frc::to_json(wpi::json& json, const Translation3d& translation) {
-  json = wpi::json{{"x", translation.X().value()},
+void wpi::math::to_json(wpi::util::json& json, const Translation3d& translation) {
+  json = wpi::util::json{{"x", translation.X().value()},
                    {"y", translation.Y().value()},
                    {"z", translation.Z().value()}};
 }
 
-void frc::from_json(const wpi::json& json, Translation3d& translation) {
-  translation = Translation3d{units::meter_t{json.at("x").get<double>()},
-                              units::meter_t{json.at("y").get<double>()},
-                              units::meter_t{json.at("z").get<double>()}};
+void wpi::math::from_json(const wpi::util::json& json, Translation3d& translation) {
+  translation = Translation3d{wpi::units::meter_t{json.at("x").get<double>()},
+                              wpi::units::meter_t{json.at("y").get<double>()},
+                              wpi::units::meter_t{json.at("z").get<double>()}};
 }
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
index 2431d4e616..ce4510ec95 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
@@ -7,9 +7,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Ellipse2d> wpi::Protobuf<frc::Ellipse2d>::Unpack(
+std::optional<wpi::math::Ellipse2d> wpi::util::Protobuf<wpi::math::Ellipse2d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Pose2d> pose;
+  wpi::util::UnpackCallback<wpi::math::Pose2d> pose;
   wpi_proto_ProtobufEllipse2d msg{
       .center = pose.Callback(),
       .xSemiAxis = 0,
@@ -25,16 +25,16 @@ std::optional<frc::Ellipse2d> wpi::Protobuf<frc::Ellipse2d>::Unpack(
     return {};
   }
 
-  return frc::Ellipse2d{
+  return wpi::math::Ellipse2d{
       ipose[0],
-      units::meter_t{msg.xSemiAxis},
-      units::meter_t{msg.ySemiAxis},
+      wpi::units::meter_t{msg.xSemiAxis},
+      wpi::units::meter_t{msg.ySemiAxis},
   };
 }
 
-bool wpi::Protobuf<frc::Ellipse2d>::Pack(OutputStream& stream,
-                                         const frc::Ellipse2d& value) {
-  wpi::PackCallback pose{&value.Center()};
+bool wpi::util::Protobuf<wpi::math::Ellipse2d>::Pack(OutputStream& stream,
+                                         const wpi::math::Ellipse2d& value) {
+  wpi::util::PackCallback pose{&value.Center()};
   wpi_proto_ProtobufEllipse2d msg{
       .center = pose.Callback(),
       .xSemiAxis = value.XSemiAxis().value(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
index ab1c9f0ec3..4b0bcf8440 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
@@ -7,10 +7,10 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Pose2d> wpi::Protobuf<frc::Pose2d>::Unpack(
+std::optional<wpi::math::Pose2d> wpi::util::Protobuf<wpi::math::Pose2d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Translation2d> tsln;
-  wpi::UnpackCallback<frc::Rotation2d> rot;
+  wpi::util::UnpackCallback<wpi::math::Translation2d> tsln;
+  wpi::util::UnpackCallback<wpi::math::Rotation2d> rot;
   wpi_proto_ProtobufPose2d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
@@ -26,16 +26,16 @@ std::optional<frc::Pose2d> wpi::Protobuf<frc::Pose2d>::Unpack(
     return {};
   }
 
-  return frc::Pose2d{
+  return wpi::math::Pose2d{
       itsln[0],
       irot[0],
   };
 }
 
-bool wpi::Protobuf<frc::Pose2d>::Pack(OutputStream& stream,
-                                      const frc::Pose2d& value) {
-  wpi::PackCallback tsln{&value.Translation()};
-  wpi::PackCallback rot{&value.Rotation()};
+bool wpi::util::Protobuf<wpi::math::Pose2d>::Pack(OutputStream& stream,
+                                      const wpi::math::Pose2d& value) {
+  wpi::util::PackCallback tsln{&value.Translation()};
+  wpi::util::PackCallback rot{&value.Rotation()};
   wpi_proto_ProtobufPose2d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
index d09bf57281..1c1d61bfe1 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
@@ -9,10 +9,10 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Pose3d> wpi::Protobuf<frc::Pose3d>::Unpack(
+std::optional<wpi::math::Pose3d> wpi::util::Protobuf<wpi::math::Pose3d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Translation3d> tsln;
-  wpi::UnpackCallback<frc::Rotation3d> rot;
+  wpi::util::UnpackCallback<wpi::math::Translation3d> tsln;
+  wpi::util::UnpackCallback<wpi::math::Rotation3d> rot;
   wpi_proto_ProtobufPose3d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
@@ -28,16 +28,16 @@ std::optional<frc::Pose3d> wpi::Protobuf<frc::Pose3d>::Unpack(
     return {};
   }
 
-  return frc::Pose3d{
+  return wpi::math::Pose3d{
       itsln[0],
       irot[0],
   };
 }
 
-bool wpi::Protobuf<frc::Pose3d>::Pack(OutputStream& stream,
-                                      const frc::Pose3d& value) {
-  wpi::PackCallback tsln{&value.Translation()};
-  wpi::PackCallback rot{&value.Rotation()};
+bool wpi::util::Protobuf<wpi::math::Pose3d>::Pack(OutputStream& stream,
+                                      const wpi::math::Pose3d& value) {
+  wpi::util::PackCallback tsln{&value.Translation()};
+  wpi::util::PackCallback rot{&value.Rotation()};
   wpi_proto_ProtobufPose3d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
index 6a1fd9438e..78653e0d3c 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
@@ -6,14 +6,14 @@
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Quaternion> wpi::Protobuf<frc::Quaternion>::Unpack(
+std::optional<wpi::math::Quaternion> wpi::util::Protobuf<wpi::math::Quaternion>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufQuaternion msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Quaternion{
+  return wpi::math::Quaternion{
       msg.w,
       msg.x,
       msg.y,
@@ -21,8 +21,8 @@ std::optional<frc::Quaternion> wpi::Protobuf<frc::Quaternion>::Unpack(
   };
 }
 
-bool wpi::Protobuf<frc::Quaternion>::Pack(OutputStream& stream,
-                                          const frc::Quaternion& value) {
+bool wpi::util::Protobuf<wpi::math::Quaternion>::Pack(OutputStream& stream,
+                                          const wpi::math::Quaternion& value) {
   wpi_proto_ProtobufQuaternion msg{
       .w = value.W(),
       .x = value.X(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
index 1f2ecbc776..a79fe89efb 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
@@ -7,9 +7,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Rectangle2d> wpi::Protobuf<frc::Rectangle2d>::Unpack(
+std::optional<wpi::math::Rectangle2d> wpi::util::Protobuf<wpi::math::Rectangle2d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Pose2d> pose;
+  wpi::util::UnpackCallback<wpi::math::Pose2d> pose;
   wpi_proto_ProtobufRectangle2d msg{
       .center = pose.Callback(),
       .xWidth = 0,
@@ -25,16 +25,16 @@ std::optional<frc::Rectangle2d> wpi::Protobuf<frc::Rectangle2d>::Unpack(
     return {};
   }
 
-  return frc::Rectangle2d{
+  return wpi::math::Rectangle2d{
       ipose[0],
-      units::meter_t{msg.xWidth},
-      units::meter_t{msg.yWidth},
+      wpi::units::meter_t{msg.xWidth},
+      wpi::units::meter_t{msg.yWidth},
   };
 }
 
-bool wpi::Protobuf<frc::Rectangle2d>::Pack(OutputStream& stream,
-                                           const frc::Rectangle2d& value) {
-  wpi::PackCallback pose{&value.Center()};
+bool wpi::util::Protobuf<wpi::math::Rectangle2d>::Pack(OutputStream& stream,
+                                           const wpi::math::Rectangle2d& value) {
+  wpi::util::PackCallback pose{&value.Center()};
   wpi_proto_ProtobufRectangle2d msg{
       .center = pose.Callback(),
       .xWidth = value.XWidth().value(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
index 1e8d5bbf52..d78fd6acfc 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
@@ -6,20 +6,20 @@
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Rotation2d> wpi::Protobuf<frc::Rotation2d>::Unpack(
+std::optional<wpi::math::Rotation2d> wpi::util::Protobuf<wpi::math::Rotation2d>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufRotation2d msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Rotation2d{
-      units::radian_t{msg.value},
+  return wpi::math::Rotation2d{
+      wpi::units::radian_t{msg.value},
   };
 }
 
-bool wpi::Protobuf<frc::Rotation2d>::Pack(OutputStream& stream,
-                                          const frc::Rotation2d& value) {
+bool wpi::util::Protobuf<wpi::math::Rotation2d>::Pack(OutputStream& stream,
+                                          const wpi::math::Rotation2d& value) {
   wpi_proto_ProtobufRotation2d msg{
       .value = value.Radians().value(),
   };
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
index 4a25ceca59..5945069f62 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
@@ -7,9 +7,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Rotation3d> wpi::Protobuf<frc::Rotation3d>::Unpack(
+std::optional<wpi::math::Rotation3d> wpi::util::Protobuf<wpi::math::Rotation3d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Quaternion> quat;
+  wpi::util::UnpackCallback<wpi::math::Quaternion> quat;
   wpi_proto_ProtobufRotation3d msg{
       .q = quat.Callback(),
   };
@@ -23,14 +23,14 @@ std::optional<frc::Rotation3d> wpi::Protobuf<frc::Rotation3d>::Unpack(
     return {};
   }
 
-  return frc::Rotation3d{
+  return wpi::math::Rotation3d{
       iquat[0],
   };
 }
 
-bool wpi::Protobuf<frc::Rotation3d>::Pack(OutputStream& stream,
-                                          const frc::Rotation3d& value) {
-  wpi::PackCallback quat{&value.GetQuaternion()};
+bool wpi::util::Protobuf<wpi::math::Rotation3d>::Pack(OutputStream& stream,
+                                          const wpi::math::Rotation3d& value) {
+  wpi::util::PackCallback quat{&value.GetQuaternion()};
   wpi_proto_ProtobufRotation3d msg{
       .q = quat.Callback(),
   };
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
index c19a90986a..b8414ef481 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
@@ -7,10 +7,10 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Transform2d> wpi::Protobuf<frc::Transform2d>::Unpack(
+std::optional<wpi::math::Transform2d> wpi::util::Protobuf<wpi::math::Transform2d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Translation2d> tsln;
-  wpi::UnpackCallback<frc::Rotation2d> rot;
+  wpi::util::UnpackCallback<wpi::math::Translation2d> tsln;
+  wpi::util::UnpackCallback<wpi::math::Rotation2d> rot;
   wpi_proto_ProtobufTransform2d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
@@ -26,16 +26,16 @@ std::optional<frc::Transform2d> wpi::Protobuf<frc::Transform2d>::Unpack(
     return {};
   }
 
-  return frc::Transform2d{
+  return wpi::math::Transform2d{
       itsln[0],
       irot[0],
   };
 }
 
-bool wpi::Protobuf<frc::Transform2d>::Pack(OutputStream& stream,
-                                           const frc::Transform2d& value) {
-  wpi::PackCallback tsln{&value.Translation()};
-  wpi::PackCallback rot{&value.Rotation()};
+bool wpi::util::Protobuf<wpi::math::Transform2d>::Pack(OutputStream& stream,
+                                           const wpi::math::Transform2d& value) {
+  wpi::util::PackCallback tsln{&value.Translation()};
+  wpi::util::PackCallback rot{&value.Rotation()};
   wpi_proto_ProtobufTransform2d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
index 2e07e280ce..d2e10da7f2 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
@@ -7,10 +7,10 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Transform3d> wpi::Protobuf<frc::Transform3d>::Unpack(
+std::optional<wpi::math::Transform3d> wpi::util::Protobuf<wpi::math::Transform3d>::Unpack(
     InputStream& stream) {
-  wpi::UnpackCallback<frc::Translation3d> tsln;
-  wpi::UnpackCallback<frc::Rotation3d> rot;
+  wpi::util::UnpackCallback<wpi::math::Translation3d> tsln;
+  wpi::util::UnpackCallback<wpi::math::Rotation3d> rot;
   wpi_proto_ProtobufTransform3d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
@@ -26,16 +26,16 @@ std::optional<frc::Transform3d> wpi::Protobuf<frc::Transform3d>::Unpack(
     return {};
   }
 
-  return frc::Transform3d{
+  return wpi::math::Transform3d{
       itsln[0],
       irot[0],
   };
 }
 
-bool wpi::Protobuf<frc::Transform3d>::Pack(OutputStream& stream,
-                                           const frc::Transform3d& value) {
-  wpi::PackCallback tsln{&value.Translation()};
-  wpi::PackCallback rot{&value.Rotation()};
+bool wpi::util::Protobuf<wpi::math::Transform3d>::Pack(OutputStream& stream,
+                                           const wpi::math::Transform3d& value) {
+  wpi::util::PackCallback tsln{&value.Translation()};
+  wpi::util::PackCallback rot{&value.Rotation()};
   wpi_proto_ProtobufTransform3d msg{
       .translation = tsln.Callback(),
       .rotation = rot.Callback(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
index 92a3870801..6d33710dda 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
@@ -6,21 +6,21 @@
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Translation2d> wpi::Protobuf<frc::Translation2d>::Unpack(
+std::optional<wpi::math::Translation2d> wpi::util::Protobuf<wpi::math::Translation2d>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufTranslation2d msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Translation2d{
-      units::meter_t{msg.x},
-      units::meter_t{msg.y},
+  return wpi::math::Translation2d{
+      wpi::units::meter_t{msg.x},
+      wpi::units::meter_t{msg.y},
   };
 }
 
-bool wpi::Protobuf<frc::Translation2d>::Pack(OutputStream& stream,
-                                             const frc::Translation2d& value) {
+bool wpi::util::Protobuf<wpi::math::Translation2d>::Pack(OutputStream& stream,
+                                             const wpi::math::Translation2d& value) {
   wpi_proto_ProtobufTranslation2d msg{
       .x = value.X().value(),
       .y = value.Y().value(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
index b9ab094644..b75d026f86 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
@@ -6,22 +6,22 @@
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Translation3d> wpi::Protobuf<frc::Translation3d>::Unpack(
+std::optional<wpi::math::Translation3d> wpi::util::Protobuf<wpi::math::Translation3d>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufTranslation3d msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Translation3d{
-      units::meter_t{msg.x},
-      units::meter_t{msg.y},
-      units::meter_t{msg.z},
+  return wpi::math::Translation3d{
+      wpi::units::meter_t{msg.x},
+      wpi::units::meter_t{msg.y},
+      wpi::units::meter_t{msg.z},
   };
 }
 
-bool wpi::Protobuf<frc::Translation3d>::Pack(OutputStream& stream,
-                                             const frc::Translation3d& value) {
+bool wpi::util::Protobuf<wpi::math::Translation3d>::Pack(OutputStream& stream,
+                                             const wpi::math::Translation3d& value) {
   wpi_proto_ProtobufTranslation3d msg{
       .x = value.X().value(),
       .y = value.Y().value(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
index 5359f69f1a..dab29929ad 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
@@ -6,22 +6,22 @@
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
-std::optional<frc::Twist2d> wpi::Protobuf<frc::Twist2d>::Unpack(
+std::optional<wpi::math::Twist2d> wpi::util::Protobuf<wpi::math::Twist2d>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufTwist2d msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Twist2d{
-      units::meter_t{msg.dx},
-      units::meter_t{msg.dy},
-      units::radian_t{msg.dtheta},
+  return wpi::math::Twist2d{
+      wpi::units::meter_t{msg.dx},
+      wpi::units::meter_t{msg.dy},
+      wpi::units::radian_t{msg.dtheta},
   };
 }
 
-bool wpi::Protobuf<frc::Twist2d>::Pack(OutputStream& stream,
-                                       const frc::Twist2d& value) {
+bool wpi::util::Protobuf<wpi::math::Twist2d>::Pack(OutputStream& stream,
+                                       const wpi::math::Twist2d& value) {
   wpi_proto_ProtobufTwist2d msg{
       .dx = value.dx.value(),
       .dy = value.dy.value(),
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
index ccccb37906..712e6d6f4c 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
@@ -6,21 +6,21 @@
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
-std::optional<frc::Twist3d> wpi::Protobuf<frc::Twist3d>::Unpack(
+std::optional<wpi::math::Twist3d> wpi::util::Protobuf<wpi::math::Twist3d>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufTwist3d msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::Twist3d{
-      units::meter_t{msg.dx},  units::meter_t{msg.dy},  units::meter_t{msg.dz},
-      units::radian_t{msg.rx}, units::radian_t{msg.ry}, units::radian_t{msg.rz},
+  return wpi::math::Twist3d{
+      wpi::units::meter_t{msg.dx},  wpi::units::meter_t{msg.dy},  wpi::units::meter_t{msg.dz},
+      wpi::units::radian_t{msg.rx}, wpi::units::radian_t{msg.ry}, wpi::units::radian_t{msg.rz},
   };
 }
 
-bool wpi::Protobuf<frc::Twist3d>::Pack(OutputStream& stream,
-                                       const frc::Twist3d& value) {
+bool wpi::util::Protobuf<wpi::math::Twist3d>::Pack(OutputStream& stream,
+                                       const wpi::math::Twist3d& value) {
   wpi_proto_ProtobufTwist3d msg{
       .dx = value.dx.value(),
       .dy = value.dy.value(),
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
index bcf007c5dc..72367f4644 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
@@ -6,22 +6,22 @@
 
 namespace {
 constexpr size_t kCenterOff = 0;
-constexpr size_t kXSemiAxisOff = kCenterOff + wpi::GetStructSize<frc::Pose2d>();
+constexpr size_t kXSemiAxisOff = kCenterOff + wpi::util::GetStructSize<wpi::math::Pose2d>();
 constexpr size_t kYSemiAxisOff = kXSemiAxisOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Ellipse2d>;
+using StructType = wpi::util::Struct<wpi::math::Ellipse2d>;
 
-frc::Ellipse2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Ellipse2d{
-      wpi::UnpackStruct<frc::Pose2d, kCenterOff>(data),
-      units::meter_t{wpi::UnpackStruct<double, kXSemiAxisOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kYSemiAxisOff>(data)},
+wpi::math::Ellipse2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Ellipse2d{
+      wpi::util::UnpackStruct<wpi::math::Pose2d, kCenterOff>(data),
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kXSemiAxisOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kYSemiAxisOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Ellipse2d& value) {
-  wpi::PackStruct<kCenterOff>(data, value.Center());
-  wpi::PackStruct<kXSemiAxisOff>(data, value.XSemiAxis().value());
-  wpi::PackStruct<kYSemiAxisOff>(data, value.YSemiAxis().value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Ellipse2d& value) {
+  wpi::util::PackStruct<kCenterOff>(data, value.Center());
+  wpi::util::PackStruct<kXSemiAxisOff>(data, value.XSemiAxis().value());
+  wpi::util::PackStruct<kYSemiAxisOff>(data, value.YSemiAxis().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
index 77d42c4637..d2c1efe1c3 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
@@ -7,19 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::GetStructSize<frc::Translation2d>();
+    kTranslationOff + wpi::util::GetStructSize<wpi::math::Translation2d>();
 }  // namespace
 
-using StructType = wpi::Struct<frc::Pose2d>;
+using StructType = wpi::util::Struct<wpi::math::Pose2d>;
 
-frc::Pose2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Pose2d{
-      wpi::UnpackStruct<frc::Translation2d, kTranslationOff>(data),
-      wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data),
+wpi::math::Pose2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Pose2d{
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kTranslationOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Rotation2d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Pose2d& value) {
-  wpi::PackStruct<kTranslationOff>(data, value.Translation());
-  wpi::PackStruct<kRotationOff>(data, value.Rotation());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Pose2d& value) {
+  wpi::util::PackStruct<kTranslationOff>(data, value.Translation());
+  wpi::util::PackStruct<kRotationOff>(data, value.Rotation());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
index 44ac5b04ae..9c5705aeca 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
@@ -7,19 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::GetStructSize<frc::Translation3d>();
+    kTranslationOff + wpi::util::GetStructSize<wpi::math::Translation3d>();
 }  // namespace
 
-using StructType = wpi::Struct<frc::Pose3d>;
+using StructType = wpi::util::Struct<wpi::math::Pose3d>;
 
-frc::Pose3d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Pose3d{
-      wpi::UnpackStruct<frc::Translation3d, kTranslationOff>(data),
-      wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data),
+wpi::math::Pose3d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Pose3d{
+      wpi::util::UnpackStruct<wpi::math::Translation3d, kTranslationOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Rotation3d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Pose3d& value) {
-  wpi::PackStruct<kTranslationOff>(data, value.Translation());
-  wpi::PackStruct<kRotationOff>(data, value.Rotation());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Pose3d& value) {
+  wpi::util::PackStruct<kTranslationOff>(data, value.Translation());
+  wpi::util::PackStruct<kRotationOff>(data, value.Rotation());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
index 381aa5c14f..5fd797a7f9 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
@@ -11,20 +11,20 @@ constexpr size_t kYOff = kXOff + 8;
 constexpr size_t kZOff = kYOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Quaternion>;
+using StructType = wpi::util::Struct<wpi::math::Quaternion>;
 
-frc::Quaternion StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Quaternion{
-      wpi::UnpackStruct<double, kWOff>(data),
-      wpi::UnpackStruct<double, kXOff>(data),
-      wpi::UnpackStruct<double, kYOff>(data),
-      wpi::UnpackStruct<double, kZOff>(data),
+wpi::math::Quaternion StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Quaternion{
+      wpi::util::UnpackStruct<double, kWOff>(data),
+      wpi::util::UnpackStruct<double, kXOff>(data),
+      wpi::util::UnpackStruct<double, kYOff>(data),
+      wpi::util::UnpackStruct<double, kZOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Quaternion& value) {
-  wpi::PackStruct<kWOff>(data, value.W());
-  wpi::PackStruct<kXOff>(data, value.X());
-  wpi::PackStruct<kYOff>(data, value.Y());
-  wpi::PackStruct<kZOff>(data, value.Z());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Quaternion& value) {
+  wpi::util::PackStruct<kWOff>(data, value.W());
+  wpi::util::PackStruct<kXOff>(data, value.X());
+  wpi::util::PackStruct<kYOff>(data, value.Y());
+  wpi::util::PackStruct<kZOff>(data, value.Z());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
index 2005c37a04..77716b8257 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
@@ -6,22 +6,22 @@
 
 namespace {
 constexpr size_t kCenterOff = 0;
-constexpr size_t kXWidthOff = kCenterOff + wpi::GetStructSize<frc::Pose2d>();
+constexpr size_t kXWidthOff = kCenterOff + wpi::util::GetStructSize<wpi::math::Pose2d>();
 constexpr size_t kYWidthOff = kXWidthOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Rectangle2d>;
+using StructType = wpi::util::Struct<wpi::math::Rectangle2d>;
 
-frc::Rectangle2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Rectangle2d{
-      wpi::UnpackStruct<frc::Pose2d, kCenterOff>(data),
-      units::meter_t{wpi::UnpackStruct<double, kXWidthOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kYWidthOff>(data)},
+wpi::math::Rectangle2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Rectangle2d{
+      wpi::util::UnpackStruct<wpi::math::Pose2d, kCenterOff>(data),
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kXWidthOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kYWidthOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Rectangle2d& value) {
-  wpi::PackStruct<kCenterOff>(data, value.Center());
-  wpi::PackStruct<kXWidthOff>(data, value.XWidth().value());
-  wpi::PackStruct<kYWidthOff>(data, value.YWidth().value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Rectangle2d& value) {
+  wpi::util::PackStruct<kCenterOff>(data, value.Center());
+  wpi::util::PackStruct<kXWidthOff>(data, value.XWidth().value());
+  wpi::util::PackStruct<kYWidthOff>(data, value.YWidth().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
index 184aa9ed0a..be887ef65a 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
@@ -8,14 +8,14 @@ namespace {
 constexpr size_t kValueOff = 0;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Rotation2d>;
+using StructType = wpi::util::Struct<wpi::math::Rotation2d>;
 
-frc::Rotation2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Rotation2d{
-      units::radian_t{wpi::UnpackStruct<double, kValueOff>(data)},
+wpi::math::Rotation2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Rotation2d{
+      wpi::units::radian_t{wpi::util::UnpackStruct<double, kValueOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Rotation2d& value) {
-  wpi::PackStruct<kValueOff>(data, value.Radians().value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Rotation2d& value) {
+  wpi::util::PackStruct<kValueOff>(data, value.Radians().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
index b8807953b3..0354d074a3 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
@@ -8,14 +8,14 @@ namespace {
 constexpr size_t kQOff = 0;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Rotation3d>;
+using StructType = wpi::util::Struct<wpi::math::Rotation3d>;
 
-frc::Rotation3d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Rotation3d{
-      wpi::UnpackStruct<frc::Quaternion, kQOff>(data),
+wpi::math::Rotation3d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Rotation3d{
+      wpi::util::UnpackStruct<wpi::math::Quaternion, kQOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Rotation3d& value) {
-  wpi::PackStruct<kQOff>(data, value.GetQuaternion());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Rotation3d& value) {
+  wpi::util::PackStruct<kQOff>(data, value.GetQuaternion());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
index 33678a8754..83eb0f87af 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
@@ -7,19 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::GetStructSize<frc::Translation2d>();
+    kTranslationOff + wpi::util::GetStructSize<wpi::math::Translation2d>();
 }  // namespace
 
-using StructType = wpi::Struct<frc::Transform2d>;
+using StructType = wpi::util::Struct<wpi::math::Transform2d>;
 
-frc::Transform2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Transform2d{
-      wpi::UnpackStruct<frc::Translation2d, kTranslationOff>(data),
-      wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data),
+wpi::math::Transform2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Transform2d{
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kTranslationOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Rotation2d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Transform2d& value) {
-  wpi::PackStruct<kTranslationOff>(data, value.Translation());
-  wpi::PackStruct<kRotationOff>(data, value.Rotation());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Transform2d& value) {
+  wpi::util::PackStruct<kTranslationOff>(data, value.Translation());
+  wpi::util::PackStruct<kRotationOff>(data, value.Rotation());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
index e986e001ee..7cccc7f523 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
@@ -7,19 +7,19 @@
 namespace {
 constexpr size_t kTranslationOff = 0;
 constexpr size_t kRotationOff =
-    kTranslationOff + wpi::GetStructSize<frc::Translation3d>();
+    kTranslationOff + wpi::util::GetStructSize<wpi::math::Translation3d>();
 }  // namespace
 
-using StructType = wpi::Struct<frc::Transform3d>;
+using StructType = wpi::util::Struct<wpi::math::Transform3d>;
 
-frc::Transform3d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Transform3d{
-      wpi::UnpackStruct<frc::Translation3d, kTranslationOff>(data),
-      wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data),
+wpi::math::Transform3d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Transform3d{
+      wpi::util::UnpackStruct<wpi::math::Translation3d, kTranslationOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Rotation3d, kRotationOff>(data),
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Transform3d& value) {
-  wpi::PackStruct<kTranslationOff>(data, value.Translation());
-  wpi::PackStruct<kRotationOff>(data, value.Rotation());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Transform3d& value) {
+  wpi::util::PackStruct<kTranslationOff>(data, value.Translation());
+  wpi::util::PackStruct<kRotationOff>(data, value.Rotation());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
index 22028c5362..37dae99369 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
@@ -9,17 +9,17 @@ constexpr size_t kXOff = 0;
 constexpr size_t kYOff = kXOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Translation2d>;
+using StructType = wpi::util::Struct<wpi::math::Translation2d>;
 
-frc::Translation2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Translation2d{
-      units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
+wpi::math::Translation2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Translation2d{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kXOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kYOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::Translation2d& value) {
-  wpi::PackStruct<kXOff>(data, value.X().value());
-  wpi::PackStruct<kYOff>(data, value.Y().value());
+                      const wpi::math::Translation2d& value) {
+  wpi::util::PackStruct<kXOff>(data, value.X().value());
+  wpi::util::PackStruct<kYOff>(data, value.Y().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
index 50ea05dbc9..ce0360016d 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
@@ -10,19 +10,19 @@ constexpr size_t kYOff = kXOff + 8;
 constexpr size_t kZOff = kYOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Translation3d>;
+using StructType = wpi::util::Struct<wpi::math::Translation3d>;
 
-frc::Translation3d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Translation3d{
-      units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kZOff>(data)},
+wpi::math::Translation3d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Translation3d{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kXOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kYOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kZOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::Translation3d& value) {
-  wpi::PackStruct<kXOff>(data, value.X().value());
-  wpi::PackStruct<kYOff>(data, value.Y().value());
-  wpi::PackStruct<kZOff>(data, value.Z().value());
+                      const wpi::math::Translation3d& value) {
+  wpi::util::PackStruct<kXOff>(data, value.X().value());
+  wpi::util::PackStruct<kYOff>(data, value.Y().value());
+  wpi::util::PackStruct<kZOff>(data, value.Z().value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
index 97d0d5c19d..e0ccd248cd 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
@@ -10,18 +10,18 @@ constexpr size_t kDyOff = kDxOff + 8;
 constexpr size_t kDthetaOff = kDyOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Twist2d>;
+using StructType = wpi::util::Struct<wpi::math::Twist2d>;
 
-frc::Twist2d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Twist2d{
-      units::meter_t{wpi::UnpackStruct<double, kDxOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kDyOff>(data)},
-      units::radian_t{wpi::UnpackStruct<double, kDthetaOff>(data)},
+wpi::math::Twist2d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Twist2d{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDxOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDyOff>(data)},
+      wpi::units::radian_t{wpi::util::UnpackStruct<double, kDthetaOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Twist2d& value) {
-  wpi::PackStruct<kDxOff>(data, value.dx.value());
-  wpi::PackStruct<kDyOff>(data, value.dy.value());
-  wpi::PackStruct<kDthetaOff>(data, value.dtheta.value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Twist2d& value) {
+  wpi::util::PackStruct<kDxOff>(data, value.dx.value());
+  wpi::util::PackStruct<kDyOff>(data, value.dy.value());
+  wpi::util::PackStruct<kDthetaOff>(data, value.dtheta.value());
 }
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
index 6fc3d2a94e..a213952716 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
@@ -13,24 +13,24 @@ constexpr size_t kRyOff = kRxOff + 8;
 constexpr size_t kRzOff = kRyOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::Twist3d>;
+using StructType = wpi::util::Struct<wpi::math::Twist3d>;
 
-frc::Twist3d StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::Twist3d{
-      units::meter_t{wpi::UnpackStruct<double, kDxOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kDyOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kDzOff>(data)},
-      units::radian_t{wpi::UnpackStruct<double, kRxOff>(data)},
-      units::radian_t{wpi::UnpackStruct<double, kRyOff>(data)},
-      units::radian_t{wpi::UnpackStruct<double, kRzOff>(data)},
+wpi::math::Twist3d StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::Twist3d{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDxOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDyOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDzOff>(data)},
+      wpi::units::radian_t{wpi::util::UnpackStruct<double, kRxOff>(data)},
+      wpi::units::radian_t{wpi::util::UnpackStruct<double, kRyOff>(data)},
+      wpi::units::radian_t{wpi::util::UnpackStruct<double, kRzOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::Twist3d& value) {
-  wpi::PackStruct<kDxOff>(data, value.dx.value());
-  wpi::PackStruct<kDyOff>(data, value.dy.value());
-  wpi::PackStruct<kDzOff>(data, value.dz.value());
-  wpi::PackStruct<kRxOff>(data, value.rx.value());
-  wpi::PackStruct<kRyOff>(data, value.ry.value());
-  wpi::PackStruct<kRzOff>(data, value.rz.value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::Twist3d& value) {
+  wpi::util::PackStruct<kDxOff>(data, value.dx.value());
+  wpi::util::PackStruct<kDyOff>(data, value.dy.value());
+  wpi::util::PackStruct<kDzOff>(data, value.dz.value());
+  wpi::util::PackStruct<kRxOff>(data, value.rx.value());
+  wpi::util::PackStruct<kRyOff>(data, value.ry.value());
+  wpi::util::PackStruct<kRzOff>(data, value.rz.value());
 }
diff --git a/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp b/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
index 67d1b6c498..1b280b8966 100644
--- a/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/controller/ArmFeedforward.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -23,13 +23,13 @@ Java_org_wpilib_math_jni_ArmFeedforwardJNI_calculate
    jdouble currentAngle, jdouble currentVelocity, jdouble nextVelocity,
    jdouble dt)
 {
-  return frc::ArmFeedforward{units::volt_t{ks}, units::volt_t{kg},
-                             units::unit_t<frc::ArmFeedforward::kv_unit>{kv},
-                             units::unit_t<frc::ArmFeedforward::ka_unit>{ka},
-                             units::second_t{dt}}
-      .Calculate(units::radian_t{currentAngle},
-                 units::radians_per_second_t{currentVelocity},
-                 units::radians_per_second_t{nextVelocity})
+  return wpi::math::ArmFeedforward{wpi::units::volt_t{ks}, wpi::units::volt_t{kg},
+                             wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{kv},
+                             wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{ka},
+                             wpi::units::second_t{dt}}
+      .Calculate(wpi::units::radian_t{currentAngle},
+                 wpi::units::radians_per_second_t{currentVelocity},
+                 wpi::units::radians_per_second_t{nextVelocity})
       .value();
 }
 
diff --git a/wpimath/src/main/native/cpp/jni/DAREJNI.cpp b/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
index a0e96e0beb..7afb1b560e 100644
--- a/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
@@ -13,7 +13,7 @@
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -46,7 +46,7 @@ Java_org_wpilib_math_jni_DAREJNI_dareNoPrecondABQR
       Rmat{nativeR.data(), inputs, inputs};
 
   auto result =
-      frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat, false)
+      wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat, false)
           .value();
 
   env->SetDoubleArrayRegion(S, 0, states * states, result.data());
@@ -84,7 +84,7 @@ Java_org_wpilib_math_jni_DAREJNI_dareNoPrecondABQRN
                                  Eigen::RowMajor>>
       Nmat{nativeN.data(), states, inputs};
 
-  auto result = frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
+  auto result = wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
                                                           Rmat, Nmat, false)
                     .value();
 
@@ -120,21 +120,21 @@ Java_org_wpilib_math_jni_DAREJNI_dareABQR
       Rmat{nativeR.data(), inputs, inputs};
 
   if (auto result =
-          frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat)) {
+          wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat)) {
     env->SetDoubleArrayRegion(S, 0, states * states, result.value().data());
     // K = (BᵀSB + R)⁻¹BᵀSA
-  } else if (result.error() == frc::DAREError::QNotSymmetric ||
-             result.error() == frc::DAREError::QNotPositiveSemidefinite) {
+  } else if (result.error() == wpi::math::DAREError::QNotSymmetric ||
+             result.error() == wpi::math::DAREError::QNotPositiveSemidefinite) {
     illegalArgEx.Throw(
         env, fmt::format("{}\n\nQ =\n{}\n", to_string(result.error()), Qmat));
-  } else if (result.error() == frc::DAREError::RNotSymmetric ||
-             result.error() == frc::DAREError::RNotPositiveDefinite) {
+  } else if (result.error() == wpi::math::DAREError::RNotSymmetric ||
+             result.error() == wpi::math::DAREError::RNotPositiveDefinite) {
     illegalArgEx.Throw(
         env, fmt::format("{}\n\nR =\n{}\n", to_string(result.error()), Rmat));
-  } else if (result.error() == frc::DAREError::ABNotStabilizable) {
+  } else if (result.error() == wpi::math::DAREError::ABNotStabilizable) {
     illegalArgEx.Throw(env, fmt::format("{}\n\nA =\n{}\nB =\n{}\n",
                                         to_string(result.error()), Amat, Bmat));
-  } else if (result.error() == frc::DAREError::ACNotDetectable) {
+  } else if (result.error() == wpi::math::DAREError::ACNotDetectable) {
     illegalArgEx.Throw(env, fmt::format("{}\n\nA =\n{}\nQ =\n{}\n",
                                         to_string(result.error()), Amat, Qmat));
   }
@@ -172,23 +172,23 @@ Java_org_wpilib_math_jni_DAREJNI_dareABQRN
                                  Eigen::RowMajor>>
       Nmat{nativeN.data(), states, inputs};
 
-  if (auto result = frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
+  if (auto result = wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
                                                               Rmat, Nmat)) {
     env->SetDoubleArrayRegion(S, 0, states * states, result.value().data());
-  } else if (result.error() == frc::DAREError::QNotSymmetric ||
-             result.error() == frc::DAREError::QNotPositiveSemidefinite) {
+  } else if (result.error() == wpi::math::DAREError::QNotSymmetric ||
+             result.error() == wpi::math::DAREError::QNotPositiveSemidefinite) {
     illegalArgEx.Throw(
         env, fmt::format("{}\n\nQ =\n{}\n", to_string(result.error()), Qmat));
-  } else if (result.error() == frc::DAREError::RNotSymmetric ||
-             result.error() == frc::DAREError::RNotPositiveDefinite) {
+  } else if (result.error() == wpi::math::DAREError::RNotSymmetric ||
+             result.error() == wpi::math::DAREError::RNotPositiveDefinite) {
     illegalArgEx.Throw(
         env, fmt::format("{}\n\nR =\n{}\n", to_string(result.error()), Rmat));
-  } else if (result.error() == frc::DAREError::ABNotStabilizable) {
+  } else if (result.error() == wpi::math::DAREError::ABNotStabilizable) {
     illegalArgEx.Throw(
         env,
         fmt::format("{}\n\nA =\n{}\nB =\n{}\n", to_string(result.error()),
                     Amat - Bmat * Rmat.llt().solve(Nmat.transpose()), Bmat));
-  } else if (result.error() == frc::DAREError::ACNotDetectable) {
+  } else if (result.error() == wpi::math::DAREError::ACNotDetectable) {
     auto R_llt = Rmat.llt();
     illegalArgEx.Throw(
         env, fmt::format("{}\n\nA =\n{}\nQ =\n{}\n", to_string(result.error()),
diff --git a/wpimath/src/main/native/cpp/jni/EigenJNI.cpp b/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
index 2c810e3e1b..a16b7e31ba 100644
--- a/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
@@ -12,7 +12,7 @@
 #include "org_wpilib_math_jni_EigenJNI.h"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
diff --git a/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp b/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
index a91e44fd44..28d3877b2f 100644
--- a/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/array.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -25,13 +25,13 @@ Java_org_wpilib_math_jni_Ellipse2dJNI_nearest
    jdoubleArray nearestPoint)
 {
   auto point =
-      frc::Ellipse2d{
-          frc::Pose2d{units::meter_t{centerX}, units::meter_t{centerY},
-                      units::radian_t{centerHeading}},
-          units::meter_t{xSemiAxis}, units::meter_t{ySemiAxis}}
-          .Nearest({units::meter_t{pointX}, units::meter_t{pointY}});
+      wpi::math::Ellipse2d{
+          wpi::math::Pose2d{wpi::units::meter_t{centerX}, wpi::units::meter_t{centerY},
+                      wpi::units::radian_t{centerHeading}},
+          wpi::units::meter_t{xSemiAxis}, wpi::units::meter_t{ySemiAxis}}
+          .Nearest({wpi::units::meter_t{pointX}, wpi::units::meter_t{pointY}});
 
-  wpi::array buf{point.X().value(), point.Y().value()};
+  wpi::util::array buf{point.X().value(), point.Y().value()};
   env->SetDoubleArrayRegion(nearestPoint, 0, 2, buf.data());
 }
 
diff --git a/wpimath/src/main/native/cpp/jni/Exceptions.cpp b/wpimath/src/main/native/cpp/jni/Exceptions.cpp
index 0bd0311661..37f52b36e6 100644
--- a/wpimath/src/main/native/cpp/jni/Exceptions.cpp
+++ b/wpimath/src/main/native/cpp/jni/Exceptions.cpp
@@ -6,7 +6,7 @@
 
 #include <jni.h>
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 //
 // Globals and load/unload
diff --git a/wpimath/src/main/native/cpp/jni/Exceptions.hpp b/wpimath/src/main/native/cpp/jni/Exceptions.hpp
index 476e896c06..b0ba37d3e9 100644
--- a/wpimath/src/main/native/cpp/jni/Exceptions.hpp
+++ b/wpimath/src/main/native/cpp/jni/Exceptions.hpp
@@ -6,6 +6,6 @@
 
 #include "wpi/util/jni_util.hpp"
 
-extern wpi::java::JException illegalArgEx;
-extern wpi::java::JException ioEx;
-extern wpi::java::JException trajectorySerializationEx;
+extern wpi::util::java::JException illegalArgEx;
+extern wpi::util::java::JException ioEx;
+extern wpi::util::java::JException trajectorySerializationEx;
diff --git a/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp b/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
index 03539452f2..86176f1f60 100644
--- a/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -36,7 +36,7 @@ Java_org_wpilib_math_jni_StateSpaceUtilJNI_isStabilizable
       B{nativeB.data(), states, inputs};
 
   bool isStabilizable =
-      frc::IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(A, B);
+      wpi::math::IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(A, B);
 
   return isStabilizable;
 }
diff --git a/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp b/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
index 369e722aa7..1e20916e30 100644
--- a/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
@@ -13,7 +13,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -27,11 +27,11 @@ Java_org_wpilib_math_jni_Transform3dJNI_log
   (JNIEnv* env, jclass, jdouble relX, jdouble relY, jdouble relZ, jdouble relQw,
    jdouble relQx, jdouble relQy, jdouble relQz)
 {
-  frc::Transform3d transform3d{
-      units::meter_t{relX}, units::meter_t{relY}, units::meter_t{relZ},
-      frc::Rotation3d{frc::Quaternion{relQw, relQx, relQy, relQz}}};
+  wpi::math::Transform3d transform3d{
+      wpi::units::meter_t{relX}, wpi::units::meter_t{relY}, wpi::units::meter_t{relZ},
+      wpi::math::Rotation3d{wpi::math::Quaternion{relQw, relQx, relQy, relQz}}};
 
-  frc::Twist3d result = transform3d.Log();
+  wpi::math::Twist3d result = transform3d.Log();
 
   return MakeJDoubleArray(
       env, {{result.dx.value(), result.dy.value(), result.dz.value(),
diff --git a/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp b/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
index e9de7cbcfb..7c82ea72aa 100644
--- a/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
@@ -11,7 +11,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 extern "C" {
 
@@ -25,11 +25,11 @@ Java_org_wpilib_math_jni_Twist3dJNI_exp
   (JNIEnv* env, jclass, jdouble twistDx, jdouble twistDy, jdouble twistDz,
    jdouble twistRx, jdouble twistRy, jdouble twistRz)
 {
-  frc::Twist3d twist{units::meter_t{twistDx},  units::meter_t{twistDy},
-                     units::meter_t{twistDz},  units::radian_t{twistRx},
-                     units::radian_t{twistRy}, units::radian_t{twistRz}};
+  wpi::math::Twist3d twist{wpi::units::meter_t{twistDx},  wpi::units::meter_t{twistDy},
+                     wpi::units::meter_t{twistDz},  wpi::units::radian_t{twistRx},
+                     wpi::units::radian_t{twistRy}, wpi::units::radian_t{twistRz}};
 
-  frc::Transform3d result = twist.Exp();
+  wpi::math::Transform3d result = twist.Exp();
 
   const auto& resultQuaternion = result.Rotation().GetQuaternion();
   return MakeJDoubleArray(
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
index 030e178fbd..bdc6c2aacf 100644
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/util/MathShared.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDriveOdometry::DifferentialDriveOdometry(
-    const Rotation2d& gyroAngle, units::meter_t leftDistance,
-    units::meter_t rightDistance, const Pose2d& initialPose)
+    const Rotation2d& gyroAngle, wpi::units::meter_t leftDistance,
+    wpi::units::meter_t rightDistance, const Pose2d& initialPose)
     : Odometry(m_kinematicsImpl, gyroAngle, {leftDistance, rightDistance},
                initialPose) {
   wpi::math::MathSharedStore::ReportUsage("DifferentialDriveOdometry", "");
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
index 3d923ed1e3..b6e0bf034e 100644
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/util/MathShared.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 DifferentialDriveOdometry3d::DifferentialDriveOdometry3d(
-    const Rotation3d& gyroAngle, units::meter_t leftDistance,
-    units::meter_t rightDistance, const Pose3d& initialPose)
+    const Rotation3d& gyroAngle, wpi::units::meter_t leftDistance,
+    wpi::units::meter_t rightDistance, const Pose3d& initialPose)
     : Odometry3d(m_kinematicsImpl, gyroAngle, {leftDistance, rightDistance},
                  initialPose) {
   wpi::math::MathSharedStore::ReportUsage("DifferentialDriveOdometry3d", "");
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
index 99d18b4f93..04a9818ff7 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
     const ChassisSpeeds& chassisSpeeds,
@@ -28,10 +28,10 @@ MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
   Eigen::Vector4d wheelsVector = m_inverseKinematics * chassisSpeedsVector;
 
   MecanumDriveWheelSpeeds wheelSpeeds;
-  wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsVector(0)};
-  wheelSpeeds.frontRight = units::meters_per_second_t{wheelsVector(1)};
-  wheelSpeeds.rearLeft = units::meters_per_second_t{wheelsVector(2)};
-  wheelSpeeds.rearRight = units::meters_per_second_t{wheelsVector(3)};
+  wheelSpeeds.frontLeft = wpi::units::meters_per_second_t{wheelsVector(0)};
+  wheelSpeeds.frontRight = wpi::units::meters_per_second_t{wheelsVector(1)};
+  wheelSpeeds.rearLeft = wpi::units::meters_per_second_t{wheelsVector(2)};
+  wheelSpeeds.rearRight = wpi::units::meters_per_second_t{wheelsVector(3)};
   return wheelSpeeds;
 }
 
@@ -44,9 +44,9 @@ ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
   Eigen::Vector3d chassisSpeedsVector =
       m_forwardKinematics.solve(wheelSpeedsVector);
 
-  return {units::meters_per_second_t{chassisSpeedsVector(0)},  // NOLINT
-          units::meters_per_second_t{chassisSpeedsVector(1)},
-          units::radians_per_second_t{chassisSpeedsVector(2)}};
+  return {wpi::units::meters_per_second_t{chassisSpeedsVector(0)},  // NOLINT
+          wpi::units::meters_per_second_t{chassisSpeedsVector(1)},
+          wpi::units::radians_per_second_t{chassisSpeedsVector(2)}};
 }
 
 Twist2d MecanumDriveKinematics::ToTwist2d(
@@ -60,8 +60,8 @@ Twist2d MecanumDriveKinematics::ToTwist2d(
 
   Eigen::Vector3d twistVector = m_forwardKinematics.solve(wheelDeltasVector);
 
-  return {units::meter_t{twistVector(0)}, units::meter_t{twistVector(1)},
-          units::radian_t{twistVector(2)}};
+  return {wpi::units::meter_t{twistVector(0)}, wpi::units::meter_t{twistVector(1)},
+          wpi::units::radian_t{twistVector(2)}};
 }
 
 Twist2d MecanumDriveKinematics::ToTwist2d(
@@ -72,8 +72,8 @@ Twist2d MecanumDriveKinematics::ToTwist2d(
 
   Eigen::Vector3d twistVector = m_forwardKinematics.solve(wheelDeltasVector);
 
-  return {units::meter_t{twistVector(0)}, units::meter_t{twistVector(1)},
-          units::radian_t{twistVector(2)}};
+  return {wpi::units::meter_t{twistVector(0)}, wpi::units::meter_t{twistVector(1)},
+          wpi::units::radian_t{twistVector(2)}};
 }
 
 void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
index 7022f852a8..f7df5d3a2e 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/math/util/MathShared.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 MecanumDriveOdometry::MecanumDriveOdometry(
     MecanumDriveKinematics kinematics, const Rotation2d& gyroAngle,
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
index 3c83651e85..bd2fac79ab 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/math/util/MathShared.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 MecanumDriveOdometry3d::MecanumDriveOdometry3d(
     MecanumDriveKinematics kinematics, const Rotation3d& gyroAngle,
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
index 46e8257161..7904440ece 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SwerveDriveKinematics<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
index eb33a07f15..02abc4125a 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
@@ -4,8 +4,8 @@
 
 #include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) SwerveDriveOdometry<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
index e1c9a81067..d8be23d2f5 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
@@ -4,9 +4,9 @@
 
 #include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     SwerveDriveOdometry3d<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
index ae3badb0e5..168714e475 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
@@ -6,22 +6,22 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::ChassisSpeeds> wpi::Protobuf<frc::ChassisSpeeds>::Unpack(
+std::optional<wpi::math::ChassisSpeeds> wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufChassisSpeeds msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::ChassisSpeeds{
-      units::meters_per_second_t{msg.vx},
-      units::meters_per_second_t{msg.vy},
-      units::radians_per_second_t{msg.omega},
+  return wpi::math::ChassisSpeeds{
+      wpi::units::meters_per_second_t{msg.vx},
+      wpi::units::meters_per_second_t{msg.vy},
+      wpi::units::radians_per_second_t{msg.omega},
   };
 }
 
-bool wpi::Protobuf<frc::ChassisSpeeds>::Pack(OutputStream& stream,
-                                             const frc::ChassisSpeeds& value) {
+bool wpi::util::Protobuf<wpi::math::ChassisSpeeds>::Pack(OutputStream& stream,
+                                             const wpi::math::ChassisSpeeds& value) {
   wpi_proto_ProtobufChassisSpeeds msg{
       .vx = value.vx.value(),
       .vy = value.vy.value(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
index 630947cf90..a47296d7d4 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
@@ -6,20 +6,20 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::DifferentialDriveKinematics>
-wpi::Protobuf<frc::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
+std::optional<wpi::math::DifferentialDriveKinematics>
+wpi::util::Protobuf<wpi::math::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufDifferentialDriveKinematics msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DifferentialDriveKinematics{
-      units::meter_t{msg.trackwidth},
+  return wpi::math::DifferentialDriveKinematics{
+      wpi::units::meter_t{msg.trackwidth},
   };
 }
 
-bool wpi::Protobuf<frc::DifferentialDriveKinematics>::Pack(
-    OutputStream& stream, const frc::DifferentialDriveKinematics& value) {
+bool wpi::util::Protobuf<wpi::math::DifferentialDriveKinematics>::Pack(
+    OutputStream& stream, const wpi::math::DifferentialDriveKinematics& value) {
   wpi_proto_ProtobufDifferentialDriveKinematics msg{
       .trackwidth = value.trackwidth.value(),
   };
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
index e42537295e..ff6ec6a9f2 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
@@ -6,21 +6,21 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::DifferentialDriveWheelPositions> wpi::Protobuf<
-    frc::DifferentialDriveWheelPositions>::Unpack(InputStream& stream) {
+std::optional<wpi::math::DifferentialDriveWheelPositions> wpi::util::Protobuf<
+    wpi::math::DifferentialDriveWheelPositions>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufDifferentialDriveWheelPositions msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DifferentialDriveWheelPositions{
-      units::meter_t{msg.left},
-      units::meter_t{msg.right},
+  return wpi::math::DifferentialDriveWheelPositions{
+      wpi::units::meter_t{msg.left},
+      wpi::units::meter_t{msg.right},
   };
 }
 
-bool wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
-    OutputStream& stream, const frc::DifferentialDriveWheelPositions& value) {
+bool wpi::util::Protobuf<wpi::math::DifferentialDriveWheelPositions>::Pack(
+    OutputStream& stream, const wpi::math::DifferentialDriveWheelPositions& value) {
   wpi_proto_ProtobufDifferentialDriveWheelPositions msg{
       .left = value.left.value(),
       .right = value.right.value(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
index df85399e41..5a2b555d45 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
@@ -6,21 +6,21 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::DifferentialDriveWheelSpeeds>
-wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Unpack(InputStream& stream) {
+std::optional<wpi::math::DifferentialDriveWheelSpeeds>
+wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DifferentialDriveWheelSpeeds{
-      units::meters_per_second_t{msg.left},
-      units::meters_per_second_t{msg.right},
+  return wpi::math::DifferentialDriveWheelSpeeds{
+      wpi::units::meters_per_second_t{msg.left},
+      wpi::units::meters_per_second_t{msg.right},
   };
 }
 
-bool wpi::Protobuf<frc::DifferentialDriveWheelSpeeds>::Pack(
-    OutputStream& stream, const frc::DifferentialDriveWheelSpeeds& value) {
+bool wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds>::Pack(
+    OutputStream& stream, const wpi::math::DifferentialDriveWheelSpeeds& value) {
   wpi_proto_ProtobufDifferentialDriveWheelSpeeds msg{
       .left = value.left.value(),
       .right = value.right.value(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
index abeca52516..be9dcd7fa0 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
@@ -7,12 +7,12 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::MecanumDriveKinematics>
-wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(InputStream& stream) {
-  wpi::UnpackCallback<frc::Translation2d> frontLeft;
-  wpi::UnpackCallback<frc::Translation2d> frontRight;
-  wpi::UnpackCallback<frc::Translation2d> rearLeft;
-  wpi::UnpackCallback<frc::Translation2d> rearRight;
+std::optional<wpi::math::MecanumDriveKinematics>
+wpi::util::Protobuf<wpi::math::MecanumDriveKinematics>::Unpack(InputStream& stream) {
+  wpi::util::UnpackCallback<wpi::math::Translation2d> frontLeft;
+  wpi::util::UnpackCallback<wpi::math::Translation2d> frontRight;
+  wpi::util::UnpackCallback<wpi::math::Translation2d> rearLeft;
+  wpi::util::UnpackCallback<wpi::math::Translation2d> rearRight;
   wpi_proto_ProtobufMecanumDriveKinematics msg{
       .front_left = frontLeft.Callback(),
       .front_right = frontRight.Callback(),
@@ -33,7 +33,7 @@ wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::MecanumDriveKinematics{
+  return wpi::math::MecanumDriveKinematics{
       ifrontLeft[0],
       ifrontRight[0],
       irearLeft[0],
@@ -41,12 +41,12 @@ wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(InputStream& stream) {
   };
 }
 
-bool wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
-    OutputStream& stream, const frc::MecanumDriveKinematics& value) {
-  wpi::PackCallback frontLeft{&value.GetFrontLeft()};
-  wpi::PackCallback frontRight{&value.GetFrontRight()};
-  wpi::PackCallback rearLeft{&value.GetRearLeft()};
-  wpi::PackCallback rearRight{&value.GetRearRight()};
+bool wpi::util::Protobuf<wpi::math::MecanumDriveKinematics>::Pack(
+    OutputStream& stream, const wpi::math::MecanumDriveKinematics& value) {
+  wpi::util::PackCallback frontLeft{&value.GetFrontLeft()};
+  wpi::util::PackCallback frontRight{&value.GetFrontRight()};
+  wpi::util::PackCallback rearLeft{&value.GetRearLeft()};
+  wpi::util::PackCallback rearRight{&value.GetRearRight()};
   wpi_proto_ProtobufMecanumDriveKinematics msg{
       .front_left = frontLeft.Callback(),
       .front_right = frontRight.Callback(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
index d0b487c697..e08446f2e3 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
@@ -6,23 +6,23 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::MecanumDriveWheelPositions>
-wpi::Protobuf<frc::MecanumDriveWheelPositions>::Unpack(InputStream& stream) {
+std::optional<wpi::math::MecanumDriveWheelPositions>
+wpi::util::Protobuf<wpi::math::MecanumDriveWheelPositions>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufMecanumDriveWheelPositions msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::MecanumDriveWheelPositions{
-      units::meter_t{msg.front_left},
-      units::meter_t{msg.front_right},
-      units::meter_t{msg.rear_left},
-      units::meter_t{msg.rear_right},
+  return wpi::math::MecanumDriveWheelPositions{
+      wpi::units::meter_t{msg.front_left},
+      wpi::units::meter_t{msg.front_right},
+      wpi::units::meter_t{msg.rear_left},
+      wpi::units::meter_t{msg.rear_right},
   };
 }
 
-bool wpi::Protobuf<frc::MecanumDriveWheelPositions>::Pack(
-    OutputStream& stream, const frc::MecanumDriveWheelPositions& value) {
+bool wpi::util::Protobuf<wpi::math::MecanumDriveWheelPositions>::Pack(
+    OutputStream& stream, const wpi::math::MecanumDriveWheelPositions& value) {
   wpi_proto_ProtobufMecanumDriveWheelPositions msg{
       .front_left = value.frontLeft.value(),
       .front_right = value.frontRight.value(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
index 9e9fdb4f55..cd74d84bc1 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
@@ -6,23 +6,23 @@
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::MecanumDriveWheelSpeeds>
-wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Unpack(InputStream& stream) {
+std::optional<wpi::math::MecanumDriveWheelSpeeds>
+wpi::util::Protobuf<wpi::math::MecanumDriveWheelSpeeds>::Unpack(InputStream& stream) {
   wpi_proto_ProtobufMecanumDriveWheelSpeeds msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::MecanumDriveWheelSpeeds{
-      units::meters_per_second_t{msg.front_left},
-      units::meters_per_second_t{msg.front_right},
-      units::meters_per_second_t{msg.rear_left},
-      units::meters_per_second_t{msg.rear_right},
+  return wpi::math::MecanumDriveWheelSpeeds{
+      wpi::units::meters_per_second_t{msg.front_left},
+      wpi::units::meters_per_second_t{msg.front_right},
+      wpi::units::meters_per_second_t{msg.rear_left},
+      wpi::units::meters_per_second_t{msg.rear_right},
   };
 }
 
-bool wpi::Protobuf<frc::MecanumDriveWheelSpeeds>::Pack(
-    OutputStream& stream, const frc::MecanumDriveWheelSpeeds& value) {
+bool wpi::util::Protobuf<wpi::math::MecanumDriveWheelSpeeds>::Pack(
+    OutputStream& stream, const wpi::math::MecanumDriveWheelSpeeds& value) {
   wpi_proto_ProtobufMecanumDriveWheelSpeeds msg{
       .front_left = value.frontLeft.value(),
       .front_right = value.frontRight.value(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
index cba4492cd7..05aae69ef2 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
@@ -7,9 +7,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::SwerveModulePosition>
-wpi::Protobuf<frc::SwerveModulePosition>::Unpack(InputStream& stream) {
-  wpi::UnpackCallback<frc::Rotation2d> angle;
+std::optional<wpi::math::SwerveModulePosition>
+wpi::util::Protobuf<wpi::math::SwerveModulePosition>::Unpack(InputStream& stream) {
+  wpi::util::UnpackCallback<wpi::math::Rotation2d> angle;
   wpi_proto_ProtobufSwerveModulePosition msg{
       .distance = 0,
       .angle = angle.Callback(),
@@ -24,15 +24,15 @@ wpi::Protobuf<frc::SwerveModulePosition>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::SwerveModulePosition{
-      units::meter_t{msg.distance},
+  return wpi::math::SwerveModulePosition{
+      wpi::units::meter_t{msg.distance},
       iangle[0],
   };
 }
 
-bool wpi::Protobuf<frc::SwerveModulePosition>::Pack(
-    OutputStream& stream, const frc::SwerveModulePosition& value) {
-  wpi::PackCallback angle{&value.angle};
+bool wpi::util::Protobuf<wpi::math::SwerveModulePosition>::Pack(
+    OutputStream& stream, const wpi::math::SwerveModulePosition& value) {
+  wpi::util::PackCallback angle{&value.angle};
   wpi_proto_ProtobufSwerveModulePosition msg{
       .distance = value.distance.value(),
       .angle = angle.Callback(),
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
index 31de39e996..c320ee6efc 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
@@ -7,9 +7,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
-std::optional<frc::SwerveModuleState>
-wpi::Protobuf<frc::SwerveModuleState>::Unpack(InputStream& stream) {
-  wpi::UnpackCallback<frc::Rotation2d> angle;
+std::optional<wpi::math::SwerveModuleState>
+wpi::util::Protobuf<wpi::math::SwerveModuleState>::Unpack(InputStream& stream) {
+  wpi::util::UnpackCallback<wpi::math::Rotation2d> angle;
   wpi_proto_ProtobufSwerveModuleState msg{
       .speed = 0,
       .angle = angle.Callback(),
@@ -24,15 +24,15 @@ wpi::Protobuf<frc::SwerveModuleState>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::SwerveModuleState{
-      units::meters_per_second_t{msg.speed},
+  return wpi::math::SwerveModuleState{
+      wpi::units::meters_per_second_t{msg.speed},
       iangle[0],
   };
 }
 
-bool wpi::Protobuf<frc::SwerveModuleState>::Pack(
-    OutputStream& stream, const frc::SwerveModuleState& value) {
-  wpi::PackCallback angle{&value.angle};
+bool wpi::util::Protobuf<wpi::math::SwerveModuleState>::Pack(
+    OutputStream& stream, const wpi::math::SwerveModuleState& value) {
+  wpi::util::PackCallback angle{&value.angle};
   wpi_proto_ProtobufSwerveModuleState msg{
       .speed = value.speed.value(),
       .angle = angle.Callback(),
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
index 46160e6674..1a1b97ea0c 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
@@ -10,19 +10,19 @@ constexpr size_t kVyOff = kVxOff + 8;
 constexpr size_t kOmegaOff = kVyOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::ChassisSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::ChassisSpeeds>;
 
-frc::ChassisSpeeds StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::ChassisSpeeds{
-      units::meters_per_second_t{wpi::UnpackStruct<double, kVxOff>(data)},
-      units::meters_per_second_t{wpi::UnpackStruct<double, kVyOff>(data)},
-      units::radians_per_second_t{wpi::UnpackStruct<double, kOmegaOff>(data)},
+wpi::math::ChassisSpeeds StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::ChassisSpeeds{
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kVxOff>(data)},
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kVyOff>(data)},
+      wpi::units::radians_per_second_t{wpi::util::UnpackStruct<double, kOmegaOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::ChassisSpeeds& value) {
-  wpi::PackStruct<kVxOff>(data, value.vx.value());
-  wpi::PackStruct<kVyOff>(data, value.vy.value());
-  wpi::PackStruct<kOmegaOff>(data, value.omega.value());
+                      const wpi::math::ChassisSpeeds& value) {
+  wpi::util::PackStruct<kVxOff>(data, value.vx.value());
+  wpi::util::PackStruct<kVyOff>(data, value.vy.value());
+  wpi::util::PackStruct<kOmegaOff>(data, value.omega.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
index 570157ad36..f2bdeb8410 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
@@ -8,16 +8,16 @@ namespace {
 constexpr size_t kTrackwidthOff = 0;
 }  // namespace
 
-using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveKinematics>;
 
-frc::DifferentialDriveKinematics StructType::Unpack(
+wpi::math::DifferentialDriveKinematics StructType::Unpack(
     std::span<const uint8_t> data) {
-  return frc::DifferentialDriveKinematics{
-      units::meter_t{wpi::UnpackStruct<double, kTrackwidthOff>(data)},
+  return wpi::math::DifferentialDriveKinematics{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kTrackwidthOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::DifferentialDriveKinematics& value) {
-  wpi::PackStruct<kTrackwidthOff>(data, value.trackwidth.value());
+                      const wpi::math::DifferentialDriveKinematics& value) {
+  wpi::util::PackStruct<kTrackwidthOff>(data, value.trackwidth.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
index 44807070a4..563df5a03d 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
@@ -9,18 +9,18 @@ constexpr size_t kLeftOff = 0;
 constexpr size_t kRightOff = kLeftOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelPositions>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions>;
 
-frc::DifferentialDriveWheelPositions StructType::Unpack(
+wpi::math::DifferentialDriveWheelPositions StructType::Unpack(
     std::span<const uint8_t> data) {
-  return frc::DifferentialDriveWheelPositions{
-      units::meter_t{wpi::UnpackStruct<double, kLeftOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kRightOff>(data)},
+  return wpi::math::DifferentialDriveWheelPositions{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kLeftOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kRightOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::DifferentialDriveWheelPositions& value) {
-  wpi::PackStruct<kLeftOff>(data, value.left.value());
-  wpi::PackStruct<kRightOff>(data, value.right.value());
+                      const wpi::math::DifferentialDriveWheelPositions& value) {
+  wpi::util::PackStruct<kLeftOff>(data, value.left.value());
+  wpi::util::PackStruct<kRightOff>(data, value.right.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
index a870c6c0e0..3d193bd6c8 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
@@ -9,18 +9,18 @@ constexpr size_t kLeftOff = 0;
 constexpr size_t kRightOff = kLeftOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelSpeeds>;
 
-frc::DifferentialDriveWheelSpeeds StructType::Unpack(
+wpi::math::DifferentialDriveWheelSpeeds StructType::Unpack(
     std::span<const uint8_t> data) {
-  return frc::DifferentialDriveWheelSpeeds{
-      units::meters_per_second_t{wpi::UnpackStruct<double, kLeftOff>(data)},
-      units::meters_per_second_t{wpi::UnpackStruct<double, kRightOff>(data)},
+  return wpi::math::DifferentialDriveWheelSpeeds{
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kLeftOff>(data)},
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kRightOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::DifferentialDriveWheelSpeeds& value) {
-  wpi::PackStruct<kLeftOff>(data, value.left.value());
-  wpi::PackStruct<kRightOff>(data, value.right.value());
+                      const wpi::math::DifferentialDriveWheelSpeeds& value) {
+  wpi::util::PackStruct<kLeftOff>(data, value.left.value());
+  wpi::util::PackStruct<kRightOff>(data, value.right.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
index 925af4ff3b..da1f6b987e 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
@@ -7,28 +7,28 @@
 namespace {
 constexpr size_t kFrontLeftOff = 0;
 constexpr size_t kFrontRightOff =
-    kFrontLeftOff + wpi::GetStructSize<frc::Translation2d>();
+    kFrontLeftOff + wpi::util::GetStructSize<wpi::math::Translation2d>();
 constexpr size_t kRearLeftOff =
-    kFrontRightOff + wpi::GetStructSize<frc::Translation2d>();
+    kFrontRightOff + wpi::util::GetStructSize<wpi::math::Translation2d>();
 constexpr size_t kRearRightOff =
-    kRearLeftOff + wpi::GetStructSize<frc::Translation2d>();
+    kRearLeftOff + wpi::util::GetStructSize<wpi::math::Translation2d>();
 }  // namespace
 
-using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveKinematics>;
 
-frc::MecanumDriveKinematics StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::MecanumDriveKinematics{
-      wpi::UnpackStruct<frc::Translation2d, kFrontLeftOff>(data),
-      wpi::UnpackStruct<frc::Translation2d, kFrontRightOff>(data),
-      wpi::UnpackStruct<frc::Translation2d, kRearLeftOff>(data),
-      wpi::UnpackStruct<frc::Translation2d, kRearRightOff>(data),
+wpi::math::MecanumDriveKinematics StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::MecanumDriveKinematics{
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kFrontLeftOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kFrontRightOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kRearLeftOff>(data),
+      wpi::util::UnpackStruct<wpi::math::Translation2d, kRearRightOff>(data),
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::MecanumDriveKinematics& value) {
-  wpi::PackStruct<kFrontLeftOff>(data, value.GetFrontLeft());
-  wpi::PackStruct<kFrontRightOff>(data, value.GetFrontRight());
-  wpi::PackStruct<kRearLeftOff>(data, value.GetRearLeft());
-  wpi::PackStruct<kRearRightOff>(data, value.GetRearRight());
+                      const wpi::math::MecanumDriveKinematics& value) {
+  wpi::util::PackStruct<kFrontLeftOff>(data, value.GetFrontLeft());
+  wpi::util::PackStruct<kFrontRightOff>(data, value.GetFrontRight());
+  wpi::util::PackStruct<kRearLeftOff>(data, value.GetRearLeft());
+  wpi::util::PackStruct<kRearRightOff>(data, value.GetRearRight());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
index 04b2bcf954..7c7c004fe7 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
@@ -11,22 +11,22 @@ constexpr size_t kRearLeftOff = kFrontRightOff + 8;
 constexpr size_t kRearRightOff = kRearLeftOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::MecanumDriveWheelPositions>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelPositions>;
 
-frc::MecanumDriveWheelPositions StructType::Unpack(
+wpi::math::MecanumDriveWheelPositions StructType::Unpack(
     std::span<const uint8_t> data) {
-  return frc::MecanumDriveWheelPositions{
-      units::meter_t{wpi::UnpackStruct<double, kFrontLeftOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kFrontRightOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kRearLeftOff>(data)},
-      units::meter_t{wpi::UnpackStruct<double, kRearRightOff>(data)},
+  return wpi::math::MecanumDriveWheelPositions{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kFrontLeftOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kRearRightOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::MecanumDriveWheelPositions& value) {
-  wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
-  wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
-  wpi::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
-  wpi::PackStruct<kRearRightOff>(data, value.rearRight.value());
+                      const wpi::math::MecanumDriveWheelPositions& value) {
+  wpi::util::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
+  wpi::util::PackStruct<kFrontRightOff>(data, value.frontRight.value());
+  wpi::util::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
+  wpi::util::PackStruct<kRearRightOff>(data, value.rearRight.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
index 48622e333b..1f4cd6ae6e 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
@@ -11,24 +11,24 @@ constexpr size_t kRearLeftOff = kFrontRightOff + 8;
 constexpr size_t kRearRightOff = kRearLeftOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::MecanumDriveWheelSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelSpeeds>;
 
-frc::MecanumDriveWheelSpeeds StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::MecanumDriveWheelSpeeds{
-      units::meters_per_second_t{
-          wpi::UnpackStruct<double, kFrontLeftOff>(data)},
-      units::meters_per_second_t{
-          wpi::UnpackStruct<double, kFrontRightOff>(data)},
-      units::meters_per_second_t{wpi::UnpackStruct<double, kRearLeftOff>(data)},
-      units::meters_per_second_t{
-          wpi::UnpackStruct<double, kRearRightOff>(data)},
+wpi::math::MecanumDriveWheelSpeeds StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::MecanumDriveWheelSpeeds{
+      wpi::units::meters_per_second_t{
+          wpi::util::UnpackStruct<double, kFrontLeftOff>(data)},
+      wpi::units::meters_per_second_t{
+          wpi::util::UnpackStruct<double, kFrontRightOff>(data)},
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kRearLeftOff>(data)},
+      wpi::units::meters_per_second_t{
+          wpi::util::UnpackStruct<double, kRearRightOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::MecanumDriveWheelSpeeds& value) {
-  wpi::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
-  wpi::PackStruct<kFrontRightOff>(data, value.frontRight.value());
-  wpi::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
-  wpi::PackStruct<kRearRightOff>(data, value.rearRight.value());
+                      const wpi::math::MecanumDriveWheelSpeeds& value) {
+  wpi::util::PackStruct<kFrontLeftOff>(data, value.frontLeft.value());
+  wpi::util::PackStruct<kFrontRightOff>(data, value.frontRight.value());
+  wpi::util::PackStruct<kRearLeftOff>(data, value.rearLeft.value());
+  wpi::util::PackStruct<kRearRightOff>(data, value.rearRight.value());
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
index 52a69e1d1b..22ed63d958 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
@@ -9,17 +9,17 @@ constexpr size_t kDistanceOff = 0;
 constexpr size_t kAngleOff = kDistanceOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::SwerveModulePosition>;
+using StructType = wpi::util::Struct<wpi::math::SwerveModulePosition>;
 
-frc::SwerveModulePosition StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::SwerveModulePosition{
-      units::meter_t{wpi::UnpackStruct<double, kDistanceOff>(data)},
-      wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
+wpi::math::SwerveModulePosition StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::SwerveModulePosition{
+      wpi::units::meter_t{wpi::util::UnpackStruct<double, kDistanceOff>(data)},
+      wpi::util::UnpackStruct<wpi::math::Rotation2d, kAngleOff>(data),
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::SwerveModulePosition& value) {
-  wpi::PackStruct<kDistanceOff>(data, value.distance.value());
-  wpi::PackStruct<kAngleOff>(data, value.angle);
+                      const wpi::math::SwerveModulePosition& value) {
+  wpi::util::PackStruct<kDistanceOff>(data, value.distance.value());
+  wpi::util::PackStruct<kAngleOff>(data, value.angle);
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
index ca64f4315a..26c7a6c008 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
@@ -9,17 +9,17 @@ constexpr size_t kSpeedOff = 0;
 constexpr size_t kAngleOff = kSpeedOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::SwerveModuleState>;
+using StructType = wpi::util::Struct<wpi::math::SwerveModuleState>;
 
-frc::SwerveModuleState StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::SwerveModuleState{
-      units::meters_per_second_t{wpi::UnpackStruct<double, kSpeedOff>(data)},
-      wpi::UnpackStruct<frc::Rotation2d, kAngleOff>(data),
+wpi::math::SwerveModuleState StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::SwerveModuleState{
+      wpi::units::meters_per_second_t{wpi::util::UnpackStruct<double, kSpeedOff>(data)},
+      wpi::util::UnpackStruct<wpi::math::Rotation2d, kAngleOff>(data),
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const frc::SwerveModuleState& value) {
-  wpi::PackStruct<kSpeedOff>(data, value.speed.value());
-  wpi::PackStruct<kAngleOff>(data, value.angle);
+                      const wpi::math::SwerveModuleState& value) {
+  wpi::util::PackStruct<kSpeedOff>(data, value.speed.value());
+  wpi::util::PackStruct<kAngleOff>(data, value.angle);
 }
diff --git a/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp b/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
index 8e62cb1dbf..48882b9365 100644
--- a/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
+++ b/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
@@ -7,12 +7,12 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/spline.npb.h"
 
-std::optional<frc::CubicHermiteSpline>
-wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(InputStream& stream) {
-  wpi::WpiArrayUnpackCallback<double, 2> xInitial;
-  wpi::WpiArrayUnpackCallback<double, 2> xFinal;
-  wpi::WpiArrayUnpackCallback<double, 2> yInitial;
-  wpi::WpiArrayUnpackCallback<double, 2> yFinal;
+std::optional<wpi::math::CubicHermiteSpline>
+wpi::util::Protobuf<wpi::math::CubicHermiteSpline>::Unpack(InputStream& stream) {
+  wpi::util::WpiArrayUnpackCallback<double, 2> xInitial;
+  wpi::util::WpiArrayUnpackCallback<double, 2> xFinal;
+  wpi::util::WpiArrayUnpackCallback<double, 2> yInitial;
+  wpi::util::WpiArrayUnpackCallback<double, 2> yFinal;
   wpi_proto_ProtobufCubicHermiteSpline msg{
       .x_initial = xInitial.Callback(),
       .x_final = xFinal.Callback(),
@@ -28,7 +28,7 @@ wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::CubicHermiteSpline{
+  return wpi::math::CubicHermiteSpline{
       xInitial.Array(),
       xFinal.Array(),
       yInitial.Array(),
@@ -36,12 +36,12 @@ wpi::Protobuf<frc::CubicHermiteSpline>::Unpack(InputStream& stream) {
   };
 }
 
-bool wpi::Protobuf<frc::CubicHermiteSpline>::Pack(
-    OutputStream& stream, const frc::CubicHermiteSpline& value) {
-  wpi::PackCallback<double> xInitial{value.GetInitialControlVector().x};
-  wpi::PackCallback<double> xFinal{value.GetFinalControlVector().x};
-  wpi::PackCallback<double> yInitial{value.GetInitialControlVector().y};
-  wpi::PackCallback<double> yFinal{value.GetFinalControlVector().y};
+bool wpi::util::Protobuf<wpi::math::CubicHermiteSpline>::Pack(
+    OutputStream& stream, const wpi::math::CubicHermiteSpline& value) {
+  wpi::util::PackCallback<double> xInitial{value.GetInitialControlVector().x};
+  wpi::util::PackCallback<double> xFinal{value.GetFinalControlVector().x};
+  wpi::util::PackCallback<double> yInitial{value.GetInitialControlVector().y};
+  wpi::util::PackCallback<double> yFinal{value.GetFinalControlVector().y};
   wpi_proto_ProtobufCubicHermiteSpline msg{
       .x_initial = xInitial.Callback(),
       .x_final = xFinal.Callback(),
diff --git a/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp b/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
index 5112cd555f..8f4fead901 100644
--- a/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
+++ b/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
@@ -7,12 +7,12 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/spline.npb.h"
 
-std::optional<frc::QuinticHermiteSpline>
-wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(InputStream& stream) {
-  wpi::WpiArrayUnpackCallback<double, 3> xInitial;
-  wpi::WpiArrayUnpackCallback<double, 3> xFinal;
-  wpi::WpiArrayUnpackCallback<double, 3> yInitial;
-  wpi::WpiArrayUnpackCallback<double, 3> yFinal;
+std::optional<wpi::math::QuinticHermiteSpline>
+wpi::util::Protobuf<wpi::math::QuinticHermiteSpline>::Unpack(InputStream& stream) {
+  wpi::util::WpiArrayUnpackCallback<double, 3> xInitial;
+  wpi::util::WpiArrayUnpackCallback<double, 3> xFinal;
+  wpi::util::WpiArrayUnpackCallback<double, 3> yInitial;
+  wpi::util::WpiArrayUnpackCallback<double, 3> yFinal;
   wpi_proto_ProtobufQuinticHermiteSpline msg{
       .x_initial = xInitial.Callback(),
       .x_final = xFinal.Callback(),
@@ -28,7 +28,7 @@ wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::QuinticHermiteSpline{
+  return wpi::math::QuinticHermiteSpline{
       xInitial.Array(),
       xFinal.Array(),
       yInitial.Array(),
@@ -36,12 +36,12 @@ wpi::Protobuf<frc::QuinticHermiteSpline>::Unpack(InputStream& stream) {
   };
 }
 
-bool wpi::Protobuf<frc::QuinticHermiteSpline>::Pack(
-    OutputStream& stream, const frc::QuinticHermiteSpline& value) {
-  wpi::PackCallback<double> xInitial{value.GetInitialControlVector().x};
-  wpi::PackCallback<double> xFinal{value.GetFinalControlVector().x};
-  wpi::PackCallback<double> yInitial{value.GetInitialControlVector().y};
-  wpi::PackCallback<double> yFinal{value.GetFinalControlVector().y};
+bool wpi::util::Protobuf<wpi::math::QuinticHermiteSpline>::Pack(
+    OutputStream& stream, const wpi::math::QuinticHermiteSpline& value) {
+  wpi::util::PackCallback<double> xInitial{value.GetInitialControlVector().x};
+  wpi::util::PackCallback<double> xFinal{value.GetFinalControlVector().x};
+  wpi::util::PackCallback<double> yInitial{value.GetInitialControlVector().y};
+  wpi::util::PackCallback<double> yFinal{value.GetFinalControlVector().y};
   wpi_proto_ProtobufQuinticHermiteSpline msg{
       .x_initial = xInitial.Callback(),
       .x_final = xFinal.Callback(),
diff --git a/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp b/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
index fb4817cac5..58674b45cb 100644
--- a/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
+++ b/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
@@ -11,21 +11,21 @@ constexpr size_t kYInitialOff = kXFinalOff + 2 * 8;
 constexpr size_t kYFinalOff = kYInitialOff + 2 * 8;
 }  // namespace
 
-frc::CubicHermiteSpline wpi::Struct<frc::CubicHermiteSpline>::Unpack(
+wpi::math::CubicHermiteSpline wpi::util::Struct<wpi::math::CubicHermiteSpline>::Unpack(
     std::span<const uint8_t> data) {
-  return frc::CubicHermiteSpline{
-      wpi::UnpackStructArray<double, kXInitialOff, 2>(data),
-      wpi::UnpackStructArray<double, kXFinalOff, 2>(data),
-      wpi::UnpackStructArray<double, kYInitialOff, 2>(data),
-      wpi::UnpackStructArray<double, kYFinalOff, 2>(data)};
+  return wpi::math::CubicHermiteSpline{
+      wpi::util::UnpackStructArray<double, kXInitialOff, 2>(data),
+      wpi::util::UnpackStructArray<double, kXFinalOff, 2>(data),
+      wpi::util::UnpackStructArray<double, kYInitialOff, 2>(data),
+      wpi::util::UnpackStructArray<double, kYFinalOff, 2>(data)};
 }
 
-void wpi::Struct<frc::CubicHermiteSpline>::Pack(
-    std::span<uint8_t> data, const frc::CubicHermiteSpline& value) {
-  wpi::PackStructArray<kXInitialOff, 2>(data,
+void wpi::util::Struct<wpi::math::CubicHermiteSpline>::Pack(
+    std::span<uint8_t> data, const wpi::math::CubicHermiteSpline& value) {
+  wpi::util::PackStructArray<kXInitialOff, 2>(data,
                                         value.GetInitialControlVector().x);
-  wpi::PackStructArray<kXFinalOff, 2>(data, value.GetFinalControlVector().x);
-  wpi::PackStructArray<kYInitialOff, 2>(data,
+  wpi::util::PackStructArray<kXFinalOff, 2>(data, value.GetFinalControlVector().x);
+  wpi::util::PackStructArray<kYInitialOff, 2>(data,
                                         value.GetInitialControlVector().y);
-  wpi::PackStructArray<kYFinalOff, 2>(data, value.GetFinalControlVector().y);
+  wpi::util::PackStructArray<kYFinalOff, 2>(data, value.GetFinalControlVector().y);
 }
diff --git a/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp b/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
index e03be9f2e6..057b2dad89 100644
--- a/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
+++ b/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
@@ -11,21 +11,21 @@ constexpr size_t kYInitialOff = kXFinalOff + 3 * 8;
 constexpr size_t kYFinalOff = kYInitialOff + 3 * 8;
 }  // namespace
 
-frc::QuinticHermiteSpline wpi::Struct<frc::QuinticHermiteSpline>::Unpack(
+wpi::math::QuinticHermiteSpline wpi::util::Struct<wpi::math::QuinticHermiteSpline>::Unpack(
     std::span<const uint8_t> data) {
-  return frc::QuinticHermiteSpline{
-      wpi::UnpackStructArray<double, kXInitialOff, 3>(data),
-      wpi::UnpackStructArray<double, kXFinalOff, 3>(data),
-      wpi::UnpackStructArray<double, kYInitialOff, 3>(data),
-      wpi::UnpackStructArray<double, kYFinalOff, 3>(data)};
+  return wpi::math::QuinticHermiteSpline{
+      wpi::util::UnpackStructArray<double, kXInitialOff, 3>(data),
+      wpi::util::UnpackStructArray<double, kXFinalOff, 3>(data),
+      wpi::util::UnpackStructArray<double, kYInitialOff, 3>(data),
+      wpi::util::UnpackStructArray<double, kYFinalOff, 3>(data)};
 }
 
-void wpi::Struct<frc::QuinticHermiteSpline>::Pack(
-    std::span<uint8_t> data, const frc::QuinticHermiteSpline& value) {
-  wpi::PackStructArray<kXInitialOff, 3>(data,
+void wpi::util::Struct<wpi::math::QuinticHermiteSpline>::Pack(
+    std::span<uint8_t> data, const wpi::math::QuinticHermiteSpline& value) {
+  wpi::util::PackStructArray<kXInitialOff, 3>(data,
                                         value.GetInitialControlVector().x);
-  wpi::PackStructArray<kXFinalOff, 3>(data, value.GetFinalControlVector().x);
-  wpi::PackStructArray<kYInitialOff, 3>(data,
+  wpi::util::PackStructArray<kXFinalOff, 3>(data, value.GetFinalControlVector().x);
+  wpi::util::PackStructArray<kYInitialOff, 3>(data,
                                         value.GetInitialControlVector().y);
-  wpi::PackStructArray<kYFinalOff, 3>(data, value.GetFinalControlVector().y);
+  wpi::util::PackStructArray<kYFinalOff, 3>(data, value.GetFinalControlVector().y);
 }
diff --git a/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
index 213b00f5a8..10fd30bf01 100644
--- a/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
+++ b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
@@ -4,11 +4,11 @@
 
 #include "wpi/math/system/LinearSystemLoop.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     LinearSystemLoop<1, 1, 1>;
 template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
     LinearSystemLoop<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp b/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
index de5bd5596e..6637c6a467 100644
--- a/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
+++ b/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
@@ -8,24 +8,24 @@
 
 #include "wpimath/protobuf/plant.npb.h"
 
-std::optional<frc::DCMotor> wpi::Protobuf<frc::DCMotor>::Unpack(
+std::optional<wpi::math::DCMotor> wpi::util::Protobuf<wpi::math::DCMotor>::Unpack(
     InputStream& stream) {
   wpi_proto_ProtobufDCMotor msg;
   if (!stream.Decode(msg)) {
     return {};
   }
 
-  return frc::DCMotor{
-      units::volt_t{msg.nominal_voltage},
-      units::newton_meter_t{msg.stall_torque},
-      units::ampere_t{msg.stall_current},
-      units::ampere_t{msg.free_current},
-      units::radians_per_second_t{msg.free_speed},
+  return wpi::math::DCMotor{
+      wpi::units::volt_t{msg.nominal_voltage},
+      wpi::units::newton_meter_t{msg.stall_torque},
+      wpi::units::ampere_t{msg.stall_current},
+      wpi::units::ampere_t{msg.free_current},
+      wpi::units::radians_per_second_t{msg.free_speed},
   };
 }
 
-bool wpi::Protobuf<frc::DCMotor>::Pack(OutputStream& stream,
-                                       const frc::DCMotor& value) {
+bool wpi::util::Protobuf<wpi::math::DCMotor>::Pack(OutputStream& stream,
+                                       const wpi::math::DCMotor& value) {
   wpi_proto_ProtobufDCMotor msg{
       .nominal_voltage = value.nominalVoltage.value(),
       .stall_torque = value.stallTorque.value(),
diff --git a/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp b/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
index 8ba75c7bfa..8cccad71b2 100644
--- a/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
+++ b/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
@@ -12,23 +12,23 @@ constexpr size_t kFreeCurrentOff = kStallCurrentOff + 8;
 constexpr size_t kFreeSpeedOff = kFreeCurrentOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<frc::DCMotor>;
+using StructType = wpi::util::Struct<wpi::math::DCMotor>;
 
-frc::DCMotor StructType::Unpack(std::span<const uint8_t> data) {
-  return frc::DCMotor{
-      units::volt_t{wpi::UnpackStruct<double, kNominalVoltageOff>(data)},
-      units::newton_meter_t{wpi::UnpackStruct<double, kStallTorqueOff>(data)},
-      units::ampere_t{wpi::UnpackStruct<double, kStallCurrentOff>(data)},
-      units::ampere_t{wpi::UnpackStruct<double, kFreeCurrentOff>(data)},
-      units::radians_per_second_t{
-          wpi::UnpackStruct<double, kFreeSpeedOff>(data)},
+wpi::math::DCMotor StructType::Unpack(std::span<const uint8_t> data) {
+  return wpi::math::DCMotor{
+      wpi::units::volt_t{wpi::util::UnpackStruct<double, kNominalVoltageOff>(data)},
+      wpi::units::newton_meter_t{wpi::util::UnpackStruct<double, kStallTorqueOff>(data)},
+      wpi::units::ampere_t{wpi::util::UnpackStruct<double, kStallCurrentOff>(data)},
+      wpi::units::ampere_t{wpi::util::UnpackStruct<double, kFreeCurrentOff>(data)},
+      wpi::units::radians_per_second_t{
+          wpi::util::UnpackStruct<double, kFreeSpeedOff>(data)},
   };
 }
 
-void StructType::Pack(std::span<uint8_t> data, const frc::DCMotor& value) {
-  wpi::PackStruct<kNominalVoltageOff>(data, value.nominalVoltage.value());
-  wpi::PackStruct<kStallTorqueOff>(data, value.stallTorque.value());
-  wpi::PackStruct<kStallCurrentOff>(data, value.stallCurrent.value());
-  wpi::PackStruct<kFreeCurrentOff>(data, value.freeCurrent.value());
-  wpi::PackStruct<kFreeSpeedOff>(data, value.freeSpeed.value());
+void StructType::Pack(std::span<uint8_t> data, const wpi::math::DCMotor& value) {
+  wpi::util::PackStruct<kNominalVoltageOff>(data, value.nominalVoltage.value());
+  wpi::util::PackStruct<kStallTorqueOff>(data, value.stallTorque.value());
+  wpi::util::PackStruct<kStallCurrentOff>(data, value.stallCurrent.value());
+  wpi::util::PackStruct<kFreeCurrentOff>(data, value.freeCurrent.value());
+  wpi::util::PackStruct<kFreeSpeedOff>(data, value.freeSpeed.value());
 }
diff --git a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
index 6d84b81bb2..4b38834c2d 100644
--- a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -6,22 +6,22 @@
 
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-void frc::to_json(wpi::json& json, const Trajectory::State& state) {
-  json = wpi::json{{"time", state.t.value()},
+void wpi::math::to_json(wpi::util::json& json, const Trajectory::State& state) {
+  json = wpi::util::json{{"time", state.t.value()},
                    {"velocity", state.velocity.value()},
                    {"acceleration", state.acceleration.value()},
                    {"pose", state.pose},
                    {"curvature", state.curvature.value()}};
 }
 
-void frc::from_json(const wpi::json& json, Trajectory::State& state) {
+void wpi::math::from_json(const wpi::util::json& json, Trajectory::State& state) {
   state.pose = json.at("pose").get<Pose2d>();
-  state.t = units::second_t{json.at("time").get<double>()};
+  state.t = wpi::units::second_t{json.at("time").get<double>()};
   state.velocity =
-      units::meters_per_second_t{json.at("velocity").get<double>()};
+      wpi::units::meters_per_second_t{json.at("velocity").get<double>()};
   state.acceleration =
-      units::meters_per_second_squared_t{json.at("acceleration").get<double>()};
-  state.curvature = units::curvature_t{json.at("curvature").get<double>()};
+      wpi::units::meters_per_second_squared_t{json.at("acceleration").get<double>()};
+  state.curvature = wpi::units::curvature_t{json.at("curvature").get<double>()};
 }
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index 678fec2789..31ef5aa8a0 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -12,7 +12,7 @@
 #include "wpi/math/trajectory/TrajectoryParameterizer.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 const Trajectory TrajectoryGenerator::kDoNothingTrajectory(
     std::vector<Trajectory::State>{Trajectory::State()});
@@ -22,7 +22,7 @@ void TrajectoryGenerator::ReportError(const char* error) {
   if (s_errorFunc) {
     s_errorFunc(error);
   } else {
-    wpi::print(stderr, "TrajectoryGenerator error: {}\n", error);
+    wpi::util::print(stderr, "TrajectoryGenerator error: {}\n", error);
   }
 }
 
@@ -41,7 +41,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
     end.y[1] *= -1;
   }
 
-  std::vector<frc::SplineParameterizer::PoseWithCurvature> points;
+  std::vector<wpi::math::SplineParameterizer::PoseWithCurvature> points;
   try {
     points =
         SplinePointsFromSplines(SplineHelper::CubicSplinesFromControlVectors(
@@ -86,7 +86,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
     }
   }
 
-  std::vector<frc::SplineParameterizer::PoseWithCurvature> points;
+  std::vector<wpi::math::SplineParameterizer::PoseWithCurvature> points;
   try {
     points = SplinePointsFromSplines(
         SplineHelper::QuinticSplinesFromControlVectors(controlVectors));
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
index 5d981aeba8..6a275ab325 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -34,15 +34,15 @@
 
 #include "wpi/units/math.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
     const std::vector<PoseWithCurvature>& points,
     const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
-    units::meters_per_second_t startVelocity,
-    units::meters_per_second_t endVelocity,
-    units::meters_per_second_t maxVelocity,
-    units::meters_per_second_squared_t maxAcceleration, bool reversed) {
+    wpi::units::meters_per_second_t startVelocity,
+    wpi::units::meters_per_second_t endVelocity,
+    wpi::units::meters_per_second_t maxVelocity,
+    wpi::units::meters_per_second_squared_t maxAcceleration, bool reversed) {
   std::vector<ConstrainedState> constrainedStates(points.size());
 
   ConstrainedState predecessor{points.front(), 0_m, startVelocity,
@@ -56,7 +56,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
     constrainedState.pose = points[i];
 
     // Begin constraining based on predecessor
-    units::meter_t ds = constrainedState.pose.first.Translation().Distance(
+    wpi::units::meter_t ds = constrainedState.pose.first.Translation().Distance(
         predecessor.pose.first.Translation());
     constrainedState.distance = ds + predecessor.distance;
 
@@ -66,9 +66,9 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
       // Enforce global max velocity and max reachable velocity by global
       // acceleration limit. v_f = √(v_i² + 2ad).
 
-      constrainedState.maxVelocity = units::math::min(
+      constrainedState.maxVelocity = wpi::units::math::min(
           maxVelocity,
-          units::math::sqrt(predecessor.maxVelocity * predecessor.maxVelocity +
+          wpi::units::math::sqrt(predecessor.maxVelocity * predecessor.maxVelocity +
                             predecessor.maxAcceleration * ds * 2.0));
 
       constrainedState.minAcceleration = -maxAcceleration;
@@ -77,7 +77,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
       // At this point, the constrained state is fully constructed apart from
       // all the custom-defined user constraints.
       for (const auto& constraint : constraints) {
-        constrainedState.maxVelocity = units::math::min(
+        constrainedState.maxVelocity = wpi::units::math::min(
             constrainedState.maxVelocity,
             constraint->MaxVelocity(constrainedState.pose.first,
                                     constrainedState.pose.second,
@@ -94,7 +94,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
       // If the actual acceleration for this state is higher than the max
       // acceleration that we applied, then we need to reduce the max
       // acceleration of the predecessor and try again.
-      units::meters_per_second_squared_t actualAcceleration =
+      wpi::units::meters_per_second_squared_t actualAcceleration =
           (constrainedState.maxVelocity * constrainedState.maxVelocity -
            predecessor.maxVelocity * predecessor.maxVelocity) /
           (ds * 2.0);
@@ -123,14 +123,14 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
   // Backward pass
   for (int i = points.size() - 1; i >= 0; i--) {
     auto& constrainedState = constrainedStates[i];
-    units::meter_t ds =
+    wpi::units::meter_t ds =
         constrainedState.distance - successor.distance;  // negative
 
     while (true) {
       // Enforce max velocity limit (reverse)
       // v_f = √(v_i² + 2ad), where v_i = successor.
-      units::meters_per_second_t newMaxVelocity =
-          units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
+      wpi::units::meters_per_second_t newMaxVelocity =
+          wpi::units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
                             successor.minAcceleration * ds * 2.0);
 
       // No more limits to impose! This state can be finalized.
@@ -150,7 +150,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
       // If the actual acceleration for this state is lower than the min
       // acceleration, then we need to lower the min acceleration of the
       // successor and try again.
-      units::meters_per_second_squared_t actualAcceleration =
+      wpi::units::meters_per_second_squared_t actualAcceleration =
           (constrainedState.maxVelocity * constrainedState.maxVelocity -
            successor.maxVelocity * successor.maxVelocity) /
           (ds * 2.0);
@@ -168,30 +168,30 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
   // trajectory states.
 
   std::vector<Trajectory::State> states(points.size());
-  units::second_t t = 0_s;
-  units::meter_t s = 0_m;
-  units::meters_per_second_t v = 0_mps;
+  wpi::units::second_t t = 0_s;
+  wpi::units::meter_t s = 0_m;
+  wpi::units::meters_per_second_t v = 0_mps;
 
   for (unsigned int i = 0; i < constrainedStates.size(); i++) {
     auto state = constrainedStates[i];
 
     // Calculate the change in position between the current state and the
     // previous state.
-    units::meter_t ds = state.distance - s;
+    wpi::units::meter_t ds = state.distance - s;
 
     // Calculate the acceleration between the current state and the previous
     // state.
-    units::meters_per_second_squared_t accel =
+    wpi::units::meters_per_second_squared_t accel =
         (state.maxVelocity * state.maxVelocity - v * v) / (ds * 2);
 
     // Calculate dt.
-    units::second_t dt = 0_s;
+    wpi::units::second_t dt = 0_s;
     if (i > 0) {
       states.at(i - 1).acceleration = reversed ? -accel : accel;
-      if (units::math::abs(accel) > 1E-6_mps_sq) {
+      if (wpi::units::math::abs(accel) > 1E-6_mps_sq) {
         // v_f = v_0 + at
         dt = (state.maxVelocity - v) / accel;
-      } else if (units::math::abs(v) > 1E-6_mps) {
+      } else if (wpi::units::math::abs(v) > 1E-6_mps) {
         // delta_x = vt
         dt = ds / v;
       } else {
@@ -230,11 +230,11 @@ void TrajectoryParameterizer::EnforceAccelerationLimits(
           "back one-by-one.");
     }
 
-    state->minAcceleration = units::math::max(
+    state->minAcceleration = wpi::units::math::max(
         state->minAcceleration,
         reverse ? -minMaxAccel.maxAcceleration : minMaxAccel.minAcceleration);
 
-    state->maxAcceleration = units::math::min(
+    state->maxAcceleration = wpi::units::math::min(
         state->maxAcceleration,
         reverse ? -minMaxAccel.minAcceleration : minMaxAccel.maxAcceleration);
   }
diff --git a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
index 3853a3f12d..5e0c478a48 100644
--- a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
@@ -9,9 +9,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/trajectory.npb.h"
 
-std::optional<frc::Trajectory> wpi::Protobuf<frc::Trajectory>::Unpack(
+std::optional<wpi::math::Trajectory> wpi::util::Protobuf<wpi::math::Trajectory>::Unpack(
     InputStream& stream) {
-  wpi::StdVectorUnpackCallback<frc::Trajectory::State, SIZE_MAX> states;
+  wpi::util::StdVectorUnpackCallback<wpi::math::Trajectory::State, SIZE_MAX> states;
   wpi_proto_ProtobufTrajectory msg{
       .states = states.Callback(),
   };
@@ -19,12 +19,12 @@ std::optional<frc::Trajectory> wpi::Protobuf<frc::Trajectory>::Unpack(
     return {};
   }
 
-  return frc::Trajectory{states.Vec()};
+  return wpi::math::Trajectory{states.Vec()};
 }
 
-bool wpi::Protobuf<frc::Trajectory>::Pack(OutputStream& stream,
-                                          const frc::Trajectory& value) {
-  wpi::PackCallback<frc::Trajectory::State> states{value.States()};
+bool wpi::util::Protobuf<wpi::math::Trajectory>::Pack(OutputStream& stream,
+                                          const wpi::math::Trajectory& value) {
+  wpi::util::PackCallback<wpi::math::Trajectory::State> states{value.States()};
   wpi_proto_ProtobufTrajectory msg{
       .states = states.Callback(),
   };
diff --git a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
index 6a1f1ed80d..708914e57b 100644
--- a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
@@ -9,9 +9,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpimath/protobuf/trajectory.npb.h"
 
-std::optional<frc::Trajectory::State>
-wpi::Protobuf<frc::Trajectory::State>::Unpack(InputStream& stream) {
-  wpi::UnpackCallback<frc::Pose2d> pose;
+std::optional<wpi::math::Trajectory::State>
+wpi::util::Protobuf<wpi::math::Trajectory::State>::Unpack(InputStream& stream) {
+  wpi::util::UnpackCallback<wpi::math::Pose2d> pose;
   wpi_proto_ProtobufTrajectoryState msg;
   msg.pose = pose.Callback();
 
@@ -25,18 +25,18 @@ wpi::Protobuf<frc::Trajectory::State>::Unpack(InputStream& stream) {
     return {};
   }
 
-  return frc::Trajectory::State{
-      units::second_t{msg.time},
-      units::meters_per_second_t{msg.velocity},
-      units::meters_per_second_squared_t{msg.acceleration},
+  return wpi::math::Trajectory::State{
+      wpi::units::second_t{msg.time},
+      wpi::units::meters_per_second_t{msg.velocity},
+      wpi::units::meters_per_second_squared_t{msg.acceleration},
       std::move(ipose[0]),
-      units::curvature_t{msg.curvature},
+      wpi::units::curvature_t{msg.curvature},
   };
 }
 
-bool wpi::Protobuf<frc::Trajectory::State>::Pack(
-    OutputStream& stream, const frc::Trajectory::State& value) {
-  wpi::PackCallback pose{&value.pose};
+bool wpi::util::Protobuf<wpi::math::Trajectory::State>::Pack(
+    OutputStream& stream, const wpi::math::Trajectory::State& value) {
+  wpi::util::PackCallback pose{&value.pose};
   wpi_proto_ProtobufTrajectoryState msg{
       .time = value.t.value(),
       .velocity = value.velocity.value(),
diff --git a/wpimath/src/main/native/cpp/util/MathShared.cpp b/wpimath/src/main/native/cpp/util/MathShared.cpp
index 5738f063f3..d93afcdd2e 100644
--- a/wpimath/src/main/native/cpp/util/MathShared.cpp
+++ b/wpimath/src/main/native/cpp/util/MathShared.cpp
@@ -20,14 +20,14 @@ class DefaultMathShared : public MathShared {
   void ReportWarningV(fmt::string_view format, fmt::format_args args) override {
   }
   void ReportUsage(std::string_view resource, std::string_view data) override {}
-  units::second_t GetTimestamp() override {
-    return units::second_t{wpi::Now() * 1.0e-6};
+  wpi::units::second_t GetTimestamp() override {
+    return wpi::units::second_t{wpi::util::Now() * 1.0e-6};
   }
 };
 }  // namespace
 
 static std::unique_ptr<MathShared> mathShared;
-static wpi::mutex setLock;
+static wpi::util::mutex setLock;
 
 MathShared& MathSharedStore::GetMathShared() {
   std::scoped_lock lock(setLock);
diff --git a/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp b/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
index 8c7233c1d0..52eb462dbc 100644
--- a/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
+++ b/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
@@ -6,7 +6,7 @@
 
 #include <limits>
 
-namespace frc {
+namespace wpi::math {
 
 template bool IsStabilizable<1, 1>(const Matrixd<1, 1>& A,
                                    const Matrixd<1, 1>& B);
@@ -68,4 +68,4 @@ Eigen::MatrixXd MakeCovMatrix(const std::span<const double> stdDevs) {
   return result;
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
index 22cff97d97..44f9004a2c 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
@@ -14,22 +14,22 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A helper class that computes feedforward outputs for a simple arm (modeled as
  * a motor acting against the force of gravity on a beam suspended at an angle).
  */
 class WPILIB_DLLEXPORT ArmFeedforward {
  public:
-  using Angle = units::radians;
-  using Velocity = units::radians_per_second;
-  using Acceleration = units::compound_unit<units::radians_per_second,
-                                            units::inverse<units::second>>;
+  using Angle = wpi::units::radians;
+  using Velocity = wpi::units::radians_per_second;
+  using Acceleration = wpi::units::compound_unit<wpi::units::radians_per_second,
+                                            wpi::units::inverse<wpi::units::second>>;
   using kv_unit =
-      units::compound_unit<units::volts,
-                           units::inverse<units::radians_per_second>>;
+      wpi::units::compound_unit<wpi::units::volts,
+                           wpi::units::inverse<wpi::units::radians_per_second>>;
   using ka_unit =
-      units::compound_unit<units::volts, units::inverse<Acceleration>>;
+      wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<Acceleration>>;
 
   /**
    * Creates a new ArmFeedforward with the specified gains.
@@ -44,20 +44,20 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @throws IllegalArgumentException for period &le; zero.
    */
   constexpr ArmFeedforward(
-      units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
-      units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0),
-      units::second_t dt = 20_ms)
+      wpi::units::volt_t kS, wpi::units::volt_t kG, wpi::units::unit_t<kv_unit> kV,
+      wpi::units::unit_t<ka_unit> kA = wpi::units::unit_t<ka_unit>(0),
+      wpi::units::second_t dt = 20_ms)
       : kS(kS), kG(kG), kV(kV), kA(kA), m_dt(dt) {
     if (kV.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kV must be a non-negative number, got {}!", kV.value());
-      this->kV = units::unit_t<kv_unit>{0};
+      this->kV = wpi::units::unit_t<kv_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
     }
     if (kA.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kA must be a non-negative number, got {}!", kA.value());
-      this->kA = units::unit_t<ka_unit>{0};
+      this->kA = wpi::units::unit_t<ka_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0;");
     }
     if (dt <= 0_ms) {
@@ -82,10 +82,10 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @return The computed feedforward, in volts.
    */
   [[deprecated("Use the current/next velocity overload instead.")]]
-  constexpr units::volt_t Calculate(
-      units::unit_t<Angle> angle, units::unit_t<Velocity> velocity,
-      units::unit_t<Acceleration> acceleration) const {
-    return kS * wpi::sgn(velocity) + kG * units::math::cos(angle) +
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Angle> angle, wpi::units::unit_t<Velocity> velocity,
+      wpi::units::unit_t<Acceleration> acceleration) const {
+    return kS * wpi::util::sgn(velocity) + kG * wpi::units::math::cos(angle) +
            kV * velocity + kA * acceleration;
   }
 
@@ -103,10 +103,10 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @return The computed feedforward in volts.
    */
   [[deprecated("Use the current/next velocity overload instead.")]]
-  units::volt_t Calculate(units::unit_t<Angle> currentAngle,
-                          units::unit_t<Velocity> currentVelocity,
-                          units::unit_t<Velocity> nextVelocity,
-                          units::second_t dt) const {
+  wpi::units::volt_t Calculate(wpi::units::unit_t<Angle> currentAngle,
+                          wpi::units::unit_t<Velocity> currentVelocity,
+                          wpi::units::unit_t<Velocity> nextVelocity,
+                          wpi::units::second_t dt) const {
     return Calculate(currentAngle, currentVelocity, nextVelocity);
   }
 
@@ -121,11 +121,11 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param currentVelocity The current velocity.
    * @return The computed feedforward in volts.
    */
-  constexpr units::volt_t Calculate(
-      units::unit_t<Angle> currentAngle,
-      units::unit_t<Velocity> currentVelocity) const {
-    return kS * wpi::sgn(currentVelocity) +
-           kG * units::math::cos(currentAngle) + kV * currentVelocity;
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Angle> currentAngle,
+      wpi::units::unit_t<Velocity> currentVelocity) const {
+    return kS * wpi::util::sgn(currentVelocity) +
+           kG * wpi::units::math::cos(currentAngle) + kV * currentVelocity;
   }
 
   /**
@@ -140,9 +140,9 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param nextVelocity    The next velocity.
    * @return The computed feedforward in volts.
    */
-  units::volt_t Calculate(units::unit_t<Angle> currentAngle,
-                          units::unit_t<Velocity> currentVelocity,
-                          units::unit_t<Velocity> nextVelocity) const;
+  wpi::units::volt_t Calculate(wpi::units::unit_t<Angle> currentAngle,
+                          wpi::units::unit_t<Velocity> currentVelocity,
+                          wpi::units::unit_t<Velocity> nextVelocity) const;
 
   // Rearranging the main equation from the calculate() method yields the
   // formulas for the methods below:
@@ -163,11 +163,11 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param acceleration The acceleration of the arm.
    * @return The maximum possible velocity at the given acceleration and angle.
    */
-  constexpr units::unit_t<Velocity> MaxAchievableVelocity(
-      units::volt_t maxVoltage, units::unit_t<Angle> angle,
-      units::unit_t<Acceleration> acceleration) {
+  constexpr wpi::units::unit_t<Velocity> MaxAchievableVelocity(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Angle> angle,
+      wpi::units::unit_t<Acceleration> acceleration) {
     // Assume max velocity is positive
-    return (maxVoltage - kS - kG * units::math::cos(angle) -
+    return (maxVoltage - kS - kG * wpi::units::math::cos(angle) -
             kA * acceleration) /
            kV;
   }
@@ -188,11 +188,11 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param acceleration The acceleration of the arm.
    * @return The minimum possible velocity at the given acceleration and angle.
    */
-  constexpr units::unit_t<Velocity> MinAchievableVelocity(
-      units::volt_t maxVoltage, units::unit_t<Angle> angle,
-      units::unit_t<Acceleration> acceleration) {
+  constexpr wpi::units::unit_t<Velocity> MinAchievableVelocity(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Angle> angle,
+      wpi::units::unit_t<Acceleration> acceleration) {
     // Assume min velocity is negative, ks flips sign
-    return (-maxVoltage + kS - kG * units::math::cos(angle) -
+    return (-maxVoltage + kS - kG * wpi::units::math::cos(angle) -
             kA * acceleration) /
            kV;
   }
@@ -213,11 +213,11 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param velocity   The velocity of the arm.
    * @return The maximum possible acceleration at the given velocity and angle.
    */
-  constexpr units::unit_t<Acceleration> MaxAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Angle> angle,
-      units::unit_t<Velocity> velocity) {
-    return (maxVoltage - kS * wpi::sgn(velocity) -
-            kG * units::math::cos(angle) - kV * velocity) /
+  constexpr wpi::units::unit_t<Acceleration> MaxAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Angle> angle,
+      wpi::units::unit_t<Velocity> velocity) {
+    return (maxVoltage - kS * wpi::util::sgn(velocity) -
+            kG * wpi::units::math::cos(angle) - kV * velocity) /
            kA;
   }
 
@@ -237,9 +237,9 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param velocity   The velocity of the arm.
    * @return The minimum possible acceleration at the given velocity and angle.
    */
-  constexpr units::unit_t<Acceleration> MinAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Angle> angle,
-      units::unit_t<Velocity> velocity) {
+  constexpr wpi::units::unit_t<Acceleration> MinAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Angle> angle,
+      wpi::units::unit_t<Velocity> velocity) {
     return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
   }
 
@@ -248,74 +248,74 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    *
    * @param kS The static gain.
    */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+  constexpr void SetKs(wpi::units::volt_t kS) { this->kS = kS; }
 
   /**
    * Sets the gravity gain.
    *
    * @param kG The gravity gain.
    */
-  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+  constexpr void SetKg(wpi::units::volt_t kG) { this->kG = kG; }
 
   /**
    * Sets the velocity gain.
    *
    * @param kV The velocity gain.
    */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+  constexpr void SetKv(wpi::units::unit_t<kv_unit> kV) { this->kV = kV; }
 
   /**
    * Sets the acceleration gain.
    *
    * @param kA The acceleration gain.
    */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+  constexpr void SetKa(wpi::units::unit_t<ka_unit> kA) { this->kA = kA; }
 
   /**
    * Returns the static gain.
    *
    * @return The static gain.
    */
-  constexpr units::volt_t GetKs() const { return kS; }
+  constexpr wpi::units::volt_t GetKs() const { return kS; }
 
   /**
    * Returns the gravity gain.
    *
    * @return The gravity gain.
    */
-  constexpr units::volt_t GetKg() const { return kG; }
+  constexpr wpi::units::volt_t GetKg() const { return kG; }
 
   /**
    * Returns the velocity gain.
    *
    * @return The velocity gain.
    */
-  constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
+  constexpr wpi::units::unit_t<kv_unit> GetKv() const { return kV; }
 
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
-  constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
+  constexpr wpi::units::unit_t<ka_unit> GetKa() const { return kA; }
 
  private:
   /// The static gain, in volts.
-  units::volt_t kS;
+  wpi::units::volt_t kS;
 
   /// The gravity gain, in volts.
-  units::volt_t kG;
+  wpi::units::volt_t kG;
 
   /// The velocity gain, in V/(rad/s)volt seconds per radian.
-  units::unit_t<kv_unit> kV;
+  wpi::units::unit_t<kv_unit> kV;
 
   /// The acceleration gain, in V/(rad/s²).
-  units::unit_t<ka_unit> kA;
+  wpi::units::unit_t<ka_unit> kA;
 
   /** The period. */
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/controller/proto/ArmFeedforwardProto.hpp"
 #include "wpi/math/controller/struct/ArmFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp b/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
index e5098b820b..d467dfcedc 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Implements a bang-bang controller, which outputs either 0 or 1 depending on
@@ -29,8 +29,8 @@ namespace frc {
  * control them with a bang-bang controller.
  */
 class WPILIB_DLLEXPORT BangBangController
-    : public wpi::Sendable,
-      public wpi::SendableHelper<BangBangController> {
+    : public wpi::util::Sendable,
+      public wpi::util::SendableHelper<BangBangController> {
  public:
   /**
    * Creates a new bang-bang controller.
@@ -128,7 +128,7 @@ class WPILIB_DLLEXPORT BangBangController
     return Calculate(measurement, m_setpoint);
   }
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   double m_tolerance;
@@ -140,4 +140,4 @@ class WPILIB_DLLEXPORT BangBangController
   inline static int instances = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
index a4594c86fe..8315dab993 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
@@ -13,7 +13,7 @@
 #include "wpi/math/system/NumericalJacobian.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Constructs a control-affine plant inversion model-based feedforward from
@@ -55,7 +55,7 @@ class ControlAffinePlantInversionFeedforward {
    */
   ControlAffinePlantInversionFeedforward(
       std::function<StateVector(const StateVector&, const InputVector&)> f,
-      units::second_t dt)
+      wpi::units::second_t dt)
       : m_dt(dt), m_f(f) {
     m_B = NumericalJacobianU<States, States, Inputs>(f, StateVector::Zero(),
                                                      InputVector::Zero());
@@ -74,7 +74,7 @@ class ControlAffinePlantInversionFeedforward {
    */
   ControlAffinePlantInversionFeedforward(
       std::function<StateVector(const StateVector&)> f,
-      const Matrixd<States, Inputs>& B, units::second_t dt)
+      const Matrixd<States, Inputs>& B, wpi::units::second_t dt)
       : m_B(B), m_dt(dt) {
     m_f = [=](const StateVector& x, const InputVector& u) -> StateVector {
       return f(x);
@@ -178,7 +178,7 @@ class ControlAffinePlantInversionFeedforward {
  private:
   Matrixd<States, Inputs> m_B;
 
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   /**
    * The model dynamics.
@@ -192,4 +192,4 @@ class ControlAffinePlantInversionFeedforward {
   InputVector m_uff;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
index 699012d719..251e7fe9ff 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
@@ -17,7 +17,7 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Filters the provided voltages to limit a differential drive's linear and
@@ -38,9 +38,9 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
    * @param maxAngularAccel The maximum angular acceleration.
    */
   DifferentialDriveAccelerationLimiter(
-      LinearSystem<2, 2, 2> system, units::meter_t trackwidth,
-      units::meters_per_second_squared_t maxLinearAccel,
-      units::radians_per_second_squared_t maxAngularAccel)
+      LinearSystem<2, 2, 2> system, wpi::units::meter_t trackwidth,
+      wpi::units::meters_per_second_squared_t maxLinearAccel,
+      wpi::units::radians_per_second_squared_t maxAngularAccel)
       : DifferentialDriveAccelerationLimiter(system, trackwidth,
                                              -maxLinearAccel, maxLinearAccel,
                                              maxAngularAccel) {}
@@ -58,10 +58,10 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
    * than maximum linear acceleration
    */
   DifferentialDriveAccelerationLimiter(
-      LinearSystem<2, 2, 2> system, units::meter_t trackwidth,
-      units::meters_per_second_squared_t minLinearAccel,
-      units::meters_per_second_squared_t maxLinearAccel,
-      units::radians_per_second_squared_t maxAngularAccel)
+      LinearSystem<2, 2, 2> system, wpi::units::meter_t trackwidth,
+      wpi::units::meters_per_second_squared_t minLinearAccel,
+      wpi::units::meters_per_second_squared_t maxLinearAccel,
+      wpi::units::radians_per_second_squared_t maxAngularAccel)
       : m_system{std::move(system)},
         m_trackwidth{trackwidth},
         m_minLinearAccel{minLinearAccel},
@@ -83,16 +83,16 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
    * @return The constrained wheel voltages.
    */
   DifferentialDriveWheelVoltages Calculate(
-      units::meters_per_second_t leftVelocity,
-      units::meters_per_second_t rightVelocity, units::volt_t leftVoltage,
-      units::volt_t rightVoltage);
+      wpi::units::meters_per_second_t leftVelocity,
+      wpi::units::meters_per_second_t rightVelocity, wpi::units::volt_t leftVoltage,
+      wpi::units::volt_t rightVoltage);
 
  private:
   LinearSystem<2, 2, 2> m_system;
-  units::meter_t m_trackwidth;
-  units::meters_per_second_squared_t m_minLinearAccel;
-  units::meters_per_second_squared_t m_maxLinearAccel;
-  units::radians_per_second_squared_t m_maxAngularAccel;
+  wpi::units::meter_t m_trackwidth;
+  wpi::units::meters_per_second_squared_t m_minLinearAccel;
+  wpi::units::meters_per_second_squared_t m_maxLinearAccel;
+  wpi::units::radians_per_second_squared_t m_maxAngularAccel;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
index d5a9b3a626..0bc5f982f7 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
@@ -16,13 +16,13 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A helper class which computes the feedforward outputs for a differential
  * drive drivetrain.
  */
 class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
-  frc::LinearSystem<2, 2, 2> m_plant;
+  wpi::math::LinearSystem<2, 2, 2> m_plant;
 
  public:
   /**
@@ -41,7 +41,7 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
   constexpr DifferentialDriveFeedforward(
       decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
       decltype(1_V / 1_rad_per_s) kVAngular,
-      decltype(1_V / 1_rad_per_s_sq) kAAngular, units::meter_t trackwidth)
+      decltype(1_V / 1_rad_per_s_sq) kAAngular, wpi::units::meter_t trackwidth)
       // See LinearSystemId::IdentifyDrivetrainSystem(decltype(1_V / 1_mps),
       // decltype(1_V / 1_mps_sq), decltype(1_V / 1_rad_per_s), decltype(1_V /
       // 1_rad_per_s_sq))
@@ -64,7 +64,7 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
                                          decltype(1_V / 1_mps_sq) kALinear,
                                          decltype(1_V / 1_mps) kVAngular,
                                          decltype(1_V / 1_mps_sq) kAAngular)
-      : m_plant{frc::LinearSystemId::IdentifyDrivetrainSystem(
+      : m_plant{wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
             kVLinear, kALinear, kVAngular, kAAngular)},
         m_kVLinear{kVLinear},
         m_kALinear{kALinear},
@@ -86,17 +86,17 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
    * @param dt Discretization timestep.
    */
   DifferentialDriveWheelVoltages Calculate(
-      units::meters_per_second_t currentLeftVelocity,
-      units::meters_per_second_t nextLeftVelocity,
-      units::meters_per_second_t currentRightVelocity,
-      units::meters_per_second_t nextRightVelocity, units::second_t dt);
+      wpi::units::meters_per_second_t currentLeftVelocity,
+      wpi::units::meters_per_second_t nextLeftVelocity,
+      wpi::units::meters_per_second_t currentRightVelocity,
+      wpi::units::meters_per_second_t nextRightVelocity, wpi::units::second_t dt);
 
   decltype(1_V / 1_mps) m_kVLinear;
   decltype(1_V / 1_mps_sq) m_kALinear;
   decltype(1_V / 1_mps) m_kVAngular;
   decltype(1_V / 1_mps_sq) m_kAAngular;
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp"
 #include "wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
index 34aa01970c..dfc4fed664 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
@@ -6,20 +6,20 @@
 
 #include "wpi/units/voltage.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Motor voltages for a differential drive.
  */
 struct DifferentialDriveWheelVoltages {
   /// Left wheel voltage.
-  units::volt_t left = 0_V;
+  wpi::units::volt_t left = 0_V;
 
   /// Right wheel voltage.
-  units::volt_t right = 0_V;
+  wpi::units::volt_t right = 0_V;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp"
 #include "wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
index fcffd91206..947a92dfa6 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
@@ -13,21 +13,21 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A helper class that computes feedforward outputs for a simple elevator
  * (modeled as a motor acting against the force of gravity).
  */
 class ElevatorFeedforward {
  public:
-  using Distance = units::meters;
+  using Distance = wpi::units::meters;
   using Velocity =
-      units::compound_unit<Distance, units::inverse<units::seconds>>;
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>;
   using Acceleration =
-      units::compound_unit<Velocity, units::inverse<units::seconds>>;
-  using kv_unit = units::compound_unit<units::volts, units::inverse<Velocity>>;
+      wpi::units::compound_unit<Velocity, wpi::units::inverse<wpi::units::seconds>>;
+  using kv_unit = wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<Velocity>>;
   using ka_unit =
-      units::compound_unit<units::volts, units::inverse<Acceleration>>;
+      wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<Acceleration>>;
 
   /**
    * Creates a new ElevatorFeedforward with the specified gains.
@@ -42,20 +42,20 @@ class ElevatorFeedforward {
    * @throws IllegalArgumentException for period &le; zero.
    */
   constexpr ElevatorFeedforward(
-      units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
-      units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0),
-      units::second_t dt = 20_ms)
+      wpi::units::volt_t kS, wpi::units::volt_t kG, wpi::units::unit_t<kv_unit> kV,
+      wpi::units::unit_t<ka_unit> kA = wpi::units::unit_t<ka_unit>(0),
+      wpi::units::second_t dt = 20_ms)
       : kS(kS), kG(kG), kV(kV), kA(kA), m_dt(dt) {
     if (kV.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kV must be a non-negative number, got {}!", kV.value());
-      this->kV = units::unit_t<kv_unit>{0};
+      this->kV = wpi::units::unit_t<kv_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
     }
     if (kA.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kA must be a non-negative number, got {}!", kA.value());
-      this->kA = units::unit_t<ka_unit>{0};
+      this->kA = wpi::units::unit_t<ka_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0;");
     }
     if (dt <= 0_ms) {
@@ -76,10 +76,10 @@ class ElevatorFeedforward {
    * @deprecated Use the current/next velocity overload instead.
    */
   [[deprecated("Use the current/next velocity overload instead.")]]
-  constexpr units::volt_t Calculate(
-      units::unit_t<Velocity> velocity,
-      units::unit_t<Acceleration> acceleration) const {
-    return kS * wpi::sgn(velocity) + kG + kV * velocity + kA * acceleration;
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Velocity> velocity,
+      wpi::units::unit_t<Acceleration> acceleration) const {
+    return kS * wpi::util::sgn(velocity) + kG + kV * velocity + kA * acceleration;
   }
 
   /**
@@ -92,9 +92,9 @@ class ElevatorFeedforward {
    * @return The computed feedforward, in volts.
    */
   [[deprecated("Use the current/next velocity overload instead.")]]
-  units::volt_t Calculate(units::unit_t<Velocity> currentVelocity,
-                          units::unit_t<Velocity> nextVelocity,
-                          units::second_t dt) const {
+  wpi::units::volt_t Calculate(wpi::units::unit_t<Velocity> currentVelocity,
+                          wpi::units::unit_t<Velocity> nextVelocity,
+                          wpi::units::second_t dt) const {
     // See wpimath/algorithms.md#Elevator_feedforward for derivation
     auto plant = LinearSystemId::IdentifyVelocitySystem<Distance>(kV, kA);
     LinearPlantInversionFeedforward<1, 1> feedforward{plant, dt};
@@ -102,8 +102,8 @@ class ElevatorFeedforward {
     Vectord<1> r{{currentVelocity.value()}};
     Vectord<1> nextR{{nextVelocity.value()}};
 
-    return kG + kS * wpi::sgn(currentVelocity.value()) +
-           units::volt_t{feedforward.Calculate(r, nextR)(0)};
+    return kG + kS * wpi::util::sgn(currentVelocity.value()) +
+           wpi::units::volt_t{feedforward.Calculate(r, nextR)(0)};
   }
 
   /**
@@ -113,8 +113,8 @@ class ElevatorFeedforward {
    * @param currentVelocity The velocity setpoint.
    * @return The computed feedforward, in volts.
    */
-  constexpr units::volt_t Calculate(
-      units::unit_t<Velocity> currentVelocity) const {
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Velocity> currentVelocity) const {
     return Calculate(currentVelocity, currentVelocity);
   }
 
@@ -128,19 +128,19 @@ class ElevatorFeedforward {
    * @param nextVelocity    The next velocity setpoint.
    * @return The computed feedforward, in volts.
    */
-  constexpr units::volt_t Calculate(
-      units::unit_t<Velocity> currentVelocity,
-      units::unit_t<Velocity> nextVelocity) const {
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Velocity> currentVelocity,
+      wpi::units::unit_t<Velocity> nextVelocity) const {
     // See wpimath/algorithms.md#Elevator_feedforward for derivation
     if (kA < decltype(kA)(1e-9)) {
-      return kS * wpi::sgn(nextVelocity) + kG + kV * nextVelocity;
+      return kS * wpi::util::sgn(nextVelocity) + kG + kV * nextVelocity;
     } else {
       double A = -kV.value() / kA.value();
       double B = 1.0 / kA.value();
       double A_d = gcem::exp(A * m_dt.value());
       double B_d = A > -1e-9 ? B * m_dt.value() : 1.0 / A * (A_d - 1.0) * B;
-      return kG + kS * wpi::sgn(currentVelocity) +
-             units::volt_t{
+      return kG + kS * wpi::util::sgn(currentVelocity) +
+             wpi::units::volt_t{
                  1.0 / B_d *
                  (nextVelocity.value() - A_d * currentVelocity.value())};
     }
@@ -160,8 +160,8 @@ class ElevatorFeedforward {
    * @param acceleration The acceleration of the elevator.
    * @return The maximum possible velocity at the given acceleration.
    */
-  constexpr units::unit_t<Velocity> MaxAchievableVelocity(
-      units::volt_t maxVoltage, units::unit_t<Acceleration> acceleration) {
+  constexpr wpi::units::unit_t<Velocity> MaxAchievableVelocity(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Acceleration> acceleration) {
     // Assume max velocity is positive
     return (maxVoltage - kS - kG - kA * acceleration) / kV;
   }
@@ -177,8 +177,8 @@ class ElevatorFeedforward {
    * @param acceleration The acceleration of the elevator.
    * @return The minimum possible velocity at the given acceleration.
    */
-  constexpr units::unit_t<Velocity> MinAchievableVelocity(
-      units::volt_t maxVoltage, units::unit_t<Acceleration> acceleration) {
+  constexpr wpi::units::unit_t<Velocity> MinAchievableVelocity(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Acceleration> acceleration) {
     // Assume min velocity is negative, ks flips sign
     return (-maxVoltage + kS - kG - kA * acceleration) / kV;
   }
@@ -194,9 +194,9 @@ class ElevatorFeedforward {
    * @param velocity The velocity of the elevator.
    * @return The maximum possible acceleration at the given velocity.
    */
-  constexpr units::unit_t<Acceleration> MaxAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Velocity> velocity) {
-    return (maxVoltage - kS * wpi::sgn(velocity) - kG - kV * velocity) / kA;
+  constexpr wpi::units::unit_t<Acceleration> MaxAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Velocity> velocity) {
+    return (maxVoltage - kS * wpi::util::sgn(velocity) - kG - kV * velocity) / kA;
   }
 
   /**
@@ -210,8 +210,8 @@ class ElevatorFeedforward {
    * @param velocity The velocity of the elevator.
    * @return The minimum possible acceleration at the given velocity.
    */
-  constexpr units::unit_t<Acceleration> MinAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Velocity> velocity) {
+  constexpr wpi::units::unit_t<Acceleration> MinAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Velocity> velocity) {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
@@ -220,74 +220,74 @@ class ElevatorFeedforward {
    *
    * @param kS The static gain.
    */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+  constexpr void SetKs(wpi::units::volt_t kS) { this->kS = kS; }
 
   /**
    * Sets the gravity gain.
    *
    * @param kG The gravity gain.
    */
-  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+  constexpr void SetKg(wpi::units::volt_t kG) { this->kG = kG; }
 
   /**
    * Sets the velocity gain.
    *
    * @param kV The velocity gain.
    */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+  constexpr void SetKv(wpi::units::unit_t<kv_unit> kV) { this->kV = kV; }
 
   /**
    * Sets the acceleration gain.
    *
    * @param kA The acceleration gain.
    */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+  constexpr void SetKa(wpi::units::unit_t<ka_unit> kA) { this->kA = kA; }
 
   /**
    * Returns the static gain.
    *
    * @return The static gain.
    */
-  constexpr units::volt_t GetKs() const { return kS; }
+  constexpr wpi::units::volt_t GetKs() const { return kS; }
 
   /**
    * Returns the gravity gain.
    *
    * @return The gravity gain.
    */
-  constexpr units::volt_t GetKg() const { return kG; }
+  constexpr wpi::units::volt_t GetKg() const { return kG; }
 
   /**
    * Returns the velocity gain.
    *
    * @return The velocity gain.
    */
-  constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
+  constexpr wpi::units::unit_t<kv_unit> GetKv() const { return kV; }
 
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
-  constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
+  constexpr wpi::units::unit_t<ka_unit> GetKa() const { return kA; }
 
  private:
   /// The static gain.
-  units::volt_t kS;
+  wpi::units::volt_t kS;
 
   /// The gravity gain.
-  units::volt_t kG;
+  wpi::units::volt_t kG;
 
   /// The velocity gain.
-  units::unit_t<kv_unit> kV;
+  wpi::units::unit_t<kv_unit> kV;
 
   /// The acceleration gain.
-  units::unit_t<ka_unit> kA;
+  wpi::units::unit_t<ka_unit> kA;
 
   /** The period. */
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/controller/proto/ElevatorFeedforwardProto.hpp"
 #include "wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
index 7ac78eedee..73a5c829cb 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Contains the controller coefficients and logic for an implicit model
@@ -123,4 +123,4 @@ class ImplicitModelFollower {
   Matrixd<Inputs, Inputs> m_B;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp b/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
index aa82959153..035e08f5d9 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
@@ -19,7 +19,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * The linear time-varying differential drive controller has a similar form to
@@ -54,16 +54,16 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
    * @param Relems     The maximum desired control effort for each input.
    * @param dt         Discretization timestep.
    */
-  LTVDifferentialDriveController(const frc::LinearSystem<2, 2, 2>& plant,
-                                 units::meter_t trackwidth,
-                                 const wpi::array<double, 5>& Qelems,
-                                 const wpi::array<double, 2>& Relems,
-                                 units::second_t dt)
+  LTVDifferentialDriveController(const wpi::math::LinearSystem<2, 2, 2>& plant,
+                                 wpi::units::meter_t trackwidth,
+                                 const wpi::util::array<double, 5>& Qelems,
+                                 const wpi::util::array<double, 2>& Relems,
+                                 wpi::units::second_t dt)
       : m_trackwidth{trackwidth},
         m_A{plant.A()},
         m_B{plant.B()},
-        m_Q{frc::MakeCostMatrix(Qelems)},
-        m_R{frc::MakeCostMatrix(Relems)},
+        m_Q{wpi::math::MakeCostMatrix(Qelems)},
+        m_R{wpi::math::MakeCostMatrix(Relems)},
         m_dt{dt} {}
 
   /**
@@ -97,8 +97,8 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
    * @param rightVelocityTolerance Right velocity error which is tolerable.
    */
   void SetTolerance(const Pose2d& poseTolerance,
-                    units::meters_per_second_t leftVelocityTolerance,
-                    units::meters_per_second_t rightVelocityTolerance) {
+                    wpi::units::meters_per_second_t leftVelocityTolerance,
+                    wpi::units::meters_per_second_t rightVelocityTolerance) {
     m_tolerance = Eigen::Vector<double, 5>{
         poseTolerance.X().value(), poseTolerance.Y().value(),
         poseTolerance.Rotation().Radians().value(),
@@ -119,10 +119,10 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
    * @param rightVelocityRef The desired right velocity.
    */
   DifferentialDriveWheelVoltages Calculate(
-      const Pose2d& currentPose, units::meters_per_second_t leftVelocity,
-      units::meters_per_second_t rightVelocity, const Pose2d& poseRef,
-      units::meters_per_second_t leftVelocityRef,
-      units::meters_per_second_t rightVelocityRef);
+      const Pose2d& currentPose, wpi::units::meters_per_second_t leftVelocity,
+      wpi::units::meters_per_second_t rightVelocity, const Pose2d& poseRef,
+      wpi::units::meters_per_second_t leftVelocityRef,
+      wpi::units::meters_per_second_t rightVelocityRef);
 
   /**
    * Returns the left and right output voltages of the LTV controller.
@@ -137,8 +137,8 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
    *                     from a trajectory.
    */
   DifferentialDriveWheelVoltages Calculate(
-      const Pose2d& currentPose, units::meters_per_second_t leftVelocity,
-      units::meters_per_second_t rightVelocity,
+      const Pose2d& currentPose, wpi::units::meters_per_second_t leftVelocity,
+      wpi::units::meters_per_second_t rightVelocity,
       const Trajectory::State& desiredState) {
     // v = (v_r + v_l) / 2     (1)
     // w = (v_r - v_l) / (2r)  (2)
@@ -160,7 +160,7 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
   }
 
  private:
-  units::meter_t m_trackwidth;
+  wpi::units::meter_t m_trackwidth;
 
   // Continuous velocity dynamics
   Eigen::Matrix<double, 2, 2> m_A;
@@ -170,10 +170,10 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
   Eigen::Matrix<double, 5, 5> m_Q;
   Eigen::Matrix<double, 2, 2> m_R;
 
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   Eigen::Vector<double, 5> m_error;
   Eigen::Vector<double, 5> m_tolerance;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp b/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
index 15012504da..4ce4965eef 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * The linear time-varying unicycle controller has a similar form to the LQR,
@@ -37,7 +37,7 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
    *
    * @param dt Discretization timestep.
    */
-  explicit LTVUnicycleController(units::second_t dt)
+  explicit LTVUnicycleController(wpi::units::second_t dt)
       : LTVUnicycleController{{0.0625, 0.125, 2.0}, {1.0, 2.0}, dt} {}
 
   /**
@@ -53,10 +53,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
    *               velocity, angular velocity).
    * @param dt     Discretization timestep.
    */
-  LTVUnicycleController(const wpi::array<double, 3>& Qelems,
-                        const wpi::array<double, 2>& Relems, units::second_t dt)
-      : m_Q{frc::MakeCostMatrix(Qelems)},
-        m_R{frc::MakeCostMatrix(Relems)},
+  LTVUnicycleController(const wpi::util::array<double, 3>& Qelems,
+                        const wpi::util::array<double, 2>& Relems, wpi::units::second_t dt)
+      : m_Q{wpi::math::MakeCostMatrix(Qelems)},
+        m_R{wpi::math::MakeCostMatrix(Relems)},
         m_dt{dt} {}
 
   /**
@@ -77,9 +77,9 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
     const auto& eRotate = m_poseError.Rotation();
     const auto& tolTranslate = m_poseTolerance.Translation();
     const auto& tolRotate = m_poseTolerance.Rotation();
-    return units::math::abs(eTranslate.X()) < tolTranslate.X() &&
-           units::math::abs(eTranslate.Y()) < tolTranslate.Y() &&
-           units::math::abs(eRotate.Radians()) < tolRotate.Radians();
+    return wpi::units::math::abs(eTranslate.X()) < tolTranslate.X() &&
+           wpi::units::math::abs(eTranslate.Y()) < tolTranslate.Y() &&
+           wpi::units::math::abs(eRotate.Radians()) < tolRotate.Radians();
   }
 
   /**
@@ -104,8 +104,8 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
    * @param angularVelocityRef The desired angular velocity.
    */
   ChassisSpeeds Calculate(const Pose2d& currentPose, const Pose2d& poseRef,
-                          units::meters_per_second_t linearVelocityRef,
-                          units::radians_per_second_t angularVelocityRef);
+                          wpi::units::meters_per_second_t linearVelocityRef,
+                          wpi::units::radians_per_second_t angularVelocityRef);
 
   /**
    * Returns the linear and angular velocity outputs of the LTV controller.
@@ -135,11 +135,11 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
   Eigen::Matrix<double, 3, 3> m_Q;
   Eigen::Matrix<double, 2, 2> m_R;
 
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   Pose2d m_poseError;
   Pose2d m_poseTolerance;
   bool m_enabled = true;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
index 3165c6988d..2650e3dcbb 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
@@ -14,7 +14,7 @@
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Constructs a plant inversion model-based feedforward from a LinearSystem.
@@ -44,7 +44,7 @@ class LinearPlantInversionFeedforward {
    */
   template <int Outputs>
   LinearPlantInversionFeedforward(
-      const LinearSystem<States, Inputs, Outputs>& plant, units::second_t dt)
+      const LinearSystem<States, Inputs, Outputs>& plant, wpi::units::second_t dt)
       : LinearPlantInversionFeedforward(plant.A(), plant.B(), dt) {}
 
   /**
@@ -56,7 +56,7 @@ class LinearPlantInversionFeedforward {
    */
   LinearPlantInversionFeedforward(const Matrixd<States, States>& A,
                                   const Matrixd<States, Inputs>& B,
-                                  units::second_t dt)
+                                  wpi::units::second_t dt)
       : m_dt(dt) {
     DiscretizeAB<States, Inputs>(A, B, dt, &m_A, &m_B);
     Reset();
@@ -150,7 +150,7 @@ class LinearPlantInversionFeedforward {
   Matrixd<States, States> m_A;
   Matrixd<States, Inputs> m_B;
 
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   // Current reference
   StateVector m_r;
@@ -159,4 +159,4 @@ class LinearPlantInversionFeedforward {
   InputVector m_uff;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
index a3f5424768..855760a648 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Contains the controller coefficients and logic for a linear-quadratic
@@ -40,8 +40,8 @@ class LinearQuadraticRegulator {
   using StateVector = Vectord<States>;
   using InputVector = Vectord<Inputs>;
 
-  using StateArray = wpi::array<double, States>;
-  using InputArray = wpi::array<double, Inputs>;
+  using StateArray = wpi::util::array<double, States>;
+  using InputArray = wpi::util::array<double, Inputs>;
 
   /**
    * Constructs a controller with the given coefficients and plant.
@@ -60,7 +60,7 @@ class LinearQuadraticRegulator {
   template <int Outputs>
   LinearQuadraticRegulator(const LinearSystem<States, Inputs, Outputs>& plant,
                            const StateArray& Qelems, const InputArray& Relems,
-                           units::second_t dt)
+                           wpi::units::second_t dt)
       : LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
 
   /**
@@ -80,7 +80,7 @@ class LinearQuadraticRegulator {
   LinearQuadraticRegulator(const Matrixd<States, States>& A,
                            const Matrixd<States, Inputs>& B,
                            const StateArray& Qelems, const InputArray& Relems,
-                           units::second_t dt)
+                           wpi::units::second_t dt)
       : LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
                                  MakeCostMatrix(Relems), dt) {}
 
@@ -98,7 +98,7 @@ class LinearQuadraticRegulator {
                            const Matrixd<States, Inputs>& B,
                            const Matrixd<States, States>& Q,
                            const Matrixd<Inputs, Inputs>& R,
-                           units::second_t dt) {
+                           wpi::units::second_t dt) {
     Matrixd<States, States> discA;
     Matrixd<States, Inputs> discB;
     DiscretizeAB<States, Inputs>(A, B, dt, &discA, &discB);
@@ -153,7 +153,7 @@ class LinearQuadraticRegulator {
                            const Matrixd<States, States>& Q,
                            const Matrixd<Inputs, Inputs>& R,
                            const Matrixd<States, Inputs>& N,
-                           units::second_t dt) {
+                           wpi::units::second_t dt) {
     Matrixd<States, States> discA;
     Matrixd<States, Inputs> discB;
     DiscretizeAB<States, Inputs>(A, B, dt, &discA, &discB);
@@ -291,7 +291,7 @@ class LinearQuadraticRegulator {
    */
   template <int Outputs>
   void LatencyCompensate(const LinearSystem<States, Inputs, Outputs>& plant,
-                         units::second_t dt, units::second_t inputDelay) {
+                         wpi::units::second_t dt, wpi::units::second_t inputDelay) {
     Matrixd<States, States> discA;
     Matrixd<States, Inputs> discB;
     DiscretizeAB<States, Inputs>(plant.A(), plant.B(), dt, &discA, &discB);
@@ -317,4 +317,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     LinearQuadraticRegulator<2, 2>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
index 5d3ae2fa75..c967ab7fc4 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
@@ -19,14 +19,14 @@
 #include "wpi/util/sendable/SendableHelper.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Implements a PID control loop.
  */
 class WPILIB_DLLEXPORT PIDController
-    : public wpi::Sendable,
-      public wpi::SendableHelper<PIDController> {
+    : public wpi::util::Sendable,
+      public wpi::util::SendableHelper<PIDController> {
  public:
   /**
    * Allocates a PIDController with the given constants for Kp, Ki, and Kd.
@@ -38,7 +38,7 @@ class WPILIB_DLLEXPORT PIDController
    *               default is 20 milliseconds. Must be positive.
    */
   constexpr PIDController(double Kp, double Ki, double Kd,
-                          units::second_t period = 20_ms)
+                          wpi::units::second_t period = 20_ms)
       : m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
     bool invalidGains = false;
     if (Kp < 0.0) {
@@ -76,7 +76,7 @@ class WPILIB_DLLEXPORT PIDController
 
       wpi::math::MathSharedStore::ReportUsage("PIDController",
                                               std::to_string(instances));
-      wpi::SendableRegistry::Add(this, "PIDController", instances);
+      wpi::util::SendableRegistry::Add(this, "PIDController", instances);
     }
   }
 
@@ -175,7 +175,7 @@ class WPILIB_DLLEXPORT PIDController
    *
    * @return The period of the controller.
    */
-  constexpr units::second_t GetPeriod() const { return m_period; }
+  constexpr wpi::units::second_t GetPeriod() const { return m_period; }
 
   /**
    * Gets the error tolerance of this controller. Defaults to 0.05.
@@ -403,7 +403,7 @@ class WPILIB_DLLEXPORT PIDController
     m_haveMeasurement = false;
   }
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Factor for "proportional" control
@@ -419,7 +419,7 @@ class WPILIB_DLLEXPORT PIDController
   double m_iZone = std::numeric_limits<double>::infinity();
 
   // The period (in seconds) of the control loop running this controller
-  units::second_t m_period;
+  wpi::units::second_t m_period;
 
   double m_maximumIntegral = 1.0;
 
@@ -457,4 +457,4 @@ class WPILIB_DLLEXPORT PIDController
   inline static int instances = 0;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
index f1a8196f1d..07ac7f41f7 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc {
+namespace wpi::math {
 namespace detail {
 WPILIB_DLLEXPORT
 int IncrementAndGetProfiledPIDControllerInstances();
@@ -29,16 +29,16 @@ int IncrementAndGetProfiledPIDControllerInstances();
  */
 template <class Distance>
 class ProfiledPIDController
-    : public wpi::Sendable,
-      public wpi::SendableHelper<ProfiledPIDController<Distance>> {
+    : public wpi::util::Sendable,
+      public wpi::util::SendableHelper<ProfiledPIDController<Distance>> {
  public:
-  using Distance_t = units::unit_t<Distance>;
+  using Distance_t = wpi::units::unit_t<Distance>;
   using Velocity =
-      units::compound_unit<Distance, units::inverse<units::seconds>>;
-  using Velocity_t = units::unit_t<Velocity>;
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>;
+  using Velocity_t = wpi::units::unit_t<Velocity>;
   using Acceleration =
-      units::compound_unit<Velocity, units::inverse<units::seconds>>;
-  using Acceleration_t = units::unit_t<Acceleration>;
+      wpi::units::compound_unit<Velocity, wpi::units::inverse<wpi::units::seconds>>;
+  using Acceleration_t = wpi::units::unit_t<Acceleration>;
   using State = typename TrapezoidProfile<Distance>::State;
   using Constraints = typename TrapezoidProfile<Distance>::Constraints;
 
@@ -56,7 +56,7 @@ class ProfiledPIDController
    */
   constexpr ProfiledPIDController(double Kp, double Ki, double Kd,
                                   Constraints constraints,
-                                  units::second_t period = 20_ms)
+                                  wpi::units::second_t period = 20_ms)
       : m_controller{Kp, Ki, Kd, period},
         m_constraints{constraints},
         m_profile{m_constraints} {
@@ -64,7 +64,7 @@ class ProfiledPIDController
       int instances = detail::IncrementAndGetProfiledPIDControllerInstances();
       wpi::math::MathSharedStore::ReportUsage("ProfiledPIDController",
                                               std::to_string(instances));
-      wpi::SendableRegistry::Add(this, "ProfiledPIDController", instances);
+      wpi::util::SendableRegistry::Add(this, "ProfiledPIDController", instances);
     }
   }
 
@@ -156,7 +156,7 @@ class ProfiledPIDController
    *
    * @return The period of the controller.
    */
-  constexpr units::second_t GetPeriod() const {
+  constexpr wpi::units::second_t GetPeriod() const {
     return m_controller.GetPeriod();
   }
 
@@ -327,9 +327,9 @@ class ProfiledPIDController
     if (m_controller.IsContinuousInputEnabled()) {
       // Get error which is smallest distance between goal and measurement
       auto errorBound = (m_maximumInput - m_minimumInput) / 2.0;
-      auto goalMinDistance = frc::InputModulus<Distance_t>(
+      auto goalMinDistance = wpi::math::InputModulus<Distance_t>(
           m_goal.position - measurement, -errorBound, errorBound);
-      auto setpointMinDistance = frc::InputModulus<Distance_t>(
+      auto setpointMinDistance = wpi::math::InputModulus<Distance_t>(
           m_setpoint.position - measurement, -errorBound, errorBound);
 
       // Recompute the profile goal with the smallest error, thus giving the
@@ -377,7 +377,7 @@ class ProfiledPIDController
    */
   constexpr double Calculate(
       Distance_t measurement, Distance_t goal,
-      typename frc::TrapezoidProfile<Distance>::Constraints constraints) {
+      typename wpi::math::TrapezoidProfile<Distance>::Constraints constraints) {
     SetConstraints(constraints);
     return Calculate(measurement, goal);
   }
@@ -413,7 +413,7 @@ class ProfiledPIDController
     Reset(measuredPosition, Velocity_t{0});
   }
 
-  void InitSendable(wpi::SendableBuilder& builder) override {
+  void InitSendable(wpi::util::SendableBuilder& builder) override {
     builder.SetSmartDashboardType("ProfiledPIDController");
     builder.AddDoubleProperty(
         "p", [this] { return GetP(); }, [this](double value) { SetP(value); });
@@ -447,10 +447,10 @@ class ProfiledPIDController
   Distance_t m_minimumInput{0};
   Distance_t m_maximumInput{0};
 
-  typename frc::TrapezoidProfile<Distance>::Constraints m_constraints;
+  typename wpi::math::TrapezoidProfile<Distance>::Constraints m_constraints;
   TrapezoidProfile<Distance> m_profile;
-  typename frc::TrapezoidProfile<Distance>::State m_goal;
-  typename frc::TrapezoidProfile<Distance>::State m_setpoint;
+  typename wpi::math::TrapezoidProfile<Distance>::State m_goal;
+  typename wpi::math::TrapezoidProfile<Distance>::State m_setpoint;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
index 2f87995c49..83fd827790 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
@@ -13,23 +13,23 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A helper class that computes feedforward voltages for a simple
  * permanent-magnet DC motor.
  */
 template <class Distance>
-  requires units::length_unit<Distance> || units::angle_unit<Distance>
+  requires wpi::units::length_unit<Distance> || wpi::units::angle_unit<Distance>
 class SimpleMotorFeedforward {
  public:
   using Velocity =
-      units::compound_unit<Distance, units::inverse<units::seconds>>;
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>;
   using Acceleration =
-      units::compound_unit<Velocity, units::inverse<units::seconds>>;
-  using kv_unit = units::compound_unit<units::volts, units::inverse<Velocity>>;
+      wpi::units::compound_unit<Velocity, wpi::units::inverse<wpi::units::seconds>>;
+  using kv_unit = wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<Velocity>>;
   using ka_unit =
-      units::compound_unit<units::volts, units::inverse<Acceleration>>;
+      wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<Acceleration>>;
 
   /**
    * Creates a new SimpleMotorFeedforward with the specified gains.
@@ -43,20 +43,20 @@ class SimpleMotorFeedforward {
    * @throws IllegalArgumentException for period &le; zero.
    */
   constexpr SimpleMotorFeedforward(
-      units::volt_t kS, units::unit_t<kv_unit> kV,
-      units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0),
-      units::second_t dt = 20_ms)
+      wpi::units::volt_t kS, wpi::units::unit_t<kv_unit> kV,
+      wpi::units::unit_t<ka_unit> kA = wpi::units::unit_t<ka_unit>(0),
+      wpi::units::second_t dt = 20_ms)
       : kS(kS), kV(kV), kA(kA), m_dt(dt) {
     if (kV.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kV must be a non-negative number, got {}!", kV.value());
-      this->kV = units::unit_t<kv_unit>{0};
+      this->kV = wpi::units::unit_t<kv_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
     }
     if (kA.value() < 0) {
       wpi::math::MathSharedStore::ReportError(
           "kA must be a non-negative number, got {}!", kA.value());
-      this->kA = units::unit_t<ka_unit>{0};
+      this->kA = wpi::units::unit_t<ka_unit>{0};
       wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0.");
     }
     if (dt <= 0_ms) {
@@ -75,7 +75,7 @@ class SimpleMotorFeedforward {
    * @param velocity The velocity setpoint.
    * @return The computed feedforward, in volts.
    */
-  constexpr units::volt_t Calculate(units::unit_t<Velocity> velocity) const {
+  constexpr wpi::units::volt_t Calculate(wpi::units::unit_t<Velocity> velocity) const {
     return Calculate(velocity, velocity);
   }
 
@@ -89,19 +89,19 @@ class SimpleMotorFeedforward {
    * @param nextVelocity    The next velocity setpoint.
    * @return The computed feedforward, in volts.
    */
-  constexpr units::volt_t Calculate(
-      units::unit_t<Velocity> currentVelocity,
-      units::unit_t<Velocity> nextVelocity) const {
+  constexpr wpi::units::volt_t Calculate(
+      wpi::units::unit_t<Velocity> currentVelocity,
+      wpi::units::unit_t<Velocity> nextVelocity) const {
     // See wpimath/algorithms.md#Simple_motor_feedforward for derivation
     if (kA < decltype(kA)(1e-9)) {
-      return kS * wpi::sgn(nextVelocity) + kV * nextVelocity;
+      return kS * wpi::util::sgn(nextVelocity) + kV * nextVelocity;
     } else {
       double A = -kV.value() / kA.value();
       double B = 1.0 / kA.value();
       double A_d = gcem::exp(A * m_dt.value());
       double B_d = A > -1e-9 ? B * m_dt.value() : 1.0 / A * (A_d - 1.0) * B;
-      return kS * wpi::sgn(currentVelocity) +
-             units::volt_t{
+      return kS * wpi::util::sgn(currentVelocity) +
+             wpi::units::volt_t{
                  1.0 / B_d *
                  (nextVelocity.value() - A_d * currentVelocity.value())};
     }
@@ -121,9 +121,9 @@ class SimpleMotorFeedforward {
    * @param acceleration The acceleration of the motor.
    * @return The maximum possible velocity at the given acceleration.
    */
-  constexpr units::unit_t<Velocity> MaxAchievableVelocity(
-      units::volt_t maxVoltage,
-      units::unit_t<Acceleration> acceleration) const {
+  constexpr wpi::units::unit_t<Velocity> MaxAchievableVelocity(
+      wpi::units::volt_t maxVoltage,
+      wpi::units::unit_t<Acceleration> acceleration) const {
     // Assume max velocity is positive
     return (maxVoltage - kS - kA * acceleration) / kV;
   }
@@ -139,9 +139,9 @@ class SimpleMotorFeedforward {
    * @param acceleration The acceleration of the motor.
    * @return The minimum possible velocity at the given acceleration.
    */
-  constexpr units::unit_t<Velocity> MinAchievableVelocity(
-      units::volt_t maxVoltage,
-      units::unit_t<Acceleration> acceleration) const {
+  constexpr wpi::units::unit_t<Velocity> MinAchievableVelocity(
+      wpi::units::volt_t maxVoltage,
+      wpi::units::unit_t<Acceleration> acceleration) const {
     // Assume min velocity is positive, ks flips sign
     return (-maxVoltage + kS - kA * acceleration) / kV;
   }
@@ -157,9 +157,9 @@ class SimpleMotorFeedforward {
    * @param velocity The velocity of the motor.
    * @return The maximum possible acceleration at the given velocity.
    */
-  constexpr units::unit_t<Acceleration> MaxAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Velocity> velocity) const {
-    return (maxVoltage - kS * wpi::sgn(velocity) - kV * velocity) / kA;
+  constexpr wpi::units::unit_t<Acceleration> MaxAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Velocity> velocity) const {
+    return (maxVoltage - kS * wpi::util::sgn(velocity) - kV * velocity) / kA;
   }
 
   /**
@@ -173,8 +173,8 @@ class SimpleMotorFeedforward {
    * @param velocity The velocity of the motor.
    * @return The minimum possible acceleration at the given velocity.
    */
-  constexpr units::unit_t<Acceleration> MinAchievableAcceleration(
-      units::volt_t maxVoltage, units::unit_t<Velocity> velocity) const {
+  constexpr wpi::units::unit_t<Acceleration> MinAchievableAcceleration(
+      wpi::units::volt_t maxVoltage, wpi::units::unit_t<Velocity> velocity) const {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
@@ -183,62 +183,62 @@ class SimpleMotorFeedforward {
    *
    * @param kS The static gain.
    */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+  constexpr void SetKs(wpi::units::volt_t kS) { this->kS = kS; }
 
   /**
    * Sets the velocity gain.
    *
    * @param kV The velocity gain.
    */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+  constexpr void SetKv(wpi::units::unit_t<kv_unit> kV) { this->kV = kV; }
 
   /**
    * Sets the acceleration gain.
    *
    * @param kA The acceleration gain.
    */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+  constexpr void SetKa(wpi::units::unit_t<ka_unit> kA) { this->kA = kA; }
 
   /**
    * Returns the static gain.
    *
    * @return The static gain.
    */
-  constexpr units::volt_t GetKs() const { return kS; }
+  constexpr wpi::units::volt_t GetKs() const { return kS; }
 
   /**
    * Returns the velocity gain.
    *
    * @return The velocity gain.
    */
-  constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
+  constexpr wpi::units::unit_t<kv_unit> GetKv() const { return kV; }
 
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
-  constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
+  constexpr wpi::units::unit_t<ka_unit> GetKa() const { return kA; }
 
   /**
    * Returns the period.
    *
    * @return The period.
    */
-  constexpr units::second_t GetDt() const { return m_dt; }
+  constexpr wpi::units::second_t GetDt() const { return m_dt; }
 
  private:
   /** The static gain. */
-  units::volt_t kS;
+  wpi::units::volt_t kS;
 
   /** The velocity gain. */
-  units::unit_t<kv_unit> kV;
+  wpi::units::unit_t<kv_unit> kV;
 
   /** The acceleration gain. */
-  units::unit_t<ka_unit> kA;
+  wpi::units::unit_t<ka_unit> kA;
 
   /** The period. */
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
index ce8ca33f37..abf98630ac 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
@@ -11,10 +11,10 @@
 #include "wpimath/protobuf/controller.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ArmFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::ArmFeedforward> {
   using MessageStruct = wpi_proto_ProtobufArmFeedforward;
-  using InputStream = wpi::ProtoInputStream<frc::ArmFeedforward>;
-  using OutputStream = wpi::ProtoOutputStream<frc::ArmFeedforward>;
-  static std::optional<frc::ArmFeedforward> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::ArmFeedforward& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::ArmFeedforward>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::ArmFeedforward>;
+  static std::optional<wpi::math::ArmFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::ArmFeedforward& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
index 156fb67c96..575fdb13e5 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
@@ -11,13 +11,13 @@
 #include "wpimath/protobuf/controller.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DifferentialDriveFeedforward> {
   using MessageStruct = wpi_proto_ProtobufDifferentialDriveFeedforward;
-  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveFeedforward>;
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::DifferentialDriveFeedforward>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::DifferentialDriveFeedforward>;
-  static std::optional<frc::DifferentialDriveFeedforward> Unpack(
+      wpi::util::ProtoOutputStream<wpi::math::DifferentialDriveFeedforward>;
+  static std::optional<wpi::math::DifferentialDriveFeedforward> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::DifferentialDriveFeedforward& value);
+                   const wpi::math::DifferentialDriveFeedforward& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
index 491a84ede7..6b6308f448 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
@@ -11,14 +11,14 @@
 #include "wpimath/protobuf/controller.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelVoltages> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DifferentialDriveWheelVoltages> {
   using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelVoltages;
   using InputStream =
-      wpi::ProtoInputStream<frc::DifferentialDriveWheelVoltages>;
+      wpi::util::ProtoInputStream<wpi::math::DifferentialDriveWheelVoltages>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::DifferentialDriveWheelVoltages>;
-  static std::optional<frc::DifferentialDriveWheelVoltages> Unpack(
+      wpi::util::ProtoOutputStream<wpi::math::DifferentialDriveWheelVoltages>;
+  static std::optional<wpi::math::DifferentialDriveWheelVoltages> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::DifferentialDriveWheelVoltages& value);
+                   const wpi::math::DifferentialDriveWheelVoltages& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
index e585e3dc14..a0a97da5e2 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
@@ -11,10 +11,10 @@
 #include "wpimath/protobuf/controller.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ElevatorFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::ElevatorFeedforward> {
   using MessageStruct = wpi_proto_ProtobufElevatorFeedforward;
-  using InputStream = wpi::ProtoInputStream<frc::ElevatorFeedforward>;
-  using OutputStream = wpi::ProtoOutputStream<frc::ElevatorFeedforward>;
-  static std::optional<frc::ElevatorFeedforward> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::ElevatorFeedforward& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::ElevatorFeedforward>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::ElevatorFeedforward>;
+  static std::optional<wpi::math::ElevatorFeedforward> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::ElevatorFeedforward& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
index f4d0101c88..1008e8cb5d 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
@@ -11,48 +11,48 @@
 #include "wpimath/protobuf/controller.npb.h"
 
 // Everything is converted into units for
-// frc::SimpleMotorFeedforward<units::meters> or
-// frc::SimpleMotorFeedforward<units::radians>
+// wpi::math::SimpleMotorFeedforward<wpi::units::meters> or
+// wpi::math::SimpleMotorFeedforward<wpi::units::radians>
 
 template <class Distance>
-  requires units::length_unit<Distance> || units::angle_unit<Distance>
-struct wpi::Protobuf<frc::SimpleMotorFeedforward<Distance>> {
+  requires wpi::units::length_unit<Distance> || wpi::units::angle_unit<Distance>
+struct wpi::util::Protobuf<wpi::math::SimpleMotorFeedforward<Distance>> {
   using MessageStruct = wpi_proto_ProtobufSimpleMotorFeedforward;
   using InputStream =
-      wpi::ProtoInputStream<frc::SimpleMotorFeedforward<Distance>>;
+      wpi::util::ProtoInputStream<wpi::math::SimpleMotorFeedforward<Distance>>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::SimpleMotorFeedforward<Distance>>;
+      wpi::util::ProtoOutputStream<wpi::math::SimpleMotorFeedforward<Distance>>;
 
-  static std::optional<frc::SimpleMotorFeedforward<Distance>> Unpack(
+  static std::optional<wpi::math::SimpleMotorFeedforward<Distance>> Unpack(
       InputStream& stream) {
     using BaseUnit =
-        units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
-    using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
+        wpi::units::unit<std::ratio<1>, wpi::units::traits::base_unit_of<Distance>>;
+    using BaseFeedforward = wpi::math::SimpleMotorFeedforward<BaseUnit>;
     wpi_proto_ProtobufSimpleMotorFeedforward msg;
     if (!stream.Decode(msg)) {
       return {};
     }
 
-    return frc::SimpleMotorFeedforward<Distance>{
-        units::volt_t{msg.ks},
-        units::unit_t<typename BaseFeedforward::kv_unit>{msg.kv},
-        units::unit_t<typename BaseFeedforward::ka_unit>{msg.ka},
-        units::second_t{msg.dt},
+    return wpi::math::SimpleMotorFeedforward<Distance>{
+        wpi::units::volt_t{msg.ks},
+        wpi::units::unit_t<typename BaseFeedforward::kv_unit>{msg.kv},
+        wpi::units::unit_t<typename BaseFeedforward::ka_unit>{msg.ka},
+        wpi::units::second_t{msg.dt},
     };
   }
 
   static bool Pack(OutputStream& stream,
-                   const frc::SimpleMotorFeedforward<Distance>& value) {
+                   const wpi::math::SimpleMotorFeedforward<Distance>& value) {
     using BaseUnit =
-        units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
-    using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
+        wpi::units::unit<std::ratio<1>, wpi::units::traits::base_unit_of<Distance>>;
+    using BaseFeedforward = wpi::math::SimpleMotorFeedforward<BaseUnit>;
     wpi_proto_ProtobufSimpleMotorFeedforward msg{
         .ks = value.GetKs().value(),
-        .kv = units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
+        .kv = wpi::units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
                   .value(),
-        .ka = units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
+        .ka = wpi::units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
                   .value(),
-        .dt = units::second_t{value.GetDt()}.value(),
+        .dt = wpi::units::second_t{value.GetDt()}.value(),
     };
     return stream.Encode(msg);
   }
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
index f4889e2820..b107258299 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::ArmFeedforward> {
   static constexpr std::string_view GetTypeName() { return "ArmFeedforward"; }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {
     return "double ks;double kg;double kv;double ka";
   }
 
-  static frc::ArmFeedforward Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::ArmFeedforward& value);
+  static wpi::math::ArmFeedforward Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::ArmFeedforward& value);
 };
 
-static_assert(wpi::StructSerializable<frc::ArmFeedforward>);
+static_assert(wpi::util::StructSerializable<wpi::math::ArmFeedforward>);
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
index bbdbd1aac9..5302dfe68d 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DifferentialDriveFeedforward> {
   static constexpr std::string_view GetTypeName() {
     return "DifferentialDriveFeedforward";
   }
@@ -19,10 +19,10 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {
            "ka_angular";
   }
 
-  static frc::DifferentialDriveFeedforward Unpack(
+  static wpi::math::DifferentialDriveFeedforward Unpack(
       std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::DifferentialDriveFeedforward& value);
+                   const wpi::math::DifferentialDriveFeedforward& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DifferentialDriveFeedforward>);
+static_assert(wpi::util::StructSerializable<wpi::math::DifferentialDriveFeedforward>);
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
index d1f40c3262..80f0484964 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DifferentialDriveWheelVoltages> {
   static constexpr std::string_view GetTypeName() {
     return "DifferentialDriveWheelVoltages";
   }
@@ -18,10 +18,10 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
     return "double left;double right";
   }
 
-  static frc::DifferentialDriveWheelVoltages Unpack(
+  static wpi::math::DifferentialDriveWheelVoltages Unpack(
       std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::DifferentialDriveWheelVoltages& value);
+                   const wpi::math::DifferentialDriveWheelVoltages& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelVoltages>);
+static_assert(wpi::util::StructSerializable<wpi::math::DifferentialDriveWheelVoltages>);
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
index 1927eedfbb..9a9a24d141 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::ElevatorFeedforward> {
   static constexpr std::string_view GetTypeName() {
     return "ElevatorFeedforward";
   }
@@ -18,9 +18,9 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
     return "double ks;double kg;double kv;double ka";
   }
 
-  static frc::ElevatorFeedforward Unpack(std::span<const uint8_t> data);
+  static wpi::math::ElevatorFeedforward Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::ElevatorFeedforward& value);
+                   const wpi::math::ElevatorFeedforward& value);
 };
 
-static_assert(wpi::StructSerializable<frc::ElevatorFeedforward>);
+static_assert(wpi::util::StructSerializable<wpi::math::ElevatorFeedforward>);
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
index c984128612..4e7898159b 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
@@ -9,12 +9,12 @@
 #include "wpi/util/struct/Struct.hpp"
 
 // Everything is converted into units for
-// frc::SimpleMotorFeedforward<units::meters> or
-// frc::SimpleMotorFeedforward<units::radians>
+// wpi::math::SimpleMotorFeedforward<wpi::units::meters> or
+// wpi::math::SimpleMotorFeedforward<wpi::units::radians>
 
 template <class Distance>
-  requires units::length_unit<Distance> || units::angle_unit<Distance>
-struct wpi::Struct<frc::SimpleMotorFeedforward<Distance>> {
+  requires wpi::units::length_unit<Distance> || wpi::units::angle_unit<Distance>
+struct wpi::util::Struct<wpi::math::SimpleMotorFeedforward<Distance>> {
   static constexpr std::string_view GetTypeName() {
     return "SimpleMotorFeedforward";
   }
@@ -23,46 +23,46 @@ struct wpi::Struct<frc::SimpleMotorFeedforward<Distance>> {
     return "double ks;double kv;double ka;double dt";
   }
 
-  static frc::SimpleMotorFeedforward<Distance> Unpack(
+  static wpi::math::SimpleMotorFeedforward<Distance> Unpack(
       std::span<const uint8_t> data) {
     using BaseUnit =
-        units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
-    using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
+        wpi::units::unit<std::ratio<1>, wpi::units::traits::base_unit_of<Distance>>;
+    using BaseFeedforward = wpi::math::SimpleMotorFeedforward<BaseUnit>;
     constexpr size_t kKsOff = 0;
     constexpr size_t kKvOff = kKsOff + 8;
     constexpr size_t kKaOff = kKvOff + 8;
     constexpr size_t kDtOff = kKaOff + 8;
-    return {units::volt_t{wpi::UnpackStruct<double, kKsOff>(data)},
-            units::unit_t<typename BaseFeedforward::kv_unit>{
-                wpi::UnpackStruct<double, kKvOff>(data)},
-            units::unit_t<typename BaseFeedforward::ka_unit>{
-                wpi::UnpackStruct<double, kKaOff>(data)},
-            units::second_t{wpi::UnpackStruct<double, kDtOff>(data)}};
+    return {wpi::units::volt_t{wpi::util::UnpackStruct<double, kKsOff>(data)},
+            wpi::units::unit_t<typename BaseFeedforward::kv_unit>{
+                wpi::util::UnpackStruct<double, kKvOff>(data)},
+            wpi::units::unit_t<typename BaseFeedforward::ka_unit>{
+                wpi::util::UnpackStruct<double, kKaOff>(data)},
+            wpi::units::second_t{wpi::util::UnpackStruct<double, kDtOff>(data)}};
   }
 
   static void Pack(std::span<uint8_t> data,
-                   const frc::SimpleMotorFeedforward<Distance>& value) {
+                   const wpi::math::SimpleMotorFeedforward<Distance>& value) {
     using BaseUnit =
-        units::unit<std::ratio<1>, units::traits::base_unit_of<Distance>>;
-    using BaseFeedforward = frc::SimpleMotorFeedforward<BaseUnit>;
+        wpi::units::unit<std::ratio<1>, wpi::units::traits::base_unit_of<Distance>>;
+    using BaseFeedforward = wpi::math::SimpleMotorFeedforward<BaseUnit>;
     constexpr size_t kKsOff = 0;
     constexpr size_t kKvOff = kKsOff + 8;
     constexpr size_t kKaOff = kKvOff + 8;
     constexpr size_t kDtOff = kKaOff + 8;
-    wpi::PackStruct<kKsOff>(data, value.GetKs().value());
-    wpi::PackStruct<kKvOff>(
-        data, units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
+    wpi::util::PackStruct<kKsOff>(data, value.GetKs().value());
+    wpi::util::PackStruct<kKvOff>(
+        data, wpi::units::unit_t<typename BaseFeedforward::kv_unit>{value.GetKv()}
                   .value());
-    wpi::PackStruct<kKaOff>(
-        data, units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
+    wpi::util::PackStruct<kKaOff>(
+        data, wpi::units::unit_t<typename BaseFeedforward::ka_unit>{value.GetKa()}
                   .value());
-    wpi::PackStruct<kDtOff>(data, units::second_t{value.GetDt()}.value());
+    wpi::util::PackStruct<kDtOff>(data, wpi::units::second_t{value.GetDt()}.value());
   }
 };
 
 static_assert(
-    wpi::StructSerializable<frc::SimpleMotorFeedforward<units::meters>>);
+    wpi::util::StructSerializable<wpi::math::SimpleMotorFeedforward<wpi::units::meters>>);
 static_assert(
-    wpi::StructSerializable<frc::SimpleMotorFeedforward<units::feet>>);
+    wpi::util::StructSerializable<wpi::math::SimpleMotorFeedforward<wpi::units::feet>>);
 static_assert(
-    wpi::StructSerializable<frc::SimpleMotorFeedforward<units::radians>>);
+    wpi::util::StructSerializable<wpi::math::SimpleMotorFeedforward<wpi::units::radians>>);
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp b/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
index 2b2b86ddd0..263bd99cf6 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/util/MathUtil.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Subtracts a and b while normalizing the resulting value in the selected row
@@ -26,7 +26,7 @@ Vectord<States> AngleResidual(const Vectord<States>& a,
                               const Vectord<States>& b, int angleStateIdx) {
   Vectord<States> ret = a - b;
   ret[angleStateIdx] =
-      AngleModulus(units::radian_t{ret[angleStateIdx]}).value();
+      AngleModulus(wpi::units::radian_t{ret[angleStateIdx]}).value();
   return ret;
 }
 
@@ -124,4 +124,4 @@ AngleMean(int angleStateIdx) {
   };
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
index 2fe52337fb..d59a144471 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * This class wraps Differential Drive Odometry to fuse latency-compensated
  * vision measurements with differential drive encoder measurements. It will
@@ -51,8 +51,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
    */
   DifferentialDrivePoseEstimator(DifferentialDriveKinematics& kinematics,
                                  const Rotation2d& gyroAngle,
-                                 units::meter_t leftDistance,
-                                 units::meter_t rightDistance,
+                                 wpi::units::meter_t leftDistance,
+                                 wpi::units::meter_t rightDistance,
                                  const Pose2d& initialPose);
 
   /**
@@ -74,9 +74,9 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
    */
   DifferentialDrivePoseEstimator(
       DifferentialDriveKinematics& kinematics, const Rotation2d& gyroAngle,
-      units::meter_t leftDistance, units::meter_t rightDistance,
-      const Pose2d& initialPose, const wpi::array<double, 3>& stateStdDevs,
-      const wpi::array<double, 3>& visionMeasurementStdDevs);
+      wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
+      const Pose2d& initialPose, const wpi::util::array<double, 3>& stateStdDevs,
+      const wpi::util::array<double, 3>& visionMeasurementStdDevs);
 
   /**
    * Resets the robot's position on the field.
@@ -86,8 +86,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
    * @param rightDistance The distance traveled by the right encoder.
    * @param pose The estimated pose of the robot on the field.
    */
-  void ResetPosition(const Rotation2d& gyroAngle, units::meter_t leftDistance,
-                     units::meter_t rightDistance, const Pose2d& pose) {
+  void ResetPosition(const Rotation2d& gyroAngle, wpi::units::meter_t leftDistance,
+                     wpi::units::meter_t rightDistance, const Pose2d& pose) {
     PoseEstimator::ResetPosition(gyroAngle, {leftDistance, rightDistance},
                                  pose);
   }
@@ -102,8 +102,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
    *
    * @return The estimated pose of the robot.
    */
-  Pose2d Update(const Rotation2d& gyroAngle, units::meter_t leftDistance,
-                units::meter_t rightDistance) {
+  Pose2d Update(const Rotation2d& gyroAngle, wpi::units::meter_t leftDistance,
+                wpi::units::meter_t rightDistance) {
     return PoseEstimator::Update(gyroAngle, {leftDistance, rightDistance});
   }
 
@@ -118,10 +118,10 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
    *
    * @return The estimated pose of the robot.
    */
-  Pose2d UpdateWithTime(units::second_t currentTime,
+  Pose2d UpdateWithTime(wpi::units::second_t currentTime,
                         const Rotation2d& gyroAngle,
-                        units::meter_t leftDistance,
-                        units::meter_t rightDistance) {
+                        wpi::units::meter_t leftDistance,
+                        wpi::units::meter_t rightDistance) {
     return PoseEstimator::UpdateWithTime(currentTime, gyroAngle,
                                          {leftDistance, rightDistance});
   }
@@ -130,4 +130,4 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator
   DifferentialDriveOdometry m_odometryImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
index 136dd73bbe..07a1857983 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * This class wraps Differential Drive Odometry to fuse latency-compensated
  * vision measurements with differential drive encoder measurements. It will
@@ -56,8 +56,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
    */
   DifferentialDrivePoseEstimator3d(DifferentialDriveKinematics& kinematics,
                                    const Rotation3d& gyroAngle,
-                                   units::meter_t leftDistance,
-                                   units::meter_t rightDistance,
+                                   wpi::units::meter_t leftDistance,
+                                   wpi::units::meter_t rightDistance,
                                    const Pose3d& initialPose);
 
   /**
@@ -79,9 +79,9 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
    */
   DifferentialDrivePoseEstimator3d(
       DifferentialDriveKinematics& kinematics, const Rotation3d& gyroAngle,
-      units::meter_t leftDistance, units::meter_t rightDistance,
-      const Pose3d& initialPose, const wpi::array<double, 4>& stateStdDevs,
-      const wpi::array<double, 4>& visionMeasurementStdDevs);
+      wpi::units::meter_t leftDistance, wpi::units::meter_t rightDistance,
+      const Pose3d& initialPose, const wpi::util::array<double, 4>& stateStdDevs,
+      const wpi::util::array<double, 4>& visionMeasurementStdDevs);
 
   /**
    * Resets the robot's position on the field.
@@ -91,8 +91,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
    * @param rightDistance The distance traveled by the right encoder.
    * @param pose The estimated pose of the robot on the field.
    */
-  void ResetPosition(const Rotation3d& gyroAngle, units::meter_t leftDistance,
-                     units::meter_t rightDistance, const Pose3d& pose) {
+  void ResetPosition(const Rotation3d& gyroAngle, wpi::units::meter_t leftDistance,
+                     wpi::units::meter_t rightDistance, const Pose3d& pose) {
     PoseEstimator3d::ResetPosition(gyroAngle, {leftDistance, rightDistance},
                                    pose);
   }
@@ -107,8 +107,8 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
    *
    * @return The estimated pose of the robot.
    */
-  Pose3d Update(const Rotation3d& gyroAngle, units::meter_t leftDistance,
-                units::meter_t rightDistance) {
+  Pose3d Update(const Rotation3d& gyroAngle, wpi::units::meter_t leftDistance,
+                wpi::units::meter_t rightDistance) {
     return PoseEstimator3d::Update(gyroAngle, {leftDistance, rightDistance});
   }
 
@@ -123,10 +123,10 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
    *
    * @return The estimated pose of the robot.
    */
-  Pose3d UpdateWithTime(units::second_t currentTime,
+  Pose3d UpdateWithTime(wpi::units::second_t currentTime,
                         const Rotation3d& gyroAngle,
-                        units::meter_t leftDistance,
-                        units::meter_t rightDistance) {
+                        wpi::units::meter_t leftDistance,
+                        wpi::units::meter_t rightDistance) {
     return PoseEstimator3d::UpdateWithTime(currentTime, gyroAngle,
                                            {leftDistance, rightDistance});
   }
@@ -135,4 +135,4 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator3d
   DifferentialDriveOdometry3d m_odometryImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
index 96c74b09f7..103da61dd2 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
@@ -20,7 +20,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A Kalman filter combines predictions from a model and measurements to give an
@@ -53,8 +53,8 @@ class ExtendedKalmanFilter {
   using InputVector = Vectord<Inputs>;
   using OutputVector = Vectord<Outputs>;
 
-  using StateArray = wpi::array<double, States>;
-  using OutputArray = wpi::array<double, Outputs>;
+  using StateArray = wpi::util::array<double, States>;
+  using OutputArray = wpi::util::array<double, Outputs>;
 
   using StateMatrix = Matrixd<States, States>;
 
@@ -77,7 +77,7 @@ class ExtendedKalmanFilter {
       std::function<StateVector(const StateVector&, const InputVector&)> f,
       std::function<OutputVector(const StateVector&, const InputVector&)> h,
       const StateArray& stateStdDevs, const OutputArray& measurementStdDevs,
-      units::second_t dt)
+      wpi::units::second_t dt)
       : m_f(std::move(f)), m_h(std::move(h)) {
     m_contQ = MakeCovMatrix(stateStdDevs);
     m_contR = MakeCovMatrix(measurementStdDevs);
@@ -165,7 +165,7 @@ class ExtendedKalmanFilter {
           residualFuncY,
       std::function<StateVector(const StateVector&, const StateVector&)>
           addFuncX,
-      units::second_t dt)
+      wpi::units::second_t dt)
       : m_f(std::move(f)),
         m_h(std::move(h)),
         m_residualFuncY(std::move(residualFuncY)),
@@ -284,7 +284,7 @@ class ExtendedKalmanFilter {
    * @param u  New control input from controller.
    * @param dt Timestep for prediction.
    */
-  void Predict(const InputVector& u, units::second_t dt) {
+  void Predict(const InputVector& u, wpi::units::second_t dt) {
     // Find continuous A
     StateMatrix contA =
         NumericalJacobianX<States, States, Inputs>(m_f, m_xHat, u);
@@ -423,9 +423,9 @@ class ExtendedKalmanFilter {
   StateMatrix m_P;
   StateMatrix m_contQ;
   Matrixd<Outputs, Outputs> m_contR;
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   StateMatrix m_initP;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
index 12b98de097..67178aa589 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
@@ -20,7 +20,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A Kalman filter combines predictions from a model and measurements to give an
@@ -49,8 +49,8 @@ class KalmanFilter {
   using InputVector = Vectord<Inputs>;
   using OutputVector = Vectord<Outputs>;
 
-  using StateArray = wpi::array<double, States>;
-  using OutputArray = wpi::array<double, Outputs>;
+  using StateArray = wpi::util::array<double, States>;
+  using OutputArray = wpi::util::array<double, Outputs>;
 
   using StateMatrix = Matrixd<States, States>;
 
@@ -69,7 +69,7 @@ class KalmanFilter {
    */
   KalmanFilter(LinearSystem<States, Inputs, Outputs>& plant,
                const StateArray& stateStdDevs,
-               const OutputArray& measurementStdDevs, units::second_t dt) {
+               const OutputArray& measurementStdDevs, wpi::units::second_t dt) {
     m_plant = &plant;
 
     m_contQ = MakeCovMatrix(stateStdDevs);
@@ -181,7 +181,7 @@ class KalmanFilter {
    * @param u  New control input from controller.
    * @param dt Timestep for prediction.
    */
-  void Predict(const InputVector& u, units::second_t dt) {
+  void Predict(const InputVector& u, wpi::units::second_t dt) {
     // Find discrete A and Q
     StateMatrix discA;
     StateMatrix discQ;
@@ -257,7 +257,7 @@ class KalmanFilter {
   StateMatrix m_P;
   StateMatrix m_contQ;
   Matrixd<Outputs, Outputs> m_contR;
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   StateMatrix m_initP;
 };
@@ -267,4 +267,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     KalmanFilter<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
index 3cdc7fb3b1..dc0dc4052e 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
@@ -14,7 +14,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class incorporates time-delayed measurements into a Kalman filter's
@@ -62,7 +62,7 @@ class KalmanFilterLatencyCompensator {
    * @param timestamp The timestamp of the state.
    */
   void AddObserverState(const KalmanFilterType& observer, Vectord<Inputs> u,
-                        Vectord<Outputs> localY, units::second_t timestamp) {
+                        Vectord<Outputs> localY, wpi::units::second_t timestamp) {
     // Add the new state into the vector.
     m_pastObserverSnapshots.emplace_back(timestamp,
                                          ObserverSnapshot{observer, u, localY});
@@ -86,10 +86,10 @@ class KalmanFilterLatencyCompensator {
    */
   template <int Rows>
   void ApplyPastGlobalMeasurement(
-      KalmanFilterType* observer, units::second_t nominalDt, Vectord<Rows> y,
+      KalmanFilterType* observer, wpi::units::second_t nominalDt, Vectord<Rows> y,
       std::function<void(const Vectord<Inputs>& u, const Vectord<Rows>& y)>
           globalMeasurementCorrect,
-      units::second_t timestamp) {
+      wpi::units::second_t timestamp) {
     if (m_pastObserverSnapshots.size() == 0) {
       // State map was empty, which means that we got a measurement right at
       // startup. The only thing we can do is ignore the measurement.
@@ -130,14 +130,14 @@ class KalmanFilterLatencyCompensator {
       int prevIdx = nextIdx - 1;
 
       // Find the snapshot closest in time to global measurement
-      units::second_t prevTimeDiff =
-          units::math::abs(timestamp - m_pastObserverSnapshots[prevIdx].first);
-      units::second_t nextTimeDiff =
-          units::math::abs(timestamp - m_pastObserverSnapshots[nextIdx].first);
+      wpi::units::second_t prevTimeDiff =
+          wpi::units::math::abs(timestamp - m_pastObserverSnapshots[prevIdx].first);
+      wpi::units::second_t nextTimeDiff =
+          wpi::units::math::abs(timestamp - m_pastObserverSnapshots[nextIdx].first);
       indexOfClosestEntry = prevTimeDiff < nextTimeDiff ? prevIdx : nextIdx;
     }
 
-    units::second_t lastTimestamp =
+    wpi::units::second_t lastTimestamp =
         m_pastObserverSnapshots[indexOfClosestEntry].first - nominalDt;
 
     // We will now go back in time to the state of the system at the time when
@@ -174,7 +174,7 @@ class KalmanFilterLatencyCompensator {
 
  private:
   static constexpr size_t kMaxPastObserverStates = 300;
-  std::vector<std::pair<units::second_t, ObserverSnapshot>>
+  std::vector<std::pair<wpi::units::second_t, ObserverSnapshot>>
       m_pastObserverSnapshots;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
index 3db122aad7..ce390e8178 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * This class wraps Mecanum Drive Odometry to fuse latency-compensated
  * vision measurements with mecanum drive encoder velocity measurements. It will
@@ -74,11 +74,11 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator
   MecanumDrivePoseEstimator(
       MecanumDriveKinematics& kinematics, const Rotation2d& gyroAngle,
       const MecanumDriveWheelPositions& wheelPositions,
-      const Pose2d& initialPose, const wpi::array<double, 3>& stateStdDevs,
-      const wpi::array<double, 3>& visionMeasurementStdDevs);
+      const Pose2d& initialPose, const wpi::util::array<double, 3>& stateStdDevs,
+      const wpi::util::array<double, 3>& visionMeasurementStdDevs);
 
  private:
   MecanumDriveOdometry m_odometryImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
index 171c90a212..d44db79225 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * This class wraps Mecanum Drive Odometry to fuse latency-compensated
  * vision measurements with mecanum drive encoder velocity measurements. It will
@@ -79,11 +79,11 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator3d
   MecanumDrivePoseEstimator3d(
       MecanumDriveKinematics& kinematics, const Rotation3d& gyroAngle,
       const MecanumDriveWheelPositions& wheelPositions,
-      const Pose3d& initialPose, const wpi::array<double, 4>& stateStdDevs,
-      const wpi::array<double, 4>& visionMeasurementStdDevs);
+      const Pose3d& initialPose, const wpi::util::array<double, 4>& stateStdDevs,
+      const wpi::util::array<double, 4>& visionMeasurementStdDevs);
 
  private:
   MecanumDriveOdometry3d m_odometryImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
index 558d1af014..e008debc71 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/math/linalg/EigenCore.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Generates sigma points and weights according to Van der Merwe's 2004
@@ -125,4 +125,4 @@ class MerweScaledSigmaPoints {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
index 7f2ede4207..5a12166cd4 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template <int States, int Inputs, int Outputs>
 using MerweUKF = UnscentedKalmanFilter<States, Inputs, Outputs,
@@ -21,4 +21,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<5, 3, 3, MerweScaledSigmaPoints<5>>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
index 0c2238aab8..9ac8ed792e 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class wraps odometry to fuse latency-compensated
@@ -61,8 +61,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
    */
   PoseEstimator(Kinematics<WheelSpeeds, WheelPositions>& kinematics,
                 Odometry<WheelSpeeds, WheelPositions>& odometry,
-                const wpi::array<double, 3>& stateStdDevs,
-                const wpi::array<double, 3>& visionMeasurementStdDevs)
+                const wpi::util::array<double, 3>& stateStdDevs,
+                const wpi::util::array<double, 3>& visionMeasurementStdDevs)
       : m_odometry(odometry) {
     for (size_t i = 0; i < 3; ++i) {
       m_q[i] = stateStdDevs[i] * stateStdDevs[i];
@@ -82,8 +82,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
    *     less.
    */
   void SetVisionMeasurementStdDevs(
-      const wpi::array<double, 3>& visionMeasurementStdDevs) {
-    wpi::array<double, 3> r{wpi::empty_array};
+      const wpi::util::array<double, 3>& visionMeasurementStdDevs) {
+    wpi::util::array<double, 3> r{wpi::util::empty_array};
     for (size_t i = 0; i < 3; ++i) {
       r[i] = visionMeasurementStdDevs[i] * visionMeasurementStdDevs[i];
     }
@@ -169,7 +169,7 @@ class WPILIB_DLLEXPORT PoseEstimator {
    * @return The pose at the given timestamp (or std::nullopt if the buffer is
    * empty).
    */
-  std::optional<Pose2d> SampleAt(units::second_t timestamp) const {
+  std::optional<Pose2d> SampleAt(wpi::units::second_t timestamp) const {
     // Step 0: If there are no odometry updates to sample, skip.
     if (m_odometryPoseBuffer.GetInternalBuffer().empty()) {
       return std::nullopt;
@@ -178,9 +178,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
     // Step 1: Make sure timestamp matches the sample from the odometry pose
     // buffer. (When sampling, the buffer will always use a timestamp
     // between the first and last timestamps)
-    units::second_t oldestOdometryTimestamp =
+    wpi::units::second_t oldestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().front().first;
-    units::second_t newestOdometryTimestamp =
+    wpi::units::second_t newestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().back().first;
     timestamp =
         std::clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
@@ -228,11 +228,11 @@ class WPILIB_DLLEXPORT PoseEstimator {
    *     that if you don't use your own time source by calling UpdateWithTime(),
    *     then you must use a timestamp with an epoch since FPGA startup (i.e.,
    *     the epoch of this timestamp is the same epoch as
-   *     frc::Timer::GetTimestamp(). This means that you should use
-   *     frc::Timer::GetTimestamp() as your time source in this case.
+   *     wpi::math::Timer::GetTimestamp(). This means that you should use
+   *     wpi::math::Timer::GetTimestamp() as your time source in this case.
    */
   void AddVisionMeasurement(const Pose2d& visionRobotPose,
-                            units::second_t timestamp) {
+                            wpi::units::second_t timestamp) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's
     // timespan, skip.
     if (m_odometryPoseBuffer.GetInternalBuffer().empty() ||
@@ -273,9 +273,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
                                     twist.dtheta.value()};
 
     // Step 6: Convert back to Twist2d.
-    Twist2d scaledTwist{units::meter_t{k_times_twist(0)},
-                        units::meter_t{k_times_twist(1)},
-                        units::radian_t{k_times_twist(2)}};
+    Twist2d scaledTwist{wpi::units::meter_t{k_times_twist(0)},
+                        wpi::units::meter_t{k_times_twist(1)},
+                        wpi::units::radian_t{k_times_twist(2)}};
 
     // Step 7: Calculate and record the vision update.
     VisionUpdate visionUpdate{visionSample.value() + scaledTwist.Exp(),
@@ -312,16 +312,16 @@ class WPILIB_DLLEXPORT PoseEstimator {
    *     that if you don't use your own time source by calling UpdateWithTime(),
    *     then you must use a timestamp with an epoch since FPGA startup (i.e.,
    *     the epoch of this timestamp is the same epoch as
-   *     frc::Timer::GetTimestamp(). This means that you should use
-   *     frc::Timer::GetTimestamp() as your time source in this case.
+   *     wpi::math::Timer::GetTimestamp(). This means that you should use
+   *     wpi::math::Timer::GetTimestamp() as your time source in this case.
    * @param visionMeasurementStdDevs Standard deviations of the vision pose
    *     measurement (x position in meters, y position in meters, and heading in
    *     radians). Increase these numbers to trust the vision pose measurement
    *     less.
    */
   void AddVisionMeasurement(
-      const Pose2d& visionRobotPose, units::second_t timestamp,
-      const wpi::array<double, 3>& visionMeasurementStdDevs) {
+      const Pose2d& visionRobotPose, wpi::units::second_t timestamp,
+      const wpi::util::array<double, 3>& visionMeasurementStdDevs) {
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
     AddVisionMeasurement(visionRobotPose, timestamp);
   }
@@ -351,7 +351,7 @@ class WPILIB_DLLEXPORT PoseEstimator {
    *
    * @return The estimated pose of the robot in meters.
    */
-  Pose2d UpdateWithTime(units::second_t currentTime,
+  Pose2d UpdateWithTime(wpi::units::second_t currentTime,
                         const Rotation2d& gyroAngle,
                         const WheelPositions& wheelPositions) {
     auto odometryEstimate = m_odometry.Update(gyroAngle, wheelPositions);
@@ -379,7 +379,7 @@ class WPILIB_DLLEXPORT PoseEstimator {
     }
 
     // Step 1: Find the oldest timestamp that needs a vision update.
-    units::second_t oldestOdometryTimestamp =
+    wpi::units::second_t oldestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().front().first;
 
     // Step 2: If there are no vision updates before that timestamp, skip.
@@ -422,10 +422,10 @@ class WPILIB_DLLEXPORT PoseEstimator {
     }
   };
 
-  static constexpr units::second_t kBufferDuration = 1.5_s;
+  static constexpr wpi::units::second_t kBufferDuration = 1.5_s;
 
   Odometry<WheelSpeeds, WheelPositions>& m_odometry;
-  wpi::array<double, 3> m_q{wpi::empty_array};
+  wpi::util::array<double, 3> m_q{wpi::util::empty_array};
   Eigen::Matrix3d m_visionK = Eigen::Matrix3d::Zero();
 
   // Maps timestamps to odometry-only pose estimates
@@ -433,9 +433,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
   // unless there have been no vision measurements after the last reset
-  std::map<units::second_t, VisionUpdate> m_visionUpdates;
+  std::map<wpi::units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose2d m_poseEstimate;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
index 6d475470c6..2d19ba821f 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
@@ -23,7 +23,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class wraps odometry to fuse latency-compensated
@@ -67,8 +67,8 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    */
   PoseEstimator3d(Kinematics<WheelSpeeds, WheelPositions>& kinematics,
                   Odometry3d<WheelSpeeds, WheelPositions>& odometry,
-                  const wpi::array<double, 4>& stateStdDevs,
-                  const wpi::array<double, 4>& visionMeasurementStdDevs)
+                  const wpi::util::array<double, 4>& stateStdDevs,
+                  const wpi::util::array<double, 4>& visionMeasurementStdDevs)
       : m_odometry(odometry) {
     for (size_t i = 0; i < 4; ++i) {
       m_q[i] = stateStdDevs[i] * stateStdDevs[i];
@@ -88,8 +88,8 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    *     less.
    */
   void SetVisionMeasurementStdDevs(
-      const wpi::array<double, 4>& visionMeasurementStdDevs) {
-    wpi::array<double, 4> r{wpi::empty_array};
+      const wpi::util::array<double, 4>& visionMeasurementStdDevs) {
+    wpi::util::array<double, 4> r{wpi::util::empty_array};
     for (size_t i = 0; i < 4; ++i) {
       r[i] = visionMeasurementStdDevs[i] * visionMeasurementStdDevs[i];
     }
@@ -178,7 +178,7 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    * @return The pose at the given timestamp (or std::nullopt if the buffer is
    * empty).
    */
-  std::optional<Pose3d> SampleAt(units::second_t timestamp) const {
+  std::optional<Pose3d> SampleAt(wpi::units::second_t timestamp) const {
     // Step 0: If there are no odometry updates to sample, skip.
     if (m_odometryPoseBuffer.GetInternalBuffer().empty()) {
       return std::nullopt;
@@ -187,9 +187,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     // Step 1: Make sure timestamp matches the sample from the odometry pose
     // buffer. (When sampling, the buffer will always use a timestamp
     // between the first and last timestamps)
-    units::second_t oldestOdometryTimestamp =
+    wpi::units::second_t oldestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().front().first;
-    units::second_t newestOdometryTimestamp =
+    wpi::units::second_t newestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().back().first;
     timestamp =
         std::clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
@@ -237,11 +237,11 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    *     that if you don't use your own time source by calling UpdateWithTime(),
    *     then you must use a timestamp with an epoch since FPGA startup (i.e.,
    *     the epoch of this timestamp is the same epoch as
-   *     frc::Timer::GetFPGATimestamp(). This means that you should use
-   *     frc::Timer::GetFPGATimestamp() as your time source in this case.
+   *     wpi::math::Timer::GetFPGATimestamp(). This means that you should use
+   *     wpi::math::Timer::GetFPGATimestamp() as your time source in this case.
    */
   void AddVisionMeasurement(const Pose3d& visionRobotPose,
-                            units::second_t timestamp) {
+                            wpi::units::second_t timestamp) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's
     // timespan, skip.
     if (m_odometryPoseBuffer.GetInternalBuffer().empty() ||
@@ -277,16 +277,16 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     // Step 5: We should not trust the twist entirely, so instead we scale this
     // twist by a Kalman gain matrix representing how much we trust vision
     // measurements compared to our current pose.
-    frc::Vectord<6> k_times_twist =
-        m_visionK * frc::Vectord<6>{twist.dx.value(), twist.dy.value(),
+    wpi::math::Vectord<6> k_times_twist =
+        m_visionK * wpi::math::Vectord<6>{twist.dx.value(), twist.dy.value(),
                                     twist.dz.value(), twist.rx.value(),
                                     twist.ry.value(), twist.rz.value()};
 
     // Step 6: Convert back to Twist3d.
     Twist3d scaledTwist{
-        units::meter_t{k_times_twist(0)},  units::meter_t{k_times_twist(1)},
-        units::meter_t{k_times_twist(2)},  units::radian_t{k_times_twist(3)},
-        units::radian_t{k_times_twist(4)}, units::radian_t{k_times_twist(5)}};
+        wpi::units::meter_t{k_times_twist(0)},  wpi::units::meter_t{k_times_twist(1)},
+        wpi::units::meter_t{k_times_twist(2)},  wpi::units::radian_t{k_times_twist(3)},
+        wpi::units::radian_t{k_times_twist(4)}, wpi::units::radian_t{k_times_twist(5)}};
 
     // Step 7: Calculate and record the vision update.
     VisionUpdate visionUpdate{visionSample.value() + scaledTwist.Exp(),
@@ -323,16 +323,16 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    *     that if you don't use your own time source by calling UpdateWithTime(),
    *     then you must use a timestamp with an epoch since FPGA startup (i.e.,
    *     the epoch of this timestamp is the same epoch as
-   *     frc::Timer::GetFPGATimestamp(). This means that you should use
-   *     frc::Timer::GetFPGATimestamp() as your time source in this case.
+   *     wpi::math::Timer::GetFPGATimestamp(). This means that you should use
+   *     wpi::math::Timer::GetFPGATimestamp() as your time source in this case.
    * @param visionMeasurementStdDevs Standard deviations of the vision pose
    *     measurement (x position in meters, y position in meters, and heading in
    *     radians). Increase these numbers to trust the vision pose measurement
    *     less.
    */
   void AddVisionMeasurement(
-      const Pose3d& visionRobotPose, units::second_t timestamp,
-      const wpi::array<double, 4>& visionMeasurementStdDevs) {
+      const Pose3d& visionRobotPose, wpi::units::second_t timestamp,
+      const wpi::util::array<double, 4>& visionMeasurementStdDevs) {
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
     AddVisionMeasurement(visionRobotPose, timestamp);
   }
@@ -362,7 +362,7 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    *
    * @return The estimated pose of the robot in meters.
    */
-  Pose3d UpdateWithTime(units::second_t currentTime,
+  Pose3d UpdateWithTime(wpi::units::second_t currentTime,
                         const Rotation3d& gyroAngle,
                         const WheelPositions& wheelPositions) {
     auto odometryEstimate = m_odometry.Update(gyroAngle, wheelPositions);
@@ -390,7 +390,7 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     }
 
     // Step 1: Find the oldest timestamp that needs a vision update.
-    units::second_t oldestOdometryTimestamp =
+    wpi::units::second_t oldestOdometryTimestamp =
         m_odometryPoseBuffer.GetInternalBuffer().front().first;
 
     // Step 2: If there are no vision updates before that timestamp, skip.
@@ -433,20 +433,20 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     }
   };
 
-  static constexpr units::second_t kBufferDuration = 1.5_s;
+  static constexpr wpi::units::second_t kBufferDuration = 1.5_s;
 
   Odometry3d<WheelSpeeds, WheelPositions>& m_odometry;
-  wpi::array<double, 4> m_q{wpi::empty_array};
-  frc::Matrixd<6, 6> m_visionK = frc::Matrixd<6, 6>::Zero();
+  wpi::util::array<double, 4> m_q{wpi::util::empty_array};
+  wpi::math::Matrixd<6, 6> m_visionK = wpi::math::Matrixd<6, 6>::Zero();
 
   // Maps timestamps to odometry-only pose estimates
   TimeInterpolatableBuffer<Pose3d> m_odometryPoseBuffer{kBufferDuration};
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
   // unless there have been no vision measurements after the last reset
-  std::map<units::second_t, VisionUpdate> m_visionUpdates;
+  std::map<wpi::units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose3d m_poseEstimate;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
index 4f226d6703..956f8cb9cd 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Generates sigma points and weights according to Papakonstantinou's paper[1]
@@ -57,7 +57,7 @@ class S3SigmaPoints {
   Matrixd<States, NumSigmas> SquareRootSigmaPoints(
       const Vectord<States>& x, const Matrixd<States, States>& S) const {
     // table (1), equation (12)
-    wpi::array<double, States> q{wpi::empty_array};
+    wpi::util::array<double, States> q{wpi::util::empty_array};
     for (size_t t = 1; t <= States; ++t) {
       q[t - 1] = m_alpha * std::sqrt(static_cast<double>(t * (States + 1)) /
                                      static_cast<double>(t + 1));
@@ -131,4 +131,4 @@ class S3SigmaPoints {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp b/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
index 8eaea80512..1e3b2a5310 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template <int States, int Inputs, int Outputs>
 using S3UKF =
@@ -21,4 +21,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     UnscentedKalmanFilter<5, 3, 3, S3SigmaPoints<5>>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
index c21d329114..4b5a5ca88c 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/math/linalg/EigenCore.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 template <typename T, int States>
 concept SigmaPoints =
@@ -23,4 +23,4 @@ concept SigmaPoints =
       { t.Wc(i) } -> std::same_as<double>;
     } && std::default_initializable<T>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
index 07f1321088..61b7d5cabe 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A Kalman filter combines predictions from a model and measurements to give an
@@ -54,8 +54,8 @@ class SteadyStateKalmanFilter {
   using InputVector = Vectord<Inputs>;
   using OutputVector = Vectord<Outputs>;
 
-  using StateArray = wpi::array<double, States>;
-  using OutputArray = wpi::array<double, Outputs>;
+  using StateArray = wpi::util::array<double, States>;
+  using OutputArray = wpi::util::array<double, Outputs>;
 
   /**
    * Constructs a steady-state Kalman filter with the given plant.
@@ -73,7 +73,7 @@ class SteadyStateKalmanFilter {
   SteadyStateKalmanFilter(LinearSystem<States, Inputs, Outputs>& plant,
                           const StateArray& stateStdDevs,
                           const OutputArray& measurementStdDevs,
-                          units::second_t dt) {
+                          wpi::units::second_t dt) {
     m_plant = &plant;
 
     auto contQ = MakeCovMatrix(stateStdDevs);
@@ -205,7 +205,7 @@ class SteadyStateKalmanFilter {
    * @param u  New control input from controller.
    * @param dt Timestep for prediction.
    */
-  void Predict(const InputVector& u, units::second_t dt) {
+  void Predict(const InputVector& u, wpi::units::second_t dt) {
     m_xHat = m_plant->CalculateX(m_xHat, u, dt);
   }
 
@@ -242,4 +242,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SteadyStateKalmanFilter<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
index 0ca22472b7..0ef9557a44 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class wraps Swerve Drive Odometry to fuse latency-compensated
@@ -30,8 +30,8 @@ namespace frc {
  */
 template <size_t NumModules>
 class SwerveDrivePoseEstimator
-    : public PoseEstimator<wpi::array<SwerveModuleState, NumModules>,
-                           wpi::array<SwerveModulePosition, NumModules>> {
+    : public PoseEstimator<wpi::util::array<SwerveModuleState, NumModules>,
+                           wpi::util::array<SwerveModulePosition, NumModules>> {
  public:
   /**
    * Constructs a SwerveDrivePoseEstimator with default standard deviations
@@ -52,7 +52,7 @@ class SwerveDrivePoseEstimator
   SwerveDrivePoseEstimator(
       SwerveDriveKinematics<NumModules>& kinematics,
       const Rotation2d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
       const Pose2d& initialPose)
       : SwerveDrivePoseEstimator{kinematics,      gyroAngle,
                                  modulePositions, initialPose,
@@ -78,9 +78,9 @@ class SwerveDrivePoseEstimator
   SwerveDrivePoseEstimator(
       SwerveDriveKinematics<NumModules>& kinematics,
       const Rotation2d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
-      const Pose2d& initialPose, const wpi::array<double, 3>& stateStdDevs,
-      const wpi::array<double, 3>& visionMeasurementStdDevs)
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
+      const Pose2d& initialPose, const wpi::util::array<double, 3>& stateStdDevs,
+      const wpi::util::array<double, 3>& visionMeasurementStdDevs)
       : SwerveDrivePoseEstimator::PoseEstimator(
             kinematics, m_odometryImpl, stateStdDevs, visionMeasurementStdDevs),
         m_odometryImpl{kinematics, gyroAngle, modulePositions, initialPose} {
@@ -94,4 +94,4 @@ class SwerveDrivePoseEstimator
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SwerveDrivePoseEstimator<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
index 5719af034e..9cdba71d31 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class wraps Swerve Drive Odometry to fuse latency-compensated
@@ -34,8 +34,8 @@ namespace frc {
  */
 template <size_t NumModules>
 class SwerveDrivePoseEstimator3d
-    : public PoseEstimator3d<wpi::array<SwerveModuleState, NumModules>,
-                             wpi::array<SwerveModulePosition, NumModules>> {
+    : public PoseEstimator3d<wpi::util::array<SwerveModuleState, NumModules>,
+                             wpi::util::array<SwerveModulePosition, NumModules>> {
  public:
   /**
    * Constructs a SwerveDrivePoseEstimator3d with default standard deviations
@@ -57,7 +57,7 @@ class SwerveDrivePoseEstimator3d
   SwerveDrivePoseEstimator3d(
       SwerveDriveKinematics<NumModules>& kinematics,
       const Rotation3d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
       const Pose3d& initialPose)
       : SwerveDrivePoseEstimator3d{kinematics,           gyroAngle,
                                    modulePositions,      initialPose,
@@ -84,9 +84,9 @@ class SwerveDrivePoseEstimator3d
   SwerveDrivePoseEstimator3d(
       SwerveDriveKinematics<NumModules>& kinematics,
       const Rotation3d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
-      const Pose3d& initialPose, const wpi::array<double, 4>& stateStdDevs,
-      const wpi::array<double, 4>& visionMeasurementStdDevs)
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
+      const Pose3d& initialPose, const wpi::util::array<double, 4>& stateStdDevs,
+      const wpi::util::array<double, 4>& visionMeasurementStdDevs)
       : SwerveDrivePoseEstimator3d::PoseEstimator3d(
             kinematics, m_odometryImpl, stateStdDevs, visionMeasurementStdDevs),
         m_odometryImpl{kinematics, gyroAngle, modulePositions, initialPose} {
@@ -100,4 +100,4 @@ class SwerveDrivePoseEstimator3d
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SwerveDrivePoseEstimator3d<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
index 90d436afd7..b6e42d9bb6 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A Kalman filter combines predictions from a model and measurements to give an
@@ -67,8 +67,8 @@ class UnscentedKalmanFilter {
   using InputVector = Vectord<Inputs>;
   using OutputVector = Vectord<Outputs>;
 
-  using StateArray = wpi::array<double, States>;
-  using OutputArray = wpi::array<double, Outputs>;
+  using StateArray = wpi::util::array<double, States>;
+  using OutputArray = wpi::util::array<double, Outputs>;
 
   using StateMatrix = Matrixd<States, States>;
 
@@ -91,7 +91,7 @@ class UnscentedKalmanFilter {
       std::function<StateVector(const StateVector&, const InputVector&)> f,
       std::function<OutputVector(const StateVector&, const InputVector&)> h,
       const StateArray& stateStdDevs, const OutputArray& measurementStdDevs,
-      units::second_t dt)
+      wpi::units::second_t dt)
       : m_f(std::move(f)), m_h(std::move(h)) {
     m_contQ = MakeCovMatrix(stateStdDevs);
     m_contR = MakeCovMatrix(measurementStdDevs);
@@ -161,7 +161,7 @@ class UnscentedKalmanFilter {
           residualFuncY,
       std::function<StateVector(const StateVector&, const StateVector&)>
           addFuncX,
-      units::second_t dt)
+      wpi::units::second_t dt)
       : m_f(std::move(f)),
         m_h(std::move(h)),
         m_meanFuncX(std::move(meanFuncX)),
@@ -251,7 +251,7 @@ class UnscentedKalmanFilter {
    * @param u  New control input from controller.
    * @param dt Timestep for prediction.
    */
-  void Predict(const InputVector& u, units::second_t dt) {
+  void Predict(const InputVector& u, wpi::units::second_t dt) {
     m_dt = dt;
 
     // Discretize Q before projecting mean and covariance forward
@@ -491,9 +491,9 @@ class UnscentedKalmanFilter {
   StateMatrix m_contQ;
   Matrixd<Outputs, Outputs> m_contR;
   Matrixd<States, NumSigmas> m_sigmasF;
-  units::second_t m_dt;
+  wpi::units::second_t m_dt;
 
   SigmaPoints m_pts;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
index 62909c269d..b1ee8527c1 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/math/linalg/EigenCore.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Computes unscented transform of a set of sigma points and weights. CovDim
@@ -103,4 +103,4 @@ SquareRootUnscentedTransform(
   return std::make_tuple(x, S);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
index 76106ea087..3972d25507 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
@@ -8,7 +8,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A simple debounce filter for boolean streams.  Requires that the boolean
  * change value from baseline for a specified period of time before the filtered
@@ -36,7 +36,7 @@ class WPILIB_DLLEXPORT Debouncer {
    * @param type         Which type of state change the debouncing will be
    *                     performed on.
    */
-  explicit Debouncer(units::second_t debounceTime,
+  explicit Debouncer(wpi::units::second_t debounceTime,
                      DebounceType type = DebounceType::kRising);
 
   /**
@@ -53,7 +53,7 @@ class WPILIB_DLLEXPORT Debouncer {
    * @param time The number of seconds the value must change from baseline
    *             for the filtered value to change.
    */
-  constexpr void SetDebounceTime(units::second_t time) {
+  constexpr void SetDebounceTime(wpi::units::second_t time) {
     m_debounceTime = time;
   }
 
@@ -63,7 +63,7 @@ class WPILIB_DLLEXPORT Debouncer {
    * @return The number of seconds the value must change from baseline
    *             for the filtered value to change.
    */
-  constexpr units::second_t GetDebounceTime() const { return m_debounceTime; }
+  constexpr wpi::units::second_t GetDebounceTime() const { return m_debounceTime; }
 
   /**
    * Set the debounce type.
@@ -84,14 +84,14 @@ class WPILIB_DLLEXPORT Debouncer {
   constexpr DebounceType GetDebounceType() const { return m_debounceType; }
 
  private:
-  units::second_t m_debounceTime;
+  wpi::units::second_t m_debounceTime;
   bool m_baseline;
   DebounceType m_debounceType;
 
-  units::second_t m_prevTime;
+  wpi::units::second_t m_prevTime;
 
   void ResetTimer();
 
   bool HasElapsed() const;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp b/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
index 09e0a392a1..3d47e12c4d 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/array.hpp"
 #include "wpi/util/circular_buffer.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * This class implements a linear, digital filter. All types of FIR and IIR
@@ -128,7 +128,7 @@ class LinearFilter {
    *                     user.
    */
   static constexpr LinearFilter<T> SinglePoleIIR(double timeConstant,
-                                                 units::second_t period) {
+                                                 wpi::units::second_t period) {
     double gain = gcem::exp(-period.value() / timeConstant);
     return LinearFilter({1.0 - gain}, {-gain});
   }
@@ -148,7 +148,7 @@ class LinearFilter {
    *                     user.
    */
   static constexpr LinearFilter<T> HighPass(double timeConstant,
-                                            units::second_t period) {
+                                            wpi::units::second_t period) {
     double gain = gcem::exp(-period.value() / timeConstant);
     return LinearFilter({gain, -gain}, {-gain});
   }
@@ -191,7 +191,7 @@ class LinearFilter {
    */
   template <int Derivative, int Samples>
   static LinearFilter<T> FiniteDifference(
-      const wpi::array<int, Samples>& stencil, units::second_t period) {
+      const wpi::util::array<int, Samples>& stencil, wpi::units::second_t period) {
     // See
     // https://en.wikipedia.org/wiki/Finite_difference_coefficient#Arbitrary_stencil_points
     //
@@ -257,9 +257,9 @@ class LinearFilter {
    * @param period      The period in seconds between samples taken by the user.
    */
   template <int Derivative, int Samples>
-  static LinearFilter<T> BackwardFiniteDifference(units::second_t period) {
+  static LinearFilter<T> BackwardFiniteDifference(wpi::units::second_t period) {
     // Generate stencil points from -(samples - 1) to 0
-    wpi::array<int, Samples> stencil{wpi::empty_array};
+    wpi::util::array<int, Samples> stencil{wpi::util::empty_array};
     for (int i = 0; i < Samples; ++i) {
       stencil[i] = -(Samples - 1) + i;
     }
@@ -384,8 +384,8 @@ class LinearFilter {
   constexpr T LastValue() const { return m_lastOutput; }
 
  private:
-  wpi::circular_buffer<T> m_inputs;
-  wpi::circular_buffer<T> m_outputs;
+  wpi::util::circular_buffer<T> m_inputs;
+  wpi::util::circular_buffer<T> m_outputs;
   std::vector<double> m_inputGains;
   std::vector<double> m_outputGains;
   T m_lastOutput{0.0};
@@ -407,4 +407,4 @@ class LinearFilter {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp b/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
index 694ff7c954..b378d22b2c 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/Algorithm.hpp"
 #include "wpi/util/circular_buffer.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A class that implements a moving-window median filter.  Useful for reducing
  * measurement noise, especially with processes that generate occasional,
@@ -36,7 +36,7 @@ class MedianFilter {
    */
   constexpr T Calculate(T next) {
     // Insert next value at proper point in sorted array
-    wpi::insert_sorted(m_orderedValues, next);
+    wpi::util::insert_sorted(m_orderedValues, next);
 
     size_t curSize = m_orderedValues.size();
 
@@ -78,8 +78,8 @@ class MedianFilter {
   }
 
  private:
-  wpi::circular_buffer<T> m_valueBuffer;
+  wpi::util::circular_buffer<T> m_valueBuffer;
   std::vector<T> m_orderedValues;
   size_t m_size;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
index 9e954cdc83..37c8320768 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A class that limits the rate of change of an input value.  Useful for
  * implementing voltage, setpoint, and/or output ramps.  A slew-rate limit
@@ -23,9 +23,9 @@ namespace frc {
 template <class Unit>
 class SlewRateLimiter {
  public:
-  using Unit_t = units::unit_t<Unit>;
-  using Rate = units::compound_unit<Unit, units::inverse<units::seconds>>;
-  using Rate_t = units::unit_t<Rate>;
+  using Unit_t = wpi::units::unit_t<Unit>;
+  using Rate = wpi::units::compound_unit<Unit, wpi::units::inverse<wpi::units::seconds>>;
+  using Rate_t = wpi::units::unit_t<Rate>;
 
   /**
    * Creates a new SlewRateLimiter with the given positive and negative rate
@@ -45,7 +45,7 @@ class SlewRateLimiter {
         m_negativeRateLimit{negativeRateLimit},
         m_prevVal{initialValue},
         m_prevTime{
-            units::microsecond_t{wpi::math::MathSharedStore::GetTimestamp()}} {}
+            wpi::units::microsecond_t{wpi::math::MathSharedStore::GetTimestamp()}} {}
 
   /**
    * Creates a new SlewRateLimiter with the given positive rate limit and
@@ -64,8 +64,8 @@ class SlewRateLimiter {
    * rate.
    */
   Unit_t Calculate(Unit_t input) {
-    units::second_t currentTime = wpi::math::MathSharedStore::GetTimestamp();
-    units::second_t elapsedTime = currentTime - m_prevTime;
+    wpi::units::second_t currentTime = wpi::math::MathSharedStore::GetTimestamp();
+    wpi::units::second_t elapsedTime = currentTime - m_prevTime;
     m_prevVal +=
         std::clamp(input - m_prevVal, m_negativeRateLimit * elapsedTime,
                    m_positiveRateLimit * elapsedTime);
@@ -95,6 +95,6 @@ class SlewRateLimiter {
   Rate_t m_positiveRateLimit;
   Rate_t m_negativeRateLimit;
   Unit_t m_prevVal;
-  units::second_t m_prevTime;
+  wpi::units::second_t m_prevTime;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
index d5d8fbfb07..335b129432 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
@@ -11,7 +11,7 @@
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A class representing a coordinate system axis within the NWU coordinate
@@ -74,4 +74,4 @@ class WPILIB_DLLEXPORT CoordinateAxis {
   Eigen::Vector3d m_axis;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
index 5b5efb64b5..ff3fd7ebbd 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A helper class that converts Pose3d objects between different standard
@@ -139,4 +139,4 @@ class WPILIB_DLLEXPORT CoordinateSystem {
   Rotation3d m_rotation;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
index 37a2481f80..6f9a5a4653 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a 2d ellipse space containing translational, rotational, and
@@ -33,8 +33,8 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @param xSemiAxis The x semi-axis.
    * @param ySemiAxis The y semi-axis.
    */
-  constexpr Ellipse2d(const Pose2d& center, units::meter_t xSemiAxis,
-                      units::meter_t ySemiAxis)
+  constexpr Ellipse2d(const Pose2d& center, wpi::units::meter_t xSemiAxis,
+                      wpi::units::meter_t ySemiAxis)
       : m_center{center}, m_xSemiAxis{xSemiAxis}, m_ySemiAxis{ySemiAxis} {
     if (xSemiAxis <= 0_m || ySemiAxis <= 0_m) {
       throw std::invalid_argument("Ellipse2d semi-axes must be positive");
@@ -71,14 +71,14 @@ class WPILIB_DLLEXPORT Ellipse2d {
    *
    * @return The x semi-axis.
    */
-  constexpr units::meter_t XSemiAxis() const { return m_xSemiAxis; }
+  constexpr wpi::units::meter_t XSemiAxis() const { return m_xSemiAxis; }
 
   /**
    * Returns the y semi-axis.
    *
    * @return The y semi-axis.
    */
-  constexpr units::meter_t YSemiAxis() const { return m_ySemiAxis; }
+  constexpr wpi::units::meter_t YSemiAxis() const { return m_ySemiAxis; }
 
   /**
    * Returns the focal points of the ellipse. In a perfect circle, this will
@@ -86,21 +86,21 @@ class WPILIB_DLLEXPORT Ellipse2d {
    *
    * @return The focal points.
    */
-  constexpr wpi::array<Translation2d, 2> FocalPoints() const {
+  constexpr wpi::util::array<Translation2d, 2> FocalPoints() const {
     // Major semi-axis
-    auto a = units::math::max(m_xSemiAxis, m_ySemiAxis);
+    auto a = wpi::units::math::max(m_xSemiAxis, m_ySemiAxis);
 
     // Minor semi-axis
-    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);
+    auto b = wpi::units::math::min(m_xSemiAxis, m_ySemiAxis);
 
-    auto c = units::math::sqrt(a * a - b * b);
+    auto c = wpi::units::math::sqrt(a * a - b * b);
 
     if (m_xSemiAxis > m_ySemiAxis) {
-      return wpi::array{
+      return wpi::util::array{
           (m_center + Transform2d{-c, 0_m, Rotation2d{}}).Translation(),
           (m_center + Transform2d{c, 0_m, Rotation2d{}}).Translation()};
     } else {
-      return wpi::array{
+      return wpi::util::array{
           (m_center + Transform2d{0_m, -c, Rotation2d{}}).Translation(),
           (m_center + Transform2d{0_m, c, Rotation2d{}}).Translation()};
     }
@@ -153,7 +153,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @param point The point to check.
    * @return The distance (0, if the point is contained by the ellipse)
    */
-  units::meter_t Distance(const Translation2d& point) const {
+  wpi::units::meter_t Distance(const Translation2d& point) const {
     return Nearest(point).Distance(point);
   }
 
@@ -174,14 +174,14 @@ class WPILIB_DLLEXPORT Ellipse2d {
    */
   constexpr bool operator==(const Ellipse2d& other) const {
     return m_center == other.m_center &&
-           units::math::abs(m_xSemiAxis - other.m_xSemiAxis) < 1E-9_m &&
-           units::math::abs(m_ySemiAxis - other.m_ySemiAxis) < 1E-9_m;
+           wpi::units::math::abs(m_xSemiAxis - other.m_xSemiAxis) < 1E-9_m &&
+           wpi::units::math::abs(m_ySemiAxis - other.m_ySemiAxis) < 1E-9_m;
   }
 
  private:
   Pose2d m_center;
-  units::meter_t m_xSemiAxis;
-  units::meter_t m_ySemiAxis;
+  wpi::units::meter_t m_xSemiAxis;
+  wpi::units::meter_t m_ySemiAxis;
 
   /**
    * Solves the equation of an ellipse from the given point. This is a helper
@@ -210,7 +210,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Ellipse2dProto.hpp"
 #include "wpi/math/geometry/struct/Ellipse2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
index 66a8899db7..0d506e20a1 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Transform2d;
 
@@ -49,7 +49,7 @@ class WPILIB_DLLEXPORT Pose2d {
    * @param y The y component of the translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
-  constexpr Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
+  constexpr Pose2d(wpi::units::meter_t x, wpi::units::meter_t y, Rotation2d rotation)
       : m_translation{x, y}, m_rotation{std::move(rotation)} {}
 
   /**
@@ -110,14 +110,14 @@ class WPILIB_DLLEXPORT Pose2d {
    *
    * @return The x component of the pose's translation.
    */
-  constexpr units::meter_t X() const { return m_translation.X(); }
+  constexpr wpi::units::meter_t X() const { return m_translation.X(); }
 
   /**
    * Returns the Y component of the pose's translation.
    *
    * @return The y component of the pose's translation.
    */
-  constexpr units::meter_t Y() const { return m_translation.Y(); }
+  constexpr wpi::units::meter_t Y() const { return m_translation.Y(); }
 
   /**
    * Returns the underlying rotation.
@@ -265,26 +265,26 @@ class WPILIB_DLLEXPORT Pose2d {
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Pose2d& pose);
+void to_json(wpi::util::json& json, const Pose2d& pose);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Pose2d& pose);
+void from_json(const wpi::util::json& json, Pose2d& pose);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Pose2dProto.hpp"
 #include "wpi/math/geometry/struct/Pose2dStruct.hpp"
 
 #include "wpi/math/geometry/Transform2d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform2d Pose2d::operator-(const Pose2d& other) const {
   const auto pose = this->RelativeTo(other);
   return Transform2d{pose.Translation(), pose.Rotation()};
 }
 
-constexpr Pose2d Pose2d::TransformBy(const frc::Transform2d& other) const {
+constexpr Pose2d Pose2d::TransformBy(const wpi::math::Transform2d& other) const {
   return {m_translation + (other.Translation().RotateBy(m_rotation)),
           other.Rotation() + m_rotation};
 }
@@ -294,4 +294,4 @@ constexpr Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
   return {transform.Translation(), transform.Rotation()};
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
index b90cc984d2..e66b047142 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Transform3d;
 
@@ -53,7 +53,7 @@ class WPILIB_DLLEXPORT Pose3d {
    * @param z The z component of the translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
-  constexpr Pose3d(units::meter_t x, units::meter_t y, units::meter_t z,
+  constexpr Pose3d(wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::meter_t z,
                    Rotation3d rotation)
       : m_translation{x, y, z}, m_rotation{std::move(rotation)} {}
 
@@ -126,21 +126,21 @@ class WPILIB_DLLEXPORT Pose3d {
    *
    * @return The x component of the pose's translation.
    */
-  constexpr units::meter_t X() const { return m_translation.X(); }
+  constexpr wpi::units::meter_t X() const { return m_translation.X(); }
 
   /**
    * Returns the Y component of the pose's translation.
    *
    * @return The y component of the pose's translation.
    */
-  constexpr units::meter_t Y() const { return m_translation.Y(); }
+  constexpr wpi::units::meter_t Y() const { return m_translation.Y(); }
 
   /**
    * Returns the Z component of the pose's translation.
    *
    * @return The z component of the pose's translation.
    */
-  constexpr units::meter_t Z() const { return m_translation.Z(); }
+  constexpr wpi::units::meter_t Z() const { return m_translation.Z(); }
 
   /**
    * Returns the underlying rotation.
@@ -297,16 +297,16 @@ class WPILIB_DLLEXPORT Pose3d {
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Pose3d& pose);
+void to_json(wpi::util::json& json, const Pose3d& pose);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Pose3d& pose);
+void from_json(const wpi::util::json& json, Pose3d& pose);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/Transform3d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform3d Pose3d::operator-(const Pose3d& other) const {
   const auto pose = this->RelativeTo(other);
@@ -323,7 +323,7 @@ constexpr Pose3d Pose3d::RelativeTo(const Pose3d& other) const {
   return {transform.Translation(), transform.Rotation()};
 }
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Pose3dProto.hpp"
 #include "wpi/math/geometry/struct/Pose3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
index 4fa3831c92..b25e5f32a9 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a quaternion.
@@ -328,12 +328,12 @@ class WPILIB_DLLEXPORT Quaternion {
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Quaternion& quaternion);
+void to_json(wpi::util::json& json, const Quaternion& quaternion);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Quaternion& quaternion);
+void from_json(const wpi::util::json& json, Quaternion& quaternion);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/QuaternionProto.hpp"
 #include "wpi/math/geometry/struct/QuaternionStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
index 10ef949680..a13d0b87ac 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
@@ -15,7 +15,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a 2d rectangular space containing translational, rotational, and
@@ -33,8 +33,8 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @param yWidth The y size component of the rectangle, in unrotated
    * coordinate frame.
    */
-  constexpr Rectangle2d(const Pose2d& center, units::meter_t xWidth,
-                        units::meter_t yWidth)
+  constexpr Rectangle2d(const Pose2d& center, wpi::units::meter_t xWidth,
+                        wpi::units::meter_t yWidth)
       : m_center{center}, m_xWidth{xWidth}, m_yWidth{yWidth} {
     if (xWidth < 0_m || yWidth < 0_m) {
       throw std::invalid_argument(
@@ -52,8 +52,8 @@ class WPILIB_DLLEXPORT Rectangle2d {
   constexpr Rectangle2d(const Translation2d& cornerA,
                         const Translation2d& cornerB)
       : m_center{(cornerA + cornerB) / 2.0, Rotation2d{}},
-        m_xWidth{units::math::abs(cornerA.X() - cornerB.X())},
-        m_yWidth{units::math::abs(cornerA.Y() - cornerB.Y())} {}
+        m_xWidth{wpi::units::math::abs(cornerA.X() - cornerB.X())},
+        m_yWidth{wpi::units::math::abs(cornerA.Y() - cornerB.Y())} {}
 
   /**
    * Returns the center of the rectangle.
@@ -74,14 +74,14 @@ class WPILIB_DLLEXPORT Rectangle2d {
    *
    * @return The x size component of the rectangle.
    */
-  constexpr units::meter_t XWidth() const { return m_xWidth; }
+  constexpr wpi::units::meter_t XWidth() const { return m_xWidth; }
 
   /**
    * Returns the y size component of the rectangle.
    *
    * @return The y size component of the rectangle.
    */
-  constexpr units::meter_t YWidth() const { return m_yWidth; }
+  constexpr wpi::units::meter_t YWidth() const { return m_yWidth; }
 
   /**
    * Transforms the center of the rectangle and returns the new rectangle.
@@ -114,14 +114,14 @@ class WPILIB_DLLEXPORT Rectangle2d {
     auto pointInRect = point - m_center.Translation();
     pointInRect = pointInRect.RotateBy(-m_center.Rotation());
 
-    if (units::math::abs(units::math::abs(pointInRect.X()) - m_xWidth / 2.0) <=
+    if (wpi::units::math::abs(wpi::units::math::abs(pointInRect.X()) - m_xWidth / 2.0) <=
         1E-9_m) {
       // Point rests on left/right perimeter
-      return units::math::abs(pointInRect.Y()) <= m_yWidth / 2.0;
-    } else if (units::math::abs(units::math::abs(pointInRect.Y()) -
+      return wpi::units::math::abs(pointInRect.Y()) <= m_yWidth / 2.0;
+    } else if (wpi::units::math::abs(wpi::units::math::abs(pointInRect.Y()) -
                                 m_yWidth / 2.0) <= 1E-9_m) {
       // Point rests on top/bottom perimeter
-      return units::math::abs(pointInRect.X()) <= m_xWidth / 2.0;
+      return wpi::units::math::abs(pointInRect.X()) <= m_xWidth / 2.0;
     }
 
     return false;
@@ -153,7 +153,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @param point The point to check.
    * @return The distance (0, if the point is contained by the rectangle)
    */
-  constexpr units::meter_t Distance(const Translation2d& point) const {
+  constexpr wpi::units::meter_t Distance(const Translation2d& point) const {
     return Nearest(point).Distance(point);
   }
 
@@ -193,17 +193,17 @@ class WPILIB_DLLEXPORT Rectangle2d {
    */
   constexpr bool operator==(const Rectangle2d& other) const {
     return m_center == other.m_center &&
-           units::math::abs(m_xWidth - other.m_xWidth) < 1E-9_m &&
-           units::math::abs(m_yWidth - other.m_yWidth) < 1E-9_m;
+           wpi::units::math::abs(m_xWidth - other.m_xWidth) < 1E-9_m &&
+           wpi::units::math::abs(m_yWidth - other.m_yWidth) < 1E-9_m;
   }
 
  private:
   Pose2d m_center;
-  units::meter_t m_xWidth;
-  units::meter_t m_yWidth;
+  wpi::units::meter_t m_xWidth;
+  wpi::units::meter_t m_yWidth;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Rectangle2dProto.hpp"
 #include "wpi/math/geometry/struct/Rectangle2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
index 0961421dcd..0980ff2f24 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A rotation in a 2D coordinate frame represented by a point on the unit circle
@@ -35,9 +35,9 @@ class WPILIB_DLLEXPORT Rotation2d {
    *
    * @param value The value of the angle.
    */
-  constexpr Rotation2d(units::angle_unit auto value)  // NOLINT
-      : m_cos{gcem::cos(value.template convert<units::radian>().value())},
-        m_sin{gcem::sin(value.template convert<units::radian>().value())} {}
+  constexpr Rotation2d(wpi::units::angle_unit auto value)  // NOLINT
+      : m_cos{gcem::cos(value.template convert<wpi::units::radian>().value())},
+        m_sin{gcem::sin(value.template convert<wpi::units::radian>().value())} {}
 
   /**
    * Constructs a Rotation2d with the given x and y (cosine and sine)
@@ -57,7 +57,7 @@ class WPILIB_DLLEXPORT Rotation2d {
       if (!std::is_constant_evaluated()) {
         wpi::math::MathSharedStore::ReportError(
             "x and y components of Rotation2d are zero\n{}",
-            wpi::GetStackTrace(1));
+            wpi::util::GetStackTrace(1));
       }
     }
   }
@@ -106,7 +106,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * π.
    *
    * For example, <code>Rotation2d{30_deg} + Rotation2d{60_deg}</code> equals
-   * <code>Rotation2d{units::radian_t{std::numbers::pi/2.0}}</code>
+   * <code>Rotation2d{wpi::units::radian_t{std::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to add.
    *
@@ -121,7 +121,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * rotation.
    *
    * For example, <code>Rotation2d{10_deg} - Rotation2d{100_deg}</code> equals
-   * <code>Rotation2d{units::radian_t{-std::numbers::pi/2.0}}</code>
+   * <code>Rotation2d{wpi::units::radian_t{-std::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to subtract.
    *
@@ -203,8 +203,8 @@ class WPILIB_DLLEXPORT Rotation2d {
    *
    * @return The radian value of the rotation constrained within [-π, π].
    */
-  constexpr units::radian_t Radians() const {
-    return units::radian_t{gcem::atan2(m_sin, m_cos)};
+  constexpr wpi::units::radian_t Radians() const {
+    return wpi::units::radian_t{gcem::atan2(m_sin, m_cos)};
   }
 
   /**
@@ -212,7 +212,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    *
    * @return The degree value of the rotation constrained within [-180, 180].
    */
-  constexpr units::degree_t Degrees() const { return Radians(); }
+  constexpr wpi::units::degree_t Degrees() const { return Radians(); }
 
   /**
    * Returns the cosine of the rotation.
@@ -241,12 +241,12 @@ class WPILIB_DLLEXPORT Rotation2d {
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Rotation2d& rotation);
+void to_json(wpi::util::json& json, const Rotation2d& rotation);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Rotation2d& rotation);
+void from_json(const wpi::util::json& json, Rotation2d& rotation);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Rotation2dProto.hpp"
 #include "wpi/math/geometry/struct/Rotation2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
index 9548c4ce4c..2ad0e70f9d 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A rotation in a 3D coordinate frame represented by a quaternion.
@@ -54,17 +54,17 @@ class WPILIB_DLLEXPORT Rotation3d {
    * @param pitch The counterclockwise rotation angle around the Y axis (pitch).
    * @param yaw The counterclockwise rotation angle around the Z axis (yaw).
    */
-  constexpr Rotation3d(units::radian_t roll, units::radian_t pitch,
-                       units::radian_t yaw) {
+  constexpr Rotation3d(wpi::units::radian_t roll, wpi::units::radian_t pitch,
+                       wpi::units::radian_t yaw) {
     // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Euler_angles_to_quaternion_conversion
-    double cr = units::math::cos(roll * 0.5);
-    double sr = units::math::sin(roll * 0.5);
+    double cr = wpi::units::math::cos(roll * 0.5);
+    double sr = wpi::units::math::sin(roll * 0.5);
 
-    double cp = units::math::cos(pitch * 0.5);
-    double sp = units::math::sin(pitch * 0.5);
+    double cp = wpi::units::math::cos(pitch * 0.5);
+    double sp = wpi::units::math::sin(pitch * 0.5);
 
-    double cy = units::math::cos(yaw * 0.5);
-    double sy = units::math::sin(yaw * 0.5);
+    double cy = wpi::units::math::cos(yaw * 0.5);
+    double sy = wpi::units::math::sin(yaw * 0.5);
 
     m_q = Quaternion{cr * cp * cy + sr * sp * sy, sr * cp * cy - cr * sp * sy,
                      cr * sp * cy + sr * cp * sy, cr * cp * sy - sr * sp * cy};
@@ -77,17 +77,17 @@ class WPILIB_DLLEXPORT Rotation3d {
    * @param axis The rotation axis.
    * @param angle The rotation around the axis.
    */
-  constexpr Rotation3d(const Eigen::Vector3d& axis, units::radian_t angle) {
+  constexpr Rotation3d(const Eigen::Vector3d& axis, wpi::units::radian_t angle) {
     double norm = ct_matrix{axis}.norm();
     if (norm == 0.0) {
       return;
     }
 
     // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Definition
-    Eigen::Vector3d v{{axis(0) / norm * units::math::sin(angle / 2.0),
-                       axis(1) / norm * units::math::sin(angle / 2.0),
-                       axis(2) / norm * units::math::sin(angle / 2.0)}};
-    m_q = Quaternion{units::math::cos(angle / 2.0), v(0), v(1), v(2)};
+    Eigen::Vector3d v{{axis(0) / norm * wpi::units::math::sin(angle / 2.0),
+                       axis(1) / norm * wpi::units::math::sin(angle / 2.0),
+                       axis(2) / norm * wpi::units::math::sin(angle / 2.0)}};
+    m_q = Quaternion{wpi::units::math::cos(angle / 2.0), v(0), v(1), v(2)};
   }
 
   /**
@@ -98,7 +98,7 @@ class WPILIB_DLLEXPORT Rotation3d {
    * @param rvec The rotation vector.
    */
   constexpr explicit Rotation3d(const Eigen::Vector3d& rvec)
-      : Rotation3d{rvec, units::radian_t{ct_matrix{rvec}.norm()}} {}
+      : Rotation3d{rvec, wpi::units::radian_t{ct_matrix{rvec}.norm()}} {}
 
   /**
    * Constructs a Rotation3d from a rotation matrix.
@@ -282,10 +282,10 @@ class WPILIB_DLLEXPORT Rotation3d {
     // https://en.wikipedia.org/wiki/Slerp#Quaternion_Slerp
     if (m_q.W() >= 0.0) {
       return Rotation3d{Eigen::Vector3d{{m_q.X(), m_q.Y(), m_q.Z()}},
-                        2.0 * units::radian_t{scalar * gcem::acos(m_q.W())}};
+                        2.0 * wpi::units::radian_t{scalar * gcem::acos(m_q.W())}};
     } else {
       return Rotation3d{Eigen::Vector3d{{-m_q.X(), -m_q.Y(), -m_q.Z()}},
-                        2.0 * units::radian_t{scalar * gcem::acos(-m_q.W())}};
+                        2.0 * wpi::units::radian_t{scalar * gcem::acos(-m_q.W())}};
     }
   }
 
@@ -331,7 +331,7 @@ class WPILIB_DLLEXPORT Rotation3d {
   /**
    * Returns the counterclockwise rotation angle around the X axis (roll).
    */
-  constexpr units::radian_t X() const {
+  constexpr wpi::units::radian_t X() const {
     double w = m_q.W();
     double x = m_q.X();
     double y = m_q.Y();
@@ -342,7 +342,7 @@ class WPILIB_DLLEXPORT Rotation3d {
     double sxcy = 2.0 * (w * x + y * z);
     double cy_sq = cxcy * cxcy + sxcy * sxcy;
     if (cy_sq > 1e-20) {
-      return units::radian_t{gcem::atan2(sxcy, cxcy)};
+      return wpi::units::radian_t{gcem::atan2(sxcy, cxcy)};
     } else {
       return 0_rad;
     }
@@ -351,7 +351,7 @@ class WPILIB_DLLEXPORT Rotation3d {
   /**
    * Returns the counterclockwise rotation angle around the Y axis (pitch).
    */
-  constexpr units::radian_t Y() const {
+  constexpr wpi::units::radian_t Y() const {
     double w = m_q.W();
     double x = m_q.X();
     double y = m_q.Y();
@@ -360,16 +360,16 @@ class WPILIB_DLLEXPORT Rotation3d {
     // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
     double ratio = 2.0 * (w * y - z * x);
     if (gcem::abs(ratio) >= 1.0) {
-      return units::radian_t{gcem::copysign(std::numbers::pi / 2.0, ratio)};
+      return wpi::units::radian_t{gcem::copysign(std::numbers::pi / 2.0, ratio)};
     } else {
-      return units::radian_t{gcem::asin(ratio)};
+      return wpi::units::radian_t{gcem::asin(ratio)};
     }
   }
 
   /**
    * Returns the counterclockwise rotation angle around the Z axis (yaw).
    */
-  constexpr units::radian_t Z() const {
+  constexpr wpi::units::radian_t Z() const {
     double w = m_q.W();
     double x = m_q.X();
     double y = m_q.Y();
@@ -380,9 +380,9 @@ class WPILIB_DLLEXPORT Rotation3d {
     double cysz = 2.0 * (w * z + x * y);
     double cy_sq = cycz * cycz + cysz * cysz;
     if (cy_sq > 1e-20) {
-      return units::radian_t{gcem::atan2(cysz, cycz)};
+      return wpi::units::radian_t{gcem::atan2(cysz, cycz)};
     } else {
-      return units::radian_t{gcem::atan2(2.0 * w * z, w * w - z * z)};
+      return wpi::units::radian_t{gcem::atan2(2.0 * w * z, w * w - z * z)};
     }
   }
 
@@ -401,9 +401,9 @@ class WPILIB_DLLEXPORT Rotation3d {
   /**
    * Returns the angle in the axis-angle representation of this rotation.
    */
-  constexpr units::radian_t Angle() const {
+  constexpr wpi::units::radian_t Angle() const {
     double norm = gcem::hypot(m_q.X(), m_q.Y(), m_q.Z());
-    return units::radian_t{2.0 * gcem::atan2(norm, m_q.W())};
+    return wpi::units::radian_t{2.0 * gcem::atan2(norm, m_q.W())};
   }
 
   /**
@@ -442,12 +442,12 @@ class WPILIB_DLLEXPORT Rotation3d {
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Rotation3d& rotation);
+void to_json(wpi::util::json& json, const Rotation3d& rotation);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Rotation3d& rotation);
+void from_json(const wpi::util::json& json, Rotation3d& rotation);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Rotation3dProto.hpp"
 #include "wpi/math/geometry/struct/Rotation3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
index fe257e76cf..685ce95260 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Pose2d;
 struct Twist2d;
@@ -46,7 +46,7 @@ class WPILIB_DLLEXPORT Transform2d {
    * @param y The y component of the translational component of the transform.
    * @param rotation The rotational component of the transform.
    */
-  constexpr Transform2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
+  constexpr Transform2d(wpi::units::meter_t x, wpi::units::meter_t y, Rotation2d rotation)
       : m_translation{x, y}, m_rotation{std::move(rotation)} {}
 
   /**
@@ -81,14 +81,14 @@ class WPILIB_DLLEXPORT Transform2d {
    *
    * @return The x component of the transformation's translation.
    */
-  constexpr units::meter_t X() const { return m_translation.X(); }
+  constexpr wpi::units::meter_t X() const { return m_translation.X(); }
 
   /**
    * Returns the Y component of the transformation's translation.
    *
    * @return The y component of the transformation's translation.
    */
-  constexpr units::meter_t Y() const { return m_translation.Y(); }
+  constexpr wpi::units::meter_t Y() const { return m_translation.Y(); }
 
   /**
    * Returns an affine transformation matrix representation of this
@@ -168,12 +168,12 @@ class WPILIB_DLLEXPORT Transform2d {
   Rotation2d m_rotation;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Twist2d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform2d::Transform2d(const Pose2d& initial, const Pose2d& final) {
   // We are rotating the difference between the translations
@@ -207,10 +207,10 @@ constexpr Twist2d Transform2d::Log() const {
       m_translation.RotateBy({halfThetaByTanOfHalfDtheta, -halfDtheta}) *
       gcem::hypot(halfThetaByTanOfHalfDtheta, halfDtheta);
 
-  return {translationPart.X(), translationPart.Y(), units::radian_t{dtheta}};
+  return {translationPart.X(), translationPart.Y(), wpi::units::radian_t{dtheta}};
 }
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Transform2dProto.hpp"
 #include "wpi/math/geometry/struct/Transform2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
index e235986578..cbdc0f492c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Pose3d;
 struct Twist3d;
@@ -47,7 +47,7 @@ class WPILIB_DLLEXPORT Transform3d {
    * @param z The z component of the translational component of the transform.
    * @param rotation The rotational component of the transform.
    */
-  constexpr Transform3d(units::meter_t x, units::meter_t y, units::meter_t z,
+  constexpr Transform3d(wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::meter_t z,
                         Rotation3d rotation)
       : m_translation{x, y, z}, m_rotation{std::move(rotation)} {}
 
@@ -82,9 +82,9 @@ class WPILIB_DLLEXPORT Transform3d {
    * @see Rotation3d(Rotation2d)
    * @see Translation3d(Translation2d)
    */
-  constexpr explicit Transform3d(const frc::Transform2d& transform)
-      : m_translation{frc::Translation3d{transform.Translation()}},
-        m_rotation{frc::Rotation3d{transform.Rotation()}} {}
+  constexpr explicit Transform3d(const wpi::math::Transform2d& transform)
+      : m_translation{wpi::math::Translation3d{transform.Translation()}},
+        m_rotation{wpi::math::Rotation3d{transform.Rotation()}} {}
 
   /**
    * Returns the translation component of the transformation.
@@ -98,21 +98,21 @@ class WPILIB_DLLEXPORT Transform3d {
    *
    * @return The x component of the transformation's translation.
    */
-  constexpr units::meter_t X() const { return m_translation.X(); }
+  constexpr wpi::units::meter_t X() const { return m_translation.X(); }
 
   /**
    * Returns the Y component of the transformation's translation.
    *
    * @return The y component of the transformation's translation.
    */
-  constexpr units::meter_t Y() const { return m_translation.Y(); }
+  constexpr wpi::units::meter_t Y() const { return m_translation.Y(); }
 
   /**
    * Returns the Z component of the transformation's translation.
    *
    * @return The z component of the transformation's translation.
    */
-  constexpr units::meter_t Z() const { return m_translation.Z(); }
+  constexpr wpi::units::meter_t Z() const { return m_translation.Z(); }
 
   /**
    * Returns an affine transformation matrix representation of this
@@ -193,13 +193,13 @@ class WPILIB_DLLEXPORT Transform3d {
   Rotation3d m_rotation;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Twist3d.hpp"
 #include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform3d::Transform3d(const Pose3d& initial, const Pose3d& final) {
   // We are rotating the difference between the translations
@@ -254,12 +254,12 @@ constexpr Twist3d Transform3d::Log() const {
 
     Vector3d translation_component = V_inv * u;
 
-    return Twist3d{units::meter_t{translation_component(0)},
-                   units::meter_t{translation_component(1)},
-                   units::meter_t{translation_component(2)},
-                   units::radian_t{rvec(0)},
-                   units::radian_t{rvec(1)},
-                   units::radian_t{rvec(2)}};
+    return Twist3d{wpi::units::meter_t{translation_component(0)},
+                   wpi::units::meter_t{translation_component(1)},
+                   wpi::units::meter_t{translation_component(2)},
+                   wpi::units::radian_t{rvec(0)},
+                   wpi::units::radian_t{rvec(1)},
+                   wpi::units::radian_t{rvec(2)}};
   };
 
   if (std::is_constant_evaluated()) {
@@ -268,7 +268,7 @@ constexpr Twist3d Transform3d::Log() const {
   return impl.template operator()<Eigen::Matrix3d, Eigen::Vector3d>();
 }
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Transform3dProto.hpp"
 #include "wpi/math/geometry/struct/Transform3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
index 9270e38448..dcaa62ca90 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a translation in 2D space.
@@ -41,7 +41,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param x The x component of the translation.
    * @param y The y component of the translation.
    */
-  constexpr Translation2d(units::meter_t x, units::meter_t y)
+  constexpr Translation2d(wpi::units::meter_t x, wpi::units::meter_t y)
       : m_x{x}, m_y{y} {}
 
   /**
@@ -51,7 +51,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param distance The distance from the origin to the end of the translation.
    * @param angle The angle between the x-axis and the translation vector.
    */
-  constexpr Translation2d(units::meter_t distance, const Rotation2d& angle)
+  constexpr Translation2d(wpi::units::meter_t distance, const Rotation2d& angle)
       : m_x{distance * angle.Cos()}, m_y{distance * angle.Sin()} {}
 
   /**
@@ -61,7 +61,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param vector The translation vector.
    */
   constexpr explicit Translation2d(const Eigen::Vector2d& vector)
-      : m_x{units::meter_t{vector.x()}}, m_y{units::meter_t{vector.y()}} {}
+      : m_x{wpi::units::meter_t{vector.x()}}, m_y{wpi::units::meter_t{vector.y()}} {}
 
   /**
    * Calculates the distance between two translations in 2D space.
@@ -72,8 +72,8 @@ class WPILIB_DLLEXPORT Translation2d {
    *
    * @return The distance between the two translations.
    */
-  constexpr units::meter_t Distance(const Translation2d& other) const {
-    return units::math::hypot(other.m_x - m_x, other.m_y - m_y);
+  constexpr wpi::units::meter_t Distance(const Translation2d& other) const {
+    return wpi::units::math::hypot(other.m_x - m_x, other.m_y - m_y);
   }
 
   /**
@@ -87,10 +87,10 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param other The translation to compute the squared distance to.
    * @return The square of the distance between the two translations.
    */
-  constexpr units::square_meter_t SquaredDistance(
+  constexpr wpi::units::square_meter_t SquaredDistance(
       const Translation2d& other) const {
-    return units::math::pow<2>(other.m_x - m_x) +
-           units::math::pow<2>(other.m_y - m_y);
+    return wpi::units::math::pow<2>(other.m_x - m_x) +
+           wpi::units::math::pow<2>(other.m_y - m_y);
   }
 
   /**
@@ -98,14 +98,14 @@ class WPILIB_DLLEXPORT Translation2d {
    *
    * @return The X component of the translation.
    */
-  constexpr units::meter_t X() const { return m_x; }
+  constexpr wpi::units::meter_t X() const { return m_x; }
 
   /**
    * Returns the Y component of the translation.
    *
    * @return The Y component of the translation.
    */
-  constexpr units::meter_t Y() const { return m_y; }
+  constexpr wpi::units::meter_t Y() const { return m_y; }
 
   /**
    * Returns a 2D translation vector representation of this translation.
@@ -121,7 +121,7 @@ class WPILIB_DLLEXPORT Translation2d {
    *
    * @return The norm of the translation.
    */
-  constexpr units::meter_t Norm() const { return units::math::hypot(m_x, m_y); }
+  constexpr wpi::units::meter_t Norm() const { return wpi::units::math::hypot(m_x, m_y); }
 
   /**
    * Returns the squared norm, or squared distance from the origin to the
@@ -130,8 +130,8 @@ class WPILIB_DLLEXPORT Translation2d {
    *
    * @return The squared norm of the translation.
    */
-  constexpr units::square_meter_t SquaredNorm() const {
-    return units::math::pow<2>(m_x) + units::math::pow<2>(m_y);
+  constexpr wpi::units::square_meter_t SquaredNorm() const {
+    return wpi::units::math::pow<2>(m_x) + wpi::units::math::pow<2>(m_y);
   }
 
   /**
@@ -195,7 +195,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param other The translation to compute the dot product with.
    * @return The dot product between the two translations.
    */
-  constexpr units::square_meter_t Dot(const Translation2d& other) const {
+  constexpr wpi::units::square_meter_t Dot(const Translation2d& other) const {
     return m_x * other.X() + m_y * other.Y();
   }
 
@@ -208,7 +208,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param other The translation to compute the cross product with.
    * @return The cross product between the two translations.
    */
-  constexpr units::square_meter_t Cross(const Translation2d& other) const {
+  constexpr wpi::units::square_meter_t Cross(const Translation2d& other) const {
     return m_x * other.Y() - m_y * other.X();
   }
 
@@ -282,8 +282,8 @@ class WPILIB_DLLEXPORT Translation2d {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const Translation2d& other) const {
-    return units::math::abs(m_x - other.m_x) < 1E-9_m &&
-           units::math::abs(m_y - other.m_y) < 1E-9_m;
+    return wpi::units::math::abs(m_x - other.m_x) < 1E-9_m &&
+           wpi::units::math::abs(m_y - other.m_y) < 1E-9_m;
   }
 
   /**
@@ -315,17 +315,17 @@ class WPILIB_DLLEXPORT Translation2d {
   }
 
  private:
-  units::meter_t m_x = 0_m;
-  units::meter_t m_y = 0_m;
+  wpi::units::meter_t m_x = 0_m;
+  wpi::units::meter_t m_y = 0_m;
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Translation2d& state);
+void to_json(wpi::util::json& json, const Translation2d& state);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Translation2d& state);
+void from_json(const wpi::util::json& json, Translation2d& state);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Translation2dProto.hpp"
 #include "wpi/math/geometry/struct/Translation2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
index 564394ad6e..2f2d80261a 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a translation in 3D space.
@@ -43,7 +43,7 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param y The y component of the translation.
    * @param z The z component of the translation.
    */
-  constexpr Translation3d(units::meter_t x, units::meter_t y, units::meter_t z)
+  constexpr Translation3d(wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::meter_t z)
       : m_x{x}, m_y{y}, m_z{z} {}
 
   /**
@@ -53,7 +53,7 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param distance The distance from the origin to the end of the translation.
    * @param angle The angle between the x-axis and the translation vector.
    */
-  constexpr Translation3d(units::meter_t distance, const Rotation3d& angle) {
+  constexpr Translation3d(wpi::units::meter_t distance, const Rotation3d& angle) {
     auto rectangular = Translation3d{distance, 0_m, 0_m}.RotateBy(angle);
     m_x = rectangular.X();
     m_y = rectangular.Y();
@@ -67,9 +67,9 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param vector The translation vector.
    */
   constexpr explicit Translation3d(const Eigen::Vector3d& vector)
-      : m_x{units::meter_t{vector.x()}},
-        m_y{units::meter_t{vector.y()}},
-        m_z{units::meter_t{vector.z()}} {}
+      : m_x{wpi::units::meter_t{vector.x()}},
+        m_y{wpi::units::meter_t{vector.y()}},
+        m_z{wpi::units::meter_t{vector.z()}} {}
 
   /**
    * Constructs a 3D translation from a 2D translation in the X-Y plane.
@@ -91,10 +91,10 @@ class WPILIB_DLLEXPORT Translation3d {
    *
    * @return The distance between the two translations.
    */
-  constexpr units::meter_t Distance(const Translation3d& other) const {
-    return units::math::sqrt(units::math::pow<2>(other.m_x - m_x) +
-                             units::math::pow<2>(other.m_y - m_y) +
-                             units::math::pow<2>(other.m_z - m_z));
+  constexpr wpi::units::meter_t Distance(const Translation3d& other) const {
+    return wpi::units::math::sqrt(wpi::units::math::pow<2>(other.m_x - m_x) +
+                             wpi::units::math::pow<2>(other.m_y - m_y) +
+                             wpi::units::math::pow<2>(other.m_z - m_z));
   }
 
   /**
@@ -108,11 +108,11 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param other The translation to compute the squared distance to.
    * @return The squared distance between the two translations.
    */
-  constexpr units::square_meter_t SquaredDistance(
+  constexpr wpi::units::square_meter_t SquaredDistance(
       const Translation3d& other) const {
-    return units::math::pow<2>(other.m_x - m_x) +
-           units::math::pow<2>(other.m_y - m_y) +
-           units::math::pow<2>(other.m_z - m_z);
+    return wpi::units::math::pow<2>(other.m_x - m_x) +
+           wpi::units::math::pow<2>(other.m_y - m_y) +
+           wpi::units::math::pow<2>(other.m_z - m_z);
   }
 
   /**
@@ -120,21 +120,21 @@ class WPILIB_DLLEXPORT Translation3d {
    *
    * @return The Z component of the translation.
    */
-  constexpr units::meter_t X() const { return m_x; }
+  constexpr wpi::units::meter_t X() const { return m_x; }
 
   /**
    * Returns the Y component of the translation.
    *
    * @return The Y component of the translation.
    */
-  constexpr units::meter_t Y() const { return m_y; }
+  constexpr wpi::units::meter_t Y() const { return m_y; }
 
   /**
    * Returns the Z component of the translation.
    *
    * @return The Z component of the translation.
    */
-  constexpr units::meter_t Z() const { return m_z; }
+  constexpr wpi::units::meter_t Z() const { return m_z; }
 
   /**
    * Returns a 3D translation vector representation of this translation.
@@ -150,8 +150,8 @@ class WPILIB_DLLEXPORT Translation3d {
    *
    * @return The norm of the translation.
    */
-  constexpr units::meter_t Norm() const {
-    return units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
+  constexpr wpi::units::meter_t Norm() const {
+    return wpi::units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
   }
 
   /**
@@ -161,7 +161,7 @@ class WPILIB_DLLEXPORT Translation3d {
    *
    * @return The squared norm of the translation.
    */
-  constexpr units::square_meter_t SquaredNorm() const {
+  constexpr wpi::units::square_meter_t SquaredNorm() const {
     return m_x * m_x + m_y * m_y + m_z * m_z;
   }
 
@@ -178,8 +178,8 @@ class WPILIB_DLLEXPORT Translation3d {
   constexpr Translation3d RotateBy(const Rotation3d& other) const {
     Quaternion p{0.0, m_x.value(), m_y.value(), m_z.value()};
     auto qprime = other.GetQuaternion() * p * other.GetQuaternion().Inverse();
-    return Translation3d{units::meter_t{qprime.X()}, units::meter_t{qprime.Y()},
-                         units::meter_t{qprime.Z()}};
+    return Translation3d{wpi::units::meter_t{qprime.X()}, wpi::units::meter_t{qprime.Y()},
+                         wpi::units::meter_t{qprime.Z()}};
   }
 
   /**
@@ -203,7 +203,7 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param other The translation to compute the dot product with.
    * @return The dot product between the two translations.
    */
-  constexpr units::square_meter_t Dot(const Translation3d& other) const {
+  constexpr wpi::units::square_meter_t Dot(const Translation3d& other) const {
     return m_x * other.X() + m_y * other.Y() + m_z * other.Z();
   }
 
@@ -218,9 +218,9 @@ class WPILIB_DLLEXPORT Translation3d {
    * @param other The translation to compute the cross product with.
    * @return The cross product between the two translations.
    */
-  constexpr Eigen::Vector<units::square_meter_t, 3> Cross(
+  constexpr Eigen::Vector<wpi::units::square_meter_t, 3> Cross(
       const Translation3d& other) const {
-    return Eigen::Vector<units::square_meter_t, 3>{
+    return Eigen::Vector<wpi::units::square_meter_t, 3>{
         {m_y * other.Z() - other.Y() * m_z},
         {m_z * other.X() - other.Z() * m_x},
         {m_x * other.Y() - other.X() * m_y}};
@@ -305,9 +305,9 @@ class WPILIB_DLLEXPORT Translation3d {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const Translation3d& other) const {
-    return units::math::abs(m_x - other.m_x) < 1E-9_m &&
-           units::math::abs(m_y - other.m_y) < 1E-9_m &&
-           units::math::abs(m_z - other.m_z) < 1E-9_m;
+    return wpi::units::math::abs(m_x - other.m_x) < 1E-9_m &&
+           wpi::units::math::abs(m_y - other.m_y) < 1E-9_m &&
+           wpi::units::math::abs(m_z - other.m_z) < 1E-9_m;
   }
 
   /**
@@ -339,18 +339,18 @@ class WPILIB_DLLEXPORT Translation3d {
   }
 
  private:
-  units::meter_t m_x = 0_m;
-  units::meter_t m_y = 0_m;
-  units::meter_t m_z = 0_m;
+  wpi::units::meter_t m_x = 0_m;
+  wpi::units::meter_t m_y = 0_m;
+  wpi::units::meter_t m_z = 0_m;
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Translation3d& state);
+void to_json(wpi::util::json& json, const Translation3d& state);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Translation3d& state);
+void from_json(const wpi::util::json& json, Translation3d& state);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Translation3dProto.hpp"
 #include "wpi/math/geometry/struct/Translation3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
index 9406c4fe1b..6280d17e18 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
@@ -9,7 +9,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Transform2d;
 
@@ -24,17 +24,17 @@ struct WPILIB_DLLEXPORT Twist2d {
   /**
    * Linear "dx" component
    */
-  units::meter_t dx = 0_m;
+  wpi::units::meter_t dx = 0_m;
 
   /**
    * Linear "dy" component
    */
-  units::meter_t dy = 0_m;
+  wpi::units::meter_t dy = 0_m;
 
   /**
    * Angular "dtheta" component (radians)
    */
-  units::radian_t dtheta = 0_rad;
+  wpi::units::radian_t dtheta = 0_rad;
 
   /**
    * Obtain a new Transform2d from a (constant curvature) velocity.
@@ -61,9 +61,9 @@ struct WPILIB_DLLEXPORT Twist2d {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const Twist2d& other) const {
-    return units::math::abs(dx - other.dx) < 1E-9_m &&
-           units::math::abs(dy - other.dy) < 1E-9_m &&
-           units::math::abs(dtheta - other.dtheta) < 1E-9_rad;
+    return wpi::units::math::abs(dx - other.dx) < 1E-9_m &&
+           wpi::units::math::abs(dy - other.dy) < 1E-9_m &&
+           wpi::units::math::abs(dtheta - other.dtheta) < 1E-9_rad;
   }
 
   /**
@@ -77,11 +77,11 @@ struct WPILIB_DLLEXPORT Twist2d {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/Transform2d.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform2d Twist2d::Exp() const {
   const auto theta = dtheta.value();
@@ -101,7 +101,7 @@ constexpr Transform2d Twist2d::Exp() const {
                      Rotation2d{cosTheta, sinTheta});
 }
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Twist2dProto.hpp"
 #include "wpi/math/geometry/struct/Twist2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
index 01debdd51c..036362307b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
@@ -9,7 +9,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 class Transform3d;
 
@@ -24,32 +24,32 @@ struct WPILIB_DLLEXPORT Twist3d {
   /**
    * Linear "dx" component
    */
-  units::meter_t dx = 0_m;
+  wpi::units::meter_t dx = 0_m;
 
   /**
    * Linear "dy" component
    */
-  units::meter_t dy = 0_m;
+  wpi::units::meter_t dy = 0_m;
 
   /**
    * Linear "dz" component
    */
-  units::meter_t dz = 0_m;
+  wpi::units::meter_t dz = 0_m;
 
   /**
    * Rotation vector x component.
    */
-  units::radian_t rx = 0_rad;
+  wpi::units::radian_t rx = 0_rad;
 
   /**
    * Rotation vector y component.
    */
-  units::radian_t ry = 0_rad;
+  wpi::units::radian_t ry = 0_rad;
 
   /**
    * Rotation vector z component.
    */
-  units::radian_t rz = 0_rad;
+  wpi::units::radian_t rz = 0_rad;
 
   /**
    * Obtain a new Transform3d from a (constant curvature) velocity.
@@ -76,12 +76,12 @@ struct WPILIB_DLLEXPORT Twist3d {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const Twist3d& other) const {
-    return units::math::abs(dx - other.dx) < 1E-9_m &&
-           units::math::abs(dy - other.dy) < 1E-9_m &&
-           units::math::abs(dz - other.dz) < 1E-9_m &&
-           units::math::abs(rx - other.rx) < 1E-9_rad &&
-           units::math::abs(ry - other.ry) < 1E-9_rad &&
-           units::math::abs(rz - other.rz) < 1E-9_rad;
+    return wpi::units::math::abs(dx - other.dx) < 1E-9_m &&
+           wpi::units::math::abs(dy - other.dy) < 1E-9_m &&
+           wpi::units::math::abs(dz - other.dz) < 1E-9_m &&
+           wpi::units::math::abs(rx - other.rx) < 1E-9_rad &&
+           wpi::units::math::abs(ry - other.ry) < 1E-9_rad &&
+           wpi::units::math::abs(rz - other.rz) < 1E-9_rad;
   }
 
   /**
@@ -96,12 +96,12 @@ struct WPILIB_DLLEXPORT Twist3d {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr Transform3d Twist3d::Exp() const {
   // Implementation from Section 3.2 of https://ethaneade.org/lie.pdf
@@ -147,9 +147,9 @@ constexpr Transform3d Twist3d::Exp() const {
     Vector3d translation_component = V * u;
 
     const Transform3d transform{
-        Translation3d{units::meter_t{translation_component(0)},
-                      units::meter_t{translation_component(1)},
-                      units::meter_t{translation_component(2)}},
+        Translation3d{wpi::units::meter_t{translation_component(0)},
+                      wpi::units::meter_t{translation_component(1)},
+                      wpi::units::meter_t{translation_component(2)}},
         Rotation3d{R}};
 
     return transform;
@@ -161,7 +161,7 @@ constexpr Transform3d Twist3d::Exp() const {
   return impl.template operator()<Eigen::Matrix3d, Eigen::Vector3d>();
 }
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/geometry/proto/Twist3dProto.hpp"
 #include "wpi/math/geometry/struct/Twist3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp b/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
index a955970db8..e8ecfccbf7 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/math/linalg/ct_matrix.hpp"
 
-namespace frc::detail {
+namespace wpi::math::detail {
 
 constexpr ct_matrix3d RotationVectorToMatrix(const ct_vector3d& rotation) {
   return ct_matrix3d{{0.0, -rotation(2), rotation(1)},
@@ -23,4 +23,4 @@ constexpr Eigen::Matrix3d RotationVectorToMatrix(
                          {-rotation(1), rotation(0), 0.0}};
 }
 
-}  // namespace frc::detail
+}  // namespace wpi::math::detail
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
index d8b8ddaa09..41f9bee1d3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Ellipse2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Ellipse2d> {
   using MessageStruct = wpi_proto_ProtobufEllipse2d;
-  using InputStream = wpi::ProtoInputStream<frc::Ellipse2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Ellipse2d>;
-  static std::optional<frc::Ellipse2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Ellipse2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Ellipse2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Ellipse2d>;
+  static std::optional<wpi::math::Ellipse2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Ellipse2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
index 1f832c77d6..e9d31e4a6a 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
@@ -11,10 +11,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose2d> {
   using MessageStruct = wpi_proto_ProtobufPose2d;
-  using InputStream = wpi::ProtoInputStream<frc::Pose2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Pose2d>;
-  static std::optional<frc::Pose2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Pose2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose2d>;
+  static std::optional<wpi::math::Pose2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Pose2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
index 46fdd17871..5714cbc731 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose3d> {
   using MessageStruct = wpi_proto_ProtobufPose3d;
-  using InputStream = wpi::ProtoInputStream<frc::Pose3d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Pose3d>;
-  static std::optional<frc::Pose3d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Pose3d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose3d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose3d>;
+  static std::optional<wpi::math::Pose3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Pose3d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
index a9cb881d2e..1540d03765 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Quaternion> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Quaternion> {
   using MessageStruct = wpi_proto_ProtobufQuaternion;
-  using InputStream = wpi::ProtoInputStream<frc::Quaternion>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Quaternion>;
-  static std::optional<frc::Quaternion> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Quaternion& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Quaternion>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Quaternion>;
+  static std::optional<wpi::math::Quaternion> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Quaternion& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
index 319b445a5b..b3b25b1a64 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rectangle2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rectangle2d> {
   using MessageStruct = wpi_proto_ProtobufRectangle2d;
-  using InputStream = wpi::ProtoInputStream<frc::Rectangle2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Rectangle2d>;
-  static std::optional<frc::Rectangle2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Rectangle2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Rectangle2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rectangle2d>;
+  static std::optional<wpi::math::Rectangle2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Rectangle2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
index 91493fcff4..27cb428d3c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
@@ -11,10 +11,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation2d> {
   using MessageStruct = wpi_proto_ProtobufRotation2d;
-  using InputStream = wpi::ProtoInputStream<frc::Rotation2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Rotation2d>;
-  static std::optional<frc::Rotation2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Rotation2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation2d>;
+  static std::optional<wpi::math::Rotation2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Rotation2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
index 96ff0dfabe..c5f67fb123 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation3d> {
   using MessageStruct = wpi_proto_ProtobufRotation3d;
-  using InputStream = wpi::ProtoInputStream<frc::Rotation3d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Rotation3d>;
-  static std::optional<frc::Rotation3d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Rotation3d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation3d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation3d>;
+  static std::optional<wpi::math::Rotation3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Rotation3d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
index 5c0d5a46a8..47fc5f3888 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform2d> {
   using MessageStruct = wpi_proto_ProtobufTransform2d;
-  using InputStream = wpi::ProtoInputStream<frc::Transform2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Transform2d>;
-  static std::optional<frc::Transform2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Transform2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform2d>;
+  static std::optional<wpi::math::Transform2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Transform2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
index 9be0d7c8a2..044fe8a5f6 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform3d> {
   using MessageStruct = wpi_proto_ProtobufTransform3d;
-  using InputStream = wpi::ProtoInputStream<frc::Transform3d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Transform3d>;
-  static std::optional<frc::Transform3d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Transform3d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform3d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform3d>;
+  static std::optional<wpi::math::Transform3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Transform3d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
index 010f4f25e9..d75009e16a 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
@@ -11,10 +11,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation2d> {
   using MessageStruct = wpi_proto_ProtobufTranslation2d;
-  using InputStream = wpi::ProtoInputStream<frc::Translation2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Translation2d>;
-  static std::optional<frc::Translation2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Translation2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation2d>;
+  static std::optional<wpi::math::Translation2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Translation2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
index 38af2c7841..ae3b19ba8f 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation3d> {
   using MessageStruct = wpi_proto_ProtobufTranslation3d;
-  using InputStream = wpi::ProtoInputStream<frc::Translation3d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Translation3d>;
-  static std::optional<frc::Translation3d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Translation3d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation3d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation3d>;
+  static std::optional<wpi::math::Translation3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Translation3d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
index 7ae0a2985c..854f38357f 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist2d> {
   using MessageStruct = wpi_proto_ProtobufTwist2d;
-  using InputStream = wpi::ProtoInputStream<frc::Twist2d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Twist2d>;
-  static std::optional<frc::Twist2d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Twist2d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist2d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist2d>;
+  static std::optional<wpi::math::Twist2d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Twist2d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
index 768f135d0a..ffe22f583e 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist3d> {
   using MessageStruct = wpi_proto_ProtobufTwist3d;
-  using InputStream = wpi::ProtoInputStream<frc::Twist3d>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Twist3d>;
-  static std::optional<frc::Twist3d> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Twist3d& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist3d>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist3d>;
+  static std::optional<wpi::math::Twist3d> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Twist3d& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
index 9ddc2809e8..f6b0d9401b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
@@ -9,22 +9,22 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Ellipse2d> {
   static constexpr std::string_view GetTypeName() { return "Ellipse2d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Pose2d>() + 16;
+    return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;
   }
   static constexpr std::string_view GetSchema() {
     return "Pose2d center;double xSemiAxis;double ySemiAxis";
   }
 
-  static frc::Ellipse2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Ellipse2d& value);
+  static wpi::math::Ellipse2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Ellipse2d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Pose2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Pose2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Ellipse2d>);
-static_assert(wpi::HasNestedStruct<frc::Ellipse2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Ellipse2d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Ellipse2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
index de4bfc79da..29be60d82b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
@@ -9,24 +9,24 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose2d> {
   static constexpr std::string_view GetTypeName() { return "Pose2d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Translation2d>() +
-           wpi::GetStructSize<frc::Rotation2d>();
+    return wpi::util::GetStructSize<wpi::math::Translation2d>() +
+           wpi::util::GetStructSize<wpi::math::Rotation2d>();
   }
   static constexpr std::string_view GetSchema() {
     return "Translation2d translation;Rotation2d rotation";
   }
 
-  static frc::Pose2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Pose2d& value);
+  static wpi::math::Pose2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Pose2d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation2d>(fn);
-    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Pose2d>);
-static_assert(wpi::HasNestedStruct<frc::Pose2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Pose2d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Pose2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
index bca905129f..5459a9784a 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
@@ -9,24 +9,24 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose3d> {
   static constexpr std::string_view GetTypeName() { return "Pose3d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Translation3d>() +
-           wpi::GetStructSize<frc::Rotation3d>();
+    return wpi::util::GetStructSize<wpi::math::Translation3d>() +
+           wpi::util::GetStructSize<wpi::math::Rotation3d>();
   }
   static constexpr std::string_view GetSchema() {
     return "Translation3d translation;Rotation3d rotation";
   }
 
-  static frc::Pose3d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Pose3d& value);
+  static wpi::math::Pose3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Pose3d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation3d>(fn);
-    wpi::ForEachStructSchema<frc::Rotation3d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation3d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation3d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Pose3d>);
-static_assert(wpi::HasNestedStruct<frc::Pose3d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Pose3d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Pose3d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
index bb73c93578..6432e30db5 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> {
   static constexpr std::string_view GetTypeName() { return "Quaternion"; }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {
     return "double w;double x;double y;double z";
   }
 
-  static frc::Quaternion Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Quaternion& value);
+  static wpi::math::Quaternion Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Quaternion& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Quaternion>);
+static_assert(wpi::util::StructSerializable<wpi::math::Quaternion>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
index 4ac58c0b1a..b0d2cbf56f 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
@@ -9,22 +9,22 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rectangle2d> {
   static constexpr std::string_view GetTypeName() { return "Rectangle2d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Pose2d>() + 16;
+    return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;
   }
   static constexpr std::string_view GetSchema() {
     return "Pose2d center;double xWidth;double yWidth";
   }
 
-  static frc::Rectangle2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Rectangle2d& value);
+  static wpi::math::Rectangle2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Rectangle2d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Pose2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Pose2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Rectangle2d>);
-static_assert(wpi::HasNestedStruct<frc::Rectangle2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Rectangle2d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Rectangle2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
index b7915e89e9..32e23dd3c7 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
@@ -9,13 +9,13 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation2d> {
   static constexpr std::string_view GetTypeName() { return "Rotation2d"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double value"; }
 
-  static frc::Rotation2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Rotation2d& value);
+  static wpi::math::Rotation2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Rotation2d& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Rotation2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Rotation2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
index 6b768dee9a..2f0d94a6fe 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
@@ -9,20 +9,20 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation3d> {
   static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Quaternion>();
+    return wpi::util::GetStructSize<wpi::math::Quaternion>();
   }
   static constexpr std::string_view GetSchema() { return "Quaternion q"; }
 
-  static frc::Rotation3d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Rotation3d& value);
+  static wpi::math::Rotation3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Rotation3d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Quaternion>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Quaternion>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Rotation3d>);
-static_assert(wpi::HasNestedStruct<frc::Rotation3d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Rotation3d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Rotation3d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
index 607426ebe0..37d2137fbc 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
@@ -9,24 +9,24 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform2d> {
   static constexpr std::string_view GetTypeName() { return "Transform2d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Translation2d>() +
-           wpi::GetStructSize<frc::Rotation2d>();
+    return wpi::util::GetStructSize<wpi::math::Translation2d>() +
+           wpi::util::GetStructSize<wpi::math::Rotation2d>();
   }
   static constexpr std::string_view GetSchema() {
     return "Translation2d translation;Rotation2d rotation";
   }
 
-  static frc::Transform2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Transform2d& value);
+  static wpi::math::Transform2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Transform2d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation2d>(fn);
-    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Transform2d>);
-static_assert(wpi::HasNestedStruct<frc::Transform2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Transform2d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Transform2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
index c1afec39b5..36042cb1e4 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
@@ -9,24 +9,24 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform3d> {
   static constexpr std::string_view GetTypeName() { return "Transform3d"; }
   static constexpr size_t GetSize() {
-    return wpi::GetStructSize<frc::Translation3d>() +
-           wpi::GetStructSize<frc::Rotation3d>();
+    return wpi::util::GetStructSize<wpi::math::Translation3d>() +
+           wpi::util::GetStructSize<wpi::math::Rotation3d>();
   }
   static constexpr std::string_view GetSchema() {
     return "Translation3d translation;Rotation3d rotation";
   }
 
-  static frc::Transform3d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Transform3d& value);
+  static wpi::math::Transform3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Transform3d& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation3d>(fn);
-    wpi::ForEachStructSchema<frc::Rotation3d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation3d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation3d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Transform3d>);
-static_assert(wpi::HasNestedStruct<frc::Transform3d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Transform3d>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::Transform3d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
index 191c0b268d..48d4b3029b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
@@ -9,13 +9,13 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation2d> {
   static constexpr std::string_view GetTypeName() { return "Translation2d"; }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() { return "double x;double y"; }
 
-  static frc::Translation2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Translation2d& value);
+  static wpi::math::Translation2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Translation2d& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Translation2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Translation2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
index 5a4315df3c..3088182e2c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation3d> {
   static constexpr std::string_view GetTypeName() { return "Translation3d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double x;double y;double z";
   }
 
-  static frc::Translation3d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Translation3d& value);
+  static wpi::math::Translation3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Translation3d& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Translation3d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Translation3d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
index 6b5396f067..2cb5784bc1 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist2d> {
   static constexpr std::string_view GetTypeName() { return "Twist2d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double dx;double dy;double dtheta";
   }
 
-  static frc::Twist2d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Twist2d& value);
+  static wpi::math::Twist2d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Twist2d& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Twist2d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Twist2d>);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
index e2607162b4..ce38a60328 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist3d> {
   static constexpr std::string_view GetTypeName() { return "Twist3d"; }
   static constexpr size_t GetSize() { return 48; }
   static constexpr std::string_view GetSchema() {
     return "double dx;double dy;double dz;double rx;double ry;double rz";
   }
 
-  static frc::Twist3d Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::Twist3d& value);
+  static wpi::math::Twist3d Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::Twist3d& value);
 };
 
-static_assert(wpi::StructSerializable<frc::Twist3d>);
+static_assert(wpi::util::StructSerializable<wpi::math::Twist3d>);
diff --git a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
index d7de0020b9..4716a3461e 100644
--- a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * The TimeInterpolatableBuffer provides an easy way to estimate past
@@ -24,7 +24,7 @@ namespace frc {
  * when vision or other global measurement were recorded is necessary, or for
  * recording the past angles of mechanisms as measured by encoders.
  *
- * When sampling this buffer, a user-provided function or wpi::Lerp can be
+ * When sampling this buffer, a user-provided function or wpi::util::Lerp can be
  * used. For Pose2ds, we use Twists.
  *
  * @tparam T The type stored in this buffer.
@@ -38,20 +38,20 @@ class TimeInterpolatableBuffer {
    * @param historySize  The history size of the buffer.
    * @param func The function used to interpolate between values.
    */
-  TimeInterpolatableBuffer(units::second_t historySize,
+  TimeInterpolatableBuffer(wpi::units::second_t historySize,
                            std::function<T(const T&, const T&, double)> func)
       : m_historySize(historySize), m_interpolatingFunc(func) {}
 
   /**
    * Create a new TimeInterpolatableBuffer. By default, the interpolation
-   * function is wpi::Lerp except for Pose2d, which uses the pose exponential.
+   * function is wpi::util::Lerp except for Pose2d, which uses the pose exponential.
    *
    * @param historySize  The history size of the buffer.
    */
-  explicit TimeInterpolatableBuffer(units::second_t historySize)
+  explicit TimeInterpolatableBuffer(wpi::units::second_t historySize)
       : m_historySize(historySize),
         m_interpolatingFunc([](const T& start, const T& end, double t) {
-          return wpi::Lerp(start, end, t);
+          return wpi::util::Lerp(start, end, t);
         }) {}
 
   /**
@@ -60,7 +60,7 @@ class TimeInterpolatableBuffer {
    * @param time   The timestamp of the sample.
    * @param sample The sample object.
    */
-  void AddSample(units::second_t time, T sample) {
+  void AddSample(wpi::units::second_t time, T sample) {
     // Add the new state into the vector
     if (m_pastSnapshots.size() == 0 || time > m_pastSnapshots.back().first) {
       m_pastSnapshots.emplace_back(time, sample);
@@ -97,7 +97,7 @@ class TimeInterpolatableBuffer {
    *
    * @param time The time at which to sample the buffer.
    */
-  std::optional<T> Sample(units::second_t time) const {
+  std::optional<T> Sample(wpi::units::second_t time) const {
     if (m_pastSnapshots.empty()) {
       return {};
     }
@@ -137,27 +137,27 @@ class TimeInterpolatableBuffer {
    * Grant access to the internal sample buffer. Used in Pose Estimation to
    * replay odometry inputs stored within this buffer.
    */
-  std::vector<std::pair<units::second_t, T>>& GetInternalBuffer() {
+  std::vector<std::pair<wpi::units::second_t, T>>& GetInternalBuffer() {
     return m_pastSnapshots;
   }
 
   /**
    * Grant access to the internal sample buffer.
    */
-  const std::vector<std::pair<units::second_t, T>>& GetInternalBuffer() const {
+  const std::vector<std::pair<wpi::units::second_t, T>>& GetInternalBuffer() const {
     return m_pastSnapshots;
   }
 
  private:
-  units::second_t m_historySize;
-  std::vector<std::pair<units::second_t, T>> m_pastSnapshots;
+  wpi::units::second_t m_historySize;
+  std::vector<std::pair<wpi::units::second_t, T>> m_pastSnapshots;
   std::function<T(const T&, const T&, double)> m_interpolatingFunc;
 };
 
 // Template specialization to ensure that Pose2d uses pose exponential
 template <>
 inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
-    units::second_t historySize)
+    wpi::units::second_t historySize)
     : m_historySize(historySize),
       m_interpolatingFunc([](const Pose2d& start, const Pose2d& end, double t) {
         if (t < 0) {
@@ -171,4 +171,4 @@ inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
         }
       }) {}
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
index 45bad721b0..05044ea8ee 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the speed of a robot chassis. Although this struct contains
  * similar members compared to a Twist2d, they do NOT represent the same thing.
@@ -25,17 +25,17 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   /**
    * Velocity along the x-axis. (Fwd is +)
    */
-  units::meters_per_second_t vx = 0_mps;
+  wpi::units::meters_per_second_t vx = 0_mps;
 
   /**
    * Velocity along the y-axis. (Left is +)
    */
-  units::meters_per_second_t vy = 0_mps;
+  wpi::units::meters_per_second_t vy = 0_mps;
 
   /**
    * Represents the angular velocity of the robot frame. (CCW is +)
    */
-  units::radians_per_second_t omega = 0_rad_per_s;
+  wpi::units::radians_per_second_t omega = 0_rad_per_s;
 
   /**
    * Creates a Twist2d from ChassisSpeeds.
@@ -44,7 +44,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    *
    * @return Twist2d.
    */
-  constexpr Twist2d ToTwist2d(units::second_t dt) const {
+  constexpr Twist2d ToTwist2d(wpi::units::second_t dt) const {
     return Twist2d{vx * dt, vy * dt, omega * dt};
   }
 
@@ -67,7 +67,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * @param dt The duration of the timestep the speeds should be applied for.
    * @return Discretized ChassisSpeeds.
    */
-  constexpr ChassisSpeeds Discretize(units::second_t dt) const {
+  constexpr ChassisSpeeds Discretize(wpi::units::second_t dt) const {
     // Construct the desired pose after a timestep, relative to the current
     // pose. The desired pose has decoupled translation and rotation.
     Transform2d desiredTransform{vx * dt, vy * dt, omega * dt};
@@ -94,10 +94,10 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   constexpr ChassisSpeeds ToRobotRelative(const Rotation2d& robotAngle) const {
     // CW rotation into chassis frame
     auto rotated =
-        Translation2d{units::meter_t{vx.value()}, units::meter_t{vy.value()}}
+        Translation2d{wpi::units::meter_t{vx.value()}, wpi::units::meter_t{vy.value()}}
             .RotateBy(-robotAngle);
-    return {units::meters_per_second_t{rotated.X().value()},
-            units::meters_per_second_t{rotated.Y().value()}, omega};
+    return {wpi::units::meters_per_second_t{rotated.X().value()},
+            wpi::units::meters_per_second_t{rotated.Y().value()}, omega};
   }
 
   /**
@@ -114,10 +114,10 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   constexpr ChassisSpeeds ToFieldRelative(const Rotation2d& robotAngle) const {
     // CCW rotation out of chassis frame
     auto rotated =
-        Translation2d{units::meter_t{vx.value()}, units::meter_t{vy.value()}}
+        Translation2d{wpi::units::meter_t{vx.value()}, wpi::units::meter_t{vy.value()}}
             .RotateBy(robotAngle);
-    return {units::meters_per_second_t{rotated.X().value()},
-            units::meters_per_second_t{rotated.Y().value()}, omega};
+    return {wpi::units::meters_per_second_t{rotated.X().value()},
+            wpi::units::meters_per_second_t{rotated.Y().value()}, omega};
   }
 
   /**
@@ -194,7 +194,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    */
   constexpr bool operator==(const ChassisSpeeds& other) const = default;
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/ChassisSpeedsProto.hpp"
 #include "wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
index 1c8af561ac..9a296cdc76 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
@@ -16,7 +16,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Helper class that converts a chassis velocity (dx and dtheta components) to
  * left and right wheel velocities for a differential drive.
@@ -37,7 +37,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
    * empirical value may be larger than the physical measured value due to
    * scrubbing effects.
    */
-  constexpr explicit DifferentialDriveKinematics(units::meter_t trackwidth)
+  constexpr explicit DifferentialDriveKinematics(wpi::units::meter_t trackwidth)
       : trackwidth(trackwidth) {
     if (!std::is_constant_evaluated()) {
       wpi::math::MathSharedStore::ReportUsage("DifferentialDriveKinematics",
@@ -80,8 +80,8 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
    * @param rightDistance The distance measured by the right encoder.
    * @return The resulting Twist2d.
    */
-  constexpr Twist2d ToTwist2d(const units::meter_t leftDistance,
-                              const units::meter_t rightDistance) const {
+  constexpr Twist2d ToTwist2d(const wpi::units::meter_t leftDistance,
+                              const wpi::units::meter_t rightDistance) const {
     return {(leftDistance + rightDistance) / 2, 0_m,
             (rightDistance - leftDistance) / trackwidth * 1_rad};
   }
@@ -99,9 +99,9 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   }
 
   /// Differential drive trackwidth.
-  units::meter_t trackwidth;
+  wpi::units::meter_t trackwidth;
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp"
 #include "wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
index b608551f85..94f695a477 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Class for differential drive odometry. Odometry allows you to track the
  * robot's position on the field over the course of a match using readings from
@@ -41,8 +41,8 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry
    * @param initialPose The starting position of the robot on the field.
    */
   explicit DifferentialDriveOdometry(const Rotation2d& gyroAngle,
-                                     units::meter_t leftDistance,
-                                     units::meter_t rightDistance,
+                                     wpi::units::meter_t leftDistance,
+                                     wpi::units::meter_t rightDistance,
                                      const Pose2d& initialPose = Pose2d{});
 
   /**
@@ -59,8 +59,8 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry
    * @param leftDistance The distance traveled by the left encoder.
    * @param rightDistance The distance traveled by the right encoder.
    */
-  void ResetPosition(const Rotation2d& gyroAngle, units::meter_t leftDistance,
-                     units::meter_t rightDistance, const Pose2d& pose) {
+  void ResetPosition(const Rotation2d& gyroAngle, wpi::units::meter_t leftDistance,
+                     wpi::units::meter_t rightDistance, const Pose2d& pose) {
     Odometry::ResetPosition(gyroAngle, {leftDistance, rightDistance}, pose);
   }
 
@@ -75,12 +75,12 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry
    * @param rightDistance The distance traveled by the right encoder.
    * @return The new pose of the robot.
    */
-  const Pose2d& Update(const Rotation2d& gyroAngle, units::meter_t leftDistance,
-                       units::meter_t rightDistance) {
+  const Pose2d& Update(const Rotation2d& gyroAngle, wpi::units::meter_t leftDistance,
+                       wpi::units::meter_t rightDistance) {
     return Odometry::Update(gyroAngle, {leftDistance, rightDistance});
   }
 
  private:
-  DifferentialDriveKinematics m_kinematicsImpl{units::meter_t{1}};
+  DifferentialDriveKinematics m_kinematicsImpl{wpi::units::meter_t{1}};
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
index f1d3d5cf0f..70c1f7a5d0 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Class for differential drive odometry. Odometry allows you to track the
  * robot's position on the field over the course of a match using readings from
@@ -41,8 +41,8 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry3d
    * @param initialPose The starting position of the robot on the field.
    */
   explicit DifferentialDriveOdometry3d(const Rotation3d& gyroAngle,
-                                       units::meter_t leftDistance,
-                                       units::meter_t rightDistance,
+                                       wpi::units::meter_t leftDistance,
+                                       wpi::units::meter_t rightDistance,
                                        const Pose3d& initialPose = Pose3d{});
 
   /**
@@ -59,8 +59,8 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry3d
    * @param leftDistance The distance traveled by the left encoder.
    * @param rightDistance The distance traveled by the right encoder.
    */
-  void ResetPosition(const Rotation3d& gyroAngle, units::meter_t leftDistance,
-                     units::meter_t rightDistance, const Pose3d& pose) {
+  void ResetPosition(const Rotation3d& gyroAngle, wpi::units::meter_t leftDistance,
+                     wpi::units::meter_t rightDistance, const Pose3d& pose) {
     Odometry3d::ResetPosition(gyroAngle, {leftDistance, rightDistance}, pose);
   }
 
@@ -75,12 +75,12 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry3d
    * @param rightDistance The distance traveled by the right encoder.
    * @return The new pose of the robot.
    */
-  const Pose3d& Update(const Rotation3d& gyroAngle, units::meter_t leftDistance,
-                       units::meter_t rightDistance) {
+  const Pose3d& Update(const Rotation3d& gyroAngle, wpi::units::meter_t leftDistance,
+                       wpi::units::meter_t rightDistance) {
     return Odometry3d::Update(gyroAngle, {leftDistance, rightDistance});
   }
 
  private:
-  DifferentialDriveKinematics m_kinematicsImpl{units::meter_t{1}};
+  DifferentialDriveKinematics m_kinematicsImpl{wpi::units::meter_t{1}};
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
index 45fd579985..e5c9e9a643 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
@@ -8,7 +8,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the wheel positions for a differential drive drivetrain.
  */
@@ -16,12 +16,12 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
   /**
    * Distance driven by the left side.
    */
-  units::meter_t left = 0_m;
+  wpi::units::meter_t left = 0_m;
 
   /**
    * Distance driven by the right side.
    */
-  units::meter_t right = 0_m;
+  wpi::units::meter_t right = 0_m;
 
   /**
    * Checks equality between this DifferentialDriveWheelPositions and another
@@ -35,11 +35,11 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 
   constexpr DifferentialDriveWheelPositions Interpolate(
       const DifferentialDriveWheelPositions& endValue, double t) const {
-    return {wpi::Lerp(left, endValue.left, t),
-            wpi::Lerp(right, endValue.right, t)};
+    return {wpi::util::Lerp(left, endValue.left, t),
+            wpi::util::Lerp(right, endValue.right, t)};
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp"
 #include "wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
index 3c89bc4114..7bd8c340c7 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
@@ -8,7 +8,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the wheel speeds for a differential drive drivetrain.
  */
@@ -16,12 +16,12 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
   /**
    * Speed of the left side of the robot.
    */
-  units::meters_per_second_t left = 0_mps;
+  wpi::units::meters_per_second_t left = 0_mps;
 
   /**
    * Speed of the right side of the robot.
    */
-  units::meters_per_second_t right = 0_mps;
+  wpi::units::meters_per_second_t right = 0_mps;
 
   /**
    * Renormalizes the wheel speeds if either side is above the specified
@@ -35,9 +35,9 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
    *
    * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
    */
-  constexpr void Desaturate(units::meters_per_second_t attainableMaxSpeed) {
+  constexpr void Desaturate(wpi::units::meters_per_second_t attainableMaxSpeed) {
     auto realMaxSpeed =
-        units::math::max(units::math::abs(left), units::math::abs(right));
+        wpi::units::math::max(wpi::units::math::abs(left), wpi::units::math::abs(right));
 
     if (realMaxSpeed > attainableMaxSpeed) {
       left = left / realMaxSpeed * attainableMaxSpeed;
@@ -119,7 +119,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
     return operator*(1.0 / scalar);
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp"
 #include "wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
index a5f514de9b..091fcbd909 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
  * into individual wheel speeds. Robot code should not use this directly-
@@ -75,4 +75,4 @@ class WPILIB_DLLEXPORT Kinematics {
                                      const WheelPositions& end,
                                      double t) const = 0;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
index f4f2e7157a..d33ef1b11a 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
@@ -16,7 +16,7 @@
 #include "wpi/math/util/MathShared.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
@@ -197,7 +197,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
                             Translation2d rl, Translation2d rr) const;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp"
 #include "wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
index 8d01bbbdc6..8d12779e9b 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for mecanum drive odometry. Odometry allows you to track the robot's
@@ -44,4 +44,4 @@ class WPILIB_DLLEXPORT MecanumDriveOdometry
   MecanumDriveKinematics m_kinematicsImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
index d20cf5fc1e..fb2f9c6401 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for mecanum drive odometry. Odometry allows you to track the robot's
@@ -44,4 +44,4 @@ class WPILIB_DLLEXPORT MecanumDriveOdometry3d
   MecanumDriveKinematics m_kinematicsImpl;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
index 9fd0aa4e29..2cf7c025e2 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
@@ -8,7 +8,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the wheel positions for a mecanum drive drivetrain.
  */
@@ -16,22 +16,22 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
   /**
    * Distance driven by the front-left wheel.
    */
-  units::meter_t frontLeft = 0_m;
+  wpi::units::meter_t frontLeft = 0_m;
 
   /**
    * Distance driven by the front-right wheel.
    */
-  units::meter_t frontRight = 0_m;
+  wpi::units::meter_t frontRight = 0_m;
 
   /**
    * Distance driven by the rear-left wheel.
    */
-  units::meter_t rearLeft = 0_m;
+  wpi::units::meter_t rearLeft = 0_m;
 
   /**
    * Distance driven by the rear-right wheel.
    */
-  units::meter_t rearRight = 0_m;
+  wpi::units::meter_t rearRight = 0_m;
 
   /**
    * Checks equality between this MecanumDriveWheelPositions and another object.
@@ -44,13 +44,13 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
 
   constexpr MecanumDriveWheelPositions Interpolate(
       const MecanumDriveWheelPositions& endValue, double t) const {
-    return {wpi::Lerp(frontLeft, endValue.frontLeft, t),
-            wpi::Lerp(frontRight, endValue.frontRight, t),
-            wpi::Lerp(rearLeft, endValue.rearLeft, t),
-            wpi::Lerp(rearRight, endValue.rearRight, t)};
+    return {wpi::util::Lerp(frontLeft, endValue.frontLeft, t),
+            wpi::util::Lerp(frontRight, endValue.frontRight, t),
+            wpi::util::Lerp(rearLeft, endValue.rearLeft, t),
+            wpi::util::Lerp(rearRight, endValue.rearRight, t)};
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp"
 #include "wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
index ab908cf68a..bba0bb559d 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the wheel speeds for a mecanum drive drivetrain.
  */
@@ -20,22 +20,22 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
   /**
    * Speed of the front-left wheel.
    */
-  units::meters_per_second_t frontLeft = 0_mps;
+  wpi::units::meters_per_second_t frontLeft = 0_mps;
 
   /**
    * Speed of the front-right wheel.
    */
-  units::meters_per_second_t frontRight = 0_mps;
+  wpi::units::meters_per_second_t frontRight = 0_mps;
 
   /**
    * Speed of the rear-left wheel.
    */
-  units::meters_per_second_t rearLeft = 0_mps;
+  wpi::units::meters_per_second_t rearLeft = 0_mps;
 
   /**
    * Speed of the rear-right wheel.
    */
-  units::meters_per_second_t rearRight = 0_mps;
+  wpi::units::meters_per_second_t rearRight = 0_mps;
 
   /**
    * Renormalizes the wheel speeds if any individual speed is above the
@@ -51,13 +51,13 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
    * @return Desaturated MecanumDriveWheelSpeeds.
    */
   constexpr MecanumDriveWheelSpeeds Desaturate(
-      units::meters_per_second_t attainableMaxSpeed) const {
-    std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
+      wpi::units::meters_per_second_t attainableMaxSpeed) const {
+    std::array<wpi::units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
                                                           rearLeft, rearRight};
-    units::meters_per_second_t realMaxSpeed = units::math::abs(
+    wpi::units::meters_per_second_t realMaxSpeed = wpi::units::math::abs(
         *std::max_element(wheelSpeeds.begin(), wheelSpeeds.end(),
                           [](const auto& a, const auto& b) {
-                            return units::math::abs(a) < units::math::abs(b);
+                            return wpi::units::math::abs(a) < wpi::units::math::abs(b);
                           }));
 
     if (realMaxSpeed > attainableMaxSpeed) {
@@ -143,7 +143,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
     return operator*(1.0 / scalar);
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp"
 #include "wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
index 7093df2d21..f053587eba 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
@@ -10,7 +10,7 @@
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for odometry. Robot code should not use this directly- Instead, use the
@@ -139,4 +139,4 @@ class WPILIB_DLLEXPORT Odometry {
   Rotation2d m_gyroOffset;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
index c6b1b447f5..8450632b4c 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
@@ -13,7 +13,7 @@
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for odometry. Robot code should not use this directly- Instead, use the
@@ -126,9 +126,9 @@ class WPILIB_DLLEXPORT Odometry3d {
     Twist3d twist{twist2d.dx,
                   twist2d.dy,
                   0_m,
-                  units::radian_t{angle_difference(0)},
-                  units::radian_t{angle_difference(1)},
-                  units::radian_t{angle_difference(2)}};
+                  wpi::units::radian_t{angle_difference(0)},
+                  wpi::units::radian_t{angle_difference(1)},
+                  wpi::units::radian_t{angle_difference(2)}};
 
     auto newPose = m_pose + twist.Exp();
 
@@ -148,4 +148,4 @@ class WPILIB_DLLEXPORT Odometry3d {
   Rotation3d m_gyroOffset;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
index a675cc7adc..34de11995c 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
@@ -24,7 +24,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
@@ -50,8 +50,8 @@ namespace frc {
  */
 template <size_t NumModules>
 class SwerveDriveKinematics
-    : public Kinematics<wpi::array<SwerveModuleState, NumModules>,
-                        wpi::array<SwerveModulePosition, NumModules>> {
+    : public Kinematics<wpi::util::array<SwerveModuleState, NumModules>,
+                        wpi::util::array<SwerveModulePosition, NumModules>> {
  public:
   /**
    * Constructs a swerve drive kinematics object. This takes in a variable
@@ -67,7 +67,7 @@ class SwerveDriveKinematics
   template <std::convertible_to<Translation2d>... ModuleTranslations>
     requires(sizeof...(ModuleTranslations) == NumModules)
   explicit SwerveDriveKinematics(ModuleTranslations&&... moduleTranslations)
-      : m_modules{moduleTranslations...}, m_moduleHeadings(wpi::empty_array) {
+      : m_modules{moduleTranslations...}, m_moduleHeadings(wpi::util::empty_array) {
     for (size_t i = 0; i < NumModules; i++) {
       // clang-format off
       m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
@@ -82,8 +82,8 @@ class SwerveDriveKinematics
   }
 
   explicit SwerveDriveKinematics(
-      const wpi::array<Translation2d, NumModules>& modules)
-      : m_modules{modules}, m_moduleHeadings(wpi::empty_array) {
+      const wpi::util::array<Translation2d, NumModules>& modules)
+      : m_modules{modules}, m_moduleHeadings(wpi::util::empty_array) {
     for (size_t i = 0; i < NumModules; i++) {
       // clang-format off
       m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
@@ -108,7 +108,7 @@ class SwerveDriveKinematics
     requires(sizeof...(ModuleHeadings) == NumModules)
   void ResetHeadings(ModuleHeadings&&... moduleHeadings) {
     return this->ResetHeadings(
-        wpi::array<Rotation2d, NumModules>{moduleHeadings...});
+        wpi::util::array<Rotation2d, NumModules>{moduleHeadings...});
   }
 
   /**
@@ -116,7 +116,7 @@ class SwerveDriveKinematics
    * @param moduleHeadings The swerve module headings. The order of the module
    * headings should be same as passed into the constructor of this class.
    */
-  void ResetHeadings(wpi::array<Rotation2d, NumModules> moduleHeadings) {
+  void ResetHeadings(wpi::util::array<Rotation2d, NumModules> moduleHeadings) {
     for (size_t i = 0; i < NumModules; i++) {
       m_moduleHeadings[i] = moduleHeadings[i];
     }
@@ -144,8 +144,8 @@ class SwerveDriveKinematics
    * @return An array containing the module states. Use caution because these
    * module states are not normalized. Sometimes, a user input may cause one of
    * the module speeds to go above the attainable max velocity. Use the
-   * DesaturateWheelSpeeds(wpi::array<SwerveModuleState, NumModules>*,
-   * units::meters_per_second_t) function to rectify this issue. In addition,
+   * DesaturateWheelSpeeds(wpi::util::array<SwerveModuleState, NumModules>*,
+   * wpi::units::meters_per_second_t) function to rectify this issue. In addition,
    * you can leverage the power of C++17 to directly assign the module states to
    * variables:
    *
@@ -153,10 +153,10 @@ class SwerveDriveKinematics
    * auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(chassisSpeeds);
    * @endcode
    */
-  wpi::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
+  wpi::util::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
       const ChassisSpeeds& chassisSpeeds,
       const Translation2d& centerOfRotation = Translation2d{}) const {
-    wpi::array<SwerveModuleState, NumModules> moduleStates(wpi::empty_array);
+    wpi::util::array<SwerveModuleState, NumModules> moduleStates(wpi::util::empty_array);
 
     if (chassisSpeeds.vx == 0_mps && chassisSpeeds.vy == 0_mps &&
         chassisSpeeds.omega == 0_rad_per_s) {
@@ -188,10 +188,10 @@ class SwerveDriveKinematics
         m_inverseKinematics * chassisSpeedsVector;
 
     for (size_t i = 0; i < NumModules; i++) {
-      units::meters_per_second_t x{moduleStateMatrix(i * 2, 0)};
-      units::meters_per_second_t y{moduleStateMatrix(i * 2 + 1, 0)};
+      wpi::units::meters_per_second_t x{moduleStateMatrix(i * 2, 0)};
+      wpi::units::meters_per_second_t y{moduleStateMatrix(i * 2 + 1, 0)};
 
-      auto speed = units::math::hypot(x, y);
+      auto speed = wpi::units::math::hypot(x, y);
       auto rotation = speed > 1e-6_mps ? Rotation2d{x.value(), y.value()}
                                        : m_moduleHeadings[i];
 
@@ -202,7 +202,7 @@ class SwerveDriveKinematics
     return moduleStates;
   }
 
-  wpi::array<SwerveModuleState, NumModules> ToWheelSpeeds(
+  wpi::util::array<SwerveModuleState, NumModules> ToWheelSpeeds(
       const ChassisSpeeds& chassisSpeeds) const override {
     return ToSwerveModuleStates(chassisSpeeds);
   }
@@ -223,7 +223,7 @@ class SwerveDriveKinematics
     requires(sizeof...(ModuleStates) == NumModules)
   ChassisSpeeds ToChassisSpeeds(ModuleStates&&... moduleStates) const {
     return this->ToChassisSpeeds(
-        wpi::array<SwerveModuleState, NumModules>{moduleStates...});
+        wpi::util::array<SwerveModuleState, NumModules>{moduleStates...});
   }
 
   /**
@@ -232,14 +232,14 @@ class SwerveDriveKinematics
    * the robot's position on the field using data from the real-world speed and
    * angle of each module on the robot.
    *
-   * @param moduleStates The state of the modules as an wpi::array of type
+   * @param moduleStates The state of the modules as an wpi::util::array of type
    * SwerveModuleState, NumModules long as measured from respective encoders
    * and gyros. The order of the swerve module states should be same as passed
    * into the constructor of this class.
    *
    * @return The resulting chassis speed.
    */
-  ChassisSpeeds ToChassisSpeeds(const wpi::array<SwerveModuleState, NumModules>&
+  ChassisSpeeds ToChassisSpeeds(const wpi::util::array<SwerveModuleState, NumModules>&
                                     moduleStates) const override {
     Matrixd<NumModules * 2, 1> moduleStateMatrix;
 
@@ -253,9 +253,9 @@ class SwerveDriveKinematics
     Eigen::Vector3d chassisSpeedsVector =
         m_forwardKinematics.solve(moduleStateMatrix);
 
-    return {units::meters_per_second_t{chassisSpeedsVector(0)},
-            units::meters_per_second_t{chassisSpeedsVector(1)},
-            units::radians_per_second_t{chassisSpeedsVector(2)}};
+    return {wpi::units::meters_per_second_t{chassisSpeedsVector(0)},
+            wpi::units::meters_per_second_t{chassisSpeedsVector(1)},
+            wpi::units::radians_per_second_t{chassisSpeedsVector(2)}};
   }
 
   /**
@@ -275,7 +275,7 @@ class SwerveDriveKinematics
     requires(sizeof...(ModuleDeltas) == NumModules)
   Twist2d ToTwist2d(ModuleDeltas&&... moduleDeltas) const {
     return this->ToTwist2d(
-        wpi::array<SwerveModulePosition, NumModules>{moduleDeltas...});
+        wpi::util::array<SwerveModulePosition, NumModules>{moduleDeltas...});
   }
 
   /**
@@ -292,7 +292,7 @@ class SwerveDriveKinematics
    * @return The resulting Twist2d.
    */
   Twist2d ToTwist2d(
-      wpi::array<SwerveModulePosition, NumModules> moduleDeltas) const {
+      wpi::util::array<SwerveModulePosition, NumModules> moduleDeltas) const {
     Matrixd<NumModules * 2, 1> moduleDeltaMatrix;
 
     for (size_t i = 0; i < NumModules; ++i) {
@@ -306,16 +306,16 @@ class SwerveDriveKinematics
     Eigen::Vector3d chassisDeltaVector =
         m_forwardKinematics.solve(moduleDeltaMatrix);
 
-    return {units::meter_t{chassisDeltaVector(0)},
-            units::meter_t{chassisDeltaVector(1)},
-            units::radian_t{chassisDeltaVector(2)}};
+    return {wpi::units::meter_t{chassisDeltaVector(0)},
+            wpi::units::meter_t{chassisDeltaVector(1)},
+            wpi::units::radian_t{chassisDeltaVector(2)}};
   }
 
   Twist2d ToTwist2d(
-      const wpi::array<SwerveModulePosition, NumModules>& start,
-      const wpi::array<SwerveModulePosition, NumModules>& end) const override {
+      const wpi::util::array<SwerveModulePosition, NumModules>& start,
+      const wpi::util::array<SwerveModulePosition, NumModules>& end) const override {
     auto result =
-        wpi::array<SwerveModulePosition, NumModules>(wpi::empty_array);
+        wpi::util::array<SwerveModulePosition, NumModules>(wpi::util::empty_array);
     for (size_t i = 0; i < NumModules; i++) {
       result[i] = {end[i].distance - start[i].distance, end[i].angle};
     }
@@ -343,14 +343,14 @@ class SwerveDriveKinematics
    * @param attainableMaxSpeed The absolute max speed that a module can reach.
    */
   static void DesaturateWheelSpeeds(
-      wpi::array<SwerveModuleState, NumModules>* moduleStates,
-      units::meters_per_second_t attainableMaxSpeed) {
+      wpi::util::array<SwerveModuleState, NumModules>* moduleStates,
+      wpi::units::meters_per_second_t attainableMaxSpeed) {
     auto& states = *moduleStates;
     auto realMaxSpeed =
-        units::math::abs(std::max_element(states.begin(), states.end(),
+        wpi::units::math::abs(std::max_element(states.begin(), states.end(),
                                           [](const auto& a, const auto& b) {
-                                            return units::math::abs(a.speed) <
-                                                   units::math::abs(b.speed);
+                                            return wpi::units::math::abs(a.speed) <
+                                                   wpi::units::math::abs(b.speed);
                                           })
                              ->speed);
 
@@ -388,18 +388,18 @@ class SwerveDriveKinematics
    * reach while rotating
    */
   static void DesaturateWheelSpeeds(
-      wpi::array<SwerveModuleState, NumModules>* moduleStates,
+      wpi::util::array<SwerveModuleState, NumModules>* moduleStates,
       ChassisSpeeds desiredChassisSpeed,
-      units::meters_per_second_t attainableMaxModuleSpeed,
-      units::meters_per_second_t attainableMaxRobotTranslationSpeed,
-      units::radians_per_second_t attainableMaxRobotRotationSpeed) {
+      wpi::units::meters_per_second_t attainableMaxModuleSpeed,
+      wpi::units::meters_per_second_t attainableMaxRobotTranslationSpeed,
+      wpi::units::radians_per_second_t attainableMaxRobotRotationSpeed) {
     auto& states = *moduleStates;
 
     auto realMaxSpeed =
-        units::math::abs(std::max_element(states.begin(), states.end(),
+        wpi::units::math::abs(std::max_element(states.begin(), states.end(),
                                           [](const auto& a, const auto& b) {
-                                            return units::math::abs(a.speed) <
-                                                   units::math::abs(b.speed);
+                                            return wpi::units::math::abs(a.speed) <
+                                                   wpi::units::math::abs(b.speed);
                                           })
                              ->speed);
 
@@ -410,42 +410,42 @@ class SwerveDriveKinematics
     }
 
     auto translationalK =
-        units::math::hypot(desiredChassisSpeed.vx, desiredChassisSpeed.vy) /
+        wpi::units::math::hypot(desiredChassisSpeed.vx, desiredChassisSpeed.vy) /
         attainableMaxRobotTranslationSpeed;
 
-    auto rotationalK = units::math::abs(desiredChassisSpeed.omega) /
+    auto rotationalK = wpi::units::math::abs(desiredChassisSpeed.omega) /
                        attainableMaxRobotRotationSpeed;
 
-    auto k = units::math::max(translationalK, rotationalK);
+    auto k = wpi::units::math::max(translationalK, rotationalK);
 
-    auto scale = units::math::min(k * attainableMaxModuleSpeed / realMaxSpeed,
-                                  units::scalar_t{1});
+    auto scale = wpi::units::math::min(k * attainableMaxModuleSpeed / realMaxSpeed,
+                                  wpi::units::scalar_t{1});
     for (auto& module : states) {
       module.speed = module.speed * scale;
     }
   }
 
-  wpi::array<SwerveModulePosition, NumModules> Interpolate(
-      const wpi::array<SwerveModulePosition, NumModules>& start,
-      const wpi::array<SwerveModulePosition, NumModules>& end,
+  wpi::util::array<SwerveModulePosition, NumModules> Interpolate(
+      const wpi::util::array<SwerveModulePosition, NumModules>& start,
+      const wpi::util::array<SwerveModulePosition, NumModules>& end,
       double t) const override {
     auto result =
-        wpi::array<SwerveModulePosition, NumModules>(wpi::empty_array);
+        wpi::util::array<SwerveModulePosition, NumModules>(wpi::util::empty_array);
     for (size_t i = 0; i < NumModules; ++i) {
       result[i] = start[i].Interpolate(end[i], t);
     }
     return {result};
   }
 
-  const wpi::array<Translation2d, NumModules>& GetModules() const {
+  const wpi::util::array<Translation2d, NumModules>& GetModules() const {
     return m_modules;
   }
 
  private:
-  wpi::array<Translation2d, NumModules> m_modules;
+  wpi::util::array<Translation2d, NumModules> m_modules;
   mutable Matrixd<NumModules * 2, 3> m_inverseKinematics;
   Eigen::HouseholderQR<Matrixd<NumModules * 2, 3>> m_forwardKinematics;
-  mutable wpi::array<Rotation2d, NumModules> m_moduleHeadings;
+  mutable wpi::util::array<Rotation2d, NumModules> m_moduleHeadings;
 
   mutable Translation2d m_previousCoR;
 };
@@ -457,4 +457,4 @@ SwerveDriveKinematics(ModuleTranslation, ModuleTranslations...)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SwerveDriveKinematics<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
index 3f0dd423d8..dff4b672de 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for swerve drive odometry. Odometry allows you to track the robot's
@@ -29,8 +29,8 @@ namespace frc {
  */
 template <size_t NumModules>
 class SwerveDriveOdometry
-    : public Odometry<wpi::array<SwerveModuleState, NumModules>,
-                      wpi::array<SwerveModulePosition, NumModules>> {
+    : public Odometry<wpi::util::array<SwerveModuleState, NumModules>,
+                      wpi::util::array<SwerveModulePosition, NumModules>> {
  public:
   /**
    * Constructs a SwerveDriveOdometry object.
@@ -42,7 +42,7 @@ class SwerveDriveOdometry
    */
   SwerveDriveOdometry(
       SwerveDriveKinematics<NumModules> kinematics, const Rotation2d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
       const Pose2d& initialPose = Pose2d{})
       : SwerveDriveOdometry::Odometry(m_kinematicsImpl, gyroAngle,
                                       modulePositions, initialPose),
@@ -57,4 +57,4 @@ class SwerveDriveOdometry
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SwerveDriveOdometry<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
index 4f26ddedd8..80b4ee078e 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class for swerve drive odometry. Odometry allows you to track the robot's
@@ -30,8 +30,8 @@ namespace frc {
  */
 template <size_t NumModules>
 class SwerveDriveOdometry3d
-    : public Odometry3d<wpi::array<SwerveModuleState, NumModules>,
-                        wpi::array<SwerveModulePosition, NumModules>> {
+    : public Odometry3d<wpi::util::array<SwerveModuleState, NumModules>,
+                        wpi::util::array<SwerveModulePosition, NumModules>> {
  public:
   /**
    * Constructs a SwerveDriveOdometry3d object.
@@ -47,7 +47,7 @@ class SwerveDriveOdometry3d
 #endif  // defined(__GNUC__) && !defined(__clang__)
   SwerveDriveOdometry3d(
       SwerveDriveKinematics<NumModules> kinematics, const Rotation3d& gyroAngle,
-      const wpi::array<SwerveModulePosition, NumModules>& modulePositions,
+      const wpi::util::array<SwerveModulePosition, NumModules>& modulePositions,
       const Pose3d& initialPose = Pose3d{})
       : SwerveDriveOdometry3d::Odometry3d(m_kinematicsImpl, gyroAngle,
                                           modulePositions, initialPose),
@@ -65,4 +65,4 @@ class SwerveDriveOdometry3d
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     SwerveDriveOdometry3d<4>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
index 6b29b60922..032fab1a51 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
@@ -10,7 +10,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the position of one swerve module.
  */
@@ -18,7 +18,7 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
   /**
    * Distance the wheel of a module has traveled
    */
-  units::meter_t distance = 0_m;
+  wpi::units::meter_t distance = 0_m;
 
   /**
    * Angle of the module.
@@ -32,17 +32,17 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const SwerveModulePosition& other) const {
-    return units::math::abs(distance - other.distance) < 1E-9_m &&
+    return wpi::units::math::abs(distance - other.distance) < 1E-9_m &&
            angle == other.angle;
   }
 
   constexpr SwerveModulePosition Interpolate(
       const SwerveModulePosition& endValue, double t) const {
-    return {wpi::Lerp(distance, endValue.distance, t),
-            wpi::Lerp(angle, endValue.angle, t)};
+    return {wpi::util::Lerp(distance, endValue.distance, t),
+            wpi::util::Lerp(angle, endValue.angle, t)};
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/SwerveModulePositionProto.hpp"
 #include "wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
index ce02db2735..2cb68a6f13 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the state of one swerve module.
  */
@@ -18,7 +18,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
   /**
    * Speed of the wheel of the module.
    */
-  units::meters_per_second_t speed = 0_mps;
+  wpi::units::meters_per_second_t speed = 0_mps;
 
   /**
    * Angle of the module.
@@ -32,7 +32,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    * @return Whether the two objects are equal.
    */
   constexpr bool operator==(const SwerveModuleState& other) const {
-    return units::math::abs(speed - other.speed) < 1E-9_mps &&
+    return wpi::units::math::abs(speed - other.speed) < 1E-9_mps &&
            angle == other.angle;
   }
 
@@ -46,7 +46,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    */
   constexpr void Optimize(const Rotation2d& currentAngle) {
     auto delta = angle - currentAngle;
-    if (units::math::abs(delta.Degrees()) > 90_deg) {
+    if (wpi::units::math::abs(delta.Degrees()) > 90_deg) {
       speed *= -1;
       angle = angle + Rotation2d{180_deg};
     }
@@ -65,7 +65,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
   constexpr static SwerveModuleState Optimize(
       const SwerveModuleState& desiredState, const Rotation2d& currentAngle) {
     auto delta = desiredState.angle - currentAngle;
-    if (units::math::abs(delta.Degrees()) > 90_deg) {
+    if (wpi::units::math::abs(delta.Degrees()) > 90_deg) {
       return {-desiredState.speed, desiredState.angle + Rotation2d{180_deg}};
     } else {
       return {desiredState.speed, desiredState.angle};
@@ -83,7 +83,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
     speed *= (angle - currentAngle).Cos();
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/kinematics/proto/SwerveModuleStateProto.hpp"
 #include "wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
index b8c53907e4..0e50b1c8bb 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::ChassisSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::ChassisSpeeds> {
   using MessageStruct = wpi_proto_ProtobufChassisSpeeds;
-  using InputStream = wpi::ProtoInputStream<frc::ChassisSpeeds>;
-  using OutputStream = wpi::ProtoOutputStream<frc::ChassisSpeeds>;
-  static std::optional<frc::ChassisSpeeds> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::ChassisSpeeds& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::ChassisSpeeds>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::ChassisSpeeds>;
+  static std::optional<wpi::math::ChassisSpeeds> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::ChassisSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
index 0dd48a504f..3972bf65ab 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
@@ -10,12 +10,12 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveKinematics> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DifferentialDriveKinematics> {
   using MessageStruct = wpi_proto_ProtobufDifferentialDriveKinematics;
-  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveKinematics>;
-  using OutputStream = wpi::ProtoOutputStream<frc::DifferentialDriveKinematics>;
-  static std::optional<frc::DifferentialDriveKinematics> Unpack(
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::DifferentialDriveKinematics>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::DifferentialDriveKinematics>;
+  static std::optional<wpi::math::DifferentialDriveKinematics> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::DifferentialDriveKinematics& value);
+                   const wpi::math::DifferentialDriveKinematics& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
index 1cc4af0da4..d574c6a1d9 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
@@ -10,14 +10,14 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DifferentialDriveWheelPositions> {
   using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelPositions;
   using InputStream =
-      wpi::ProtoInputStream<frc::DifferentialDriveWheelPositions>;
+      wpi::util::ProtoInputStream<wpi::math::DifferentialDriveWheelPositions>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::DifferentialDriveWheelPositions>;
-  static std::optional<frc::DifferentialDriveWheelPositions> Unpack(
+      wpi::util::ProtoOutputStream<wpi::math::DifferentialDriveWheelPositions>;
+  static std::optional<wpi::math::DifferentialDriveWheelPositions> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::DifferentialDriveWheelPositions& value);
+                   const wpi::math::DifferentialDriveWheelPositions& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
index 3396a3abe2..782c2f628e 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
@@ -10,13 +10,13 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DifferentialDriveWheelSpeeds> {
   using MessageStruct = wpi_proto_ProtobufDifferentialDriveWheelSpeeds;
-  using InputStream = wpi::ProtoInputStream<frc::DifferentialDriveWheelSpeeds>;
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::DifferentialDriveWheelSpeeds>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::DifferentialDriveWheelSpeeds>;
-  static std::optional<frc::DifferentialDriveWheelSpeeds> Unpack(
+      wpi::util::ProtoOutputStream<wpi::math::DifferentialDriveWheelSpeeds>;
+  static std::optional<wpi::math::DifferentialDriveWheelSpeeds> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::DifferentialDriveWheelSpeeds& value);
+                   const wpi::math::DifferentialDriveWheelSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
index 33c6d550c5..9a5ad2da6e 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
@@ -10,11 +10,11 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveKinematics> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::MecanumDriveKinematics> {
   using MessageStruct = wpi_proto_ProtobufMecanumDriveKinematics;
-  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveKinematics>;
-  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveKinematics>;
-  static std::optional<frc::MecanumDriveKinematics> Unpack(InputStream& stream);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::MecanumDriveKinematics>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::MecanumDriveKinematics>;
+  static std::optional<wpi::math::MecanumDriveKinematics> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::MecanumDriveKinematics& value);
+                   const wpi::math::MecanumDriveKinematics& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
index 7ed4ca0ebc..ac2bdeb01c 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
@@ -10,12 +10,12 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelPositions> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::MecanumDriveWheelPositions> {
   using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelPositions;
-  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelPositions>;
-  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelPositions>;
-  static std::optional<frc::MecanumDriveWheelPositions> Unpack(
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::MecanumDriveWheelPositions>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::MecanumDriveWheelPositions>;
+  static std::optional<wpi::math::MecanumDriveWheelPositions> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::MecanumDriveWheelPositions& value);
+                   const wpi::math::MecanumDriveWheelPositions& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
index 167394c588..2d610ac4d0 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
@@ -10,12 +10,12 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::MecanumDriveWheelSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::MecanumDriveWheelSpeeds> {
   using MessageStruct = wpi_proto_ProtobufMecanumDriveWheelSpeeds;
-  using InputStream = wpi::ProtoInputStream<frc::MecanumDriveWheelSpeeds>;
-  using OutputStream = wpi::ProtoOutputStream<frc::MecanumDriveWheelSpeeds>;
-  static std::optional<frc::MecanumDriveWheelSpeeds> Unpack(
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::MecanumDriveWheelSpeeds>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::MecanumDriveWheelSpeeds>;
+  static std::optional<wpi::math::MecanumDriveWheelSpeeds> Unpack(
       InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::MecanumDriveWheelSpeeds& value);
+                   const wpi::math::MecanumDriveWheelSpeeds& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
index 79058313e1..c5242c0aea 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
@@ -14,30 +14,30 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <size_t NumModules>
-struct wpi::Protobuf<frc::SwerveDriveKinematics<NumModules>> {
+struct wpi::util::Protobuf<wpi::math::SwerveDriveKinematics<NumModules>> {
   using MessageStruct = wpi_proto_ProtobufSwerveDriveKinematics;
   using InputStream =
-      wpi::ProtoInputStream<frc::SwerveDriveKinematics<NumModules>>;
+      wpi::util::ProtoInputStream<wpi::math::SwerveDriveKinematics<NumModules>>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::SwerveDriveKinematics<NumModules>>;
+      wpi::util::ProtoOutputStream<wpi::math::SwerveDriveKinematics<NumModules>>;
 
-  static std::optional<frc::SwerveDriveKinematics<NumModules>> Unpack(
+  static std::optional<wpi::math::SwerveDriveKinematics<NumModules>> Unpack(
       InputStream& stream) {
-    wpi::WpiArrayUnpackCallback<frc::Translation2d, NumModules> modules;
+    wpi::util::WpiArrayUnpackCallback<wpi::math::Translation2d, NumModules> modules;
     wpi_proto_ProtobufSwerveDriveKinematics msg{
         .modules = modules.Callback(),
     };
-    modules.SetLimits(wpi::DecodeLimits::Fail);
+    modules.SetLimits(wpi::util::DecodeLimits::Fail);
     if (!stream.Decode(msg)) {
       return {};
     }
 
-    return frc::SwerveDriveKinematics<NumModules>{modules.Array()};
+    return wpi::math::SwerveDriveKinematics<NumModules>{modules.Array()};
   }
 
   static bool Pack(OutputStream& stream,
-                   const frc::SwerveDriveKinematics<NumModules>& value) {
-    wpi::PackCallback<frc::Translation2d> modules{value.GetModules()};
+                   const wpi::math::SwerveDriveKinematics<NumModules>& value) {
+    wpi::util::PackCallback<wpi::math::Translation2d> modules{value.GetModules()};
     wpi_proto_ProtobufSwerveDriveKinematics msg{
         .modules = modules.Callback(),
     };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
index d44b71cc33..23bbec0f89 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
@@ -10,11 +10,11 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModulePosition> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::SwerveModulePosition> {
   using MessageStruct = wpi_proto_ProtobufSwerveModulePosition;
-  using InputStream = wpi::ProtoInputStream<frc::SwerveModulePosition>;
-  using OutputStream = wpi::ProtoOutputStream<frc::SwerveModulePosition>;
-  static std::optional<frc::SwerveModulePosition> Unpack(InputStream& stream);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::SwerveModulePosition>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::SwerveModulePosition>;
+  static std::optional<wpi::math::SwerveModulePosition> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::SwerveModulePosition& value);
+                   const wpi::math::SwerveModulePosition& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
index 6da75cdf4e..cf4b97c828 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::SwerveModuleState> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::SwerveModuleState> {
   using MessageStruct = wpi_proto_ProtobufSwerveModuleState;
-  using InputStream = wpi::ProtoInputStream<frc::SwerveModuleState>;
-  using OutputStream = wpi::ProtoOutputStream<frc::SwerveModuleState>;
-  static std::optional<frc::SwerveModuleState> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::SwerveModuleState& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::SwerveModuleState>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::SwerveModuleState>;
+  static std::optional<wpi::math::SwerveModuleState> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::SwerveModuleState& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
index f0114220f3..872a8a5acd 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
@@ -9,15 +9,15 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::ChassisSpeeds> {
   static constexpr std::string_view GetTypeName() { return "ChassisSpeeds"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
     return "double vx;double vy;double omega";
   }
 
-  static frc::ChassisSpeeds Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::ChassisSpeeds& value);
+  static wpi::math::ChassisSpeeds Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::ChassisSpeeds& value);
 };
 
-static_assert(wpi::StructSerializable<frc::ChassisSpeeds>);
+static_assert(wpi::util::StructSerializable<wpi::math::ChassisSpeeds>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
index 03b1167860..040d7141cd 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
@@ -9,16 +9,16 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DifferentialDriveKinematics> {
   static constexpr std::string_view GetTypeName() {
     return "DifferentialDriveKinematics";
   }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double trackwidth"; }
 
-  static frc::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
+  static wpi::math::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::DifferentialDriveKinematics& value);
+                   const wpi::math::DifferentialDriveKinematics& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DifferentialDriveKinematics>);
+static_assert(wpi::util::StructSerializable<wpi::math::DifferentialDriveKinematics>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
index f99d7381ad..241eab0bb1 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions> {
   static constexpr std::string_view GetTypeName() {
     return "DifferentialDriveWheelPositions";
   }
@@ -18,10 +18,10 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
     return "double left;double right";
   }
 
-  static frc::DifferentialDriveWheelPositions Unpack(
+  static wpi::math::DifferentialDriveWheelPositions Unpack(
       std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::DifferentialDriveWheelPositions& value);
+                   const wpi::math::DifferentialDriveWheelPositions& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelPositions>);
+static_assert(wpi::util::StructSerializable<wpi::math::DifferentialDriveWheelPositions>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
index 45f83f0265..3185b28170 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DifferentialDriveWheelSpeeds> {
   static constexpr std::string_view GetTypeName() {
     return "DifferentialDriveWheelSpeeds";
   }
@@ -18,10 +18,10 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
     return "double left;double right";
   }
 
-  static frc::DifferentialDriveWheelSpeeds Unpack(
+  static wpi::math::DifferentialDriveWheelSpeeds Unpack(
       std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::DifferentialDriveWheelSpeeds& value);
+                   const wpi::math::DifferentialDriveWheelSpeeds& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelSpeeds>);
+static_assert(wpi::util::StructSerializable<wpi::math::DifferentialDriveWheelSpeeds>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
index a4db523874..f445401235 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
@@ -9,26 +9,26 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::MecanumDriveKinematics> {
   static constexpr std::string_view GetTypeName() {
     return "MecanumDriveKinematics";
   }
   static constexpr size_t GetSize() {
-    return 4 * wpi::GetStructSize<frc::Translation2d>();
+    return 4 * wpi::util::GetStructSize<wpi::math::Translation2d>();
   }
   static constexpr std::string_view GetSchema() {
     return "Translation2d front_left;Translation2d front_right;Translation2d "
            "rear_left;Translation2d rear_right";
   }
 
-  static frc::MecanumDriveKinematics Unpack(std::span<const uint8_t> data);
+  static wpi::math::MecanumDriveKinematics Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::MecanumDriveKinematics& value);
+                   const wpi::math::MecanumDriveKinematics& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::MecanumDriveKinematics>);
-static_assert(wpi::HasNestedStruct<frc::MecanumDriveKinematics>);
+static_assert(wpi::util::StructSerializable<wpi::math::MecanumDriveKinematics>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::MecanumDriveKinematics>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
index 81b1b55ea8..c39c47cd8d 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::MecanumDriveWheelPositions> {
   static constexpr std::string_view GetTypeName() {
     return "MecanumDriveWheelPositions";
   }
@@ -19,9 +19,9 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
            "rear_right";
   }
 
-  static frc::MecanumDriveWheelPositions Unpack(std::span<const uint8_t> data);
+  static wpi::math::MecanumDriveWheelPositions Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::MecanumDriveWheelPositions& value);
+                   const wpi::math::MecanumDriveWheelPositions& value);
 };
 
-static_assert(wpi::StructSerializable<frc::MecanumDriveWheelPositions>);
+static_assert(wpi::util::StructSerializable<wpi::math::MecanumDriveWheelPositions>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
index de7678022e..ed0d86fa8a 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::MecanumDriveWheelSpeeds> {
   static constexpr std::string_view GetTypeName() {
     return "MecanumDriveWheelSpeeds";
   }
@@ -19,9 +19,9 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
            "double rear_right";
   }
 
-  static frc::MecanumDriveWheelSpeeds Unpack(std::span<const uint8_t> data);
+  static wpi::math::MecanumDriveWheelSpeeds Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::MecanumDriveWheelSpeeds& value);
+                   const wpi::math::MecanumDriveWheelSpeeds& value);
 };
 
-static_assert(wpi::StructSerializable<frc::MecanumDriveWheelSpeeds>);
+static_assert(wpi::util::StructSerializable<wpi::math::MecanumDriveWheelSpeeds>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
index 45bc12fd74..72e0b9eec8 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
@@ -11,39 +11,39 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <size_t NumModules>
-struct wpi::Struct<frc::SwerveDriveKinematics<NumModules>> {
-  static constexpr ct_string kTypeName = wpi::Concat(
-      "SwerveDriveKinematics__"_ct_string, wpi::NumToCtString<NumModules>());
+struct wpi::util::Struct<wpi::math::SwerveDriveKinematics<NumModules>> {
+  static constexpr ct_string kTypeName = wpi::util::Concat(
+      "SwerveDriveKinematics__"_ct_string, wpi::util::NumToCtString<NumModules>());
   static constexpr std::string_view GetTypeName() { return kTypeName; }
   static constexpr size_t GetSize() {
-    return NumModules * wpi::Struct<frc::Translation2d>::GetSize();
+    return NumModules * wpi::util::Struct<wpi::math::Translation2d>::GetSize();
   }
   static constexpr ct_string kSchema =
-      wpi::Concat("Translation2d modules["_ct_string,
-                  wpi::NumToCtString<NumModules>(), "]"_ct_string);
+      wpi::util::Concat("Translation2d modules["_ct_string,
+                  wpi::util::NumToCtString<NumModules>(), "]"_ct_string);
   static constexpr std::string_view GetSchema() { return kSchema; }
 
-  static frc::SwerveDriveKinematics<NumModules> Unpack(
+  static wpi::math::SwerveDriveKinematics<NumModules> Unpack(
       std::span<const uint8_t> data) {
     constexpr size_t kModulesOff = 0;
-    return frc::SwerveDriveKinematics<NumModules>{
-        wpi::UnpackStructArray<frc::Translation2d, kModulesOff, NumModules>(
+    return wpi::math::SwerveDriveKinematics<NumModules>{
+        wpi::util::UnpackStructArray<wpi::math::Translation2d, kModulesOff, NumModules>(
             data)};
   }
 
   static void Pack(std::span<uint8_t> data,
-                   const frc::SwerveDriveKinematics<NumModules>& value) {
+                   const wpi::math::SwerveDriveKinematics<NumModules>& value) {
     constexpr size_t kModulesOff = 0;
-    wpi::PackStructArray<kModulesOff, NumModules>(data, value.GetModules());
+    wpi::util::PackStructArray<kModulesOff, NumModules>(data, value.GetModules());
   }
 
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Translation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Translation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::SwerveDriveKinematics<4>>);
-static_assert(wpi::HasNestedStruct<frc::SwerveDriveKinematics<4>>);
-static_assert(wpi::StructSerializable<frc::SwerveDriveKinematics<3>>);
-static_assert(wpi::HasNestedStruct<frc::SwerveDriveKinematics<3>>);
+static_assert(wpi::util::StructSerializable<wpi::math::SwerveDriveKinematics<4>>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::SwerveDriveKinematics<4>>);
+static_assert(wpi::util::StructSerializable<wpi::math::SwerveDriveKinematics<3>>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::SwerveDriveKinematics<3>>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
index 344100d182..962582a530 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
@@ -9,25 +9,25 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::SwerveModulePosition> {
   static constexpr std::string_view GetTypeName() {
     return "SwerveModulePosition";
   }
   static constexpr size_t GetSize() {
-    return 8 + wpi::GetStructSize<frc::Rotation2d>();
+    return 8 + wpi::util::GetStructSize<wpi::math::Rotation2d>();
   }
   static constexpr std::string_view GetSchema() {
     return "double distance;Rotation2d angle";
   }
 
-  static frc::SwerveModulePosition Unpack(std::span<const uint8_t> data);
+  static wpi::math::SwerveModulePosition Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::SwerveModulePosition& value);
+                   const wpi::math::SwerveModulePosition& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::SwerveModulePosition>);
-static_assert(wpi::HasNestedStruct<frc::SwerveModulePosition>);
+static_assert(wpi::util::StructSerializable<wpi::math::SwerveModulePosition>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::SwerveModulePosition>);
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
index c9f626181f..93f16aea89 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
@@ -9,25 +9,25 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::SwerveModuleState> {
   static constexpr std::string_view GetTypeName() {
     return "SwerveModuleState";
   }
   static constexpr size_t GetSize() {
-    return 8 + wpi::GetStructSize<frc::Rotation2d>();
+    return 8 + wpi::util::GetStructSize<wpi::math::Rotation2d>();
   }
   static constexpr std::string_view GetSchema() {
     return "double speed;Rotation2d angle";
   }
 
-  static frc::SwerveModuleState Unpack(std::span<const uint8_t> data);
+  static wpi::math::SwerveModuleState Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::SwerveModuleState& value);
+                   const wpi::math::SwerveModuleState& value);
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Rotation2d>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Rotation2d>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::SwerveModuleState>);
-static_assert(wpi::HasNestedStruct<frc::SwerveModuleState>);
+static_assert(wpi::util::StructSerializable<wpi::math::SwerveModuleState>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::SwerveModuleState>);
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp b/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
index 6db59d8fe0..1d6af51401 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
@@ -13,7 +13,7 @@
 #include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/util/expected"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Errors the DARE solver can encounter.
@@ -166,7 +166,7 @@ Eigen::Matrix<double, States, States> DARE(
  * @return Solution to the DARE on success, or DAREError on failure.
  */
 template <int States, int Inputs>
-wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
+wpi::util::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
     const Eigen::Matrix<double, States, States>& A,
     const Eigen::Matrix<double, States, Inputs>& B,
     const Eigen::Matrix<double, States, States>& Q,
@@ -175,20 +175,20 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
   if (checkPreconditions) {
     // Require R be symmetric
     if ((R - R.transpose()).norm() > 1e-10) {
-      return wpi::unexpected{DAREError::RNotSymmetric};
+      return wpi::util::unexpected{DAREError::RNotSymmetric};
     }
   }
 
   // Require R be positive definite
   auto R_llt = R.llt();
   if (R_llt.info() != Eigen::Success) {
-    return wpi::unexpected{DAREError::RNotPositiveDefinite};
+    return wpi::util::unexpected{DAREError::RNotPositiveDefinite};
   }
 
   if (checkPreconditions) {
     // Require Q be symmetric
     if ((Q - Q.transpose()).norm() > 1e-10) {
-      return wpi::unexpected{DAREError::QNotSymmetric};
+      return wpi::util::unexpected{DAREError::QNotSymmetric};
     }
 
     // Require Q be positive semidefinite
@@ -203,12 +203,12 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
     auto Q_ldlt = Q.ldlt();
     if (Q_ldlt.info() != Eigen::Success ||
         (Q_ldlt.vectorD().array() < 0.0).any()) {
-      return wpi::unexpected{DAREError::QNotPositiveSemidefinite};
+      return wpi::util::unexpected{DAREError::QNotPositiveSemidefinite};
     }
 
     // Require (A, B) pair be stabilizable
     if (!IsStabilizable<States, Inputs>(A, B)) {
-      return wpi::unexpected{DAREError::ABNotStabilizable};
+      return wpi::util::unexpected{DAREError::ABNotStabilizable};
     }
 
     // Require (A, C) pair be detectable where Q = CᵀC
@@ -221,7 +221,7 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
         Q_ldlt.transpositionsP();
 
     if (!IsDetectable<States, States>(A, C)) {
-      return wpi::unexpected{DAREError::ACNotDetectable};
+      return wpi::util::unexpected{DAREError::ACNotDetectable};
     }
   }
 
@@ -281,7 +281,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
 @return Solution to the DARE on success, or DAREError on failure.
 */
 template <int States, int Inputs>
-wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
+wpi::util::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
     const Eigen::Matrix<double, States, States>& A,
     const Eigen::Matrix<double, States, Inputs>& B,
     const Eigen::Matrix<double, States, States>& Q,
@@ -291,14 +291,14 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
   if (checkPreconditions) {
     // Require R be symmetric
     if ((R - R.transpose()).norm() > 1e-10) {
-      return wpi::unexpected{DAREError::RNotSymmetric};
+      return wpi::util::unexpected{DAREError::RNotSymmetric};
     }
   }
 
   // Require R be positive definite
   auto R_llt = R.llt();
   if (R_llt.info() != Eigen::Success) {
-    return wpi::unexpected{DAREError::RNotPositiveDefinite};
+    return wpi::util::unexpected{DAREError::RNotPositiveDefinite};
   }
 
   // This is a change of variables to make the DARE that includes Q, R, and N
@@ -320,7 +320,7 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
   if (checkPreconditions) {
     // Require Q be symmetric
     if ((Q_2 - Q_2.transpose()).norm() > 1e-10) {
-      return wpi::unexpected{DAREError::QNotSymmetric};
+      return wpi::util::unexpected{DAREError::QNotSymmetric};
     }
 
     // Require Q be positive semidefinite
@@ -335,12 +335,12 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
     auto Q_ldlt = Q_2.ldlt();
     if (Q_ldlt.info() != Eigen::Success ||
         (Q_ldlt.vectorD().array() < 0.0).any()) {
-      return wpi::unexpected{DAREError::QNotPositiveSemidefinite};
+      return wpi::util::unexpected{DAREError::QNotPositiveSemidefinite};
     }
 
     // Require (A, B) pair be stabilizable
     if (!IsStabilizable<States, Inputs>(A_2, B)) {
-      return wpi::unexpected{DAREError::ABNotStabilizable};
+      return wpi::util::unexpected{DAREError::ABNotStabilizable};
     }
 
     // Require (A, C) pair be detectable where Q = CᵀC
@@ -353,11 +353,11 @@ wpi::expected<Eigen::Matrix<double, States, States>, DAREError> DARE(
         Q_ldlt.transpositionsP();
 
     if (!IsDetectable<States, States>(A_2, C)) {
-      return wpi::unexpected{DAREError::ACNotDetectable};
+      return wpi::util::unexpected{DAREError::ACNotDetectable};
     }
   }
 
   return detail::DARE<States, Inputs>(A_2, B, Q_2, R_llt);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/EigenCore.hpp b/wpimath/src/main/native/include/wpi/math/linalg/EigenCore.hpp
index 1604a0de7c..8590df718f 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/EigenCore.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/EigenCore.hpp
@@ -6,7 +6,7 @@
 
 #include <Eigen/Core>
 
-namespace frc {
+namespace wpi::math {
 
 template <int Size>
 using Vectord = Eigen::Vector<double, Size>;
@@ -20,4 +20,4 @@ template <int Rows, int Cols,
           int MaxRows = Rows, int MaxCols = Cols>
 using Matrixd = Eigen::Matrix<double, Rows, Cols, Options, MaxRows, MaxCols>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/ct_matrix.hpp b/wpimath/src/main/native/include/wpi/math/linalg/ct_matrix.hpp
index ffa684738a..fed5154cda 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/ct_matrix.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/ct_matrix.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <gcem.hpp>
 
-namespace frc {
+namespace wpi::math {
 
 template <typename T>
 concept EigenMatrixLike = std::derived_from<T, Eigen::MatrixBase<T>>;
@@ -386,4 +386,4 @@ using ct_matrix3d = ct_matrix<double, 3, 3>;
 using ct_vector2d = ct_vector<double, 2>;
 using ct_vector3d = ct_vector<double, 3>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
index fd3d2c8bda..238e8d266b 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
@@ -15,22 +15,22 @@
 
 template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
   requires(Cols != 1)
-struct wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
+struct wpi::util::Protobuf<wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
   using MessageStruct = wpi_proto_ProtobufMatrix;
-  using InputStream = wpi::ProtoInputStream<
-      frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
-  using OutputStream = wpi::ProtoOutputStream<
-      frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
+  using InputStream = wpi::util::ProtoInputStream<
+      wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
+  using OutputStream = wpi::util::ProtoOutputStream<
+      wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>;
 
-  static std::optional<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>
+  static std::optional<wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>
   Unpack(InputStream& stream) {
     constexpr bool isSmall = Rows * Cols * sizeof(double) < 256;
     using UnpackType =
-        std::conditional_t<isSmall, wpi::UnpackCallback<double, Rows * Cols>,
-                           wpi::StdVectorUnpackCallback<double, Rows * Cols>>;
+        std::conditional_t<isSmall, wpi::util::UnpackCallback<double, Rows * Cols>,
+                           wpi::util::StdVectorUnpackCallback<double, Rows * Cols>>;
     UnpackType data;
     data.Vec().reserve(Rows * Cols);
-    data.SetLimits(wpi::DecodeLimits::Fail);
+    data.SetLimits(wpi::util::DecodeLimits::Fail);
     wpi_proto_ProtobufMatrix msg;
     msg.data = data.Callback();
     if (!stream.Decode(msg)) {
@@ -47,7 +47,7 @@ struct wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
       return {};
     }
 
-    frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
+    wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
     for (int i = 0; i < Rows * Cols; i++) {
       mat(i) = items[i];
     }
@@ -57,10 +57,10 @@ struct wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
 
   static bool Pack(
       OutputStream& stream,
-      const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
+      const wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
     std::span<const double> dataSpan{value.data(),
                                      static_cast<size_t>(Rows * Cols)};
-    wpi::PackCallback<double> data{dataSpan};
+    wpi::util::PackCallback<double> data{dataSpan};
     wpi_proto_ProtobufMatrix msg{
         .num_rows = Rows,
         .num_cols = Cols,
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
index c39bef2391..14592e31a2 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
@@ -14,22 +14,22 @@
 #include "wpimath/protobuf/wpimath.npb.h"
 
 template <int Size, int Options, int MaxRows, int MaxCols>
-struct wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
+struct wpi::util::Protobuf<wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
   using MessageStruct = wpi_proto_ProtobufVector;
   using InputStream =
-      wpi::ProtoInputStream<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
+      wpi::util::ProtoInputStream<wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
+      wpi::util::ProtoOutputStream<wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>>;
 
-  static std::optional<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> Unpack(
+  static std::optional<wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>> Unpack(
       InputStream& stream) {
     constexpr bool isSmall = Size * sizeof(double) < 256;
     using UnpackType =
-        std::conditional_t<isSmall, wpi::UnpackCallback<double, Size>,
-                           wpi::StdVectorUnpackCallback<double, Size>>;
+        std::conditional_t<isSmall, wpi::util::UnpackCallback<double, Size>,
+                           wpi::util::StdVectorUnpackCallback<double, Size>>;
     UnpackType rows;
     rows.Vec().reserve(Size);
-    rows.SetLimits(wpi::DecodeLimits::Fail);
+    rows.SetLimits(wpi::util::DecodeLimits::Fail);
     wpi_proto_ProtobufVector msg{
         .rows = rows.Callback(),
     };
@@ -43,7 +43,7 @@ struct wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
       return {};
     }
 
-    frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> mat;
+    wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols> mat;
     for (int i = 0; i < Size; i++) {
       mat(i) = items[i];
     }
@@ -53,9 +53,9 @@ struct wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
 
   static bool Pack(
       OutputStream& stream,
-      const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
+      const wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
     std::span<const double> rowsSpan{value.data(), static_cast<size_t>(Size)};
-    wpi::PackCallback<double> rows{rowsSpan};
+    wpi::util::PackCallback<double> rows{rowsSpan};
     wpi_proto_ProtobufVector msg{
         .rows = rows.Callback(),
     };
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
index eb6cadfde8..d2748a1f59 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
@@ -12,23 +12,23 @@
 
 template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
   requires(Cols != 1)
-struct wpi::Struct<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
+struct wpi::util::Struct<wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
   static constexpr ct_string kTypeName =
-      wpi::Concat("Matrix__"_ct_string, wpi::NumToCtString<Rows>(),
-                  "_"_ct_string, wpi::NumToCtString<Cols>());
+      wpi::util::Concat("Matrix__"_ct_string, wpi::util::NumToCtString<Rows>(),
+                  "_"_ct_string, wpi::util::NumToCtString<Cols>());
   static constexpr std::string_view GetTypeName() { return kTypeName; }
   static constexpr size_t GetSize() { return Rows * Cols * 8; }
   static constexpr ct_string kSchema =
-      wpi::Concat("double data["_ct_string, wpi::NumToCtString<Rows * Cols>(),
+      wpi::util::Concat("double data["_ct_string, wpi::util::NumToCtString<Rows * Cols>(),
                   "]"_ct_string);
   static constexpr std::string_view GetSchema() { return kSchema; }
 
-  static frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
+  static wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
       std::span<const uint8_t> data) {
     constexpr size_t kDataOff = 0;
-    wpi::array<double, Rows * Cols> mat_data =
-        wpi::UnpackStructArray<double, kDataOff, Rows * Cols>(data);
-    frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
+    wpi::util::array<double, Rows * Cols> mat_data =
+        wpi::util::UnpackStructArray<double, kDataOff, Rows * Cols>(data);
+    wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
     for (int i = 0; i < Rows * Cols; i++) {
       mat(i) = mat_data[i];
     }
@@ -37,15 +37,15 @@ struct wpi::Struct<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
 
   static void Pack(
       std::span<uint8_t> data,
-      const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
+      const wpi::math::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
     constexpr size_t kDataOff = 0;
-    wpi::array<double, Rows * Cols> mat_data(wpi::empty_array);
+    wpi::util::array<double, Rows * Cols> mat_data(wpi::util::empty_array);
     for (int i = 0; i < Rows * Cols; i++) {
       mat_data[i] = value(i);
     }
-    wpi::PackStructArray<kDataOff, Rows * Cols>(data, mat_data);
+    wpi::util::PackStructArray<kDataOff, Rows * Cols>(data, mat_data);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Matrixd<1, 2>>);
-static_assert(wpi::StructSerializable<frc::Matrixd<3, 3>>);
+static_assert(wpi::util::StructSerializable<wpi::math::Matrixd<1, 2>>);
+static_assert(wpi::util::StructSerializable<wpi::math::Matrixd<3, 3>>);
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp b/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
index dc72505b0a..f27900fe8d 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
@@ -11,21 +11,21 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <int Size, int Options, int MaxRows, int MaxCols>
-struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
+struct wpi::util::Struct<wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
   static constexpr ct_string kTypeName =
-      wpi::Concat("Vector__"_ct_string, wpi::NumToCtString<Size>());
+      wpi::util::Concat("Vector__"_ct_string, wpi::util::NumToCtString<Size>());
   static constexpr std::string_view GetTypeName() { return kTypeName; }
   static constexpr size_t GetSize() { return Size * 8; }
-  static constexpr ct_string kSchema = wpi::Concat(
-      "double data["_ct_string, wpi::NumToCtString<Size>(), "]"_ct_string);
+  static constexpr ct_string kSchema = wpi::util::Concat(
+      "double data["_ct_string, wpi::util::NumToCtString<Size>(), "]"_ct_string);
   static constexpr std::string_view GetSchema() { return kSchema; }
 
-  static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
+  static wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
       std::span<const uint8_t> data) {
     constexpr size_t kDataOff = 0;
-    wpi::array<double, Size> vec_data =
-        wpi::UnpackStructArray<double, kDataOff, Size>(data);
-    frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
+    wpi::util::array<double, Size> vec_data =
+        wpi::util::UnpackStructArray<double, kDataOff, Size>(data);
+    wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
     for (int i = 0; i < Size; i++) {
       vec(i) = vec_data[i];
     }
@@ -34,15 +34,15 @@ struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
 
   static void Pack(
       std::span<uint8_t> data,
-      const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
+      const wpi::math::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
     constexpr size_t kDataOff = 0;
-    wpi::array<double, Size> vec_data(wpi::empty_array);
+    wpi::util::array<double, Size> vec_data(wpi::util::empty_array);
     for (int i = 0; i < Size; i++) {
       vec_data[i] = value(i);
     }
-    wpi::PackStructArray<kDataOff, Size>(data, vec_data);
+    wpi::util::PackStructArray<kDataOff, Size>(data, vec_data);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::Vectord<1>>);
-static_assert(wpi::StructSerializable<frc::Vectord<3>>);
+static_assert(wpi::util::StructSerializable<wpi::math::Vectord<1>>);
+static_assert(wpi::util::StructSerializable<wpi::math::Vectord<3>>);
diff --git a/wpimath/src/main/native/include/wpi/math/optimization/SimulatedAnnealing.hpp b/wpimath/src/main/native/include/wpi/math/optimization/SimulatedAnnealing.hpp
index 0a16dd963a..9eb66ffce1 100644
--- a/wpimath/src/main/native/include/wpi/math/optimization/SimulatedAnnealing.hpp
+++ b/wpimath/src/main/native/include/wpi/math/optimization/SimulatedAnnealing.hpp
@@ -9,7 +9,7 @@
 #include <limits>
 #include <random>
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * An implementation of the Simulated Annealing stochastic nonlinear
@@ -98,4 +98,4 @@ class SimulatedAnnealing {
   std::function<double(const State&)> m_cost;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
index 180b65d949..6870c8f414 100644
--- a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
+++ b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
@@ -15,7 +15,7 @@
 #include "wpi/math/optimization/SimulatedAnnealing.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Given a list of poses, this class finds the shortest possible route that
@@ -55,7 +55,7 @@ class TravelingSalesman {
    * @return The optimized path as an array of Pose2ds.
    */
   template <size_t Poses>
-  wpi::array<Pose2d, Poses> Solve(const wpi::array<Pose2d, Poses>& poses,
+  wpi::util::array<Pose2d, Poses> Solve(const wpi::util::array<Pose2d, Poses>& poses,
                                   int iterations) {
     SimulatedAnnealing<Vectord<Poses>> solver{
         1, &Neighbor<Poses>, [&](const Vectord<Poses>& state) {
@@ -76,7 +76,7 @@ class TravelingSalesman {
 
     auto indices = solver.Solve(initial, iterations);
 
-    wpi::array<Pose2d, Poses> solution{wpi::empty_array};
+    wpi::util::array<Pose2d, Poses> solution{wpi::util::empty_array};
     for (size_t i = 0; i < poses.size(); ++i) {
       solution[i] = poses[static_cast<int>(indices[i])];
     }
@@ -137,7 +137,7 @@ class TravelingSalesman {
   // Default cost is distance between poses
   std::function<double(const Pose2d&, const Pose2d&)> m_cost =
       [](const Pose2d& a, const Pose2d& b) -> double {
-    return units::math::hypot(a.X() - b.X(), a.Y() - b.Y()).value();
+    return wpi::units::math::hypot(a.X() - b.X(), a.Y() - b.Y()).value();
   };
 
   /**
@@ -175,4 +175,4 @@ class TravelingSalesman {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp b/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
index 471b984b1e..53a9620fe0 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents a hermite spline of degree 3.
  */
@@ -29,10 +29,10 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    * @param yFinalControlVector The control vector for the final point in
    * the y dimension.
    */
-  CubicHermiteSpline(wpi::array<double, 2> xInitialControlVector,
-                     wpi::array<double, 2> xFinalControlVector,
-                     wpi::array<double, 2> yInitialControlVector,
-                     wpi::array<double, 2> yFinalControlVector)
+  CubicHermiteSpline(wpi::util::array<double, 2> xInitialControlVector,
+                     wpi::util::array<double, 2> xFinalControlVector,
+                     wpi::util::array<double, 2> yInitialControlVector,
+                     wpi::util::array<double, 2> yFinalControlVector)
       : m_initialControlVector{xInitialControlVector, yInitialControlVector},
         m_finalControlVector{xFinalControlVector, yFinalControlVector} {
     const auto hermite = MakeHermiteBasis();
@@ -137,14 +137,14 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    * @return The control vector matrix for a dimension.
    */
   static constexpr Eigen::Vector4d ControlVectorFromArrays(
-      wpi::array<double, 2> initialVector, wpi::array<double, 2> finalVector) {
+      wpi::util::array<double, 2> initialVector, wpi::util::array<double, 2> finalVector) {
     return Eigen::Vector4d{{initialVector[0]},
                            {initialVector[1]},
                            {finalVector[0]},
                            {finalVector[1]}};
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/spline/proto/CubicHermiteSplineProto.hpp"
 #include "wpi/math/spline/struct/CubicHermiteSplineStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp b/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
index c33d358eec..b1f2f62c9b 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents a hermite spline of degree 5.
  */
@@ -29,10 +29,10 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
    * @param yFinalControlVector The control vector for the final point in
    * the y dimension.
    */
-  QuinticHermiteSpline(wpi::array<double, 3> xInitialControlVector,
-                       wpi::array<double, 3> xFinalControlVector,
-                       wpi::array<double, 3> yInitialControlVector,
-                       wpi::array<double, 3> yFinalControlVector)
+  QuinticHermiteSpline(wpi::util::array<double, 3> xInitialControlVector,
+                       wpi::util::array<double, 3> xFinalControlVector,
+                       wpi::util::array<double, 3> yInitialControlVector,
+                       wpi::util::array<double, 3> yFinalControlVector)
       : m_initialControlVector{xInitialControlVector, yInitialControlVector},
         m_finalControlVector{xFinalControlVector, yFinalControlVector} {
     const auto hermite = MakeHermiteBasis();
@@ -145,13 +145,13 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
    * @return The control vector matrix for a dimension.
    */
   static constexpr Vectord<6> ControlVectorFromArrays(
-      wpi::array<double, 3> initialVector, wpi::array<double, 3> finalVector) {
+      wpi::util::array<double, 3> initialVector, wpi::util::array<double, 3> finalVector) {
     return Vectord<6>{{initialVector[0]}, {initialVector[1]},
                       {initialVector[2]}, {finalVector[0]},
                       {finalVector[1]},   {finalVector[2]}};
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/spline/proto/QuinticHermiteSplineProto.hpp"
 #include "wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp b/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
index 12a6d37756..e1fb805f04 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
@@ -15,7 +15,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a two-dimensional parametric spline that interpolates between two
@@ -26,7 +26,7 @@ namespace frc {
 template <int Degree>
 class Spline {
  public:
-  using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
+  using PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>;
 
   constexpr Spline() = default;
 
@@ -47,10 +47,10 @@ class Spline {
    */
   struct ControlVector {
     /// The x components of the control vector.
-    wpi::array<double, (Degree + 1) / 2> x;
+    wpi::util::array<double, (Degree + 1) / 2> x;
 
     /// The y components of the control vector.
-    wpi::array<double, (Degree + 1) / 2> y;
+    wpi::util::array<double, (Degree + 1) / 2> y;
   };
 
   /**
@@ -100,7 +100,7 @@ class Spline {
 
     return PoseWithCurvature{
         {FromVector(combined.template block<2, 1>(0, 0)), Rotation2d{dx, dy}},
-        units::curvature_t{curvature}};
+        wpi::units::curvature_t{curvature}};
   }
 
   /**
@@ -143,8 +143,8 @@ class Spline {
    * @return The Translation2d.
    */
   static constexpr Translation2d FromVector(const Eigen::Vector2d& vector) {
-    return Translation2d{units::meter_t{vector(0)}, units::meter_t{vector(1)}};
+    return Translation2d{wpi::units::meter_t{vector(0)}, wpi::units::meter_t{vector(1)}};
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp b/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
index 1e577d7a16..b8b06ea0de 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Helper class that is used to generate cubic and quintic splines from user
  * provided waypoints.
@@ -28,7 +28,7 @@ class WPILIB_DLLEXPORT SplineHelper {
    * @param end               The ending pose.
    * @return 2 cubic control vectors.
    */
-  static wpi::array<Spline<3>::ControlVector, 2>
+  static wpi::util::array<Spline<3>::ControlVector, 2>
   CubicControlVectorsFromWaypoints(
       const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
       const Pose2d& end) {
@@ -97,17 +97,17 @@ class WPILIB_DLLEXPORT SplineHelper {
       const Spline<3>::ControlVector& end) {
     std::vector<CubicHermiteSpline> splines;
 
-    wpi::array<double, 2> xInitial = start.x;
-    wpi::array<double, 2> yInitial = start.y;
-    wpi::array<double, 2> xFinal = end.x;
-    wpi::array<double, 2> yFinal = end.y;
+    wpi::util::array<double, 2> xInitial = start.x;
+    wpi::util::array<double, 2> yInitial = start.y;
+    wpi::util::array<double, 2> xFinal = end.x;
+    wpi::util::array<double, 2> yFinal = end.y;
 
     if (waypoints.size() > 1) {
       waypoints.emplace(waypoints.begin(),
-                        Translation2d{units::meter_t{xInitial[0]},
-                                      units::meter_t{yInitial[0]}});
+                        Translation2d{wpi::units::meter_t{xInitial[0]},
+                                      wpi::units::meter_t{yInitial[0]}});
       waypoints.emplace_back(
-          Translation2d{units::meter_t{xFinal[0]}, units::meter_t{yFinal[0]}});
+          Translation2d{wpi::units::meter_t{xFinal[0]}, wpi::units::meter_t{yFinal[0]}});
 
       // Populate tridiagonal system for clamped cubic
       /* See:
@@ -186,8 +186,8 @@ class WPILIB_DLLEXPORT SplineHelper {
       const double yDeriv =
           (3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
 
-      wpi::array<double, 2> midXControlVector{waypoints[0].X().value(), xDeriv};
-      wpi::array<double, 2> midYControlVector{waypoints[0].Y().value(), yDeriv};
+      wpi::util::array<double, 2> midXControlVector{waypoints[0].X().value(), xDeriv};
+      wpi::util::array<double, 2> midYControlVector{waypoints[0].Y().value(), yDeriv};
 
       splines.emplace_back(xInitial, midXControlVector, yInitial,
                            midYControlVector);
@@ -265,8 +265,8 @@ class WPILIB_DLLEXPORT SplineHelper {
       const auto& bFinal = b.GetFinalControlVector();
 
       // Create cubic splines with the same control vectors.
-      auto Trim = [](const wpi::array<double, 3>& a) {
-        return wpi::array<double, 2>{a[0], a[1]};
+      auto Trim = [](const wpi::util::array<double, 3>& a) {
+        return wpi::util::array<double, 2>{a[0], a[1]};
       };
       CubicHermiteSpline ca{Trim(aInitial.x), Trim(aFinal.x), Trim(aInitial.y),
                             Trim(aFinal.y)};
@@ -274,8 +274,8 @@ class WPILIB_DLLEXPORT SplineHelper {
                             Trim(bFinal.y)};
 
       // Calculate the second derivatives at the knot points.
-      frc::Vectord<4> bases{1.0, 1.0, 1.0, 1.0};
-      frc::Vectord<6> combinedA = ca.Coefficients() * bases;
+      wpi::math::Vectord<4> bases{1.0, 1.0, 1.0, 1.0};
+      wpi::math::Vectord<6> combinedA = ca.Coefficients() * bases;
 
       double ddxA = combinedA(4);
       double ddyA = combinedA(5);
@@ -365,4 +365,4 @@ class WPILIB_DLLEXPORT SplineHelper {
     }
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
index 124ee32357..7adab5952b 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
@@ -40,14 +40,14 @@
 #include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Class used to parameterize a spline by its arc length.
  */
 class WPILIB_DLLEXPORT SplineParameterizer {
  public:
-  using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
+  using PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>;
 
   struct MalformedSplineException : public std::runtime_error {
     explicit MalformedSplineException(const char* what_arg)
@@ -107,9 +107,9 @@ class WPILIB_DLLEXPORT SplineParameterizer {
 
       const auto twist = (end.value().first - start.value().first).Log();
 
-      if (units::math::abs(twist.dy) > kMaxDy ||
-          units::math::abs(twist.dx) > kMaxDx ||
-          units::math::abs(twist.dtheta) > kMaxDtheta) {
+      if (wpi::units::math::abs(twist.dy) > kMaxDy ||
+          wpi::units::math::abs(twist.dx) > kMaxDx ||
+          wpi::units::math::abs(twist.dtheta) > kMaxDtheta) {
         stack.emplace(StackContents{(current.t0 + current.t1) / 2, current.t1});
         stack.emplace(StackContents{current.t0, (current.t0 + current.t1) / 2});
       } else {
@@ -126,9 +126,9 @@ class WPILIB_DLLEXPORT SplineParameterizer {
 
  private:
   // Constraints for spline parameterization.
-  static inline constexpr units::meter_t kMaxDx = 5_in;
-  static inline constexpr units::meter_t kMaxDy = 0.05_in;
-  static inline constexpr units::radian_t kMaxDtheta = 0.0872_rad;
+  static inline constexpr wpi::units::meter_t kMaxDx = 5_in;
+  static inline constexpr wpi::units::meter_t kMaxDy = 0.05_in;
+  static inline constexpr wpi::units::radian_t kMaxDtheta = 0.0872_rad;
 
   struct StackContents {
     double t0;
@@ -147,4 +147,4 @@ class WPILIB_DLLEXPORT SplineParameterizer {
   friend class CubicHermiteSplineTest;
   friend class QuinticHermiteSplineTest;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp b/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
index 35950ecd24..b75ebfcbf7 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/spline.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::CubicHermiteSpline> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::CubicHermiteSpline> {
   using MessageStruct = wpi_proto_ProtobufCubicHermiteSpline;
-  using InputStream = wpi::ProtoInputStream<frc::CubicHermiteSpline>;
-  using OutputStream = wpi::ProtoOutputStream<frc::CubicHermiteSpline>;
-  static std::optional<frc::CubicHermiteSpline> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::CubicHermiteSpline& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::CubicHermiteSpline>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::CubicHermiteSpline>;
+  static std::optional<wpi::math::CubicHermiteSpline> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::CubicHermiteSpline& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp b/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
index 4f189437e6..5b9a42fbad 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
@@ -10,11 +10,11 @@
 #include "wpimath/protobuf/spline.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::QuinticHermiteSpline> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::QuinticHermiteSpline> {
   using MessageStruct = wpi_proto_ProtobufQuinticHermiteSpline;
-  using InputStream = wpi::ProtoInputStream<frc::QuinticHermiteSpline>;
-  using OutputStream = wpi::ProtoOutputStream<frc::QuinticHermiteSpline>;
-  static std::optional<frc::QuinticHermiteSpline> Unpack(InputStream& stream);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::QuinticHermiteSpline>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::QuinticHermiteSpline>;
+  static std::optional<wpi::math::QuinticHermiteSpline> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream,
-                   const frc::QuinticHermiteSpline& value);
+                   const wpi::math::QuinticHermiteSpline& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp b/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
index fc7b5f65a6..cadcda7e48 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::CubicHermiteSpline> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::CubicHermiteSpline> {
   static constexpr std::string_view GetTypeName() {
     return "CubicHermiteSpline";
   }
@@ -19,9 +19,9 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::CubicHermiteSpline> {
            "yFinal[2]";
   }
 
-  static frc::CubicHermiteSpline Unpack(std::span<const uint8_t> data);
+  static wpi::math::CubicHermiteSpline Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::CubicHermiteSpline& value);
+                   const wpi::math::CubicHermiteSpline& value);
 };
 
-static_assert(wpi::StructSerializable<frc::CubicHermiteSpline>);
+static_assert(wpi::util::StructSerializable<wpi::math::CubicHermiteSpline>);
diff --git a/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp b/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
index c650cada04..86e6d98846 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::QuinticHermiteSpline> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::QuinticHermiteSpline> {
   static constexpr std::string_view GetTypeName() {
     return "QuinticHermiteSpline";
   }
@@ -19,9 +19,9 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::QuinticHermiteSpline> {
            "yFinal[3]";
   }
 
-  static frc::QuinticHermiteSpline Unpack(std::span<const uint8_t> data);
+  static wpi::math::QuinticHermiteSpline Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const frc::QuinticHermiteSpline& value);
+                   const wpi::math::QuinticHermiteSpline& value);
 };
 
-static_assert(wpi::StructSerializable<frc::QuinticHermiteSpline>);
+static_assert(wpi::util::StructSerializable<wpi::math::QuinticHermiteSpline>);
diff --git a/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp b/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
index 77d7cd6f87..7b59f481e8 100644
--- a/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
@@ -9,7 +9,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Discretizes the given continuous A matrix.
@@ -20,7 +20,7 @@ namespace frc {
  * @param discA Storage for discrete system matrix.
  */
 template <int States>
-void DiscretizeA(const Matrixd<States, States>& contA, units::second_t dt,
+void DiscretizeA(const Matrixd<States, States>& contA, wpi::units::second_t dt,
                  Matrixd<States, States>* discA) {
   // A_d = eᴬᵀ
   *discA = (contA * dt.value()).exp();
@@ -39,7 +39,7 @@ void DiscretizeA(const Matrixd<States, States>& contA, units::second_t dt,
  */
 template <int States, int Inputs>
 void DiscretizeAB(const Matrixd<States, States>& contA,
-                  const Matrixd<States, Inputs>& contB, units::second_t dt,
+                  const Matrixd<States, Inputs>& contB, wpi::units::second_t dt,
                   Matrixd<States, States>* discA,
                   Matrixd<States, Inputs>* discB) {
   // M = [A  B]
@@ -69,7 +69,7 @@ void DiscretizeAB(const Matrixd<States, States>& contA,
  */
 template <int States>
 void DiscretizeAQ(const Matrixd<States, States>& contA,
-                  const Matrixd<States, States>& contQ, units::second_t dt,
+                  const Matrixd<States, States>& contQ, wpi::units::second_t dt,
                   Matrixd<States, States>* discA,
                   Matrixd<States, States>* discQ) {
   // Make continuous Q symmetric if it isn't already
@@ -111,9 +111,9 @@ void DiscretizeAQ(const Matrixd<States, States>& contA,
  */
 template <int Outputs>
 Matrixd<Outputs, Outputs> DiscretizeR(const Matrixd<Outputs, Outputs>& R,
-                                      units::second_t dt) {
+                                      wpi::units::second_t dt) {
   // R_d = 1/T R
   return R / dt.value();
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp b/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
index ac3761b83a..b6988e4737 100644
--- a/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/Algorithm.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A plant defined using state-space notation.
@@ -161,7 +161,7 @@ class LinearSystem {
    * @param dt       Timestep for model update.
    */
   StateVector CalculateX(const StateVector& x, const InputVector& clampedU,
-                         units::second_t dt) const {
+                         wpi::units::second_t dt) const {
     Matrixd<States, States> discA;
     Matrixd<States, Inputs> discB;
     DiscretizeAB<States, Inputs>(m_A, m_B, dt, &discA, &discB);
@@ -205,7 +205,7 @@ class LinearSystem {
                   "More outputs requested than available. This is usually due "
                   "to model implementation errors.");
 
-    wpi::for_each(
+    wpi::util::for_each(
         [](size_t i, const auto& elem) {
           if (elem < 0 || elem >= Outputs) {
             throw std::domain_error(
@@ -216,7 +216,7 @@ class LinearSystem {
         outputIndices...);
 
     // Sort and deduplicate output indices
-    wpi::SmallVector<int> outputIndicesArray{outputIndices...};
+    wpi::util::SmallVector<int> outputIndicesArray{outputIndices...};
     std::sort(outputIndicesArray.begin(), outputIndicesArray.end());
     auto last =
         std::unique(outputIndicesArray.begin(), outputIndicesArray.end());
@@ -255,4 +255,4 @@ class LinearSystem {
   Matrixd<Outputs, Inputs> m_D;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp b/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
index 2656d3ce39..25991f48e1 100644
--- a/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
@@ -15,7 +15,7 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Combines a controller, feedforward, and observer for controlling a mechanism
@@ -57,11 +57,11 @@ class LinearSystemLoop {
   LinearSystemLoop(LinearSystem<States, Inputs, Outputs>& plant,
                    LinearQuadraticRegulator<States, Inputs>& controller,
                    KalmanFilter<States, Inputs, Outputs>& observer,
-                   units::volt_t maxVoltage, units::second_t dt)
+                   wpi::units::volt_t maxVoltage, wpi::units::second_t dt)
       : LinearSystemLoop(
             plant, controller, observer,
             [=](const InputVector& u) {
-              return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
+              return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
             },
             dt) {}
 
@@ -81,7 +81,7 @@ class LinearSystemLoop {
                    LinearQuadraticRegulator<States, Inputs>& controller,
                    KalmanFilter<States, Inputs, Outputs>& observer,
                    std::function<InputVector(const InputVector&)> clampFunction,
-                   units::second_t dt)
+                   wpi::units::second_t dt)
       : LinearSystemLoop(
             controller,
             LinearPlantInversionFeedforward<States, Inputs>{plant, dt},
@@ -101,10 +101,10 @@ class LinearSystemLoop {
   LinearSystemLoop(
       LinearQuadraticRegulator<States, Inputs>& controller,
       const LinearPlantInversionFeedforward<States, Inputs>& feedforward,
-      KalmanFilter<States, Inputs, Outputs>& observer, units::volt_t maxVoltage)
+      KalmanFilter<States, Inputs, Outputs>& observer, wpi::units::volt_t maxVoltage)
       : LinearSystemLoop(
             controller, feedforward, observer, [=](const InputVector& u) {
-              return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
+              return wpi::math::DesaturateInputVector<Inputs>(u, maxVoltage.value());
             }) {}
 
   /**
@@ -251,7 +251,7 @@ class LinearSystemLoop {
    *
    * @param dt Timestep for model update.
    */
-  void Predict(units::second_t dt) {
+  void Predict(wpi::units::second_t dt) {
     InputVector u =
         ClampInput(m_controller->Calculate(m_observer->Xhat(), m_nextR) +
                    m_feedforward.Calculate(m_nextR));
@@ -290,4 +290,4 @@ extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
 extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
     LinearSystemLoop<2, 1, 1>;
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp b/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
index 18ac5f60e9..bd1e7fd887 100644
--- a/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
@@ -20,7 +20,7 @@ namespace frc {
  * @param dt The time over which to integrate.
  */
 template <typename F, typename T>
-T RK4(F&& f, T x, units::second_t dt) {
+T RK4(F&& f, T x, wpi::units::second_t dt) {
   const auto h = dt.value();
 
   T k1 = f(x);
@@ -40,7 +40,7 @@ T RK4(F&& f, T x, units::second_t dt) {
  * @param dt The time over which to integrate.
  */
 template <typename F, typename T, typename U>
-T RK4(F&& f, T x, U u, units::second_t dt) {
+T RK4(F&& f, T x, U u, wpi::units::second_t dt) {
   const auto h = dt.value();
 
   T k1 = f(x, u);
@@ -60,7 +60,7 @@ T RK4(F&& f, T x, U u, units::second_t dt) {
  * @param dt The time over which to integrate.
  */
 template <typename F, typename T>
-T RK4(F&& f, units::second_t t, T y, units::second_t dt) {
+T RK4(F&& f, wpi::units::second_t t, T y, wpi::units::second_t dt) {
   const auto h = dt.to<double>();
 
   T k1 = f(t, y);
@@ -83,7 +83,7 @@ T RK4(F&& f, units::second_t t, T y, units::second_t dt) {
  *                 number like 1e-6.
  */
 template <typename F, typename T, typename U>
-T RKDP(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
+T RKDP(F&& f, T x, U u, wpi::units::second_t dt, double maxError = 1e-6) {
   // See https://en.wikipedia.org/wiki/Dormand%E2%80%93Prince_method for the
   // Butcher tableau the following arrays came from.
 
@@ -166,7 +166,7 @@ T RKDP(F&& f, T x, U u, units::second_t dt, double maxError = 1e-6) {
  *                 number like 1e-6.
  */
 template <typename F, typename T>
-T RKDP(F&& f, units::second_t t, T y, units::second_t dt,
+T RKDP(F&& f, wpi::units::second_t t, T y, wpi::units::second_t dt,
        double maxError = 1e-6) {
   // See https://en.wikipedia.org/wiki/Dormand%E2%80%93Prince_method for the
   // Butcher tableau the following arrays came from.
@@ -208,18 +208,18 @@ T RKDP(F&& f, units::second_t t, T y, units::second_t dt,
 
       // clang-format off
       T k1 = f(t, y);
-      T k2 = f(t + units::second_t{h} * c[0], y + h * (A[0][0] * k1));
-      T k3 = f(t + units::second_t{h} * c[1], y + h * (A[1][0] * k1 + A[1][1] * k2));
-      T k4 = f(t + units::second_t{h} * c[2], y + h * (A[2][0] * k1 + A[2][1] * k2 + A[2][2] * k3));
-      T k5 = f(t + units::second_t{h} * c[3], y + h * (A[3][0] * k1 + A[3][1] * k2 + A[3][2] * k3 + A[3][3] * k4));
-      T k6 = f(t + units::second_t{h} * c[4], y + h * (A[4][0] * k1 + A[4][1] * k2 + A[4][2] * k3 + A[4][3] * k4 + A[4][4] * k5));
+      T k2 = f(t + wpi::units::second_t{h} * c[0], y + h * (A[0][0] * k1));
+      T k3 = f(t + wpi::units::second_t{h} * c[1], y + h * (A[1][0] * k1 + A[1][1] * k2));
+      T k4 = f(t + wpi::units::second_t{h} * c[2], y + h * (A[2][0] * k1 + A[2][1] * k2 + A[2][2] * k3));
+      T k5 = f(t + wpi::units::second_t{h} * c[3], y + h * (A[3][0] * k1 + A[3][1] * k2 + A[3][2] * k3 + A[3][3] * k4));
+      T k6 = f(t + wpi::units::second_t{h} * c[4], y + h * (A[4][0] * k1 + A[4][1] * k2 + A[4][2] * k3 + A[4][3] * k4 + A[4][4] * k5));
       // clang-format on
 
       // Since the final row of A and the array b1 have the same coefficients
       // and k7 has no effect on newY, we can reuse the calculation.
       newY = y + h * (A[5][0] * k1 + A[5][1] * k2 + A[5][2] * k3 +
                       A[5][3] * k4 + A[5][4] * k5 + A[5][5] * k6);
-      T k7 = f(t + units::second_t{h} * c[5], newY);
+      T k7 = f(t + wpi::units::second_t{h} * c[5], newY);
 
       truncationError = (h * ((b1[0] - b2[0]) * k1 + (b1[1] - b2[1]) * k2 +
                               (b1[2] - b2[2]) * k3 + (b1[3] - b2[3]) * k4 +
@@ -237,4 +237,4 @@ T RKDP(F&& f, units::second_t t, T y, units::second_t dt,
   return y;
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
index 409c18d488..547d380a91 100644
--- a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/math/linalg/EigenCore.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Returns numerical Jacobian with respect to x for f(x).
@@ -138,4 +138,4 @@ auto NumericalJacobianU(F&& f, const Eigen::VectorXd& x,
       [&](const Eigen::VectorXd& u) { return f(x, u, args...); }, u);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
index a8bedb2e34..27e0c757b6 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
@@ -11,7 +11,7 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Holds the constants for a DC motor.
@@ -19,29 +19,29 @@ namespace frc {
 class WPILIB_DLLEXPORT DCMotor {
  public:
   using radians_per_second_per_volt_t =
-      units::unit_t<units::compound_unit<units::radians_per_second,
-                                         units::inverse<units::volt>>>;
+      wpi::units::unit_t<wpi::units::compound_unit<wpi::units::radians_per_second,
+                                         wpi::units::inverse<wpi::units::volt>>>;
   using newton_meters_per_ampere_t =
-      units::unit_t<units::compound_unit<units::newton_meters,
-                                         units::inverse<units::ampere>>>;
+      wpi::units::unit_t<wpi::units::compound_unit<wpi::units::newton_meters,
+                                         wpi::units::inverse<wpi::units::ampere>>>;
 
   /// Voltage at which the motor constants were measured.
-  units::volt_t nominalVoltage;
+  wpi::units::volt_t nominalVoltage;
 
   /// Torque when stalled.
-  units::newton_meter_t stallTorque;
+  wpi::units::newton_meter_t stallTorque;
 
   /// Current draw when stalled.
-  units::ampere_t stallCurrent;
+  wpi::units::ampere_t stallCurrent;
 
   /// Current draw under no load.
-  units::ampere_t freeCurrent;
+  wpi::units::ampere_t freeCurrent;
 
   /// Angular velocity under no load.
-  units::radians_per_second_t freeSpeed;
+  wpi::units::radians_per_second_t freeSpeed;
 
   /// Motor internal resistance.
-  units::ohm_t R;
+  wpi::units::ohm_t R;
 
   /// Motor velocity constant.
   radians_per_second_per_volt_t Kv;
@@ -59,10 +59,10 @@ class WPILIB_DLLEXPORT DCMotor {
    * @param freeSpeed      Angular velocity under no load.
    * @param numMotors      Number of motors in a gearbox.
    */
-  constexpr DCMotor(units::volt_t nominalVoltage,
-                    units::newton_meter_t stallTorque,
-                    units::ampere_t stallCurrent, units::ampere_t freeCurrent,
-                    units::radians_per_second_t freeSpeed, int numMotors = 1)
+  constexpr DCMotor(wpi::units::volt_t nominalVoltage,
+                    wpi::units::newton_meter_t stallTorque,
+                    wpi::units::ampere_t stallCurrent, wpi::units::ampere_t freeCurrent,
+                    wpi::units::radians_per_second_t freeSpeed, int numMotors = 1)
       : nominalVoltage(nominalVoltage),
         stallTorque(stallTorque * numMotors),
         stallCurrent(stallCurrent * numMotors),
@@ -78,8 +78,8 @@ class WPILIB_DLLEXPORT DCMotor {
    * @param speed        The current angular velocity of the motor.
    * @param inputVoltage The voltage being applied to the motor.
    */
-  constexpr units::ampere_t Current(units::radians_per_second_t speed,
-                                    units::volt_t inputVoltage) const {
+  constexpr wpi::units::ampere_t Current(wpi::units::radians_per_second_t speed,
+                                    wpi::units::volt_t inputVoltage) const {
     return -1.0 / Kv / R * speed + 1.0 / R * inputVoltage;
   }
 
@@ -88,7 +88,7 @@ class WPILIB_DLLEXPORT DCMotor {
    *
    * @param torque The torque produced by the motor.
    */
-  constexpr units::ampere_t Current(units::newton_meter_t torque) const {
+  constexpr wpi::units::ampere_t Current(wpi::units::newton_meter_t torque) const {
     return torque / Kt;
   }
 
@@ -97,7 +97,7 @@ class WPILIB_DLLEXPORT DCMotor {
    *
    * @param current     The current drawn by the motor.
    */
-  constexpr units::newton_meter_t Torque(units::ampere_t current) const {
+  constexpr wpi::units::newton_meter_t Torque(wpi::units::ampere_t current) const {
     return current * Kt;
   }
 
@@ -108,8 +108,8 @@ class WPILIB_DLLEXPORT DCMotor {
    * @param torque      The torque produced by the motor.
    * @param speed       The current angular velocity of the motor.
    */
-  constexpr units::volt_t Voltage(units::newton_meter_t torque,
-                                  units::radians_per_second_t speed) const {
+  constexpr wpi::units::volt_t Voltage(wpi::units::newton_meter_t torque,
+                                  wpi::units::radians_per_second_t speed) const {
     return 1.0 / Kv * speed + 1.0 / Kt * R * torque;
   }
 
@@ -120,8 +120,8 @@ class WPILIB_DLLEXPORT DCMotor {
    * @param torque        The torque produced by the motor.
    * @param inputVoltage  The input voltage provided to the motor.
    */
-  constexpr units::radians_per_second_t Speed(
-      units::newton_meter_t torque, units::volt_t inputVoltage) const {
+  constexpr wpi::units::radians_per_second_t Speed(
+      wpi::units::newton_meter_t torque, wpi::units::volt_t inputVoltage) const {
     return inputVoltage * Kv - 1.0 / Kt * torque * R * Kv;
   }
 
@@ -280,7 +280,7 @@ class WPILIB_DLLEXPORT DCMotor {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/system/plant/proto/DCMotorProto.hpp"
 #include "wpi/math/system/plant/struct/DCMotorStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
index e6ab5f70c5..97946cdb80 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
@@ -20,20 +20,20 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Linear system ID utility functions.
  */
 class WPILIB_DLLEXPORT LinearSystemId {
  public:
   template <typename Distance>
-  using Velocity_t = units::unit_t<
-      units::compound_unit<Distance, units::inverse<units::seconds>>>;
+  using Velocity_t = wpi::units::unit_t<
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>>;
 
   template <typename Distance>
-  using Acceleration_t = units::unit_t<units::compound_unit<
-      units::compound_unit<Distance, units::inverse<units::seconds>>,
-      units::inverse<units::seconds>>>;
+  using Acceleration_t = wpi::units::unit_t<wpi::units::compound_unit<
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>,
+      wpi::units::inverse<wpi::units::seconds>>>;
 
   /**
    * Create a state-space model of the elevator system. The states of the system
@@ -47,8 +47,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws std::domain_error if mass <= 0, radius <= 0, or gearing <= 0.
    */
   static constexpr LinearSystem<2, 1, 2> ElevatorSystem(DCMotor motor,
-                                                        units::kilogram_t mass,
-                                                        units::meter_t radius,
+                                                        wpi::units::kilogram_t mass,
+                                                        wpi::units::meter_t radius,
                                                         double gearing) {
     if (mass <= 0_kg) {
       throw std::domain_error("mass must be greater than zero.");
@@ -63,7 +63,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
     Matrixd<2, 2> A{
         {0.0, 1.0},
         {0.0, (-gcem::pow(gearing, 2) * motor.Kt /
-               (motor.R * units::math::pow<2>(radius) * mass * motor.Kv))
+               (motor.R * wpi::units::math::pow<2>(radius) * mass * motor.Kv))
                   .value()}};
     Matrixd<2, 1> B{{0.0},
                     {(gearing * motor.Kt / (motor.R * radius * mass)).value()}};
@@ -84,7 +84,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws std::domain_error if J <= 0 or gearing <= 0.
    */
   static constexpr LinearSystem<2, 1, 2> SingleJointedArmSystem(
-      DCMotor motor, units::kilogram_square_meter_t J, double gearing) {
+      DCMotor motor, wpi::units::kilogram_square_meter_t J, double gearing) {
     if (J <= 0_kg_sq_m) {
       throw std::domain_error("J must be greater than zero.");
     }
@@ -125,8 +125,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   template <typename Distance>
-    requires std::same_as<units::meter, Distance> ||
-             std::same_as<units::radian, Distance>
+    requires std::same_as<wpi::units::meter, Distance> ||
+             std::same_as<wpi::units::radian, Distance>
   static constexpr LinearSystem<1, 1, 1> IdentifyVelocitySystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
@@ -168,8 +168,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   template <typename Distance>
-    requires std::same_as<units::meter, Distance> ||
-             std::same_as<units::radian, Distance>
+    requires std::same_as<wpi::units::meter, Distance> ||
+             std::same_as<wpi::units::radian, Distance>
   static constexpr LinearSystem<2, 1, 2> IdentifyPositionSystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
@@ -274,7 +274,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
   static constexpr LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
       decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
       decltype(1_V / 1_rad_per_s) kVAngular,
-      decltype(1_V / 1_rad_per_s_sq) kAAngular, units::meter_t trackwidth) {
+      decltype(1_V / 1_rad_per_s_sq) kAAngular, wpi::units::meter_t trackwidth) {
     if (kVLinear <= decltype(kVLinear){0}) {
       throw std::domain_error("Kv,linear must be greater than zero.");
     }
@@ -318,7 +318,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws std::domain_error if J <= 0 or gearing <= 0.
    */
   static constexpr LinearSystem<1, 1, 1> FlywheelSystem(
-      DCMotor motor, units::kilogram_square_meter_t J, double gearing) {
+      DCMotor motor, wpi::units::kilogram_square_meter_t J, double gearing) {
     if (J <= 0_kg_sq_m) {
       throw std::domain_error("J must be greater than zero.");
     }
@@ -349,7 +349,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   static constexpr LinearSystem<2, 1, 2> DCMotorSystem(
-      DCMotor motor, units::kilogram_square_meter_t J, double gearing) {
+      DCMotor motor, wpi::units::kilogram_square_meter_t J, double gearing) {
     if (J <= 0_kg_sq_m) {
       throw std::domain_error("J must be greater than zero.");
     }
@@ -390,8 +390,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws std::domain_error if kV < 0 or kA <= 0.
    */
   template <typename Distance>
-    requires std::same_as<units::meter, Distance> ||
-             std::same_as<units::radian, Distance>
+    requires std::same_as<wpi::units::meter, Distance> ||
+             std::same_as<wpi::units::radian, Distance>
   static constexpr LinearSystem<2, 1, 2> DCMotorSystem(
       decltype(1_V / Velocity_t<Distance>(1)) kV,
       decltype(1_V / Acceleration_t<Distance>(1)) kA) {
@@ -426,8 +426,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
    *         gearing <= 0.
    */
   static constexpr LinearSystem<2, 2, 2> DrivetrainVelocitySystem(
-      const DCMotor& motor, units::kilogram_t mass, units::meter_t r,
-      units::meter_t rb, units::kilogram_square_meter_t J, double gearing) {
+      const DCMotor& motor, wpi::units::kilogram_t mass, wpi::units::meter_t r,
+      wpi::units::meter_t rb, wpi::units::kilogram_square_meter_t J, double gearing) {
     if (mass <= 0_kg) {
       throw std::domain_error("mass must be greater than zero.");
     }
@@ -445,17 +445,17 @@ class WPILIB_DLLEXPORT LinearSystemId {
     }
 
     auto C1 = -gcem::pow(gearing, 2) * motor.Kt /
-              (motor.Kv * motor.R * units::math::pow<2>(r));
+              (motor.Kv * motor.R * wpi::units::math::pow<2>(r));
     auto C2 = gearing * motor.Kt / (motor.R * r);
 
-    Matrixd<2, 2> A{{((1 / mass + units::math::pow<2>(rb) / J) * C1).value(),
-                     ((1 / mass - units::math::pow<2>(rb) / J) * C1).value()},
-                    {((1 / mass - units::math::pow<2>(rb) / J) * C1).value(),
-                     ((1 / mass + units::math::pow<2>(rb) / J) * C1).value()}};
-    Matrixd<2, 2> B{{((1 / mass + units::math::pow<2>(rb) / J) * C2).value(),
-                     ((1 / mass - units::math::pow<2>(rb) / J) * C2).value()},
-                    {((1 / mass - units::math::pow<2>(rb) / J) * C2).value(),
-                     ((1 / mass + units::math::pow<2>(rb) / J) * C2).value()}};
+    Matrixd<2, 2> A{{((1 / mass + wpi::units::math::pow<2>(rb) / J) * C1).value(),
+                     ((1 / mass - wpi::units::math::pow<2>(rb) / J) * C1).value()},
+                    {((1 / mass - wpi::units::math::pow<2>(rb) / J) * C1).value(),
+                     ((1 / mass + wpi::units::math::pow<2>(rb) / J) * C1).value()}};
+    Matrixd<2, 2> B{{((1 / mass + wpi::units::math::pow<2>(rb) / J) * C2).value(),
+                     ((1 / mass - wpi::units::math::pow<2>(rb) / J) * C2).value()},
+                    {((1 / mass - wpi::units::math::pow<2>(rb) / J) * C2).value(),
+                     ((1 / mass + wpi::units::math::pow<2>(rb) / J) * C2).value()}};
     Matrixd<2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
     Matrixd<2, 2> D{{0.0, 0.0}, {0.0, 0.0}};
 
@@ -463,4 +463,4 @@ class WPILIB_DLLEXPORT LinearSystemId {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
index 33ae790a8c..658e08502a 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/plant.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DCMotor> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::DCMotor> {
   using MessageStruct = wpi_proto_ProtobufDCMotor;
-  using InputStream = wpi::ProtoInputStream<frc::DCMotor>;
-  using OutputStream = wpi::ProtoOutputStream<frc::DCMotor>;
-  static std::optional<frc::DCMotor> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::DCMotor& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::DCMotor>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::DCMotor>;
+  static std::optional<wpi::math::DCMotor> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::DCMotor& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
index 417c21e2cb..9a502dab81 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::DCMotor> {
   static constexpr std::string_view GetTypeName() { return "DCMotor"; }
   static constexpr size_t GetSize() { return 40; }
   static constexpr std::string_view GetSchema() {
@@ -18,8 +18,8 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
            "free_current;double free_speed";
   }
 
-  static frc::DCMotor Unpack(std::span<const uint8_t> data);
-  static void Pack(std::span<uint8_t> data, const frc::DCMotor& value);
+  static wpi::math::DCMotor Unpack(std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data, const wpi::math::DCMotor& value);
 };
 
-static_assert(wpi::StructSerializable<frc::DCMotor>);
+static_assert(wpi::util::StructSerializable<wpi::math::DCMotor>);
diff --git a/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp b/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
index cc74931c66..4248371c20 100644
--- a/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
@@ -16,23 +16,23 @@
 #include "wpimath/protobuf/system.npb.h"
 
 template <int States, int Inputs, int Outputs>
-struct wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>> {
+struct wpi::util::Protobuf<wpi::math::LinearSystem<States, Inputs, Outputs>> {
   using MessageStruct = wpi_proto_ProtobufLinearSystem;
   using InputStream =
-      wpi::ProtoInputStream<frc::LinearSystem<States, Inputs, Outputs>>;
+      wpi::util::ProtoInputStream<wpi::math::LinearSystem<States, Inputs, Outputs>>;
   using OutputStream =
-      wpi::ProtoOutputStream<frc::LinearSystem<States, Inputs, Outputs>>;
+      wpi::util::ProtoOutputStream<wpi::math::LinearSystem<States, Inputs, Outputs>>;
 
-  static std::optional<frc::LinearSystem<States, Inputs, Outputs>> Unpack(
+  static std::optional<wpi::math::LinearSystem<States, Inputs, Outputs>> Unpack(
       InputStream& stream) {
-    wpi::UnpackCallback<frc::Matrixd<States, States>> a;
-    a.SetLimits(wpi::DecodeLimits::Fail);
-    wpi::UnpackCallback<frc::Matrixd<States, Inputs>> b;
-    a.SetLimits(wpi::DecodeLimits::Fail);
-    wpi::UnpackCallback<frc::Matrixd<Outputs, States>> c;
-    a.SetLimits(wpi::DecodeLimits::Fail);
-    wpi::UnpackCallback<frc::Matrixd<Outputs, Inputs>> d;
-    a.SetLimits(wpi::DecodeLimits::Fail);
+    wpi::util::UnpackCallback<wpi::math::Matrixd<States, States>> a;
+    a.SetLimits(wpi::util::DecodeLimits::Fail);
+    wpi::util::UnpackCallback<wpi::math::Matrixd<States, Inputs>> b;
+    a.SetLimits(wpi::util::DecodeLimits::Fail);
+    wpi::util::UnpackCallback<wpi::math::Matrixd<Outputs, States>> c;
+    a.SetLimits(wpi::util::DecodeLimits::Fail);
+    wpi::util::UnpackCallback<wpi::math::Matrixd<Outputs, Inputs>> d;
+    a.SetLimits(wpi::util::DecodeLimits::Fail);
 
     wpi_proto_ProtobufLinearSystem msg;
     msg.a = a.Callback();
@@ -58,7 +58,7 @@ struct wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>> {
       return {};
     }
 
-    return frc::LinearSystem<States, Inputs, Outputs>{
+    return wpi::math::LinearSystem<States, Inputs, Outputs>{
         std::move(ai[0]),
         std::move(bi[0]),
         std::move(ci[0]),
@@ -67,11 +67,11 @@ struct wpi::Protobuf<frc::LinearSystem<States, Inputs, Outputs>> {
   }
 
   static bool Pack(OutputStream& stream,
-                   const frc::LinearSystem<States, Inputs, Outputs>& value) {
-    wpi::PackCallback a{&value.A()};
-    wpi::PackCallback b{&value.B()};
-    wpi::PackCallback c{&value.C()};
-    wpi::PackCallback d{&value.D()};
+                   const wpi::math::LinearSystem<States, Inputs, Outputs>& value) {
+    wpi::util::PackCallback a{&value.A()};
+    wpi::util::PackCallback b{&value.B()};
+    wpi::util::PackCallback c{&value.C()};
+    wpi::util::PackCallback d{&value.D()};
 
     wpi_proto_ProtobufLinearSystem msg{
         .num_states = States,
diff --git a/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp b/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
index ffeff892f9..f0cc59325b 100644
--- a/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
@@ -12,66 +12,66 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <int States, int Inputs, int Outputs>
-struct wpi::Struct<frc::LinearSystem<States, Inputs, Outputs>> {
+struct wpi::util::Struct<wpi::math::LinearSystem<States, Inputs, Outputs>> {
   static constexpr ct_string kTypeName =
-      wpi::Concat("LinearSystem__"_ct_string, wpi::NumToCtString<States>(),
-                  "_"_ct_string, wpi::NumToCtString<Inputs>(), "_"_ct_string,
-                  wpi::NumToCtString<Outputs>());
+      wpi::util::Concat("LinearSystem__"_ct_string, wpi::util::NumToCtString<States>(),
+                  "_"_ct_string, wpi::util::NumToCtString<Inputs>(), "_"_ct_string,
+                  wpi::util::NumToCtString<Outputs>());
   static constexpr std::string_view GetTypeName() { return kTypeName; }
   static constexpr size_t GetSize() {
-    return wpi::Struct<frc::Matrixd<States, States>>::GetSize() +
-           wpi::Struct<frc::Matrixd<States, Inputs>>::GetSize() +
-           wpi::Struct<frc::Matrixd<Outputs, States>>::GetSize() +
-           wpi::Struct<frc::Matrixd<Outputs, Inputs>>::GetSize();
+    return wpi::util::Struct<wpi::math::Matrixd<States, States>>::GetSize() +
+           wpi::util::Struct<wpi::math::Matrixd<States, Inputs>>::GetSize() +
+           wpi::util::Struct<wpi::math::Matrixd<Outputs, States>>::GetSize() +
+           wpi::util::Struct<wpi::math::Matrixd<Outputs, Inputs>>::GetSize();
   }
-  static constexpr ct_string kSchema = wpi::Concat(
-      wpi::Struct<frc::Matrixd<States, States>>::kTypeName, " a;"_ct_string,
-      wpi::Struct<frc::Matrixd<States, Inputs>>::kTypeName, " b;"_ct_string,
-      wpi::Struct<frc::Matrixd<Outputs, States>>::kTypeName, " c;"_ct_string,
-      wpi::Struct<frc::Matrixd<Outputs, Inputs>>::kTypeName, " d"_ct_string);
+  static constexpr ct_string kSchema = wpi::util::Concat(
+      wpi::util::Struct<wpi::math::Matrixd<States, States>>::kTypeName, " a;"_ct_string,
+      wpi::util::Struct<wpi::math::Matrixd<States, Inputs>>::kTypeName, " b;"_ct_string,
+      wpi::util::Struct<wpi::math::Matrixd<Outputs, States>>::kTypeName, " c;"_ct_string,
+      wpi::util::Struct<wpi::math::Matrixd<Outputs, Inputs>>::kTypeName, " d"_ct_string);
   static constexpr std::string_view GetSchema() { return kSchema; }
 
-  static frc::LinearSystem<States, Inputs, Outputs> Unpack(
+  static wpi::math::LinearSystem<States, Inputs, Outputs> Unpack(
       std::span<const uint8_t> data) {
     constexpr size_t kAOff = 0;
     constexpr size_t kBOff =
-        kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
+        kAOff + wpi::util::GetStructSize<wpi::math::Matrixd<States, States>>();
     constexpr size_t kCOff =
-        kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
+        kBOff + wpi::util::GetStructSize<wpi::math::Matrixd<States, Inputs>>();
     constexpr size_t kDOff =
-        kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
-    return frc::LinearSystem<States, Inputs, Outputs>{
-        wpi::UnpackStruct<frc::Matrixd<States, States>, kAOff>(data),
-        wpi::UnpackStruct<frc::Matrixd<States, Inputs>, kBOff>(data),
-        wpi::UnpackStruct<frc::Matrixd<Outputs, States>, kCOff>(data),
-        wpi::UnpackStruct<frc::Matrixd<Outputs, Inputs>, kDOff>(data)};
+        kCOff + wpi::util::GetStructSize<wpi::math::Matrixd<Outputs, States>>();
+    return wpi::math::LinearSystem<States, Inputs, Outputs>{
+        wpi::util::UnpackStruct<wpi::math::Matrixd<States, States>, kAOff>(data),
+        wpi::util::UnpackStruct<wpi::math::Matrixd<States, Inputs>, kBOff>(data),
+        wpi::util::UnpackStruct<wpi::math::Matrixd<Outputs, States>, kCOff>(data),
+        wpi::util::UnpackStruct<wpi::math::Matrixd<Outputs, Inputs>, kDOff>(data)};
   }
 
   static void Pack(std::span<uint8_t> data,
-                   const frc::LinearSystem<States, Inputs, Outputs>& value) {
+                   const wpi::math::LinearSystem<States, Inputs, Outputs>& value) {
     constexpr size_t kAOff = 0;
     constexpr size_t kBOff =
-        kAOff + wpi::GetStructSize<frc::Matrixd<States, States>>();
+        kAOff + wpi::util::GetStructSize<wpi::math::Matrixd<States, States>>();
     constexpr size_t kCOff =
-        kBOff + wpi::GetStructSize<frc::Matrixd<States, Inputs>>();
+        kBOff + wpi::util::GetStructSize<wpi::math::Matrixd<States, Inputs>>();
     constexpr size_t kDOff =
-        kCOff + wpi::GetStructSize<frc::Matrixd<Outputs, States>>();
-    wpi::PackStruct<kAOff>(data, value.A());
-    wpi::PackStruct<kBOff>(data, value.B());
-    wpi::PackStruct<kCOff>(data, value.C());
-    wpi::PackStruct<kDOff>(data, value.D());
+        kCOff + wpi::util::GetStructSize<wpi::math::Matrixd<Outputs, States>>();
+    wpi::util::PackStruct<kAOff>(data, value.A());
+    wpi::util::PackStruct<kBOff>(data, value.B());
+    wpi::util::PackStruct<kCOff>(data, value.C());
+    wpi::util::PackStruct<kDOff>(data, value.D());
   }
 
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<frc::Matrixd<States, States>>(fn);
-    wpi::ForEachStructSchema<frc::Matrixd<States, Inputs>>(fn);
-    wpi::ForEachStructSchema<frc::Matrixd<Outputs, States>>(fn);
-    wpi::ForEachStructSchema<frc::Matrixd<Outputs, Inputs>>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Matrixd<States, States>>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Matrixd<States, Inputs>>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Matrixd<Outputs, States>>(fn);
+    wpi::util::ForEachStructSchema<wpi::math::Matrixd<Outputs, Inputs>>(fn);
   }
 };
 
-static_assert(wpi::StructSerializable<frc::LinearSystem<4, 3, 2>>);
-static_assert(wpi::HasNestedStruct<frc::LinearSystem<4, 3, 2>>);
-static_assert(wpi::StructSerializable<frc::LinearSystem<2, 3, 4>>);
-static_assert(wpi::HasNestedStruct<frc::LinearSystem<2, 3, 4>>);
+static_assert(wpi::util::StructSerializable<wpi::math::LinearSystem<4, 3, 2>>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::LinearSystem<4, 3, 2>>);
+static_assert(wpi::util::StructSerializable<wpi::math::LinearSystem<2, 3, 4>>);
+static_assert(wpi::util::HasNestedStruct<wpi::math::LinearSystem<2, 3, 4>>);
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
index 6bd5a846b0..680eb8cd89 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
@@ -7,7 +7,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A Exponential-shaped velocity profile.
@@ -40,20 +40,20 @@ namespace frc {
 template <class Distance, class Input>
 class ExponentialProfile {
  public:
-  using Distance_t = units::unit_t<Distance>;
+  using Distance_t = wpi::units::unit_t<Distance>;
   using Velocity =
-      units::compound_unit<Distance, units::inverse<units::seconds>>;
-  using Velocity_t = units::unit_t<Velocity>;
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>;
+  using Velocity_t = wpi::units::unit_t<Velocity>;
   using Acceleration =
-      units::compound_unit<Velocity, units::inverse<units::seconds>>;
-  using Input_t = units::unit_t<Input>;
-  using A_t = units::unit_t<units::inverse<units::seconds>>;
+      wpi::units::compound_unit<Velocity, wpi::units::inverse<wpi::units::seconds>>;
+  using Input_t = wpi::units::unit_t<Input>;
+  using A_t = wpi::units::unit_t<wpi::units::inverse<wpi::units::seconds>>;
   using B_t =
-      units::unit_t<units::compound_unit<Acceleration, units::inverse<Input>>>;
-  using KV = units::compound_unit<Input, units::inverse<Velocity>>;
-  using kV_t = units::unit_t<KV>;
-  using KA = units::compound_unit<Input, units::inverse<Acceleration>>;
-  using kA_t = units::unit_t<KA>;
+      wpi::units::unit_t<wpi::units::compound_unit<Acceleration, wpi::units::inverse<Input>>>;
+  using KV = wpi::units::compound_unit<Input, wpi::units::inverse<Velocity>>;
+  using kV_t = wpi::units::unit_t<KV>;
+  using KA = wpi::units::compound_unit<Input, wpi::units::inverse<Acceleration>>;
+  using kA_t = wpi::units::unit_t<KA>;
 
   /**
    * Profile timing.
@@ -61,10 +61,10 @@ class ExponentialProfile {
   class ProfileTiming {
    public:
     /// Profile inflection time.
-    units::second_t inflectionTime;
+    wpi::units::second_t inflectionTime;
 
     /// Total profile time.
-    units::second_t totalTime;
+    wpi::units::second_t totalTime;
 
     /**
      * Decides if the profile is finished by time t.
@@ -72,7 +72,7 @@ class ExponentialProfile {
      * @param t The time since the beginning of the profile.
      * @return if the profile is finished at time t.
      */
-    constexpr bool IsFinished(const units::second_t& t) const {
+    constexpr bool IsFinished(const wpi::units::second_t& t) const {
       return t >= totalTime;
     }
   };
@@ -154,7 +154,7 @@ class ExponentialProfile {
    * @param goal The desired state when the profile is complete.
    * @return The position and velocity of the profile at time t.
    */
-  constexpr State Calculate(const units::second_t& t, const State& current,
+  constexpr State Calculate(const wpi::units::second_t& t, const State& current,
                             const State& goal) const {
     auto direction = ShouldFlipInput(current, goal) ? -1 : 1;
     auto u = direction * m_constraints.maxInput;
@@ -198,7 +198,7 @@ class ExponentialProfile {
    * @param goal The desired state when the profile is complete.
    * @return The total duration of this profile.
    */
-  constexpr units::second_t TimeLeftUntil(const State& current,
+  constexpr wpi::units::second_t TimeLeftUntil(const State& current,
                                           const State& goal) const {
     auto timing = CalculateProfileTiming(current, goal);
 
@@ -265,9 +265,9 @@ class ExponentialProfile {
                                                  const State& goal,
                                                  const Input_t& input) const {
     auto u = input;
-    auto u_dir = units::math::abs(u) / u;
+    auto u_dir = wpi::units::math::abs(u) / u;
 
-    units::second_t inflectionT_forward;
+    wpi::units::second_t inflectionT_forward;
 
     // We need to handle 5 cases here:
     //
@@ -281,17 +281,17 @@ class ExponentialProfile {
     // velocity For cases 2 and 4, we want to add epsilon to the inflection
     // point velocity. For case 5, we have reached inflection point velocity.
     auto epsilon = Velocity_t(1e-9);
-    if (units::math::abs(u_dir * m_constraints.MaxVelocity() -
+    if (wpi::units::math::abs(u_dir * m_constraints.MaxVelocity() -
                          inflectionPoint.velocity) < epsilon) {
       auto solvableV = inflectionPoint.velocity;
-      units::second_t t_to_solvable_v;
+      wpi::units::second_t t_to_solvable_v;
       Distance_t x_at_solvable_v;
-      if (units::math::abs(current.velocity - inflectionPoint.velocity) <
+      if (wpi::units::math::abs(current.velocity - inflectionPoint.velocity) <
           epsilon) {
         t_to_solvable_v = 0_s;
         x_at_solvable_v = current.position;
       } else {
-        if (units::math::abs(current.velocity) > m_constraints.MaxVelocity()) {
+        if (wpi::units::math::abs(current.velocity) > m_constraints.MaxVelocity()) {
           solvableV += u_dir * epsilon;
         } else {
           solvableV -= u_dir * epsilon;
@@ -327,7 +327,7 @@ class ExponentialProfile {
    * @param initial The initial state.
    * @return The distance travelled by this profile.
    */
-  constexpr Distance_t ComputeDistanceFromTime(const units::second_t& time,
+  constexpr Distance_t ComputeDistanceFromTime(const wpi::units::second_t& time,
                                                const Input_t& input,
                                                const State& initial) const {
     auto A = m_constraints.A;
@@ -336,7 +336,7 @@ class ExponentialProfile {
 
     return initial.position +
            (-B * u * time +
-            (initial.velocity + B * u / A) * (units::math::exp(A * time) - 1)) /
+            (initial.velocity + B * u / A) * (wpi::units::math::exp(A * time) - 1)) /
                A;
   }
 
@@ -350,14 +350,14 @@ class ExponentialProfile {
    * @param initial The initial state.
    * @return The distance travelled by this profile.
    */
-  constexpr Velocity_t ComputeVelocityFromTime(const units::second_t& time,
+  constexpr Velocity_t ComputeVelocityFromTime(const wpi::units::second_t& time,
                                                const Input_t& input,
                                                const State& initial) const {
     auto A = m_constraints.A;
     auto B = m_constraints.B;
     auto u = input;
 
-    return (initial.velocity + B * u / A) * units::math::exp(A * time) -
+    return (initial.velocity + B * u / A) * wpi::units::math::exp(A * time) -
            B * u / A;
   }
 
@@ -371,14 +371,14 @@ class ExponentialProfile {
    * @param initial The initial velocity.
    * @return The time required to reach the goal velocity.
    */
-  constexpr units::second_t ComputeTimeFromVelocity(
+  constexpr wpi::units::second_t ComputeTimeFromVelocity(
       const Velocity_t& velocity, const Input_t& input,
       const Velocity_t& initial) const {
     auto A = m_constraints.A;
     auto B = m_constraints.B;
     auto u = input;
 
-    return units::math::log((A * velocity + B * u) / (A * initial + B * u)) / A;
+    return wpi::units::math::log((A * velocity + B * u) / (A * initial + B * u)) / A;
   }
 
   /**
@@ -400,7 +400,7 @@ class ExponentialProfile {
 
     return initial.position + (velocity - initial.velocity) / A -
            B * u / (A * A) *
-               units::math::log((A * velocity + B * u) /
+               wpi::units::math::log((A * velocity + B * u) /
                                 (A * initial.velocity + B * u));
   }
 
@@ -421,7 +421,7 @@ class ExponentialProfile {
     auto B = m_constraints.B;
     auto u = input;
 
-    auto u_dir = u / units::math::abs(u);
+    auto u_dir = u / wpi::units::math::abs(u);
 
     auto position_delta = goal.position - current.position;
     auto velocity_delta = goal.velocity - current.velocity;
@@ -430,7 +430,7 @@ class ExponentialProfile {
     auto power = -A / B / u * (A * position_delta - velocity_delta);
 
     auto a = -A * A;
-    auto c = B * B * u * u + scalar * units::math::exp(power);
+    auto c = B * B * u * u + scalar * wpi::units::math::exp(power);
 
     if (-1e-9 < c.value() && c.value() < 0) {
       // numeric instability - the heuristic gets it right but c is around
@@ -438,7 +438,7 @@ class ExponentialProfile {
       return Velocity_t(0);
     }
 
-    return u_dir * units::math::sqrt(-c / a);
+    return u_dir * wpi::units::math::sqrt(-c / a);
   }
 
   /**
@@ -480,4 +480,4 @@ class ExponentialProfile {
   Constraints m_constraints;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
index db9f48141e..b9f1f78fbc 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
@@ -19,7 +19,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents a time-parameterized trajectory. The trajectory contains of
  * various States that represent the pose, curvature, time elapsed, velocity,
@@ -32,19 +32,19 @@ class WPILIB_DLLEXPORT Trajectory {
    */
   struct WPILIB_DLLEXPORT State {
     /// The time elapsed since the beginning of the trajectory.
-    units::second_t t = 0_s;
+    wpi::units::second_t t = 0_s;
 
     /// The speed at that point of the trajectory.
-    units::meters_per_second_t velocity = 0_mps;
+    wpi::units::meters_per_second_t velocity = 0_mps;
 
     /// The acceleration at that point of the trajectory.
-    units::meters_per_second_squared_t acceleration = 0_mps_sq;
+    wpi::units::meters_per_second_squared_t acceleration = 0_mps_sq;
 
     /// The pose at that point of the trajectory.
     Pose2d pose;
 
     /// The curvature at that point of the trajectory.
-    units::curvature_t curvature{0.0};
+    wpi::units::curvature_t curvature{0.0};
 
     /**
      * Checks equality between this State and another object.
@@ -61,7 +61,7 @@ class WPILIB_DLLEXPORT Trajectory {
      */
     constexpr State Interpolate(State endValue, double i) const {
       // Find the new [t] value.
-      const auto newT = wpi::Lerp(t, endValue.t, i);
+      const auto newT = wpi::util::Lerp(t, endValue.t, i);
 
       // Find the delta time between the current state and the interpolated
       // state.
@@ -75,16 +75,16 @@ class WPILIB_DLLEXPORT Trajectory {
       // Check whether the robot is reversing at this stage.
       const auto reversing =
           velocity < 0_mps ||
-          (units::math::abs(velocity) < 1E-9_mps && acceleration < 0_mps_sq);
+          (wpi::units::math::abs(velocity) < 1E-9_mps && acceleration < 0_mps_sq);
 
       // Calculate the new velocity.
       // v = v_0 + at
-      const units::meters_per_second_t newV =
+      const wpi::units::meters_per_second_t newV =
           velocity + (acceleration * deltaT);
 
       // Calculate the change in position.
       // delta_s = v_0 t + 0.5at²
-      const units::meter_t newS =
+      const wpi::units::meter_t newS =
           (velocity * deltaT + 0.5 * acceleration * deltaT * deltaT) *
           (reversing ? -1.0 : 1.0);
 
@@ -96,8 +96,8 @@ class WPILIB_DLLEXPORT Trajectory {
           newS / endValue.pose.Translation().Distance(pose.Translation());
 
       return {newT, newV, acceleration,
-              wpi::Lerp(pose, endValue.pose, interpolationFrac),
-              wpi::Lerp(curvature, endValue.curvature, interpolationFrac)};
+              wpi::util::Lerp(pose, endValue.pose, interpolationFrac),
+              wpi::util::Lerp(curvature, endValue.curvature, interpolationFrac)};
     }
   };
 
@@ -121,7 +121,7 @@ class WPILIB_DLLEXPORT Trajectory {
    * Returns the overall duration of the trajectory.
    * @return The duration of the trajectory.
    */
-  units::second_t TotalTime() const { return m_totalTime; }
+  wpi::units::second_t TotalTime() const { return m_totalTime; }
 
   /**
    * Return the states of the trajectory.
@@ -137,7 +137,7 @@ class WPILIB_DLLEXPORT Trajectory {
    * @return The state at that point in time.
    * @throws std::runtime_error if the trajectory has no states.
    */
-  State Sample(units::second_t t) const {
+  State Sample(wpi::units::second_t t) const {
     if (m_states.empty()) {
       throw std::runtime_error(
           "Trajectory cannot be sampled if it has no states.");
@@ -165,7 +165,7 @@ class WPILIB_DLLEXPORT Trajectory {
     // want.
 
     // If the difference in states is negligible, then we are spot on!
-    if (units::math::abs(sample->t - prevSample->t) < 1E-9_s) {
+    if (wpi::units::math::abs(sample->t - prevSample->t) < 1E-9_s) {
       return *sample;
     }
     // Interpolate between the two states for the state that we want.
@@ -260,16 +260,16 @@ class WPILIB_DLLEXPORT Trajectory {
 
  private:
   std::vector<State> m_states;
-  units::second_t m_totalTime = 0_s;
+  wpi::units::second_t m_totalTime = 0_s;
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const Trajectory::State& state);
+void to_json(wpi::util::json& json, const Trajectory::State& state);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, Trajectory::State& state);
+void from_json(const wpi::util::json& json, Trajectory::State& state);
 
-}  // namespace frc
+}  // namespace wpi::math
 
 #include "wpi/math/trajectory/proto/TrajectoryProto.hpp"
 #include "wpi/math/trajectory/proto/TrajectoryStateProto.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
index 6662ad97cf..ca59dfd39b 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
@@ -20,7 +20,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Represents the configuration for generating a trajectory. This class stores
  * the start velocity, end velocity, max velocity, max acceleration, custom
@@ -38,8 +38,8 @@ class WPILIB_DLLEXPORT TrajectoryConfig {
    * @param maxVelocity The max velocity of the trajectory.
    * @param maxAcceleration The max acceleration of the trajectory.
    */
-  TrajectoryConfig(units::meters_per_second_t maxVelocity,
-                   units::meters_per_second_squared_t maxAcceleration)
+  TrajectoryConfig(wpi::units::meters_per_second_t maxVelocity,
+                   wpi::units::meters_per_second_squared_t maxAcceleration)
       : m_maxVelocity(maxVelocity), m_maxAcceleration(maxAcceleration) {}
 
   TrajectoryConfig(const TrajectoryConfig&) = delete;
@@ -52,7 +52,7 @@ class WPILIB_DLLEXPORT TrajectoryConfig {
    * Sets the start velocity of the trajectory.
    * @param startVelocity The start velocity of the trajectory.
    */
-  void SetStartVelocity(units::meters_per_second_t startVelocity) {
+  void SetStartVelocity(wpi::units::meters_per_second_t startVelocity) {
     m_startVelocity = startVelocity;
   }
 
@@ -60,7 +60,7 @@ class WPILIB_DLLEXPORT TrajectoryConfig {
    * Sets the end velocity of the trajectory.
    * @param endVelocity The end velocity of the trajectory.
    */
-  void SetEndVelocity(units::meters_per_second_t endVelocity) {
+  void SetEndVelocity(wpi::units::meters_per_second_t endVelocity) {
     m_endVelocity = endVelocity;
   }
 
@@ -115,25 +115,25 @@ class WPILIB_DLLEXPORT TrajectoryConfig {
    * Returns the starting velocity of the trajectory.
    * @return The starting velocity of the trajectory.
    */
-  units::meters_per_second_t StartVelocity() const { return m_startVelocity; }
+  wpi::units::meters_per_second_t StartVelocity() const { return m_startVelocity; }
 
   /**
    * Returns the ending velocity of the trajectory.
    * @return The ending velocity of the trajectory.
    */
-  units::meters_per_second_t EndVelocity() const { return m_endVelocity; }
+  wpi::units::meters_per_second_t EndVelocity() const { return m_endVelocity; }
 
   /**
    * Returns the maximum velocity of the trajectory.
    * @return The maximum velocity of the trajectory.
    */
-  units::meters_per_second_t MaxVelocity() const { return m_maxVelocity; }
+  wpi::units::meters_per_second_t MaxVelocity() const { return m_maxVelocity; }
 
   /**
    * Returns the maximum acceleration of the trajectory.
    * @return The maximum acceleration of the trajectory.
    */
-  units::meters_per_second_squared_t MaxAcceleration() const {
+  wpi::units::meters_per_second_squared_t MaxAcceleration() const {
     return m_maxAcceleration;
   }
 
@@ -153,11 +153,11 @@ class WPILIB_DLLEXPORT TrajectoryConfig {
   bool IsReversed() const { return m_reversed; }
 
  private:
-  units::meters_per_second_t m_startVelocity = 0_mps;
-  units::meters_per_second_t m_endVelocity = 0_mps;
-  units::meters_per_second_t m_maxVelocity;
-  units::meters_per_second_squared_t m_maxAcceleration;
+  wpi::units::meters_per_second_t m_startVelocity = 0_mps;
+  wpi::units::meters_per_second_t m_endVelocity = 0_mps;
+  wpi::units::meters_per_second_t m_maxVelocity;
+  wpi::units::meters_per_second_squared_t m_maxAcceleration;
   std::vector<std::unique_ptr<TrajectoryConstraint>> m_constraints;
   bool m_reversed = false;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
index 446eb6e5ed..5e7ea6ead3 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
@@ -16,13 +16,13 @@
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Helper class used to generate trajectories with various constraints.
  */
 class WPILIB_DLLEXPORT TrajectoryGenerator {
  public:
-  using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
+  using PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>;
 
   /**
    * Generates a trajectory from the given control vectors and config. This
@@ -126,4 +126,4 @@ class WPILIB_DLLEXPORT TrajectoryGenerator {
   static const Trajectory kDoNothingTrajectory;
   static std::function<void(const char*)> s_errorFunc;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
index 6adfd4785e..3633154d86 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
@@ -36,13 +36,13 @@
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * Class used to parameterize a trajectory by time.
  */
 class WPILIB_DLLEXPORT TrajectoryParameterizer {
  public:
-  using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
+  using PoseWithCurvature = std::pair<Pose2d, wpi::units::curvature_t>;
 
   /**
    * Parameterize the trajectory by time. This is where the velocity profile is
@@ -66,10 +66,10 @@ class WPILIB_DLLEXPORT TrajectoryParameterizer {
   static Trajectory TimeParameterizeTrajectory(
       const std::vector<PoseWithCurvature>& points,
       const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
-      units::meters_per_second_t startVelocity,
-      units::meters_per_second_t endVelocity,
-      units::meters_per_second_t maxVelocity,
-      units::meters_per_second_squared_t maxAcceleration, bool reversed);
+      wpi::units::meters_per_second_t startVelocity,
+      wpi::units::meters_per_second_t endVelocity,
+      wpi::units::meters_per_second_t maxVelocity,
+      wpi::units::meters_per_second_squared_t maxAcceleration, bool reversed);
 
  private:
   constexpr static double kEpsilon = 1E-6;
@@ -80,11 +80,11 @@ class WPILIB_DLLEXPORT TrajectoryParameterizer {
    * the trajectory, max velocity, min acceleration and max acceleration.
    */
   struct ConstrainedState {
-    PoseWithCurvature pose = {Pose2d{}, units::curvature_t{0.0}};
-    units::meter_t distance = 0_m;
-    units::meters_per_second_t maxVelocity = 0_mps;
-    units::meters_per_second_squared_t minAcceleration = 0_mps_sq;
-    units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
+    PoseWithCurvature pose = {Pose2d{}, wpi::units::curvature_t{0.0}};
+    wpi::units::meter_t distance = 0_m;
+    wpi::units::meters_per_second_t maxVelocity = 0_mps;
+    wpi::units::meters_per_second_squared_t minAcceleration = 0_mps_sq;
+    wpi::units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
   };
 
   /**
@@ -102,4 +102,4 @@ class WPILIB_DLLEXPORT TrajectoryParameterizer {
       const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
       ConstrainedState* state);
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
index 69bb5bc647..f9bab77972 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
@@ -10,7 +10,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A trapezoid-shaped velocity profile.
@@ -45,13 +45,13 @@ namespace frc {
 template <class Distance>
 class TrapezoidProfile {
  public:
-  using Distance_t = units::unit_t<Distance>;
+  using Distance_t = wpi::units::unit_t<Distance>;
   using Velocity =
-      units::compound_unit<Distance, units::inverse<units::seconds>>;
-  using Velocity_t = units::unit_t<Velocity>;
+      wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>;
+  using Velocity_t = wpi::units::unit_t<Velocity>;
   using Acceleration =
-      units::compound_unit<Velocity, units::inverse<units::seconds>>;
-  using Acceleration_t = units::unit_t<Acceleration>;
+      wpi::units::compound_unit<Velocity, wpi::units::inverse<wpi::units::seconds>>;
+  using Acceleration_t = wpi::units::unit_t<Acceleration>;
 
   /**
    * Profile constraints.
@@ -129,24 +129,24 @@ class TrapezoidProfile {
    * @param goal The desired state when the profile is complete.
    * @return The position and velocity of the profile at time t.
    */
-  constexpr State Calculate(units::second_t t, State current, State goal) {
+  constexpr State Calculate(wpi::units::second_t t, State current, State goal) {
     m_direction = ShouldFlipAcceleration(current, goal) ? -1 : 1;
     m_current = Direct(current);
     goal = Direct(goal);
-    if (units::math::abs(m_current.velocity) > m_constraints.maxVelocity) {
+    if (wpi::units::math::abs(m_current.velocity) > m_constraints.maxVelocity) {
       m_current.velocity =
-          units::math::copysign(m_constraints.maxVelocity, m_current.velocity);
+          wpi::units::math::copysign(m_constraints.maxVelocity, m_current.velocity);
     }
 
     // Deal with a possibly truncated motion profile (with nonzero initial or
     // final velocity) by calculating the parameters as if the profile began and
     // ended at zero velocity
-    units::second_t cutoffBegin =
+    wpi::units::second_t cutoffBegin =
         m_current.velocity / m_constraints.maxAcceleration;
     Distance_t cutoffDistBegin =
         cutoffBegin * cutoffBegin * m_constraints.maxAcceleration / 2.0;
 
-    units::second_t cutoffEnd = goal.velocity / m_constraints.maxAcceleration;
+    wpi::units::second_t cutoffEnd = goal.velocity / m_constraints.maxAcceleration;
     Distance_t cutoffDistEnd =
         cutoffEnd * cutoffEnd * m_constraints.maxAcceleration / 2.0;
 
@@ -155,7 +155,7 @@ class TrapezoidProfile {
 
     Distance_t fullTrapezoidDist =
         cutoffDistBegin + (goal.position - m_current.position) + cutoffDistEnd;
-    units::second_t accelerationTime =
+    wpi::units::second_t accelerationTime =
         m_constraints.maxVelocity / m_constraints.maxAcceleration;
 
     Distance_t fullSpeedDist =
@@ -165,7 +165,7 @@ class TrapezoidProfile {
     // Handle the case where the profile never reaches full speed
     if (fullSpeedDist < Distance_t{0}) {
       accelerationTime =
-          units::math::sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
+          wpi::units::math::sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
       fullSpeedDist = Distance_t{0};
     }
 
@@ -187,7 +187,7 @@ class TrapezoidProfile {
     } else if (t <= m_endDecel) {
       result.velocity =
           goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration;
-      units::second_t timeLeft = m_endDecel - t;
+      wpi::units::second_t timeLeft = m_endDecel - t;
       result.position =
           goal.position -
           (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) *
@@ -206,12 +206,12 @@ class TrapezoidProfile {
    * @return The time left until a target distance in the profile is reached, or
    * zero if no goal was set.
    */
-  constexpr units::second_t TimeLeftUntil(Distance_t target) const {
+  constexpr wpi::units::second_t TimeLeftUntil(Distance_t target) const {
     Distance_t position = m_current.position * m_direction;
     Velocity_t velocity = m_current.velocity * m_direction;
 
-    units::second_t endAccel = m_endAccel * m_direction;
-    units::second_t endFullSpeed = m_endFullSpeed * m_direction - endAccel;
+    wpi::units::second_t endAccel = m_endAccel * m_direction;
+    wpi::units::second_t endFullSpeed = m_endFullSpeed * m_direction - endAccel;
 
     if (target < position) {
       endAccel *= -1.0;
@@ -219,13 +219,13 @@ class TrapezoidProfile {
       velocity *= -1.0;
     }
 
-    endAccel = units::math::max(endAccel, 0_s);
-    endFullSpeed = units::math::max(endFullSpeed, 0_s);
+    endAccel = wpi::units::math::max(endAccel, 0_s);
+    endFullSpeed = wpi::units::math::max(endFullSpeed, 0_s);
 
     const Acceleration_t acceleration = m_constraints.maxAcceleration;
     const Acceleration_t deceleration = -m_constraints.maxAcceleration;
 
-    Distance_t distToTarget = units::math::abs(target - position);
+    Distance_t distToTarget = wpi::units::math::abs(target - position);
 
     if (distToTarget < Distance_t{1e-6}) {
       return 0_s;
@@ -236,8 +236,8 @@ class TrapezoidProfile {
 
     Velocity_t decelVelocity;
     if (endAccel > 0_s) {
-      decelVelocity = units::math::sqrt(
-          units::math::abs(velocity * velocity + 2 * acceleration * accelDist));
+      decelVelocity = wpi::units::math::sqrt(
+          wpi::units::math::abs(velocity * velocity + 2 * acceleration * accelDist));
     } else {
       decelVelocity = velocity;
     }
@@ -256,18 +256,18 @@ class TrapezoidProfile {
       decelDist = distToTarget - fullSpeedDist - accelDist;
     }
 
-    units::second_t accelTime =
-        (-velocity + units::math::sqrt(units::math::abs(
+    wpi::units::second_t accelTime =
+        (-velocity + wpi::units::math::sqrt(wpi::units::math::abs(
                          velocity * velocity + 2 * acceleration * accelDist))) /
         acceleration;
 
-    units::second_t decelTime =
+    wpi::units::second_t decelTime =
         (-decelVelocity +
-         units::math::sqrt(units::math::abs(decelVelocity * decelVelocity +
+         wpi::units::math::sqrt(wpi::units::math::abs(decelVelocity * decelVelocity +
                                             2 * deceleration * decelDist))) /
         deceleration;
 
-    units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
+    wpi::units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
 
     return accelTime + fullSpeedTime + decelTime;
   }
@@ -278,7 +278,7 @@ class TrapezoidProfile {
    * @return The total time the profile takes to reach the goal, or zero if no
    * goal was set.
    */
-  constexpr units::second_t TotalTime() const { return m_endDecel; }
+  constexpr wpi::units::second_t TotalTime() const { return m_endDecel; }
 
   /**
    * Returns true if the profile has reached the goal.
@@ -289,7 +289,7 @@ class TrapezoidProfile {
    * @param t The time since the beginning of the profile.
    * @return True if the profile has reached the goal.
    */
-  constexpr bool IsFinished(units::second_t t) const {
+  constexpr bool IsFinished(wpi::units::second_t t) const {
     return t >= TotalTime();
   }
 
@@ -321,9 +321,9 @@ class TrapezoidProfile {
   Constraints m_constraints;
   State m_current;
 
-  units::second_t m_endAccel = 0_s;
-  units::second_t m_endFullSpeed = 0_s;
-  units::second_t m_endDecel = 0_s;
+  wpi::units::second_t m_endAccel = 0_s;
+  wpi::units::second_t m_endFullSpeed = 0_s;
+  wpi::units::second_t m_endDecel = 0_s;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
index 3dbf3a8d22..ed4eacd980 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
@@ -11,7 +11,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A constraint on the maximum absolute centripetal acceleration allowed when
@@ -26,12 +26,12 @@ class WPILIB_DLLEXPORT CentripetalAccelerationConstraint
     : public TrajectoryConstraint {
  public:
   constexpr explicit CentripetalAccelerationConstraint(
-      units::meters_per_second_squared_t maxCentripetalAcceleration)
+      wpi::units::meters_per_second_squared_t maxCentripetalAcceleration)
       : m_maxCentripetalAcceleration(maxCentripetalAcceleration) {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     // ac = v²/r
     // k (curvature) = 1/r
 
@@ -42,19 +42,19 @@ class WPILIB_DLLEXPORT CentripetalAccelerationConstraint
     // We have to multiply by 1_rad here to get the units to cancel out nicely.
     // The units library defines a unit for radians although it is technically
     // unitless.
-    return units::math::sqrt(m_maxCentripetalAcceleration /
-                             units::math::abs(curvature) * 1_rad);
+    return wpi::units::math::sqrt(m_maxCentripetalAcceleration /
+                             wpi::units::math::abs(curvature) * 1_rad);
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     // The acceleration of the robot has no impact on the centripetal
     // acceleration of the robot.
     return {};
   }
 
  private:
-  units::meters_per_second_squared_t m_maxCentripetalAcceleration;
+  wpi::units::meters_per_second_squared_t m_maxCentripetalAcceleration;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
index 38f03bc8ee..83d4c67283 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
@@ -11,7 +11,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A class that enforces constraints on the differential drive kinematics.
  * This can be used to ensure that the trajectory is constructed so that the
@@ -23,12 +23,12 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematicsConstraint
  public:
   constexpr DifferentialDriveKinematicsConstraint(
       DifferentialDriveKinematics kinematics,
-      units::meters_per_second_t maxSpeed)
+      wpi::units::meters_per_second_t maxSpeed)
       : m_kinematics(std::move(kinematics)), m_maxSpeed(maxSpeed) {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     auto wheelSpeeds =
         m_kinematics.ToWheelSpeeds({velocity, 0_mps, velocity * curvature});
     wheelSpeeds.Desaturate(m_maxSpeed);
@@ -37,13 +37,13 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematicsConstraint
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     return {};
   }
 
  private:
   DifferentialDriveKinematics m_kinematics;
-  units::meters_per_second_t m_maxSpeed;
+  wpi::units::meters_per_second_t m_maxSpeed;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
index cf0c23a182..e70208867e 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A class that enforces constraints on differential drive voltage expenditure
  * based on the motor dynamics and the drive kinematics.  Ensures that the
@@ -38,21 +38,21 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
    * voltage (12V) to account for "voltage sag" due to current draw.
    */
   constexpr DifferentialDriveVoltageConstraint(
-      const SimpleMotorFeedforward<units::meter>& feedforward,
-      DifferentialDriveKinematics kinematics, units::volt_t maxVoltage)
+      const SimpleMotorFeedforward<wpi::units::meter>& feedforward,
+      DifferentialDriveKinematics kinematics, wpi::units::volt_t maxVoltage)
       : m_feedforward(feedforward),
         m_kinematics(std::move(kinematics)),
         m_maxVoltage(maxVoltage) {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
-    return units::meters_per_second_t{std::numeric_limits<double>::max()};
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
+    return wpi::units::meters_per_second_t{std::numeric_limits<double>::max()};
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     auto wheelSpeeds =
         m_kinematics.ToWheelSpeeds({speed, 0_mps, speed * curvature});
 
@@ -83,25 +83,25 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
     // case, as it breaks the signum function.  Both max and min acceleration
     // are *reduced in magnitude* in this case.
 
-    units::meters_per_second_squared_t maxChassisAcceleration;
-    units::meters_per_second_squared_t minChassisAcceleration;
+    wpi::units::meters_per_second_squared_t maxChassisAcceleration;
+    wpi::units::meters_per_second_squared_t minChassisAcceleration;
 
     if (speed == 0_mps) {
       maxChassisAcceleration =
           maxWheelAcceleration /
-          (1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
+          (1 + m_kinematics.trackwidth * wpi::units::math::abs(curvature) / (2_rad));
       minChassisAcceleration =
           minWheelAcceleration /
-          (1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
+          (1 + m_kinematics.trackwidth * wpi::units::math::abs(curvature) / (2_rad));
     } else {
       maxChassisAcceleration =
           maxWheelAcceleration /
-          (1 + m_kinematics.trackwidth * units::math::abs(curvature) *
-                   wpi::sgn(speed) / (2_rad));
+          (1 + m_kinematics.trackwidth * wpi::units::math::abs(curvature) *
+                   wpi::util::sgn(speed) / (2_rad));
       minChassisAcceleration =
           minWheelAcceleration /
-          (1 - m_kinematics.trackwidth * units::math::abs(curvature) *
-                   wpi::sgn(speed) / (2_rad));
+          (1 - m_kinematics.trackwidth * wpi::units::math::abs(curvature) *
+                   wpi::util::sgn(speed) / (2_rad));
     }
 
     // When turning about a point inside of the wheelbase (i.e. radius less than
@@ -110,7 +110,7 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
     // wheel when this happens. We can accurately account for this by simply
     // negating the inner wheel.
 
-    if ((m_kinematics.trackwidth / 2) > 1_rad / units::math::abs(curvature)) {
+    if ((m_kinematics.trackwidth / 2) > 1_rad / wpi::units::math::abs(curvature)) {
       if (speed > 0_mps) {
         minChassisAcceleration = -minChassisAcceleration;
       } else if (speed < 0_mps) {
@@ -122,8 +122,8 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
   }
 
  private:
-  SimpleMotorFeedforward<units::meter> m_feedforward;
+  SimpleMotorFeedforward<wpi::units::meter> m_feedforward;
   DifferentialDriveKinematics m_kinematics;
-  units::volt_t m_maxVoltage;
+  wpi::units::volt_t m_maxVoltage;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
index 61e3b2d38b..084711b75b 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
@@ -13,7 +13,7 @@
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/units/length.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Enforces a particular constraint only within an elliptical region.
@@ -34,8 +34,8 @@ class EllipticalRegionConstraint : public TrajectoryConstraint {
    */
   [[deprecated("Use constructor taking Ellipse2d instead.")]]
   constexpr EllipticalRegionConstraint(const Translation2d& center,
-                                       units::meter_t xWidth,
-                                       units::meter_t yWidth,
+                                       wpi::units::meter_t xWidth,
+                                       wpi::units::meter_t yWidth,
                                        const Rotation2d& rotation,
                                        const Constraint& constraint)
       : m_ellipse{Pose2d{center, rotation}, xWidth / 2.0, yWidth / 2.0},
@@ -52,20 +52,20 @@ class EllipticalRegionConstraint : public TrajectoryConstraint {
                                        const Constraint& constraint)
       : m_ellipse{ellipse}, m_constraint{constraint} {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     if (m_ellipse.Contains(pose.Translation())) {
       return m_constraint.MaxVelocity(pose, curvature, velocity);
     } else {
-      return units::meters_per_second_t{
+      return wpi::units::meters_per_second_t{
           std::numeric_limits<double>::infinity()};
     }
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     if (m_ellipse.Contains(pose.Translation())) {
       return m_constraint.MinMaxAcceleration(pose, curvature, speed);
     } else {
@@ -78,4 +78,4 @@ class EllipticalRegionConstraint : public TrajectoryConstraint {
   Constraint m_constraint;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
index 37e71cff78..3e8b1ee14b 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
@@ -9,7 +9,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Represents a constraint that enforces a max velocity. This can be composed
@@ -24,23 +24,23 @@ class WPILIB_DLLEXPORT MaxVelocityConstraint : public TrajectoryConstraint {
    * @param maxVelocity The max velocity.
    */
   constexpr explicit MaxVelocityConstraint(
-      units::meters_per_second_t maxVelocity)
-      : m_maxVelocity(units::math::abs(maxVelocity)) {}
+      wpi::units::meters_per_second_t maxVelocity)
+      : m_maxVelocity(wpi::units::math::abs(maxVelocity)) {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     return m_maxVelocity;
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     return {};
   }
 
  private:
-  units::meters_per_second_t m_maxVelocity;
+  wpi::units::meters_per_second_t m_maxVelocity;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
index 5f191e4ece..12de9c43f9 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * A class that enforces constraints on the mecanum drive kinematics.
  * This can be used to ensure that the trajectory is constructed so that the
@@ -23,12 +23,12 @@ class WPILIB_DLLEXPORT MecanumDriveKinematicsConstraint
     : public TrajectoryConstraint {
  public:
   MecanumDriveKinematicsConstraint(const MecanumDriveKinematics& kinematics,
-                                   units::meters_per_second_t maxSpeed)
+                                   wpi::units::meters_per_second_t maxSpeed)
       : m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
 
-  units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     auto xVelocity = velocity * pose.Rotation().Cos();
     auto yVelocity = velocity * pose.Rotation().Sin();
     auto wheelSpeeds =
@@ -37,16 +37,16 @@ class WPILIB_DLLEXPORT MecanumDriveKinematicsConstraint
 
     auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);
 
-    return units::math::hypot(normSpeeds.vx, normSpeeds.vy);
+    return wpi::units::math::hypot(normSpeeds.vx, normSpeeds.vy);
   }
 
-  MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
-                            units::meters_per_second_t speed) const override {
+  MinMax MinMaxAcceleration(const Pose2d& pose, wpi::units::curvature_t curvature,
+                            wpi::units::meters_per_second_t speed) const override {
     return {};
   }
 
  private:
   MecanumDriveKinematics m_kinematics;
-  units::meters_per_second_t m_maxSpeed;
+  wpi::units::meters_per_second_t m_maxSpeed;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
index 78e374c329..cc65cee1ba 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
@@ -11,7 +11,7 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Enforces a particular constraint only within a rectangular region.
@@ -47,20 +47,20 @@ class RectangularRegionConstraint : public TrajectoryConstraint {
                                         const Constraint& constraint)
       : m_rectangle{rectangle}, m_constraint{constraint} {}
 
-  constexpr units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  constexpr wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     if (m_rectangle.Contains(pose.Translation())) {
       return m_constraint.MaxVelocity(pose, curvature, velocity);
     } else {
-      return units::meters_per_second_t{
+      return wpi::units::meters_per_second_t{
           std::numeric_limits<double>::infinity()};
     }
   }
 
   constexpr MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const override {
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const override {
     if (m_rectangle.Contains(pose.Translation())) {
       return m_constraint.MinMaxAcceleration(pose, curvature, speed);
     } else {
@@ -73,4 +73,4 @@ class RectangularRegionConstraint : public TrajectoryConstraint {
   Constraint m_constraint;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
index ea8113efb5..23386789a8 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
@@ -11,7 +11,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * A class that enforces constraints on the swerve drive kinematics.
@@ -22,13 +22,13 @@ template <size_t NumModules>
 class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
  public:
   SwerveDriveKinematicsConstraint(
-      const frc::SwerveDriveKinematics<NumModules>& kinematics,
-      units::meters_per_second_t maxSpeed)
+      const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
+      wpi::units::meters_per_second_t maxSpeed)
       : m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
 
-  units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
+  wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const override {
     auto xVelocity = velocity * pose.Rotation().Cos();
     auto yVelocity = velocity * pose.Rotation().Sin();
     auto wheelSpeeds = m_kinematics.ToSwerveModuleStates(
@@ -37,17 +37,17 @@ class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
 
     auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);
 
-    return units::math::hypot(normSpeeds.vx, normSpeeds.vy);
+    return wpi::units::math::hypot(normSpeeds.vx, normSpeeds.vy);
   }
 
-  MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
-                            units::meters_per_second_t speed) const override {
+  MinMax MinMaxAcceleration(const Pose2d& pose, wpi::units::curvature_t curvature,
+                            wpi::units::meters_per_second_t speed) const override {
     return {};
   }
 
  private:
-  frc::SwerveDriveKinematics<NumModules> m_kinematics;
-  units::meters_per_second_t m_maxSpeed;
+  wpi::math::SwerveDriveKinematics<NumModules> m_kinematics;
+  wpi::units::meters_per_second_t m_maxSpeed;
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
index 17db36c8b9..d39cf3650f 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
@@ -12,7 +12,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 /**
  * An interface for defining user-defined velocity and acceleration constraints
  * while generating trajectories.
@@ -37,13 +37,13 @@ class WPILIB_DLLEXPORT TrajectoryConstraint {
     /**
      * The minimum acceleration.
      */
-    units::meters_per_second_squared_t minAcceleration{
+    wpi::units::meters_per_second_squared_t minAcceleration{
         -std::numeric_limits<double>::max()};
 
     /**
      * The maximum acceleration.
      */
-    units::meters_per_second_squared_t maxAcceleration{
+    wpi::units::meters_per_second_squared_t maxAcceleration{
         std::numeric_limits<double>::max()};
   };
 
@@ -57,9 +57,9 @@ class WPILIB_DLLEXPORT TrajectoryConstraint {
    *
    * @return The absolute maximum velocity.
    */
-  constexpr virtual units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const = 0;
+  constexpr virtual wpi::units::meters_per_second_t MaxVelocity(
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t velocity) const = 0;
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory
@@ -72,7 +72,7 @@ class WPILIB_DLLEXPORT TrajectoryConstraint {
    * @return The min and max acceleration bounds.
    */
   constexpr virtual MinMax MinMaxAcceleration(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t speed) const = 0;
+      const Pose2d& pose, wpi::units::curvature_t curvature,
+      wpi::units::meters_per_second_t speed) const = 0;
 };
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
index fad9868bd2..e9cf424531 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Trajectory> {
   using MessageStruct = wpi_proto_ProtobufTrajectory;
-  using InputStream = wpi::ProtoInputStream<frc::Trajectory>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Trajectory>;
-  static std::optional<frc::Trajectory> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Trajectory& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Trajectory>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Trajectory>;
+  static std::optional<wpi::math::Trajectory> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Trajectory& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
index 680a63073b..c9a2e89080 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
@@ -10,10 +10,10 @@
 #include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Trajectory::State> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Trajectory::State> {
   using MessageStruct = wpi_proto_ProtobufTrajectoryState;
-  using InputStream = wpi::ProtoInputStream<frc::Trajectory::State>;
-  using OutputStream = wpi::ProtoOutputStream<frc::Trajectory::State>;
-  static std::optional<frc::Trajectory::State> Unpack(InputStream& stream);
-  static bool Pack(OutputStream& stream, const frc::Trajectory::State& value);
+  using InputStream = wpi::util::ProtoInputStream<wpi::math::Trajectory::State>;
+  using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Trajectory::State>;
+  static std::optional<wpi::math::Trajectory::State> Unpack(InputStream& stream);
+  static bool Pack(OutputStream& stream, const wpi::math::Trajectory::State& value);
 };
diff --git a/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
index 596952aff1..3f3d598307 100644
--- a/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
@@ -8,7 +8,7 @@
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Returns the robot's pose in the field coordinate system given an object's
@@ -25,16 +25,16 @@ namespace frc {
  *   pose. This can either be a constant for a rigidly mounted camera, or
  *   variable if the camera is mounted to a turret. If the camera was mounted 3
  *   inches in front of the "origin" (usually physical center) of the robot,
- *   this would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}.
+ *   this would be wpi::math::Transform3d{3_in, 0_in, 0_in, wpi::math::Rotation3d{}}.
  * @return The robot's field-relative pose.
  */
 WPILIB_DLLEXPORT
-constexpr frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
-                                        const frc::Transform3d& cameraToObject,
-                                        const frc::Transform3d& robotToCamera) {
+constexpr wpi::math::Pose3d ObjectToRobotPose(const wpi::math::Pose3d& objectInField,
+                                        const wpi::math::Transform3d& cameraToObject,
+                                        const wpi::math::Transform3d& robotToCamera) {
   const auto objectToCamera = cameraToObject.Inverse();
   const auto cameraToRobot = robotToCamera.Inverse();
   return objectInField + objectToCamera + cameraToRobot;
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp b/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
index 97fb39b8d5..0c33730f7c 100644
--- a/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
@@ -21,7 +21,7 @@ class WPILIB_DLLEXPORT MathShared {
                               fmt::format_args args) = 0;
   virtual void ReportUsage(std::string_view resource,
                            std::string_view data) = 0;
-  virtual units::second_t GetTimestamp() = 0;
+  virtual wpi::units::second_t GetTimestamp() = 0;
 
   template <typename S, typename... Args>
   inline void ReportError(const S& format, Args&&... args) {
@@ -62,7 +62,7 @@ class WPILIB_DLLEXPORT MathSharedStore {
     GetMathShared().ReportUsage(resource, data);
   }
 
-  static units::second_t GetTimestamp() {
+  static wpi::units::second_t GetTimestamp() {
     return GetMathShared().GetTimestamp();
   }
 };
diff --git a/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
index c32807aa4b..a04e2c35ff 100644
--- a/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
@@ -20,7 +20,7 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Returns 0.0 if the given value is within the specified range around zero. The
@@ -34,13 +34,13 @@ namespace frc {
  * @return The value after the deadband is applied.
  */
 template <typename T>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 constexpr T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
   T magnitude;
   if constexpr (std::is_arithmetic_v<T>) {
     magnitude = gcem::abs(value);
   } else {
-    magnitude = units::math::abs(value);
+    magnitude = wpi::units::math::abs(value);
   }
 
   if (magnitude < deadband) {
@@ -106,7 +106,7 @@ constexpr T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
  * @return The value after the deadband is applied.
  */
 template <typename T, int N>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 Eigen::Vector<T, N> ApplyDeadband(const Eigen::Vector<T, N>& value, T deadband,
                                   T maxMagnitude = T{1.0}) {
   if constexpr (std::is_arithmetic_v<T>) {
@@ -142,7 +142,7 @@ Eigen::Vector<T, N> ApplyDeadband(const Eigen::Vector<T, N>& value, T deadband,
  * range.
  */
 template <typename T>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 constexpr T CopyDirectionPow(T value, double exponent,
                              T maxMagnitude = T{1.0}) {
   if constexpr (std::is_arithmetic_v<T>) {
@@ -150,8 +150,8 @@ constexpr T CopyDirectionPow(T value, double exponent,
         gcem::pow(gcem::abs(value) / maxMagnitude, exponent) * maxMagnitude,
         value);
   } else {
-    return units::math::copysign(
-        gcem::pow((units::math::abs(value) / maxMagnitude).value(), exponent) *
+    return wpi::units::math::copysign(
+        gcem::pow((wpi::units::math::abs(value) / maxMagnitude).value(), exponent) *
             maxMagnitude,
         value);
   }
@@ -176,7 +176,7 @@ constexpr T CopyDirectionPow(T value, double exponent,
  * the input range.
  */
 template <typename T, int N>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 Eigen::Vector<T, N> CopyDirectionPow(const Eigen::Vector<T, N>& value,
                                      double exponent, T maxMagnitude = T{1.0}) {
   if constexpr (std::is_arithmetic_v<T>) {
@@ -226,12 +226,12 @@ constexpr T InputModulus(T input, T minimumInput, T maximumInput) {
  * @return Whether or not the actual value is within the allowed tolerance
  */
 template <typename T>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 constexpr bool IsNear(T expected, T actual, T tolerance) {
   if constexpr (std::is_arithmetic_v<T>) {
     return std::abs(expected - actual) < tolerance;
   } else {
-    return units::math::abs(expected - actual) < tolerance;
+    return wpi::units::math::abs(expected - actual) < tolerance;
   }
 }
 
@@ -255,15 +255,15 @@ constexpr bool IsNear(T expected, T actual, T tolerance) {
  * @return Whether or not the actual value is within the allowed tolerance
  */
 template <typename T>
-  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+  requires std::is_arithmetic_v<T> || wpi::units::traits::is_unit_t_v<T>
 constexpr bool IsNear(T expected, T actual, T tolerance, T min, T max) {
   T errorBound = (max - min) / 2.0;
-  T error = frc::InputModulus<T>(expected - actual, -errorBound, errorBound);
+  T error = wpi::math::InputModulus<T>(expected - actual, -errorBound, errorBound);
 
   if constexpr (std::is_arithmetic_v<T>) {
     return std::abs(error) < tolerance;
   } else {
-    return units::math::abs(error) < tolerance;
+    return wpi::units::math::abs(error) < tolerance;
   }
 }
 
@@ -273,10 +273,10 @@ constexpr bool IsNear(T expected, T actual, T tolerance, T min, T max) {
  * @param angle Angle to wrap.
  */
 WPILIB_DLLEXPORT
-constexpr units::radian_t AngleModulus(units::radian_t angle) {
-  return InputModulus<units::radian_t>(angle,
-                                       units::radian_t{-std::numbers::pi},
-                                       units::radian_t{std::numbers::pi});
+constexpr wpi::units::radian_t AngleModulus(wpi::units::radian_t angle) {
+  return InputModulus<wpi::units::radian_t>(angle,
+                                       wpi::units::radian_t{-std::numbers::pi},
+                                       wpi::units::radian_t{std::numbers::pi});
 }
 
 // floorDiv and floorMod algorithms taken from Java
@@ -328,15 +328,15 @@ constexpr std::signed_integral auto FloorMod(std::signed_integral auto x,
  */
 constexpr Translation2d SlewRateLimit(const Translation2d& current,
                                       const Translation2d& next,
-                                      units::second_t dt,
-                                      units::meters_per_second_t maxVelocity) {
+                                      wpi::units::second_t dt,
+                                      wpi::units::meters_per_second_t maxVelocity) {
   if (maxVelocity < 0_mps) {
     wpi::math::MathSharedStore::ReportError(
         "maxVelocity must be a non-negative number, got {}!", maxVelocity);
     return next;
   }
   Translation2d diff = next - current;
-  units::meter_t dist = diff.Norm();
+  wpi::units::meter_t dist = diff.Norm();
   if (dist < 1e-9_m) {
     return next;
   }
@@ -359,15 +359,15 @@ constexpr Translation2d SlewRateLimit(const Translation2d& current,
  */
 constexpr Translation3d SlewRateLimit(const Translation3d& current,
                                       const Translation3d& next,
-                                      units::second_t dt,
-                                      units::meters_per_second_t maxVelocity) {
+                                      wpi::units::second_t dt,
+                                      wpi::units::meters_per_second_t maxVelocity) {
   if (maxVelocity < 0_mps) {
     wpi::math::MathSharedStore::ReportError(
         "maxVelocity must be a non-negative number, got {}!", maxVelocity);
     return next;
   }
   Translation3d diff = next - current;
-  units::meter_t dist = diff.Norm();
+  wpi::units::meter_t dist = diff.Norm();
   if (dist < 1e-9_m) {
     return next;
   }
@@ -379,4 +379,4 @@ constexpr Translation3d SlewRateLimit(const Translation3d& current,
   return next;
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
index 9268f09090..76563bac95 100644
--- a/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/Algorithm.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 /**
  * Creates a cost matrix from the given vector for use with LQR.
@@ -46,7 +46,7 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(
     }
   }
 
-  wpi::for_each(
+  wpi::util::for_each(
       [&](int i, double tolerance) {
         if (tolerance == std::numeric_limits<double>::infinity()) {
           result(i, i) = 0.0;
@@ -83,7 +83,7 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCovMatrix(Ts... stdDevs) {
     }
   }
 
-  wpi::for_each([&](int i, double stdDev) { result(i, i) = stdDev * stdDev; },
+  wpi::util::for_each([&](int i, double stdDev) { result(i, i) = stdDev * stdDev; },
                 stdDevs...);
 
   return result;
@@ -189,7 +189,7 @@ Vectord<sizeof...(Ts)> MakeWhiteNoiseVector(Ts... stdDevs) {
   std::mt19937 gen{rd()};
 
   Vectord<sizeof...(Ts)> result;
-  wpi::for_each(
+  wpi::util::for_each(
       [&](int i, double stdDev) {
         // Passing a standard deviation of 0.0 to std::normal_distribution is
         // undefined behavior
@@ -422,4 +422,4 @@ extern template WPILIB_DLLEXPORT Eigen::VectorXd
 DesaturateInputVector<Eigen::Dynamic>(const Eigen::VectorXd& u,
                                       double maxMagnitude);
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/main/native/include/wpi/units/acceleration.hpp b/wpimath/src/main/native/include/wpi/units/acceleration.hpp
index 27b41a8583..b6057e5d54 100644
--- a/wpimath/src/main/native/include/wpi/units/acceleration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/acceleration.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::acceleration
+ * @namespace wpi::units::acceleration
  * @brief namespace for unit types and containers representing acceleration
  *        values
  * @details The SI unit for acceleration is `meters_per_second_squared`, and the
@@ -43,7 +43,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_ACCELERATION_UNITS)
 UNIT_ADD(acceleration, meters_per_second_squared, meters_per_second_squared,
-         mps_sq, unit<std::ratio<1>, units::category::acceleration_unit>)
+         mps_sq, unit<std::ratio<1>, wpi::units::category::acceleration_unit>)
 UNIT_ADD(acceleration, feet_per_second_squared, feet_per_second_squared, fps_sq,
          compound_unit<length::feet, inverse<squared<time::seconds>>>)
 UNIT_ADD(acceleration, standard_gravity, standard_gravity, SG,
@@ -53,4 +53,4 @@ UNIT_ADD_CATEGORY_TRAIT(acceleration)
 #endif
 
 using namespace acceleration;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/angle.hpp b/wpimath/src/main/native/include/wpi/units/angle.hpp
index 200991eba7..9e1c46e690 100644
--- a/wpimath/src/main/native/include/wpi/units/angle.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angle.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::angle
+ * @namespace wpi::units::angle
  * @brief namespace for unit types and containers representing angle values
  * @details The SI unit for angle is `radians`, and the corresponding
  *          `base_unit` category is`angle_unit`.
@@ -39,7 +39,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(angle, radian, radians, rad,
-                              unit<std::ratio<1>, units::category::angle_unit>)
+                              unit<std::ratio<1>, wpi::units::category::angle_unit>)
 UNIT_ADD(angle, degree, degrees, deg,
          unit<std::ratio<1, 180>, radians, std::ratio<1>>)
 UNIT_ADD(angle, arcminute, arcminutes, arcmin, unit<std::ratio<1, 60>, degrees>)
@@ -53,4 +53,4 @@ UNIT_ADD_CATEGORY_TRAIT(angle)
 #endif
 
 using namespace angle;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp b/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
index 0493b6e27c..b5cd4e7ed5 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
@@ -8,9 +8,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::angular_acceleration
+ * @namespace wpi::units::angular_acceleration
  * @brief namespace for unit types and containers representing angular
  *        acceleration values
  * @details The SI unit for angular acceleration is
@@ -21,7 +21,7 @@ namespace units {
  */
 UNIT_ADD(angular_acceleration, radians_per_second_squared,
          radians_per_second_squared, rad_per_s_sq,
-         unit<std::ratio<1>, units::category::angular_acceleration_unit>)
+         unit<std::ratio<1>, wpi::units::category::angular_acceleration_unit>)
 UNIT_ADD(angular_acceleration, degrees_per_second_squared,
          degrees_per_second_squared, deg_per_s_sq,
          compound_unit<angle::degrees, inverse<squared<time::seconds>>>)
@@ -39,4 +39,4 @@ UNIT_ADD(angular_acceleration, revolutions_per_minute_per_second,
 UNIT_ADD_CATEGORY_TRAIT(angular_acceleration)
 
 using namespace angular_acceleration;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp b/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
index 4c82d71532..b9387cddb5 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
@@ -8,9 +8,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::angular_jerk
+ * @namespace wpi::units::angular_jerk
  * @brief namespace for unit types and containers representing angular
  *        jerk values
  * @details The SI unit for angular jerk is
@@ -20,7 +20,7 @@ namespace units {
  * @sa See unit_t for more information on unit type containers.
  */
 UNIT_ADD(angular_jerk, radians_per_second_cubed, radians_per_second_cubed,
-         rad_per_s_cu, unit<std::ratio<1>, units::category::angular_jerk_unit>)
+         rad_per_s_cu, unit<std::ratio<1>, wpi::units::category::angular_jerk_unit>)
 UNIT_ADD(angular_jerk, degrees_per_second_cubed, degrees_per_second_cubed,
          deg_per_s_cu,
          compound_unit<angle::degrees, inverse<cubed<time::seconds>>>)
@@ -31,4 +31,4 @@ UNIT_ADD(angular_jerk, turns_per_second_cubed, turns_per_second_cubed,
 UNIT_ADD_CATEGORY_TRAIT(angular_jerk)
 
 using namespace angular_jerk;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp b/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
index 694481d283..518cc45b26 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::angular_velocity
+ * @namespace wpi::units::angular_velocity
  * @brief namespace for unit types and containers representing angular velocity
  *        values
  * @details The SI unit for angular velocity is `radians_per_second`, and the
@@ -43,7 +43,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_ANGULAR_VELOCITY_UNITS)
 UNIT_ADD(angular_velocity, radians_per_second, radians_per_second, rad_per_s,
-         unit<std::ratio<1>, units::category::angular_velocity_unit>)
+         unit<std::ratio<1>, wpi::units::category::angular_velocity_unit>)
 UNIT_ADD(angular_velocity, degrees_per_second, degrees_per_second, deg_per_s,
          compound_unit<angle::degrees, inverse<time::seconds>>)
 UNIT_ADD(angular_velocity, turns_per_second, turns_per_second, tps,
@@ -57,4 +57,4 @@ UNIT_ADD_CATEGORY_TRAIT(angular_velocity)
 #endif
 
 using namespace angular_velocity;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/area.hpp b/wpimath/src/main/native/include/wpi/units/area.hpp
index ae9f0b22e8..85ccbfec87 100644
--- a/wpimath/src/main/native/include/wpi/units/area.hpp
+++ b/wpimath/src/main/native/include/wpi/units/area.hpp
@@ -29,9 +29,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/length.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::area
+ * @namespace wpi::units::area
  * @brief namespace for unit types and containers representing area values
  * @details The SI unit for area is `square_meters`, and the corresponding
  *          `base_unit` category is `area_unit`.
@@ -40,7 +40,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_AREA_UNITS)
 UNIT_ADD(area, square_meter, square_meters, sq_m,
-         unit<std::ratio<1>, units::category::area_unit>)
+         unit<std::ratio<1>, wpi::units::category::area_unit>)
 UNIT_ADD(area, square_foot, square_feet, sq_ft, squared<length::feet>)
 UNIT_ADD(area, square_inch, square_inches, sq_in, squared<length::inch>)
 UNIT_ADD(area, square_mile, square_miles, sq_mi, squared<length::miles>)
@@ -53,4 +53,4 @@ UNIT_ADD_CATEGORY_TRAIT(area)
 #endif
 
 using namespace area;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/base.hpp b/wpimath/src/main/native/include/wpi/units/base.hpp
index 30ae5c29c0..009d340b36 100644
--- a/wpimath/src/main/native/include/wpi/units/base.hpp
+++ b/wpimath/src/main/native/include/wpi/units/base.hpp
@@ -87,7 +87,7 @@
 //	STRING FORMATTER
 //------------------------------
 
-namespace units
+namespace wpi::units
 {
   namespace detail
   {
@@ -107,7 +107,7 @@ namespace units
   }
 }
 
-namespace units
+namespace wpi::units
 {
 	template<typename T> constexpr const char* name(const T&);
 	template<typename T> constexpr const char* abbreviation(const T&);
@@ -128,7 +128,7 @@ namespace units
  * @param		namePlural - plural version of the unit name, e.g. 'meters'
  * @param		abbreviation - abbreviated unit name, e.g. 'm'
  * @param		definition - the variadic parameter is used for the definition of the unit
- *				(e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ *				(e.g. `unit<std::ratio<1>, wpi::units::category::length_unit>`)
  * @note		a variadic template is used for the definition to allow templates with
  *				commas to be easily expanded. All the variadic 'arguments' should together
  *				comprise the unit definition.
@@ -181,12 +181,12 @@ namespace units
 	#define UNIT_ADD_IO(namespaceName, nameSingular, abbrev)\
 	}\
 	template <>\
-	struct fmt::formatter<units::namespaceName::nameSingular ## _t> \
+	struct fmt::formatter<wpi::units::namespaceName::nameSingular ## _t> \
 		: fmt::formatter<double> \
 	{\
 		template <typename FmtContext>\
 		auto format(\
-				const units::namespaceName::nameSingular ## _t& obj,\
+				const wpi::units::namespaceName::nameSingular ## _t& obj,\
 				FmtContext& ctx) const\
 		{\
 			auto out = ctx.out();\
@@ -194,13 +194,13 @@ namespace units
 			return fmt::format_to(out, " " #abbrev);\
 		}\
 	};\
-	namespace units\
+	namespace wpi::units\
 	{\
 	namespace namespaceName\
 	{\
 		inline std::string to_string(const nameSingular ## _t& obj)\
 		{\
-			return units::detail::to_string(obj()) + std::string(" "#abbrev);\
+			return wpi::units::detail::to_string(obj()) + std::string(" "#abbrev);\
 		}\
 	}
 #elif defined(UNIT_LIB_ENABLE_IOSTREAM)
@@ -213,7 +213,7 @@ namespace units
 		}\
 		inline std::string to_string(const nameSingular ## _t& obj)\
 		{\
-			return units::detail::to_string(obj()) + std::string(" "#abbrev);\
+			return wpi::units::detail::to_string(obj()) + std::string(" "#abbrev);\
 		}\
 	}
 #else
@@ -226,7 +226,7 @@ namespace units
   * @details	The macro generates names for units. E.g. name() of 1_m would be "meter", and
   *				abbreviation would be "m".
   * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
-  *				are placed in the `units::literals` namespace.
+  *				are placed in the `wpi::units::literals` namespace.
   * @param		nameSingular singular version of the unit name, e.g. 'meter'
   * @param		abbreviation - abbreviated unit name, e.g. 'm'
   */
@@ -246,7 +246,7 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
  * @details		The macro generates user-defined literals for units. A literal suffix is created
  *				using the abbreviation (e.g. `10.0_m`).
  * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
- *				are placed in the `units::literals` namespace.
+ *				are placed in the `wpi::units::literals` namespace.
  * @param		nameSingular singular version of the unit name, e.g. 'meter'
  * @param		abbreviation - abbreviated unit name, e.g. 'm'
  * @note		When UNIT_HAS_LITERAL_SUPPORT is not defined, the macro does not generate any code
@@ -277,12 +277,12 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
  *				using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
  *				cout function which prints both the value and abbreviation of the unit when invoked.
  * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
- *				are placed in the `units::literals` namespace.
+ *				are placed in the `wpi::units::literals` namespace.
  * @param		nameSingular singular version of the unit name, e.g. 'meter'
  * @param		namePlural - plural version of the unit name, e.g. 'meters'
  * @param		abbreviation - abbreviated unit name, e.g. 'm'
  * @param		definition - the variadic parameter is used for the definition of the unit
- *				(e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ *				(e.g. `unit<std::ratio<1>, wpi::units::category::length_unit>`)
  * @note		a variadic template is used for the definition to allow templates with
  *				commas to be easily expanded. All the variadic 'arguments' should together
  *				comprise the unit definition.
@@ -303,13 +303,13 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
  *				using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
  *				cout function which prints both the value and abbreviation of the unit when invoked.
  * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
- *				are placed in the `units::literals` namespace.
+ *				are placed in the `wpi::units::literals` namespace.
  * @param		nameSingular singular version of the unit name, e.g. 'meter'
  * @param		namePlural - plural version of the unit name, e.g. 'meters'
  * @param		abbreviation - abbreviated unit name, e.g. 'm'
  * @param		underlyingType - the underlying type, e.g. 'int' or 'float'
  * @param		definition - the variadic parameter is used for the definition of the unit
- *				(e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ *				(e.g. `unit<std::ratio<1>, wpi::units::category::length_unit>`)
  * @note		a variadic template is used for the definition to allow templates with
  *				commas to be easily expanded. All the variadic 'arguments' should together
  *				comprise the unit definition.
@@ -325,14 +325,14 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
  * @brief		Macro to create decibel container and literals for an existing unit type.
  * @details		This macro generates the decibel unit container, cout overload, and literal definitions.
  * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
- *				are placed in the `units::literals` namespace.
+ *				are placed in the `wpi::units::literals` namespace.
  * @param		nameSingular singular version of the base unit name, e.g. 'watt'
  * @param		abbreviation - abbreviated decibel unit name, e.g. 'dBW'
  */
 #define UNIT_ADD_DECIBEL(namespaceName, nameSingular, abbreviation)\
 	namespace namespaceName\
 	{\
-		/** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular, UNIT_LIB_DEFAULT_TYPE, units::decibel_scale> abbreviation ## _t; /** @} */\
+		/** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular, UNIT_LIB_DEFAULT_TYPE, wpi::units::decibel_scale> abbreviation ## _t; /** @} */\
 	}\
 	UNIT_ADD_IO(namespaceName, abbreviation, abbreviation)\
 	UNIT_ADD_LITERALS(namespaceName, abbreviation, abbreviation)
@@ -354,9 +354,9 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
 		{\
 			template<typename T> struct is_ ## unitCategory ## _unit_impl : std::false_type {};\
 			template<typename C, typename U, typename P, typename T>\
-			struct is_ ## unitCategory ## _unit_impl<units::unit<C, U, P, T>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_traits<units::unit<C, U, P, T>>::base_unit_type>, units::category::unitCategory ## _unit>::type {};\
+			struct is_ ## unitCategory ## _unit_impl<wpi::units::unit<C, U, P, T>> : std::is_same<wpi::units::traits::base_unit_of<typename wpi::units::traits::unit_traits<wpi::units::unit<C, U, P, T>>::base_unit_type>, wpi::units::category::unitCategory ## _unit>::type {};\
 			template<typename U, typename S, template<typename> class N>\
-			struct is_ ## unitCategory ## _unit_impl<units::unit_t<U, S, N>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_t_traits<units::unit_t<U, S, N>>::unit_type>, units::category::unitCategory ## _unit>::type {};\
+			struct is_ ## unitCategory ## _unit_impl<wpi::units::unit_t<U, S, N>> : std::is_same<wpi::units::traits::base_unit_of<typename wpi::units::traits::unit_t_traits<wpi::units::unit_t<U, S, N>>::unit_type>, wpi::units::category::unitCategory ## _unit>::type {};\
 		}\
 		/** @endcond */\
 	}
@@ -364,7 +364,7 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
 #define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
 	namespace traits\
 	{\
-		template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
+		template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, wpi::units::all_true<wpi::units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
 		template<typename... T> constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
 	}\
 	template <typename T>\
@@ -386,12 +386,12 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
  *				it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
  *				literal suffixes (e.g. `10.0_mm`).
  * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
- *				are placed in the `units::literals` namespace.
+ *				are placed in the `wpi::units::literals` namespace.
  * @param		nameSingular singular version of the unit name, e.g. 'meter'
  * @param		namePlural - plural version of the unit name, e.g. 'meters'
  * @param		abbreviation - abbreviated unit name, e.g. 'm'
  * @param		definition - the variadic parameter is used for the definition of the unit
- *				(e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ *				(e.g. `unit<std::ratio<1>, wpi::units::category::length_unit>`)
  * @note		a variadic template is used for the definition to allow templates with
  *				commas to be easily expanded. All the variadic 'arguments' should together
  *				comprise the unit definition.
@@ -421,12 +421,12 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
   *				it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
   *				literal suffixes (e.g. `10.0_B`).
   * @param		namespaceName namespace in which the new units will be encapsulated. All literal values
-  *				are placed in the `units::literals` namespace.
+  *				are placed in the `wpi::units::literals` namespace.
   * @param		nameSingular singular version of the unit name, e.g. 'byte'
   * @param		namePlural - plural version of the unit name, e.g. 'bytes'
   * @param		abbreviation - abbreviated unit name, e.g. 'B'
   * @param		definition - the variadic parameter is used for the definition of the unit
-  *				(e.g. `unit<std::ratio<1>, units::category::data_unit>`)
+  *				(e.g. `unit<std::ratio<1>, wpi::units::category::data_unit>`)
   * @note		a variadic template is used for the definition to allow templates with
   *				commas to be easily expanded. All the variadic 'arguments' should together
   *				comprise the unit definition.
@@ -445,10 +445,10 @@ template<> constexpr const char* abbreviation(const namespaceName::nameSingular
 //--------------------
 
 /**
- * @namespace units
+ * @namespace wpi::units
  * @brief Unit Conversion Library namespace
  */
-namespace units
+namespace wpi::units
 {
 	//----------------------------------
 	//	DOXYGEN
@@ -553,7 +553,7 @@ namespace units
 	 *				whether `class T` has a numerator static member.
 	 */
 	template<class T>
-	struct has_num : units::detail::has_num_impl<T>::type {};
+	struct has_num : wpi::units::detail::has_num_impl<T>::type {};
 
 	namespace detail
 	{
@@ -576,7 +576,7 @@ namespace units
 	 *				whether `class T` has a denominator static member.
 	 */
 	template<class T>
-	struct has_den : units::detail::has_den_impl<T>::type {};
+	struct has_den : wpi::units::detail::has_den_impl<T>::type {};
 
 	/** @endcond */	// END DOXYGEN IGNORE
 
@@ -617,7 +617,7 @@ namespace units
 	 * @brief		Trait which tests that a set of other traits are all true.
 	 */
 	template<bool... Args>
-	struct all_true : std::is_same<units::bool_pack<true, Args...>, units::bool_pack<Args..., true>> {};
+	struct all_true : std::is_same<wpi::units::bool_pack<true, Args...>, wpi::units::bool_pack<Args..., true>> {};
 	template<bool... Args>
 	constexpr bool all_true_t_v = all_true<Args...>::type::value;
 	/** @endcond */	// DOXYGEN IGNORE
@@ -693,7 +693,7 @@ namespace units
 		 *				whether `class T` implements a `base_unit`.
 		 */
 		template<class T>
-		struct is_base_unit : std::is_base_of<units::detail::_base_unit_t, T> {};
+		struct is_base_unit : std::is_base_of<wpi::units::detail::_base_unit_t, T> {};
 	}
 
 	/** @cond */	// DOXYGEN IGNORE
@@ -719,7 +719,7 @@ namespace units
 		 *				whether `class T` implements a `unit`.
 		 */
 		template<class T>
-		struct is_unit : std::is_base_of<units::detail::_unit, T>::type {};
+		struct is_unit : std::is_base_of<wpi::units::detail::_unit, T>::type {};
 		template<class T>
 		constexpr bool is_unit_v = is_unit<T>::value;
 	}
@@ -757,7 +757,7 @@ namespace units
 	class Mole = std::ratio<0>,
 	class Candela = std::ratio<0>,
 	class Byte = std::ratio<0>>
-	struct base_unit : units::detail::_base_unit_t
+	struct base_unit : wpi::units::detail::_base_unit_t
 	{
 		static_assert(traits::is_ratio<Meter>::value, "Template parameter `Meter` must be a `std::ratio` representing the exponent of meters the unit has");
 		static_assert(traits::is_ratio<Kilogram>::value, "Template parameter `Kilogram` must be a `std::ratio` representing the exponent of kilograms the unit has");
@@ -851,13 +851,13 @@ namespace units
 	 */
 	template <class, class, class, class> struct unit;
 	template<class Conversion, class... Exponents, class PiExponent, class Translation>
-	struct unit<Conversion, base_unit<Exponents...>, PiExponent, Translation> : units::detail::_unit
+	struct unit<Conversion, base_unit<Exponents...>, PiExponent, Translation> : wpi::units::detail::_unit
 	{
 		static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
 		static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
 		static_assert(traits::is_ratio<Translation>::value, "Template parameter `Translation` must be a `std::ratio` representing an additive translation required by the unit conversion.");
 
-		typedef typename units::base_unit<Exponents...> base_unit_type;
+		typedef typename wpi::units::base_unit<Exponents...> base_unit_type;
 		typedef Conversion conversion_ratio;
 		typedef Translation translation_ratio;
 		typedef PiExponent pi_exponent_ratio;
@@ -876,7 +876,7 @@ namespace units
 	 *				- a ratio representing a datum translation required for the conversion (e.g. `std::ratio<32>` for a fahrenheit to celsius conversion)
 	 *
 	 *				Typically, a specific unit, like `meters`, would be implemented as a type alias
-	 *				of `unit`, i.e. `using meters = unit<std::ratio<1>, units::category::length_unit`, or
+	 *				of `unit`, i.e. `using meters = unit<std::ratio<1>, wpi::units::category::length_unit`, or
 	 *				`using inches = unit<std::ratio<1,12>, feet>`.
 	 * @tparam		Conversion	std::ratio representing scalar multiplication factor.
 	 * @tparam		BaseUnit	Unit type which this unit is derived from. May be a `base_unit`, or another `unit`.
@@ -884,13 +884,13 @@ namespace units
 	 * @tparam		Translation	std::ratio representing any datum translation required by the conversion.
 	 */
 	template<class Conversion, class BaseUnit, class PiExponent = std::ratio<0>, class Translation = std::ratio<0>>
-	struct unit : units::detail::_unit
+	struct unit : wpi::units::detail::_unit
 	{
 		static_assert(traits::is_unit<BaseUnit>::value, "Template parameter `BaseUnit` must be a `unit` type.");
 		static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
 		static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
 
-		typedef typename units::traits::unit_traits<BaseUnit>::base_unit_type base_unit_type;
+		typedef typename wpi::units::traits::unit_traits<BaseUnit>::base_unit_type base_unit_type;
 		typedef typename std::ratio_multiply<typename BaseUnit::conversion_ratio, Conversion> conversion_ratio;
 		typedef typename std::ratio_add<typename BaseUnit::pi_exponent_ratio, PiExponent> pi_exponent_ratio;
 		typedef typename std::ratio_add<std::ratio_multiply<typename BaseUnit::conversion_ratio, Translation>, typename BaseUnit::translation_ratio> translation_ratio;
@@ -933,7 +933,7 @@ namespace units
 		 *				Since compatible
 		 */
 		template<class U>
-		using base_unit_of = typename units::detail::base_unit_of_impl<U>::type;
+		using base_unit_of = typename wpi::units::detail::base_unit_of_impl<U>::type;
 	}
 
 	/** @cond */	// DOXYGEN IGNORE
@@ -1122,8 +1122,8 @@ namespace units
 		struct inverse_impl
 		{
 			using type = unit < std::ratio<Unit::conversion_ratio::den, Unit::conversion_ratio::num>,
-				inverse_base<traits::base_unit_of<typename units::traits::unit_traits<Unit>::base_unit_type>>,
-				std::ratio_multiply<typename units::traits::unit_traits<Unit>::pi_exponent_ratio, std::ratio<-1>>,
+				inverse_base<traits::base_unit_of<typename wpi::units::traits::unit_traits<Unit>::base_unit_type>>,
+				std::ratio_multiply<typename wpi::units::traits::unit_traits<Unit>::pi_exponent_ratio, std::ratio<-1>>,
 				std::ratio < 0 >> ;	// inverses are rates or change, the translation factor goes away.
 		};
 	}
@@ -1135,7 +1135,7 @@ namespace units
 	 * @tparam		U	`unit` type to invert.
 	 * @details		E.g. `inverse<meters>` will represent meters^-1 (i.e. 1/meters).
 	 */
-	template<class U> using inverse = typename units::detail::inverse_impl<U>::type;
+	template<class U> using inverse = typename wpi::units::detail::inverse_impl<U>::type;
 
 	/** @cond */	// DOXYGEN IGNORE
 	namespace detail
@@ -1166,7 +1166,7 @@ namespace units
 	 * @details		E.g. `square<meters>` will represent meters^2.
 	 */
 	template<class U>
-	using squared = typename units::detail::squared_impl<U>::type;
+	using squared = typename wpi::units::detail::squared_impl<U>::type;
 
 	/** @cond */	// DOXYGEN IGNORE
 	namespace detail
@@ -1196,7 +1196,7 @@ namespace units
 	 * @details		E.g. `cubed<meters>` will represent meters^3.
 	 */
 	template<class U>
-	using cubed = typename units::detail::cubed_impl<U>::type;
+	using cubed = typename wpi::units::detail::cubed_impl<U>::type;
 
 	/** @cond */	// DOXYGEN IGNORE
 	namespace detail
@@ -1357,7 +1357,7 @@ namespace units
 	 *						integer overflow errors occur in the compiler.
 	 */
 	template<typename Ratio, std::intmax_t Eps = 10000000000>
-	using ratio_sqrt = typename  units::detail::Sqrt<Ratio, std::ratio<1, Eps>>::type;
+	using ratio_sqrt = typename  wpi::units::detail::Sqrt<Ratio, std::ratio<1, Eps>>::type;
 
 	/** @cond */	// DOXYGEN IGNORE
 	namespace detail
@@ -1402,7 +1402,7 @@ namespace units
 	 *				Use only when absolutely necessary.
 	 */
 	template<class U, std::intmax_t Eps = 10000000000>
-	using square_root = typename units::detail::sqrt_impl<U, Eps>::type;
+	using square_root = typename wpi::units::detail::sqrt_impl<U, Eps>::type;
 
 	//------------------------------
 	//	COMPOUND UNITS
@@ -1435,7 +1435,7 @@ namespace units
 	 * @ingroup		UnitTypes
 	 */
 	template<class U, class... Us>
-	using compound_unit = typename units::detail::compound_impl<U, Us...>::type;
+	using compound_unit = typename wpi::units::detail::compound_impl<U, Us...>::type;
 
 	//------------------------------
 	//	PREFIXES
@@ -1453,7 +1453,7 @@ namespace units
 		{
 			static_assert(traits::is_ratio<Ratio>::value, "Template parameter `Ratio` must be a `std::ratio`.");
 			static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
-			typedef typename units::unit<Ratio, Unit> type;
+			typedef typename wpi::units::unit<Ratio, Unit> type;
 		};
 
 		/// recursive exponential implementation
@@ -1478,22 +1478,22 @@ namespace units
 	 * @ingroup Decimal Prefixes
 	 * @{
 	 */
-	template<class U> using atto	= typename units::detail::prefix<std::atto,	U>::type;			///< Represents the type of `class U` with the metric 'atto' prefix appended.	@details E.g. atto<meters> represents meters*10^-18		@tparam U unit type to apply the prefix to.
-	template<class U> using femto	= typename units::detail::prefix<std::femto,U>::type;			///< Represents the type of `class U` with the metric 'femto' prefix appended.  @details E.g. femto<meters> represents meters*10^-15	@tparam U unit type to apply the prefix to.
-	template<class U> using pico	= typename units::detail::prefix<std::pico,	U>::type;			///< Represents the type of `class U` with the metric 'pico' prefix appended.	@details E.g. pico<meters> represents meters*10^-12		@tparam U unit type to apply the prefix to.
-	template<class U> using nano	= typename units::detail::prefix<std::nano,	U>::type;			///< Represents the type of `class U` with the metric 'nano' prefix appended.	@details E.g. nano<meters> represents meters*10^-9		@tparam U unit type to apply the prefix to.
-	template<class U> using micro	= typename units::detail::prefix<std::micro,U>::type;			///< Represents the type of `class U` with the metric 'micro' prefix appended.	@details E.g. micro<meters> represents meters*10^-6		@tparam U unit type to apply the prefix to.
-	template<class U> using milli	= typename units::detail::prefix<std::milli,U>::type;			///< Represents the type of `class U` with the metric 'milli' prefix appended.	@details E.g. milli<meters> represents meters*10^-3		@tparam U unit type to apply the prefix to.
-	template<class U> using centi	= typename units::detail::prefix<std::centi,U>::type;			///< Represents the type of `class U` with the metric 'centi' prefix appended.	@details E.g. centi<meters> represents meters*10^-2		@tparam U unit type to apply the prefix to.
-	template<class U> using deci	= typename units::detail::prefix<std::deci,	U>::type;			///< Represents the type of `class U` with the metric 'deci' prefix appended.	@details E.g. deci<meters> represents meters*10^-1		@tparam U unit type to apply the prefix to.
-	template<class U> using deca	= typename units::detail::prefix<std::deca,	U>::type;			///< Represents the type of `class U` with the metric 'deca' prefix appended.	@details E.g. deca<meters> represents meters*10^1		@tparam U unit type to apply the prefix to.
-	template<class U> using hecto	= typename units::detail::prefix<std::hecto,U>::type;			///< Represents the type of `class U` with the metric 'hecto' prefix appended.	@details E.g. hecto<meters> represents meters*10^2		@tparam U unit type to apply the prefix to.
-	template<class U> using kilo	= typename units::detail::prefix<std::kilo,	U>::type;			///< Represents the type of `class U` with the metric 'kilo' prefix appended.	@details E.g. kilo<meters> represents meters*10^3		@tparam U unit type to apply the prefix to.
-	template<class U> using mega	= typename units::detail::prefix<std::mega,	U>::type;			///< Represents the type of `class U` with the metric 'mega' prefix appended.	@details E.g. mega<meters> represents meters*10^6		@tparam U unit type to apply the prefix to.
-	template<class U> using giga	= typename units::detail::prefix<std::giga,	U>::type;			///< Represents the type of `class U` with the metric 'giga' prefix appended.	@details E.g. giga<meters> represents meters*10^9		@tparam U unit type to apply the prefix to.
-	template<class U> using tera	= typename units::detail::prefix<std::tera,	U>::type;			///< Represents the type of `class U` with the metric 'tera' prefix appended.	@details E.g. tera<meters> represents meters*10^12		@tparam U unit type to apply the prefix to.
-	template<class U> using peta	= typename units::detail::prefix<std::peta,	U>::type;			///< Represents the type of `class U` with the metric 'peta' prefix appended.	@details E.g. peta<meters> represents meters*10^15		@tparam U unit type to apply the prefix to.
-	template<class U> using exa		= typename units::detail::prefix<std::exa,	U>::type;			///< Represents the type of `class U` with the metric 'exa' prefix appended.	@details E.g. exa<meters> represents meters*10^18		@tparam U unit type to apply the prefix to.
+	template<class U> using atto	= typename wpi::units::detail::prefix<std::atto,	U>::type;			///< Represents the type of `class U` with the metric 'atto' prefix appended.	@details E.g. atto<meters> represents meters*10^-18		@tparam U unit type to apply the prefix to.
+	template<class U> using femto	= typename wpi::units::detail::prefix<std::femto,U>::type;			///< Represents the type of `class U` with the metric 'femto' prefix appended.  @details E.g. femto<meters> represents meters*10^-15	@tparam U unit type to apply the prefix to.
+	template<class U> using pico	= typename wpi::units::detail::prefix<std::pico,	U>::type;			///< Represents the type of `class U` with the metric 'pico' prefix appended.	@details E.g. pico<meters> represents meters*10^-12		@tparam U unit type to apply the prefix to.
+	template<class U> using nano	= typename wpi::units::detail::prefix<std::nano,	U>::type;			///< Represents the type of `class U` with the metric 'nano' prefix appended.	@details E.g. nano<meters> represents meters*10^-9		@tparam U unit type to apply the prefix to.
+	template<class U> using micro	= typename wpi::units::detail::prefix<std::micro,U>::type;			///< Represents the type of `class U` with the metric 'micro' prefix appended.	@details E.g. micro<meters> represents meters*10^-6		@tparam U unit type to apply the prefix to.
+	template<class U> using milli	= typename wpi::units::detail::prefix<std::milli,U>::type;			///< Represents the type of `class U` with the metric 'milli' prefix appended.	@details E.g. milli<meters> represents meters*10^-3		@tparam U unit type to apply the prefix to.
+	template<class U> using centi	= typename wpi::units::detail::prefix<std::centi,U>::type;			///< Represents the type of `class U` with the metric 'centi' prefix appended.	@details E.g. centi<meters> represents meters*10^-2		@tparam U unit type to apply the prefix to.
+	template<class U> using deci	= typename wpi::units::detail::prefix<std::deci,	U>::type;			///< Represents the type of `class U` with the metric 'deci' prefix appended.	@details E.g. deci<meters> represents meters*10^-1		@tparam U unit type to apply the prefix to.
+	template<class U> using deca	= typename wpi::units::detail::prefix<std::deca,	U>::type;			///< Represents the type of `class U` with the metric 'deca' prefix appended.	@details E.g. deca<meters> represents meters*10^1		@tparam U unit type to apply the prefix to.
+	template<class U> using hecto	= typename wpi::units::detail::prefix<std::hecto,U>::type;			///< Represents the type of `class U` with the metric 'hecto' prefix appended.	@details E.g. hecto<meters> represents meters*10^2		@tparam U unit type to apply the prefix to.
+	template<class U> using kilo	= typename wpi::units::detail::prefix<std::kilo,	U>::type;			///< Represents the type of `class U` with the metric 'kilo' prefix appended.	@details E.g. kilo<meters> represents meters*10^3		@tparam U unit type to apply the prefix to.
+	template<class U> using mega	= typename wpi::units::detail::prefix<std::mega,	U>::type;			///< Represents the type of `class U` with the metric 'mega' prefix appended.	@details E.g. mega<meters> represents meters*10^6		@tparam U unit type to apply the prefix to.
+	template<class U> using giga	= typename wpi::units::detail::prefix<std::giga,	U>::type;			///< Represents the type of `class U` with the metric 'giga' prefix appended.	@details E.g. giga<meters> represents meters*10^9		@tparam U unit type to apply the prefix to.
+	template<class U> using tera	= typename wpi::units::detail::prefix<std::tera,	U>::type;			///< Represents the type of `class U` with the metric 'tera' prefix appended.	@details E.g. tera<meters> represents meters*10^12		@tparam U unit type to apply the prefix to.
+	template<class U> using peta	= typename wpi::units::detail::prefix<std::peta,	U>::type;			///< Represents the type of `class U` with the metric 'peta' prefix appended.	@details E.g. peta<meters> represents meters*10^15		@tparam U unit type to apply the prefix to.
+	template<class U> using exa		= typename wpi::units::detail::prefix<std::exa,	U>::type;			///< Represents the type of `class U` with the metric 'exa' prefix appended.	@details E.g. exa<meters> represents meters*10^18		@tparam U unit type to apply the prefix to.
 	/** @} @} */
 
 	/**
@@ -1502,12 +1502,12 @@ namespace units
 	 * @ingroup Binary Prefixes
 	 * @{
 	 */
-	template<class U> using kibi	= typename units::detail::prefix<std::ratio<1024>,					U>::type;	///< Represents the type of `class U` with the binary 'kibi' prefix appended.	@details E.g. kibi<bytes> represents bytes*2^10	@tparam U unit type to apply the prefix to.
-	template<class U> using mebi	= typename units::detail::prefix<std::ratio<1048576>,				U>::type;	///< Represents the type of `class U` with the binary 'mibi' prefix appended.	@details E.g. mebi<bytes> represents bytes*2^20	@tparam U unit type to apply the prefix to.
-	template<class U> using gibi	= typename units::detail::prefix<std::ratio<1073741824>,			U>::type;	///< Represents the type of `class U` with the binary 'gibi' prefix appended.	@details E.g. gibi<bytes> represents bytes*2^30	@tparam U unit type to apply the prefix to.
-	template<class U> using tebi	= typename units::detail::prefix<std::ratio<1099511627776>,			U>::type;	///< Represents the type of `class U` with the binary 'tebi' prefix appended.	@details E.g. tebi<bytes> represents bytes*2^40	@tparam U unit type to apply the prefix to.
-	template<class U> using pebi	= typename units::detail::prefix<std::ratio<1125899906842624>,		U>::type;	///< Represents the type of `class U` with the binary 'pebi' prefix appended.	@details E.g. pebi<bytes> represents bytes*2^50	@tparam U unit type to apply the prefix to.
-	template<class U> using exbi	= typename units::detail::prefix<std::ratio<1152921504606846976>,	U>::type;	///< Represents the type of `class U` with the binary 'exbi' prefix appended.	@details E.g. exbi<bytes> represents bytes*2^60	@tparam U unit type to apply the prefix to.
+	template<class U> using kibi	= typename wpi::units::detail::prefix<std::ratio<1024>,					U>::type;	///< Represents the type of `class U` with the binary 'kibi' prefix appended.	@details E.g. kibi<bytes> represents bytes*2^10	@tparam U unit type to apply the prefix to.
+	template<class U> using mebi	= typename wpi::units::detail::prefix<std::ratio<1048576>,				U>::type;	///< Represents the type of `class U` with the binary 'mibi' prefix appended.	@details E.g. mebi<bytes> represents bytes*2^20	@tparam U unit type to apply the prefix to.
+	template<class U> using gibi	= typename wpi::units::detail::prefix<std::ratio<1073741824>,			U>::type;	///< Represents the type of `class U` with the binary 'gibi' prefix appended.	@details E.g. gibi<bytes> represents bytes*2^30	@tparam U unit type to apply the prefix to.
+	template<class U> using tebi	= typename wpi::units::detail::prefix<std::ratio<1099511627776>,			U>::type;	///< Represents the type of `class U` with the binary 'tebi' prefix appended.	@details E.g. tebi<bytes> represents bytes*2^40	@tparam U unit type to apply the prefix to.
+	template<class U> using pebi	= typename wpi::units::detail::prefix<std::ratio<1125899906842624>,		U>::type;	///< Represents the type of `class U` with the binary 'pebi' prefix appended.	@details E.g. pebi<bytes> represents bytes*2^50	@tparam U unit type to apply the prefix to.
+	template<class U> using exbi	= typename wpi::units::detail::prefix<std::ratio<1152921504606846976>,	U>::type;	///< Represents the type of `class U` with the binary 'exbi' prefix appended.	@details E.g. exbi<bytes> represents bytes*2^60	@tparam U unit type to apply the prefix to.
 	/** @} @} */
 
 	//------------------------------
@@ -1529,8 +1529,8 @@ namespace units
 		 * @sa			is_convertible_unit_t
 		 */
 		template<class U1, class U2>
-		struct is_convertible_unit : std::is_same <traits::base_unit_of<typename units::traits::unit_traits<U1>::base_unit_type>,
-			base_unit_of<typename units::traits::unit_traits<U2>::base_unit_type >> {};
+		struct is_convertible_unit : std::is_same <traits::base_unit_of<typename wpi::units::traits::unit_traits<U1>::base_unit_type>,
+			base_unit_of<typename wpi::units::traits::unit_traits<U2>::base_unit_type >> {};
 		template<class U1, class U2>
 		constexpr bool is_convertible_unit_v = is_convertible_unit<U1, U2>::value;
 	}
@@ -1663,7 +1663,7 @@ namespace units
 		using piRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, PiRatio>::value)>;
 		using translationRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, Translation>::value)>;
 
-		return units::detail::convert<UnitFrom, UnitTo, Ratio, PiRatio, Translation, T>
+		return wpi::units::detail::convert<UnitFrom, UnitTo, Ratio, PiRatio, Translation, T>
 			(value, isSame{}, piRequired{}, translationRequired{});
 	}
 
@@ -1741,7 +1741,7 @@ namespace units
 		 *				- have an `operator()` member which returns the non-linear value stored in the scale
 		 *				- have an accessible `m_value` member type which stores the linearized value in the scale.
 		 *
-		 *				Linear/nonlinear scales are used by `units::unit` to store values and scale them
+		 *				Linear/nonlinear scales are used by `wpi::units::unit` to store values and scale them
 		 *				if they represent things like dB.
 		 */
 		template<class T, class Ret>
@@ -1762,7 +1762,7 @@ namespace units
 #ifdef FOR_DOXYGEN_PURPOSES_ONLY
 		/**
 		* @ingroup		TypeTraits
-		* @brief		Trait for accessing the publicly defined types of `units::unit_t`
+		* @brief		Trait for accessing the publicly defined types of `wpi::units::unit_t`
 		* @details		The units library determines certain properties of the unit_t types passed to them
 		*				and what they represent by using the members of the corresponding unit_t_traits instantiation.
 		*/
@@ -1792,7 +1792,7 @@ namespace units
 
 		/**
 		 * @ingroup		TypeTraits
-		 * @brief		Trait for accessing the publicly defined types of `units::unit_t`
+		 * @brief		Trait for accessing the publicly defined types of `wpi::units::unit_t`
 		 * @details
 		 */
 		template<typename T>
@@ -1826,7 +1826,7 @@ namespace units
 		 */
 		template<class U1, class U2>
 		struct is_convertible_unit_t : std::integral_constant<bool,
-			is_convertible_unit<typename units::traits::unit_t_traits<U1>::unit_type, typename units::traits::unit_t_traits<U2>::unit_type>::value>
+			is_convertible_unit<typename wpi::units::traits::unit_t_traits<U1>::unit_type, typename wpi::units::traits::unit_t_traits<U2>::unit_type>::value>
 		{};
 	}
 
@@ -1865,7 +1865,7 @@ namespace units
 		 *				whether `class T` implements a `unit`.
 		 */
 		template<class T>
-		struct is_unit_t : std::is_base_of<units::detail::_unit_t, T>::type {};
+		struct is_unit_t : std::is_base_of<wpi::units::detail::_unit_t, T>::type {};
 		template<class T>
 		constexpr bool is_unit_t_v = is_unit_t<T>::value;
 	}
@@ -1926,7 +1926,7 @@ namespace units
 	 *				- \ref constantContainers "constant unit containers"
 	 */
 	template<class Units, typename T = UNIT_LIB_DEFAULT_TYPE, template<typename> class NonLinearScale = linear_scale>
-	class unit_t : public NonLinearScale<T>, units::detail::_unit_t
+	class unit_t : public NonLinearScale<T>, wpi::units::detail::_unit_t
 	{
 		static_assert(traits::is_unit<Units>::value, "Template parameter `Units` must be a unit tag. Check that you aren't using a unit type (_t).");
 		static_assert(traits::is_nonlinear_scale<NonLinearScale<T>, T>::value, "Template parameter `NonLinearScale` does not conform to the `is_nonlinear_scale` concept.");
@@ -1981,7 +1981,7 @@ namespace units
 		 */
 		template<class Rep, class Period, class = std::enable_if_t<std::is_arithmetic<Rep>::value && traits::is_ratio<Period>::value>>
 		constexpr unit_t(const std::chrono::duration<Rep, Period>& value) noexcept :
-		nls(units::convert<unit<std::ratio<1,1000000000>, category::time_unit>, Units>(static_cast<T>(std::chrono::duration_cast<std::chrono::nanoseconds>(value).count())))
+		nls(wpi::units::convert<unit<std::ratio<1,1000000000>, category::time_unit>, Units>(static_cast<T>(std::chrono::duration_cast<std::chrono::nanoseconds>(value).count())))
 		{
 
 		}
@@ -1994,7 +1994,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 			requires traits::is_unit_v<UnitsRhs> && traits::is_unit_v<Units> && traits::is_convertible_unit_v<UnitsRhs, Units>
 		constexpr unit_t(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept :
-		nls(units::convert<UnitsRhs, Units, T>(rhs.m_value), std::true_type() /*store linear value*/)
+		nls(wpi::units::convert<UnitsRhs, Units, T>(rhs.m_value), std::true_type() /*store linear value*/)
 		{
 
 		}
@@ -2007,7 +2007,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 		inline unit_t& operator=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept
 		{
-			nls::m_value = units::convert<UnitsRhs, Units, T>(rhs.m_value);
+			nls::m_value = wpi::units::convert<UnitsRhs, Units, T>(rhs.m_value);
 			return *this;
 		}
 
@@ -2032,7 +2032,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 		constexpr bool operator<(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return (nls::m_value < units::convert<UnitsRhs, Units>(rhs.m_value));
+			return (nls::m_value < wpi::units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
 
 		/**
@@ -2044,7 +2044,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 		constexpr bool operator<=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return (nls::m_value <= units::convert<UnitsRhs, Units>(rhs.m_value));
+			return (nls::m_value <= wpi::units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
 
 		/**
@@ -2056,7 +2056,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 		constexpr bool operator>(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return (nls::m_value > units::convert<UnitsRhs, Units>(rhs.m_value));
+			return (nls::m_value > wpi::units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
 
 		/**
@@ -2068,7 +2068,7 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
 		constexpr bool operator>=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return (nls::m_value >= units::convert<UnitsRhs, Units>(rhs.m_value));
+			return (nls::m_value >= wpi::units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
 
 		/**
@@ -2081,15 +2081,15 @@ namespace units
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_floating_point<T>::value || std::is_floating_point<Ty>::value, int> = 0>
 		constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::epsilon() *
-				detail::abs(nls::m_value + units::convert<UnitsRhs, Units>(rhs.m_value)) ||
-				detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < (std::numeric_limits<T>::min)();
+			return detail::abs(nls::m_value - wpi::units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::epsilon() *
+				detail::abs(nls::m_value + wpi::units::convert<UnitsRhs, Units>(rhs.m_value)) ||
+				detail::abs(nls::m_value - wpi::units::convert<UnitsRhs, Units>(rhs.m_value)) < (std::numeric_limits<T>::min)();
 		}
 
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_integral<T>::value && std::is_integral<Ty>::value, int> = 0>
 		constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
-			return nls::m_value == units::convert<UnitsRhs, Units>(rhs.m_value);
+			return nls::m_value == wpi::units::convert<UnitsRhs, Units>(rhs.m_value);
 		}
 
 		/**
@@ -2159,7 +2159,7 @@ namespace units
 		constexpr operator Ty() const noexcept
 		{
 			// this conversion also resolves any PI exponents, by converting from a non-zero PI ratio to a zero-pi ratio.
-			return static_cast<Ty>(units::convert<Units, unit<std::ratio<1>, units::category::scalar_unit>>((*this)()));
+			return static_cast<Ty>(wpi::units::convert<Units, unit<std::ratio<1>, wpi::units::category::scalar_unit>>((*this)()));
 		}
 
 		/**
@@ -2176,10 +2176,10 @@ namespace units
 		 * @brief		chrono implicit type conversion.
 		 * @details		only enabled for time unit types.
 		 */
-		template<typename U = Units, std::enable_if_t<units::traits::is_convertible_unit<U, unit<std::ratio<1>, category::time_unit>>::value, int> = 0>
+		template<typename U = Units, std::enable_if_t<wpi::units::traits::is_convertible_unit<U, unit<std::ratio<1>, category::time_unit>>::value, int> = 0>
 		constexpr operator std::chrono::nanoseconds() const noexcept
 		{
-			return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double, std::nano>(units::convert<Units, unit<std::ratio<1,1000000000>, category::time_unit>>((*this)())));
+			return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double, std::nano>(wpi::units::convert<Units, unit<std::ratio<1,1000000000>, category::time_unit>>((*this)())));
 		}
 
 		/**
@@ -2187,7 +2187,7 @@ namespace units
 		 */
 		constexpr const char* name() const noexcept
 		{
-			return units::name(*this);
+			return wpi::units::name(*this);
 		}
 
 		/**
@@ -2195,7 +2195,7 @@ namespace units
 		 */
 		constexpr const char* abbreviation() const noexcept
 		{
-			return units::abbreviation(*this);
+			return wpi::units::abbreviation(*this);
 		}
 
 	public:
@@ -2387,7 +2387,7 @@ namespace units
 	 *				to a built-in arithmetic type. This may be useful for compatibility with libraries
 	 *				and legacy code that don't support `unit_t` types. E.g
 	 * @code		meter_t unitVal(5);
-	 *  double value = units::unit_cast<double>(unitVal);	// value = 5.0
+	 *  double value = wpi::units::unit_cast<double>(unitVal);	// value = 5.0
 	 * @endcode
 	 * @tparam		T		Type to cast the unit type to. Must be a built-in arithmetic type.
 	 * @param		value	Unit value to cast.
@@ -2417,15 +2417,15 @@ namespace units
 		 */
 #if !defined(_MSC_VER) || _MSC_VER > 1800	// bug in VS2013 prevents this from working
 		template<typename... T>
-		struct has_linear_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
+		struct has_linear_scale : std::integral_constant<bool, wpi::units::all_true<std::is_base_of<wpi::units::linear_scale<typename wpi::units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
 		template<typename... T>
 		constexpr bool has_linear_scale_v = has_linear_scale<T...>::value;
 #else
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		struct has_linear_scale : std::integral_constant<bool,
-			std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
-			std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
-			std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
+			std::is_base_of<wpi::units::linear_scale<typename wpi::units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+			std::is_base_of<wpi::units::linear_scale<typename wpi::units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+			std::is_base_of<wpi::units::linear_scale<typename wpi::units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		constexpr bool has_linear_scale_v = has_linear_scale<T1, T2, T3>::value;
 #endif
@@ -2439,15 +2439,15 @@ namespace units
 		 */
 #if !defined(_MSC_VER) || _MSC_VER > 1800	// bug in VS2013 prevents this from working
 		template<typename... T>
-		struct has_decibel_scale : std::integral_constant<bool,	units::all_true<std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
+		struct has_decibel_scale : std::integral_constant<bool,	wpi::units::all_true<std::is_base_of<wpi::units::decibel_scale<typename wpi::units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
 		template<typename... T>
 		constexpr bool has_decibel_scale_v = has_decibel_scale<T...>::value;
 #else
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		struct has_decibel_scale : std::integral_constant<bool,
-			std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
-			std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
-			std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
+			std::is_base_of<wpi::units::decibel_scale<typename wpi::units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+			std::is_base_of<wpi::units::decibel_scale<typename wpi::units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+			std::is_base_of<wpi::units::decibel_scale<typename wpi::units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		constexpr bool has_decibel_scale_v = has_decibel_scale<T1, T2, T3>::value;
 #endif
@@ -2462,7 +2462,7 @@ namespace units
 		 */
 		template<typename T1, typename T2>
 		struct is_same_scale : std::integral_constant<bool,
-			std::is_same<typename units::traits::unit_t_traits<T1>::non_linear_scale_type, typename units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
+			std::is_same<typename wpi::units::traits::unit_t_traits<T1>::non_linear_scale_type, typename wpi::units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
 		{};
 		template<typename T1, typename T2>
 		constexpr bool is_same_scale_v = is_same_scale<T1, T2>::value;
@@ -2512,8 +2512,8 @@ namespace units
 	// Scalar units are the *ONLY* units implicitly convertible to/from built-in types.
 	namespace dimensionless
 	{
-		typedef unit<std::ratio<1>, units::category::scalar_unit> scalar;
-		typedef unit<std::ratio<1>, units::category::dimensionless_unit> dimensionless;
+		typedef unit<std::ratio<1>, wpi::units::category::scalar_unit> scalar;
+		typedef unit<std::ratio<1>, wpi::units::category::dimensionless_unit> dimensionless;
 
 		typedef unit_t<scalar> scalar_t;
 		typedef scalar_t dimensionless_t;
@@ -2545,8 +2545,8 @@ namespace units
 	template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
 	constexpr UnitTypeLhs operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return UnitTypeLhs(lhs() + convert<UnitsRhs, UnitsLhs>(rhs()));
 	}
 
@@ -2568,8 +2568,8 @@ namespace units
 	template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
 	constexpr UnitTypeLhs operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return UnitTypeLhs(lhs() - convert<UnitsRhs, UnitsLhs>(rhs()));
 	}
 
@@ -2590,21 +2590,21 @@ namespace units
 	/// Multiplication type for convertible unit_t types with a linear scale. @returns the multiplied value, with the same type as left-hand side unit.
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
-		return  unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		return  unit_t<compound_unit<squared<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
 			(lhs() * convert<UnitsRhs, UnitsLhs>(rhs()));
 	}
 
 	/// Multiplication type for non-convertible unit_t types with a linear scale. @returns the multiplied value, whose type is a compound unit of the left and right hand side values.
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return unit_t<compound_unit<UnitsLhs, UnitsRhs>>
 			(lhs() * rhs());
 	}
@@ -2648,18 +2648,18 @@ namespace units
 		std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
 		constexpr dimensionless::scalar_t operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return dimensionless::scalar_t(lhs() / convert<UnitsRhs, UnitsLhs>(rhs()));
 	}
 
 	/// Division for non-convertible unit_t types with a linear scale. @returns the lhs divided by the rhs, with a compound unit type of lhs/rhs
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept ->  unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
+		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept ->  unit_t<compound_unit<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
 	{
-		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsLhs = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return unit_t<compound_unit<UnitsLhs, inverse<UnitsRhs>>>
 			(lhs() / rhs());
 	}
@@ -2675,9 +2675,9 @@ namespace units
 	/// Division of a dimensionless unit  by a unit_t type with a linear scale
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
-		return unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		return unit_t<inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 			(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) / rhs());
 	}
 
@@ -2692,9 +2692,9 @@ namespace units
 	/// Division of a scalar  by a unit_t type with a linear scale
 	template<class UnitTypeRhs, typename T,
 		std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
-		constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
-		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using UnitsRhs = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return unit_t<inverse<UnitsRhs>>
 			(lhs / rhs());
 	}
@@ -2703,75 +2703,75 @@ namespace units
 	//	SCALAR COMPARISONS
 	//----------------------------------
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator==(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(lhs + static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) ||
 			detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < (std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min)();
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator==(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) + rhs) ||
 			detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < (std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min)();
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator!=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return!(lhs == static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator!=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return !(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) == rhs);
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator>=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return std::isgreaterequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator>=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return std::isgreaterequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator>(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return lhs > static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator>(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) > rhs;
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator<=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return std::islessequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator<=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return std::islessequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator<(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
 	{
 		return lhs < static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
 	}
 
-	template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+	template<typename Units, class = std::enable_if_t<wpi::units::traits::is_dimensionless_unit<Units>::value>>
 	constexpr bool operator<(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
 	{
 		return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) < rhs;
@@ -2787,7 +2787,7 @@ namespace units
 		/// recursive exponential implementation
 		template <int N, class U> struct power_of_unit
 		{
-			typedef typename units::detail::unit_multiply<U, typename power_of_unit<N - 1, U>::type> type;
+			typedef typename wpi::units::detail::unit_multiply<U, typename power_of_unit<N - 1, U>::type> type;
 		};
 
 		/// End recursion
@@ -2808,9 +2808,9 @@ namespace units
 		 * @returns		new unit_t, raised to the given exponent
 		 */
 		template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
-		constexpr auto pow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+		constexpr auto pow(const UnitType& value) noexcept -> unit_t<typename wpi::units::detail::power_of_unit<power, typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>::type, typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 		{
-			return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+			return unit_t<typename wpi::units::detail::power_of_unit<power, typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>::type, typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 				(gcem::pow(value(), power));
 		}
 
@@ -2823,10 +2823,10 @@ namespace units
 		 * @returns		new unit_t, raised to the given exponent
 		 */
 		template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
-		constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+		constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename wpi::units::detail::power_of_unit<power, typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>::type, typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 		{
-			static_assert(power >= 0, "cpow cannot accept negative numbers. Try units::math::pow instead.");
-			return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+			static_assert(power >= 0, "cpow cannot accept negative numbers. Try wpi::units::math::pow instead.");
+			return unit_t<typename wpi::units::detail::power_of_unit<power, typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>::type, typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 				(detail::pow(value(), power));
 		}
 	}
@@ -2882,11 +2882,11 @@ namespace units
 }
 #if __has_include(<fmt/format.h>) && !defined(UNIT_LIB_DISABLE_FMT)
 template <>
-struct fmt::formatter<units::dimensionless::dB_t> : fmt::formatter<double>
+struct fmt::formatter<wpi::units::dimensionless::dB_t> : fmt::formatter<double>
 {
 	template <typename FmtContext>
 	auto format(
-			const units::dimensionless::dB_t& obj,
+			const wpi::units::dimensionless::dB_t& obj,
 			FmtContext& ctx) const
 	{
 		auto out = ctx.out();
@@ -2896,7 +2896,7 @@ struct fmt::formatter<units::dimensionless::dB_t> : fmt::formatter<double>
 };
 #endif
 
-namespace units {
+namespace wpi::units {
 	//------------------------------
 	//	DECIBEL ARITHMETIC
 	//------------------------------
@@ -2904,11 +2904,11 @@ namespace units {
 	/// Addition for convertible unit_t types with a decibel_scale
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-	constexpr inline auto operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+	constexpr inline auto operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>, typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
 	{
-		using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
-		using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+		using LhsUnits = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using RhsUnits = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
 
 		return unit_t<compound_unit<squared<LhsUnits>>, underlying_type, decibel_scale>
 			(lhs.template toLinearized<underlying_type>() * convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
@@ -2918,7 +2918,7 @@ namespace units {
 	template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
 	constexpr inline UnitTypeLhs operator+(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
 	{
-		using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
 		return UnitTypeLhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
 	}
 
@@ -2926,17 +2926,17 @@ namespace units {
 	template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
 	constexpr inline UnitTypeRhs operator+(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept
 	{
-		using underlying_type = typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::underlying_type;
 		return UnitTypeRhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
 	}
 
 	/// Subtraction for convertible unit_t types with a decibel_scale
 	template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-	constexpr inline auto operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+	constexpr inline auto operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>, typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
 	{
-		using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
-		using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
-		using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+		using LhsUnits = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+		using RhsUnits = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
 
 		return unit_t<compound_unit<LhsUnits, inverse<RhsUnits>>, underlying_type, decibel_scale>
 			(lhs.template toLinearized<underlying_type>() / convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
@@ -2946,16 +2946,16 @@ namespace units {
 	template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
 	constexpr inline UnitTypeLhs operator-(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
 	{
-		using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
 		return UnitTypeLhs(lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
 	}
 
 	/// Subtraction between unit_t types with a decibel_scale and dimensionless dB units
 	template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-	constexpr inline auto operator-(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>, typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type, decibel_scale>
+	constexpr inline auto operator-(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type>, typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::underlying_type, decibel_scale>
 	{
-		using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
-		using underlying_type = typename units::traits::unit_t_traits<RhsUnits>::underlying_type;
+		using RhsUnits = typename wpi::units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+		using underlying_type = typename wpi::units::traits::unit_t_traits<RhsUnits>::underlying_type;
 
 		return unit_t<inverse<RhsUnits>, underlying_type, decibel_scale>
 			(lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
@@ -2978,7 +2978,7 @@ namespace units {
 #ifdef FOR_DOXYGEN_PURPOSES_ONLY
 		/**
 		* @ingroup		TypeTraits
-		* @brief		Trait for accessing the publicly defined types of `units::unit_value_t_traits`
+		* @brief		Trait for accessing the publicly defined types of `wpi::units::unit_value_t_traits`
 		* @details		The units library determines certain properties of the `unit_value_t` types passed to
 		*				them and what they represent by using the members of the corresponding `unit_value_t_traits`
 		*				instantiation.
@@ -3005,7 +3005,7 @@ namespace units {
 
 		/**
 		 * @ingroup		TypeTraits
-		 * @brief		Trait for accessing the publicly defined types of `units::unit_value_t_traits`
+		 * @brief		Trait for accessing the publicly defined types of `wpi::units::unit_value_t_traits`
 		 * @details
 		 */
 		template<typename T>
@@ -3037,7 +3037,7 @@ namespace units {
 	 *
 	 */
 	template<typename Units, std::uintmax_t Num, std::uintmax_t Denom = 1>
-	struct unit_value_t : units::detail::_unit_value_t<Units>
+	struct unit_value_t : wpi::units::detail::_unit_value_t<Units>
 	{
 		typedef Units unit_type;
 		typedef std::ratio<Num, Denom> ratio;
@@ -3058,7 +3058,7 @@ namespace units {
 		 */
 		template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
 		struct is_unit_value_t : std::integral_constant<bool,
-			std::is_base_of<units::detail::_unit_value_t<Units>, T>::value>
+			std::is_base_of<wpi::units::detail::_unit_value_t<Units>, T>::value>
 		{};
 		template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
 		constexpr bool is_unit_value_t_v = is_unit_value_t<T, Units>::value;
@@ -3066,11 +3066,11 @@ namespace units {
 		/**
 		 * @ingroup		TypeTraits
 		 * @brief		Trait which tests whether type T is a unit_value_t with a unit type in the given category.
-		 * @details		e.g. `is_unit_value_t_category<units::category::length, unit_value_t<feet>>::value` would be true
+		 * @details		e.g. `is_unit_value_t_category<wpi::units::category::length, unit_value_t<feet>>::value` would be true
 		 */
 		template<typename Category, typename T>
 		struct is_unit_value_t_category : std::integral_constant<bool,
-			std::is_same<units::traits::base_unit_of<typename traits::unit_value_t_traits<T>::unit_type>, Category>::value>
+			std::is_same<wpi::units::traits::base_unit_of<typename traits::unit_value_t_traits<T>::unit_type>, Category>::value>
 		{
 			static_assert(is_base_unit<Category>::value, "Template parameter `Category` must be a `base_unit` type.");
 		};
@@ -3090,12 +3090,12 @@ namespace units {
 
 			using _UNIT1 = typename traits::unit_value_t_traits<U1>::unit_type;
 			using _UNIT2 = typename traits::unit_value_t_traits<U2>::unit_type;
-			using _CONV1 = typename units::traits::unit_traits<_UNIT1>::conversion_ratio;
-			using _CONV2 = typename units::traits::unit_traits<_UNIT2>::conversion_ratio;
+			using _CONV1 = typename wpi::units::traits::unit_traits<_UNIT1>::conversion_ratio;
+			using _CONV2 = typename wpi::units::traits::unit_traits<_UNIT2>::conversion_ratio;
 			using _RATIO1 = typename traits::unit_value_t_traits<U1>::ratio;
 			using _RATIO2 = typename traits::unit_value_t_traits<U2>::ratio;
 			using _RATIO2CONV = typename std::ratio_divide<std::ratio_multiply<_RATIO2, _CONV2>, _CONV1>;
-			using _PI_EXP = std::ratio_subtract<typename units::traits::unit_traits<_UNIT2>::pi_exponent_ratio, typename units::traits::unit_traits<_UNIT1>::pi_exponent_ratio>;
+			using _PI_EXP = std::ratio_subtract<typename wpi::units::traits::unit_traits<_UNIT2>::pi_exponent_ratio, typename wpi::units::traits::unit_traits<_UNIT1>::pi_exponent_ratio>;
 		};
 	}
 	/** @endcond */	// END DOXYGEN IGNORE
@@ -3111,10 +3111,10 @@ namespace units {
 	 * @note		very similar in concept to `std::ratio_add`
 	 */
 	template<class U1, class U2>
-	struct unit_value_add : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+	struct unit_value_add : wpi::units::detail::unit_value_arithmetic<U1, U2>, wpi::units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U2>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U2>;
 		typedef typename Base::_UNIT1 unit_type;
 		using ratio = std::ratio_add<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
 
@@ -3144,7 +3144,7 @@ namespace units {
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
 			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) +
-			((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+			((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den) * std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE
 	};
@@ -3160,10 +3160,10 @@ namespace units {
 	 * @note		very similar in concept to `std::ratio_subtract`
 	 */
 	template<class U1, class U2>
-	struct unit_value_subtract : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+	struct unit_value_subtract : wpi::units::detail::unit_value_arithmetic<U1, U2>, wpi::units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U2>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U2>;
 
 		typedef typename Base::_UNIT1 unit_type;
 		using ratio = std::ratio_subtract<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
@@ -3194,7 +3194,7 @@ namespace units {
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
 			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) - ((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den)
-				* std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+				* std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE	};
 	};
@@ -3210,13 +3210,13 @@ namespace units {
 	 * @note		very similar in concept to `std::ratio_multiply`
 	 */
 	template<class U1, class U2>
-	struct unit_value_multiply : units::detail::unit_value_arithmetic<U1, U2>,
-		units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+	struct unit_value_multiply : wpi::units::detail::unit_value_arithmetic<U1, U2>,
+		wpi::units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
 			typename traits::unit_value_t_traits<U2>::unit_type>::value, compound_unit<squared<typename traits::unit_value_t_traits<U1>::unit_type>>,
 			compound_unit<typename traits::unit_value_t_traits<U1>::unit_type, typename traits::unit_value_t_traits<U2>::unit_type>>::type>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U2>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U2>;
 
 		using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, compound_unit<squared<typename Base::_UNIT1>>, compound_unit<typename Base::_UNIT1, typename Base::_UNIT2>>;
 		using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2>>;
@@ -3244,7 +3244,7 @@ namespace units {
 		// value if PI *is* involved
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
-			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE
 	};
@@ -3260,13 +3260,13 @@ namespace units {
 	 * @note		very similar in concept to `std::ratio_divide`
 	 */
 	template<class U1, class U2>
-	struct unit_value_divide : units::detail::unit_value_arithmetic<U1, U2>,
-		units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+	struct unit_value_divide : wpi::units::detail::unit_value_arithmetic<U1, U2>,
+		wpi::units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
 		typename traits::unit_value_t_traits<U2>::unit_type>::value, dimensionless::scalar, compound_unit<typename traits::unit_value_t_traits<U1>::unit_type,
 		inverse<typename traits::unit_value_t_traits<U2>::unit_type>>>::type>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U2>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U2>;
 
 		using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, dimensionless::scalar, compound_unit<typename Base::_UNIT1, inverse<typename Base::_UNIT2>>>;
 		using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2>>;
@@ -3294,7 +3294,7 @@ namespace units {
 		// value if PI *is* involved
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
-			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE
 	};
@@ -3306,16 +3306,16 @@ namespace units {
 	 * @tparam		U1	`unit_value_t` to take the exponentiation of.
 	 * @sa			unit_value_t_traits to access information about the properties of the class,
 	 *				such as it's unit type and rational value.
-	 * @note		very similar in concept to `units::math::pow`
+	 * @note		very similar in concept to `wpi::units::math::pow`
 	 */
 	template<class U1, int power>
-	struct unit_value_power : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<typename units::detail::power_of_unit<power, typename traits::unit_value_t_traits<U1>::unit_type>::type>
+	struct unit_value_power : wpi::units::detail::unit_value_arithmetic<U1, U1>, wpi::units::detail::_unit_value_t<typename wpi::units::detail::power_of_unit<power, typename traits::unit_value_t_traits<U1>::unit_type>::type>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U1>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U1>;
 
-		using unit_type = typename units::detail::power_of_unit<power, typename Base::_UNIT1>::type;
-		using ratio = typename units::detail::power_of_ratio<power, typename Base::_RATIO1>::type;
+		using unit_type = typename wpi::units::detail::power_of_unit<power, typename Base::_UNIT1>::type;
+		using ratio = typename wpi::units::detail::power_of_ratio<power, typename Base::_RATIO1>::type;
 		using pi_exponent = std::ratio_multiply<std::ratio<power>, typename Base::_UNIT1::pi_exponent_ratio>;
 		/** @endcond */	// END DOXYGEN IGNORE
 
@@ -3341,7 +3341,7 @@ namespace units {
 		// value if PI *is* involved
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
-			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE	};
 	};
@@ -3353,13 +3353,13 @@ namespace units {
 	 * @tparam		U1	`unit_value_t` to take the square root of.
 	 * @sa			unit_value_t_traits to access information about the properties of the class,
 	 *				such as it's unit type and rational value.
-	 * @note		very similar in concept to `units::ratio_sqrt`
+	 * @note		very similar in concept to `wpi::units::ratio_sqrt`
 	 */
 	template<class U1, std::intmax_t Eps = 10000000000>
-	struct unit_value_sqrt : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<square_root<typename traits::unit_value_t_traits<U1>::unit_type, Eps>>
+	struct unit_value_sqrt : wpi::units::detail::unit_value_arithmetic<U1, U1>, wpi::units::detail::_unit_value_t<square_root<typename traits::unit_value_t_traits<U1>::unit_type, Eps>>
 	{
 		/** @cond */	// DOXYGEN IGNORE
-		using Base = units::detail::unit_value_arithmetic<U1, U1>;
+		using Base = wpi::units::detail::unit_value_arithmetic<U1, U1>;
 
 		using unit_type = square_root<typename Base::_UNIT1, Eps>;
 		using ratio = ratio_sqrt<typename Base::_RATIO1, Eps>;
@@ -3388,7 +3388,7 @@ namespace units {
 		// value if PI *is* involved
 		static constexpr const unit_t<unit_type> value(std::true_type) noexcept
 		{
-			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+			return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(wpi::units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
 		}
 		/** @endcond */	// END DOXYGEN IGNORE
 	};
@@ -3442,8 +3442,8 @@ namespace units {
 #endif // _MSC_VER
 
 #if defined(UNIT_HAS_LITERAL_SUPPORT)
-namespace units::literals {}
-using namespace units::literals;
+namespace wpi::units::literals {}
+using namespace wpi::units::literals;
 #endif  // UNIT_HAS_LITERAL_SUPPORT
 
 #if __has_include(<fmt/format.h>) && !defined(UNIT_LIB_DISABLE_FMT)
diff --git a/wpimath/src/main/native/include/wpi/units/capacitance.hpp b/wpimath/src/main/native/include/wpi/units/capacitance.hpp
index ee576136f5..0d3a39199f 100644
--- a/wpimath/src/main/native/include/wpi/units/capacitance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/capacitance.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::capacitance
+ * @namespace wpi::units::capacitance
  * @brief namespace for unit types and containers representing capacitance
  *        values
  * @details The SI unit for capacitance is `farads`, and the corresponding
@@ -42,10 +42,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_CAPACITANCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     capacitance, farad, farads, F,
-    unit<std::ratio<1>, units::category::capacitance_unit>)
+    unit<std::ratio<1>, wpi::units::category::capacitance_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(capacitance)
 #endif
 
 using namespace capacitance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/charge.hpp b/wpimath/src/main/native/include/wpi/units/charge.hpp
index f1aa370c1a..5efd5060ab 100644
--- a/wpimath/src/main/native/include/wpi/units/charge.hpp
+++ b/wpimath/src/main/native/include/wpi/units/charge.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/current.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::charge
+ * @namespace wpi::units::charge
  * @brief namespace for unit types and containers representing charge values
  * @details The SI unit for charge is `coulombs`, and the corresponding
  *          `base_unit` category is `charge_unit`.
@@ -42,7 +42,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_CHARGE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(charge, coulomb, coulombs, C,
-                              unit<std::ratio<1>, units::category::charge_unit>)
+                              unit<std::ratio<1>, wpi::units::category::charge_unit>)
 UNIT_ADD_WITH_METRIC_PREFIXES(charge, ampere_hour, ampere_hours, Ah,
                               compound_unit<current::ampere, time::hours>)
 
@@ -50,4 +50,4 @@ UNIT_ADD_CATEGORY_TRAIT(charge)
 #endif
 
 using namespace charge;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/concentration.hpp b/wpimath/src/main/native/include/wpi/units/concentration.hpp
index 62c6808fb9..bd48a826ff 100644
--- a/wpimath/src/main/native/include/wpi/units/concentration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/concentration.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::concentration
+ * @namespace wpi::units::concentration
  * @brief namespace for unit types and containers representing concentration
  *        values
  * @details The SI unit for concentration is `parts_per_million`, and the
@@ -41,16 +41,16 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_CONCENTRATION_UNITS)
 UNIT_ADD(concentration, ppm, parts_per_million, ppm,
-         unit<std::ratio<1, 1000000>, units::category::scalar_unit>)
+         unit<std::ratio<1, 1000000>, wpi::units::category::scalar_unit>)
 UNIT_ADD(concentration, ppb, parts_per_billion, ppb,
          unit<std::ratio<1, 1000>, parts_per_million>)
 UNIT_ADD(concentration, ppt, parts_per_trillion, ppt,
          unit<std::ratio<1, 1000>, parts_per_billion>)
 UNIT_ADD(concentration, percent, percent, pct,
-         unit<std::ratio<1, 100>, units::category::scalar_unit>)
+         unit<std::ratio<1, 100>, wpi::units::category::scalar_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(concentration)
 #endif
 
 using namespace concentration;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/conductance.hpp b/wpimath/src/main/native/include/wpi/units/conductance.hpp
index b0b57c5a0f..6e47f62632 100644
--- a/wpimath/src/main/native/include/wpi/units/conductance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/conductance.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::conductance
+ * @namespace wpi::units::conductance
  * @brief namespace for unit types and containers representing conductance
  *        values
  * @details The SI unit for conductance is `siemens`, and the corresponding
@@ -42,10 +42,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_CONDUCTANCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     conductance, siemens, siemens, S,
-    unit<std::ratio<1>, units::category::conductance_unit>)
+    unit<std::ratio<1>, wpi::units::category::conductance_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(conductance)
 #endif
 
 using namespace conductance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/constants.hpp b/wpimath/src/main/native/include/wpi/units/constants.hpp
index 22eb4f516c..e11e1e9606 100644
--- a/wpimath/src/main/native/include/wpi/units/constants.hpp
+++ b/wpimath/src/main/native/include/wpi/units/constants.hpp
@@ -43,7 +43,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/velocity.hpp"
 
-namespace units::constants {
+namespace wpi::units::constants {
 /**
  * @name Unit Containers
  * @anchor constantContainers
@@ -64,7 +64,7 @@ static constexpr const unit_t<compound_unit<energy::joule, time::seconds>> h(
 static constexpr const unit_t<
     compound_unit<force::newtons, inverse<squared<current::ampere>>>>
     mu0(pi * 4.0e-7 * force::newton_t(1) /
-        units::math::cpow<2>(current::ampere_t(1)));  ///< vacuum permeability.
+        wpi::units::math::cpow<2>(current::ampere_t(1)));  ///< vacuum permeability.
 static constexpr const unit_t<
     compound_unit<capacitance::farad, inverse<length::meter>>>
     epsilon0(1.0 / (mu0 * math::cpow<2>(c)));  ///< vacuum permitivity.
@@ -99,4 +99,4 @@ static constexpr const unit_t<
           (15 * math::cpow<3>(h) * math::cpow<2>(c) *
            math::cpow<4>(N_A)));  ///< Stefan-Boltzmann constant.
 /** @} */
-}  // namespace units::constants
+}  // namespace wpi::units::constants
diff --git a/wpimath/src/main/native/include/wpi/units/current.hpp b/wpimath/src/main/native/include/wpi/units/current.hpp
index 79d684d5da..da07975668 100644
--- a/wpimath/src/main/native/include/wpi/units/current.hpp
+++ b/wpimath/src/main/native/include/wpi/units/current.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::current
+ * @namespace wpi::units::current
  * @brief namespace for unit types and containers representing current values
  * @details The SI unit for current is `amperes`, and the corresponding
  *          `base_unit` category is `current_unit`.
@@ -41,10 +41,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_CURRENT_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     current, ampere, amperes, A,
-    unit<std::ratio<1>, units::category::current_unit>)
+    unit<std::ratio<1>, wpi::units::category::current_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(current)
 #endif
 
 using namespace current;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/curvature.hpp b/wpimath/src/main/native/include/wpi/units/curvature.hpp
index e8517583d3..01fbdeb425 100644
--- a/wpimath/src/main/native/include/wpi/units/curvature.hpp
+++ b/wpimath/src/main/native/include/wpi/units/curvature.hpp
@@ -8,7 +8,7 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/length.hpp"
 
-namespace units {
-using curvature_t = units::unit_t<
-    units::compound_unit<units::radians, units::inverse<units::meters>>>;
-}  // namespace units
+namespace wpi::units {
+using curvature_t = wpi::units::unit_t<
+    wpi::units::compound_unit<wpi::units::radians, wpi::units::inverse<wpi::units::meters>>>;
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/data.hpp b/wpimath/src/main/native/include/wpi/units/data.hpp
index 90d51d7bc8..000be5db27 100644
--- a/wpimath/src/main/native/include/wpi/units/data.hpp
+++ b/wpimath/src/main/native/include/wpi/units/data.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::data
+ * @namespace wpi::units::data
  * @brief namespace for unit types and containers representing data values
  * @details The base unit for data is `bytes`, and the corresponding `base_unit`
  *          category is `data_unit`.
@@ -39,7 +39,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DATA_UNITS)
 UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(
-    data, byte, bytes, B, unit<std::ratio<1>, units::category::data_unit>)
+    data, byte, bytes, B, unit<std::ratio<1>, wpi::units::category::data_unit>)
 UNIT_ADD(data, exabyte, exabytes, EB, unit<std::ratio<1000>, petabytes>)
 UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data, bit, bits, b,
                                          unit<std::ratio<1, 8>, byte>)
@@ -49,4 +49,4 @@ UNIT_ADD_CATEGORY_TRAIT(data)
 #endif
 
 using namespace data;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp b/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
index be5f506898..cec0c219c2 100644
--- a/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
+++ b/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::data_transfer_rate
+ * @namespace wpi::units::data_transfer_rate
  * @brief namespace for unit types and containers representing data values
  * @details The base unit for data is `bytes`, and the corresponding `base_unit`
  *          category is `data_unit`.
@@ -41,7 +41,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_DATA_TRANSFER_RATE_UNITS)
 UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(
     data_transfer_rate, bytes_per_second, bytes_per_second, Bps,
-    unit<std::ratio<1>, units::category::data_transfer_rate_unit>)
+    unit<std::ratio<1>, wpi::units::category::data_transfer_rate_unit>)
 UNIT_ADD(data_transfer_rate, exabytes_per_second, exabytes_per_second, EBps,
          unit<std::ratio<1000>, petabytes_per_second>)
 UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(
@@ -54,4 +54,4 @@ UNIT_ADD_CATEGORY_TRAIT(data_transfer_rate)
 #endif
 
 using namespace data_transfer_rate;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/density.hpp b/wpimath/src/main/native/include/wpi/units/density.hpp
index 4a33ec45f3..48b13f2859 100644
--- a/wpimath/src/main/native/include/wpi/units/density.hpp
+++ b/wpimath/src/main/native/include/wpi/units/density.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/mass.hpp"
 #include "wpi/units/volume.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::density
+ * @namespace wpi::units::density
  * @brief namespace for unit types and containers representing density values
  * @details The SI unit for density is `kilograms_per_cubic_meter`, and the
  *          corresponding `base_unit` category is `density_unit`.
@@ -42,7 +42,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_DENSITY_UNITS)
 UNIT_ADD(density, kilograms_per_cubic_meter, kilograms_per_cubic_meter,
-         kg_per_cu_m, unit<std::ratio<1>, units::category::density_unit>)
+         kg_per_cu_m, unit<std::ratio<1>, wpi::units::category::density_unit>)
 UNIT_ADD(density, grams_per_milliliter, grams_per_milliliter, g_per_mL,
          compound_unit<mass::grams, inverse<volume::milliliter>>)
 UNIT_ADD(density, kilograms_per_liter, kilograms_per_liter, kg_per_L,
@@ -67,4 +67,4 @@ UNIT_ADD_CATEGORY_TRAIT(density)
 #endif
 
 using namespace density;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/dimensionless.hpp b/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
index 1aeed922a1..e62332ce99 100644
--- a/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
+++ b/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 using dimensionless::dB_t;
 using dimensionless::dimensionless_t;
 using dimensionless::scalar;
 using dimensionless::scalar_t;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/energy.hpp b/wpimath/src/main/native/include/wpi/units/energy.hpp
index 25947dd547..42ccf0103d 100644
--- a/wpimath/src/main/native/include/wpi/units/energy.hpp
+++ b/wpimath/src/main/native/include/wpi/units/energy.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::energy
+ * @namespace wpi::units::energy
  * @brief namespace for unit types and containers representing energy values
  * @details The SI unit for energy is `joules`, and the corresponding
  *          `base_unit` category is `energy_unit`.
@@ -40,7 +40,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_ENERGY_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(energy, joule, joules, J,
-                              unit<std::ratio<1>, units::category::energy_unit>)
+                              unit<std::ratio<1>, wpi::units::category::energy_unit>)
 UNIT_ADD_WITH_METRIC_PREFIXES(energy, calorie, calories, cal,
                               unit<std::ratio<4184, 1000>, joules>)
 UNIT_ADD(energy, kilowatt_hour, kilowatt_hours, kWh,
@@ -62,4 +62,4 @@ UNIT_ADD_CATEGORY_TRAIT(energy)
 #endif
 
 using namespace energy;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/force.hpp b/wpimath/src/main/native/include/wpi/units/force.hpp
index 46b2c0e1a0..7188e9690b 100644
--- a/wpimath/src/main/native/include/wpi/units/force.hpp
+++ b/wpimath/src/main/native/include/wpi/units/force.hpp
@@ -32,9 +32,9 @@
 #include "wpi/units/mass.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::force
+ * @namespace wpi::units::force
  * @brief namespace for unit types and containers representing force values
  * @details The SI unit for force is `newtons`, and the corresponding
  *          `base_unit` category is `force_unit`.
@@ -43,7 +43,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_FORCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(force, newton, newtons, N,
-                              unit<std::ratio<1>, units::category::force_unit>)
+                              unit<std::ratio<1>, wpi::units::category::force_unit>)
 UNIT_ADD(
     force, pound, pounds, lbf,
     compound_unit<mass::slug, length::foot, inverse<squared<time::seconds>>>)
@@ -59,4 +59,4 @@ UNIT_ADD_CATEGORY_TRAIT(force)
 
 using force::newton_t;
 using force::newtons;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/formatter.hpp b/wpimath/src/main/native/include/wpi/units/formatter.hpp
index 504e326c72..fcbc370cde 100644
--- a/wpimath/src/main/native/include/wpi/units/formatter.hpp
+++ b/wpimath/src/main/native/include/wpi/units/formatter.hpp
@@ -19,7 +19,7 @@
  */
 template <typename Unit, typename CharT>
 struct fmt::formatter<Unit, CharT,
-                      std::enable_if_t<units::traits::is_unit_t_v<Unit>>> {
+                      std::enable_if_t<wpi::units::traits::is_unit_t_v<Unit>>> {
   template <typename ParseContext>
   constexpr auto parse(ParseContext& ctx) {
     return m_underlying.parse(ctx);
@@ -35,182 +35,182 @@ struct fmt::formatter<Unit, CharT,
   auto format(const Unit& obj, FmtContext& ctx) const {
     using Units = typename Unit::unit_type;
     using BaseUnits =
-        units::unit<std::ratio<1>,
-                    typename units::traits::unit_traits<Units>::base_unit_type>;
+        wpi::units::unit<std::ratio<1>,
+                    typename wpi::units::traits::unit_traits<Units>::base_unit_type>;
 
     auto out = ctx.out();
 
-    out = m_underlying.format(units::convert<Units, BaseUnits>(obj()), ctx);
+    out = m_underlying.format(wpi::units::convert<Units, BaseUnits>(obj()), ctx);
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::meter_ratio::num != 0) {
       out = fmt::format_to(out, " m");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::meter_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::meter_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::meter_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::meter_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::meter_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::meter_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::meter_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kilogram_ratio::num != 0) {
       out = fmt::format_to(out, " kg");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kilogram_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kilogram_ratio::num != 1) {
       out = fmt::format_to(out, "^{}",
-                           units::traits::unit_traits<
+                           wpi::units::traits::unit_traits<
                                Units>::base_unit_type::kilogram_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kilogram_ratio::den != 1) {
       out = fmt::format_to(out, "/{}",
-                           units::traits::unit_traits<
+                           wpi::units::traits::unit_traits<
                                Units>::base_unit_type::kilogram_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::second_ratio::num != 0) {
       out = fmt::format_to(out, " s");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::second_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::second_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::second_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::second_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::second_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::second_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::second_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::ampere_ratio::num != 0) {
       out = fmt::format_to(out, " A");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::ampere_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::ampere_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::ampere_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kelvin_ratio::num != 0) {
       out = fmt::format_to(out, " K");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kelvin_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kelvin_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::kelvin_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::mole_ratio::num != 0) {
       out = fmt::format_to(out, " mol");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::mole_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::mole_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::mole_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::mole_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::mole_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::mole_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::mole_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::candela_ratio::num != 0) {
       out = fmt::format_to(out, " cd");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::candela_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::candela_ratio::num != 1) {
       out = fmt::format_to(out, "^{}",
-                           units::traits::unit_traits<
+                           wpi::units::traits::unit_traits<
                                Units>::base_unit_type::candela_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::candela_ratio::den != 1) {
       out = fmt::format_to(out, "/{}",
-                           units::traits::unit_traits<
+                           wpi::units::traits::unit_traits<
                                Units>::base_unit_type::candela_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::radian_ratio::num != 0) {
       out = fmt::format_to(out, " rad");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::radian_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::radian_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::radian_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::radian_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::radian_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::radian_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::radian_ratio::den);
     }
 
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::byte_ratio::num != 0) {
       out = fmt::format_to(out, " b");
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::byte_ratio::num != 0 &&
-                  units::traits::unit_traits<
+                  wpi::units::traits::unit_traits<
                       Units>::base_unit_type::byte_ratio::num != 1) {
       out = fmt::format_to(
           out, "^{}",
-          units::traits::unit_traits<Units>::base_unit_type::byte_ratio::num);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::byte_ratio::num);
     }
-    if constexpr (units::traits::unit_traits<
+    if constexpr (wpi::units::traits::unit_traits<
                       Units>::base_unit_type::byte_ratio::den != 1) {
       out = fmt::format_to(
           out, "/{}",
-          units::traits::unit_traits<Units>::base_unit_type::byte_ratio::den);
+          wpi::units::traits::unit_traits<Units>::base_unit_type::byte_ratio::den);
     }
 
     return out;
diff --git a/wpimath/src/main/native/include/wpi/units/frequency.hpp b/wpimath/src/main/native/include/wpi/units/frequency.hpp
index 5b61ce1d0b..f73e87740c 100644
--- a/wpimath/src/main/native/include/wpi/units/frequency.hpp
+++ b/wpimath/src/main/native/include/wpi/units/frequency.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::frequency
+ * @namespace wpi::units::frequency
  * @brief namespace for unit types and containers representing frequency values
  * @details The SI unit for frequency is `hertz`, and the corresponding
  *          `base_unit` category is `frequency_unit`.
@@ -41,10 +41,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_FREQUENCY_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     frequency, hertz, hertz, Hz,
-    unit<std::ratio<1>, units::category::frequency_unit>)
+    unit<std::ratio<1>, wpi::units::category::frequency_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(frequency)
 #endif
 
 using namespace frequency;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/illuminance.hpp b/wpimath/src/main/native/include/wpi/units/illuminance.hpp
index 810d998638..c5d2b1e00b 100644
--- a/wpimath/src/main/native/include/wpi/units/illuminance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/illuminance.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/luminous_flux.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::illuminance
+ * @namespace wpi::units::illuminance
  * @brief namespace for unit types and containers representing illuminance
  *        values
  * @details The SI unit for illuminance is `luxes`, and the corresponding
@@ -44,7 +44,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_ILLUMINANCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     illuminance, lux, luxes, lx,
-    unit<std::ratio<1>, units::category::illuminance_unit>)
+    unit<std::ratio<1>, wpi::units::category::illuminance_unit>)
 UNIT_ADD(illuminance, footcandle, footcandles, fc,
          compound_unit<luminous_flux::lumen, inverse<squared<length::foot>>>)
 UNIT_ADD(illuminance, lumens_per_square_inch, lumens_per_square_inch,
@@ -58,4 +58,4 @@ UNIT_ADD_CATEGORY_TRAIT(illuminance)
 #endif
 
 using namespace illuminance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/impedance.hpp b/wpimath/src/main/native/include/wpi/units/impedance.hpp
index aecddd6ea9..74d2631b5a 100644
--- a/wpimath/src/main/native/include/wpi/units/impedance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/impedance.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::impedance
+ * @namespace wpi::units::impedance
  * @brief namespace for unit types and containers representing impedance values
  * @details The SI unit for impedance is `ohms`, and the corresponding
  *          `base_unit` category is `impedance_unit`.
@@ -41,10 +41,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_IMPEDANCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     impedance, ohm, ohms, Ohm,
-    unit<std::ratio<1>, units::category::impedance_unit>)
+    unit<std::ratio<1>, wpi::units::category::impedance_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(impedance)
 #endif
 
 using namespace impedance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/inductance.hpp b/wpimath/src/main/native/include/wpi/units/inductance.hpp
index 06ee883d6c..328a10e267 100644
--- a/wpimath/src/main/native/include/wpi/units/inductance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/inductance.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::inductance
+ * @namespace wpi::units::inductance
  * @brief namespace for unit types and containers representing inductance values
  * @details The SI unit for inductance is `henrys`, and the corresponding
  *          `base_unit` category is `inductance_unit`.
@@ -41,10 +41,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_INDUCTANCE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     inductance, henry, henries, H,
-    unit<std::ratio<1>, units::category::inductance_unit>)
+    unit<std::ratio<1>, wpi::units::category::inductance_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(inductance)
 #endif
 
 using namespace inductance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/length.hpp b/wpimath/src/main/native/include/wpi/units/length.hpp
index 9e4a5601c9..de174e140a 100644
--- a/wpimath/src/main/native/include/wpi/units/length.hpp
+++ b/wpimath/src/main/native/include/wpi/units/length.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::length
+ * @namespace wpi::units::length
  * @brief namespace for unit types and containers representing length values
  * @details The SI unit for length is `meters`, and the corresponding
  *          `base_unit` category is `length_unit`.
@@ -40,7 +40,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_LENGTH_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(length, meter, meters, m,
-                              unit<std::ratio<1>, units::category::length_unit>)
+                              unit<std::ratio<1>, wpi::units::category::length_unit>)
 UNIT_ADD(length, foot, feet, ft, unit<std::ratio<381, 1250>, meters>)
 UNIT_ADD(length, inch, inches, in, unit<std::ratio<1, 12>, feet>)
 UNIT_ADD(length, mil, mils, mil, unit<std::ratio<1, 1000>, inches>)
@@ -69,4 +69,4 @@ UNIT_ADD_CATEGORY_TRAIT(length)
 #endif
 
 using namespace length;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp b/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
index c4b911d8ad..3125e9aee9 100644
--- a/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
+++ b/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::luminous_flux
+ * @namespace wpi::units::luminous_flux
  * @brief namespace for unit types and containers representing luminous_flux
  *        values
  * @details The SI unit for luminous_flux is `lumens`, and the corresponding
@@ -42,10 +42,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_LUMINOUS_FLUX_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     luminous_flux, lumen, lumens, lm,
-    unit<std::ratio<1>, units::category::luminous_flux_unit>)
+    unit<std::ratio<1>, wpi::units::category::luminous_flux_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(luminous_flux)
 #endif
 
 using namespace luminous_flux;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp b/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
index 8ea92230a2..88753ea5c7 100644
--- a/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::luminous_intensity
+ * @namespace wpi::units::luminous_intensity
  * @brief namespace for unit types and containers representing
  *        luminous_intensity values
  * @details The SI unit for luminous_intensity is `candelas`, and the
@@ -42,10 +42,10 @@ namespace units {
     defined(ENABLE_PREDEFINED_LUMINOUS_INTENSITY_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     luminous_intensity, candela, candelas, cd,
-    unit<std::ratio<1>, units::category::luminous_intensity_unit>)
+    unit<std::ratio<1>, wpi::units::category::luminous_intensity_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(luminous_intensity)
 #endif
 
 using namespace luminous_intensity;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp b/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
index e69d44c50e..de2b52a15d 100644
--- a/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
+++ b/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/magnetic_flux.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::magnetic_field_strength
+ * @namespace wpi::units::magnetic_field_strength
  * @brief namespace for unit types and containers representing
  *        magnetic_field_strength values
  * @details The SI unit for magnetic_field_strength is `teslas`, and the
@@ -47,7 +47,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_MAGNETIC_FIELD_STRENGTH_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     magnetic_field_strength, tesla, teslas, Te,
-    unit<std::ratio<1>, units::category::magnetic_field_strength_unit>)
+    unit<std::ratio<1>, wpi::units::category::magnetic_field_strength_unit>)
 UNIT_ADD(
     magnetic_field_strength, gauss, gauss, G,
     compound_unit<magnetic_flux::maxwell, inverse<squared<length::centimeter>>>)
@@ -56,4 +56,4 @@ UNIT_ADD_CATEGORY_TRAIT(magnetic_field_strength)
 #endif
 
 using namespace magnetic_field_strength;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp b/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
index 8aac7d002c..906b592586 100644
--- a/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
+++ b/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::magnetic_flux
+ * @namespace wpi::units::magnetic_flux
  * @brief namespace for unit types and containers representing magnetic_flux
  *        values
  * @details The SI unit for magnetic_flux is `webers`, and the corresponding
@@ -42,7 +42,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_MAGNETIC_FLUX_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     magnetic_flux, weber, webers, Wb,
-    unit<std::ratio<1>, units::category::magnetic_flux_unit>)
+    unit<std::ratio<1>, wpi::units::category::magnetic_flux_unit>)
 UNIT_ADD(magnetic_flux, maxwell, maxwells, Mx,
          unit<std::ratio<1, 100000000>, webers>)
 
@@ -50,4 +50,4 @@ UNIT_ADD_CATEGORY_TRAIT(magnetic_flux)
 #endif
 
 using namespace magnetic_flux;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/mass.hpp b/wpimath/src/main/native/include/wpi/units/mass.hpp
index 7d12105f7b..78883fb11c 100644
--- a/wpimath/src/main/native/include/wpi/units/mass.hpp
+++ b/wpimath/src/main/native/include/wpi/units/mass.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::mass
+ * @namespace wpi::units::mass
  * @brief namespace for unit types and containers representing mass values
  * @details The SI unit for mass is `kilograms`, and the corresponding
  *          `base_unit` category is `mass_unit`.
@@ -39,7 +39,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MASS_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
-    mass, gram, grams, g, unit<std::ratio<1, 1000>, units::category::mass_unit>)
+    mass, gram, grams, g, unit<std::ratio<1, 1000>, wpi::units::category::mass_unit>)
 UNIT_ADD(mass, metric_ton, metric_tons, t, unit<std::ratio<1000>, kilograms>)
 UNIT_ADD(mass, pound, pounds, lb,
          unit<std::ratio<45359237, 100000000>, kilograms>)
@@ -55,4 +55,4 @@ UNIT_ADD_CATEGORY_TRAIT(mass)
 #endif
 
 using namespace mass;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/math.hpp b/wpimath/src/main/native/include/wpi/units/math.hpp
index 70ea967eb3..988e5aad9c 100644
--- a/wpimath/src/main/native/include/wpi/units/math.hpp
+++ b/wpimath/src/main/native/include/wpi/units/math.hpp
@@ -44,7 +44,7 @@
  *          rounding functions, etc.
  * @sa See `unit_t` for more information on unit type containers.
  */
-namespace units::math {
+namespace wpi::units::math {
 //----------------------------------
 // TRIGONOMETRIC FUNCTIONS
 //----------------------------------
@@ -185,7 +185,7 @@ constexpr angle::radian_t atan2(const Y y, const X x) noexcept {
   // X and Y could be different length units, so normalize them
   return angle::radian_t(
       gcem::atan2(y.template convert<
-                      typename units::traits::unit_t_traits<X>::unit_type>()(),
+                      typename wpi::units::traits::unit_t_traits<X>::unit_type>()(),
                   x()));
 }
 #endif
@@ -298,7 +298,7 @@ constexpr angle::radian_t asinh(const ScalarUnit x) noexcept {
  * @param[in] x Value whose arc hyperbolic tangent is computed, in the interval
  *              [-1,+1]. If the argument is out of this interval, a domain error
  *              occurs. For values of -1 and +1, a pole error may occur.
- * @returns units::angle::radian_t
+ * @returns wpi::units::angle::radian_t
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
 template <class ScalarUnit>
@@ -481,14 +481,14 @@ constexpr dimensionless::scalar_t log2(const ScalarUnit x) noexcept {
  */
 template <
     class UnitType,
-    std::enable_if_t<units::traits::has_linear_scale<UnitType>::value, int> = 0>
+    std::enable_if_t<wpi::units::traits::has_linear_scale<UnitType>::value, int> = 0>
 inline constexpr auto sqrt(const UnitType& value) noexcept -> unit_t<
-    square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>,
-    typename units::traits::unit_t_traits<UnitType>::underlying_type,
+    square_root<typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>,
+    typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type,
     linear_scale> {
   return unit_t<
-      square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>,
-      typename units::traits::unit_t_traits<UnitType>::underlying_type,
+      square_root<typename wpi::units::traits::unit_t_traits<UnitType>::unit_type>,
+      typename wpi::units::traits::unit_t_traits<UnitType>::underlying_type,
       linear_scale>(gcem::sqrt(value()));
 }
 
@@ -502,7 +502,7 @@ inline constexpr auto sqrt(const UnitType& value) noexcept -> unit_t<
  */
 template <class UnitTypeLhs, class UnitTypeRhs,
           std::enable_if_t<
-              units::traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value,
+              wpi::units::traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value,
               int> = 0>
 inline constexpr UnitTypeLhs hypot(const UnitTypeLhs& x, const UnitTypeRhs& y) {
   static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value,
@@ -510,7 +510,7 @@ inline constexpr UnitTypeLhs hypot(const UnitTypeLhs& x, const UnitTypeRhs& y) {
   return UnitTypeLhs(gcem::hypot(
       x(),
       y.template convert<
-          typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+          typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
 }
 
 //----------------------------------
@@ -564,7 +564,7 @@ constexpr UnitTypeLhs fmod(const UnitTypeLhs numer,
   return UnitTypeLhs(gcem::fmod(
       numer(),
       denom.template convert<
-          typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+          typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
 }
 
 /**
@@ -648,7 +648,7 @@ UnitTypeLhs fdim(const UnitTypeLhs x, const UnitTypeRhs y) noexcept {
   return UnitTypeLhs(std::fdim(
       x(),
       y.template convert<
-          typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+          typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
 }
 
 /**
@@ -670,7 +670,7 @@ constexpr UnitTypeLhs fmax(const UnitTypeLhs x, const UnitTypeRhs y) noexcept {
   return UnitTypeLhs(gcem::max<double, double>(
       x(),
       y.template convert<
-          typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+          typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
 }
 
 /**
@@ -693,7 +693,7 @@ constexpr UnitTypeLhs fmin(const UnitTypeLhs x, const UnitTypeRhs y) noexcept {
   return UnitTypeLhs(gcem::min<double, double>(
       x(),
       y.template convert<
-          typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+          typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
 }
 
 //----------------------------------
@@ -747,10 +747,10 @@ auto fma(const UnitTypeLhs x, const UnitMultiply y, const UnitAdd z) noexcept
   static_assert(
       traits::is_convertible_unit_t<
           compound_unit<
-              typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type,
-              typename units::traits::unit_t_traits<UnitMultiply>::unit_type>,
-          typename units::traits::unit_t_traits<UnitAdd>::unit_type>::value,
+              typename wpi::units::traits::unit_t_traits<UnitTypeLhs>::unit_type,
+              typename wpi::units::traits::unit_t_traits<UnitMultiply>::unit_type>,
+          typename wpi::units::traits::unit_t_traits<UnitAdd>::unit_type>::value,
       "Unit types are not compatible.");
   return resultType(std::fma(x(), y(), resultType(z)()));
 }
-}  // namespace units::math
+}  // namespace wpi::units::math
diff --git a/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp b/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
index af58c9071b..570a6355aa 100644
--- a/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
+++ b/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
@@ -8,9 +8,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/mass.hpp"
 
-namespace units {
+namespace wpi::units {
 UNIT_ADD(moment_of_inertia, kilogram_square_meter, kilogram_square_meters,
          kg_sq_m, compound_unit<mass::kilograms, area::square_meters>)
 
 using namespace moment_of_inertia;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/power.hpp b/wpimath/src/main/native/include/wpi/units/power.hpp
index 6beca87912..c9a31cb70a 100644
--- a/wpimath/src/main/native/include/wpi/units/power.hpp
+++ b/wpimath/src/main/native/include/wpi/units/power.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::power
+ * @namespace wpi::units::power
  * @brief namespace for unit types and containers representing power values
  * @details The SI unit for power is `watts`, and the corresponding `base_unit`
  *          category is `power_unit`.
@@ -39,7 +39,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_POWER_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(power, watt, watts, W,
-                              unit<std::ratio<1>, units::category::power_unit>)
+                              unit<std::ratio<1>, wpi::units::category::power_unit>)
 UNIT_ADD(power, horsepower, horsepower, hp, unit<std::ratio<7457, 10>, watts>)
 UNIT_ADD_DECIBEL(power, watt, dBW)
 UNIT_ADD_DECIBEL(power, milliwatt, dBm)
@@ -48,4 +48,4 @@ UNIT_ADD_CATEGORY_TRAIT(power)
 #endif
 
 using namespace power;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/pressure.hpp b/wpimath/src/main/native/include/wpi/units/pressure.hpp
index 453230f881..f373980553 100644
--- a/wpimath/src/main/native/include/wpi/units/pressure.hpp
+++ b/wpimath/src/main/native/include/wpi/units/pressure.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/force.hpp"
 #include "wpi/units/length.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::pressure
+ * @namespace wpi::units::pressure
  * @brief namespace for unit types and containers representing pressure values
  * @details The SI unit for pressure is `pascals`, and the corresponding
  *          `base_unit` category is `pressure_unit`.
@@ -43,7 +43,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_PRESSURE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     pressure, pascal, pascals, Pa,
-    unit<std::ratio<1>, units::category::pressure_unit>)
+    unit<std::ratio<1>, wpi::units::category::pressure_unit>)
 UNIT_ADD(pressure, bar, bars, bar, unit<std::ratio<100>, kilo<pascals>>)
 UNIT_ADD(pressure, mbar, mbars, mbar, unit<std::ratio<1>, milli<bar>>)
 UNIT_ADD(pressure, atmosphere, atmospheres, atm,
@@ -56,4 +56,4 @@ UNIT_ADD_CATEGORY_TRAIT(pressure)
 #endif
 
 using namespace pressure;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/radiation.hpp b/wpimath/src/main/native/include/wpi/units/radiation.hpp
index 99e46117a5..2916b4006d 100644
--- a/wpimath/src/main/native/include/wpi/units/radiation.hpp
+++ b/wpimath/src/main/native/include/wpi/units/radiation.hpp
@@ -37,9 +37,9 @@
 #include "wpi/units/frequency.hpp"
 #include "wpi/units/mass.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::radiation
+ * @namespace wpi::units::radiation
  * @brief namespace for unit types and containers representing radiation values
  * @details The SI units for radiation are:
  *          - source activity:	becquerel
@@ -51,7 +51,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_RADIATION_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(radiation, becquerel, becquerels, Bq,
-                              unit<std::ratio<1>, units::frequency::hertz>)
+                              unit<std::ratio<1>, wpi::units::frequency::hertz>)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     radiation, gray, grays, Gy,
     compound_unit<energy::joules, inverse<mass::kilogram>>)
@@ -66,4 +66,4 @@ UNIT_ADD_CATEGORY_TRAIT(radioactivity)
 #endif
 
 using namespace radiation;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/solid_angle.hpp b/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
index c265b51efe..9fd2bbee90 100644
--- a/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
+++ b/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
@@ -29,9 +29,9 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::solid_angle
+ * @namespace wpi::units::solid_angle
  * @brief namespace for unit types and containers representing solid_angle
  *        values
  * @details The SI unit for solid_angle is `steradians`, and the corresponding
@@ -43,7 +43,7 @@ namespace units {
     defined(ENABLE_PREDEFINED_SOLID_ANGLE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
     solid_angle, steradian, steradians, sr,
-    unit<std::ratio<1>, units::category::solid_angle_unit>)
+    unit<std::ratio<1>, wpi::units::category::solid_angle_unit>)
 UNIT_ADD(solid_angle, degree_squared, degrees_squared, sq_deg,
          squared<angle::degrees>)
 UNIT_ADD(solid_angle, spat, spats, sp,
@@ -53,4 +53,4 @@ UNIT_ADD_CATEGORY_TRAIT(solid_angle)
 #endif
 
 using namespace solid_angle;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/substance.hpp b/wpimath/src/main/native/include/wpi/units/substance.hpp
index b9c57b02af..ec9b50295a 100644
--- a/wpimath/src/main/native/include/wpi/units/substance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/substance.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::substance
+ * @namespace wpi::units::substance
  * @brief namespace for unit types and containers representing substance values
  * @details The SI unit for substance is `moles`, and the corresponding
  *          `base_unit` category is `substance_unit`.
@@ -40,10 +40,10 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_SUBSTANCE_UNITS)
 UNIT_ADD(substance, mole, moles, mol,
-         unit<std::ratio<1>, units::category::substance_unit>)
+         unit<std::ratio<1>, wpi::units::category::substance_unit>)
 
 UNIT_ADD_CATEGORY_TRAIT(substance)
 #endif
 
 using namespace substance;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/temperature.hpp b/wpimath/src/main/native/include/wpi/units/temperature.hpp
index f7c538ab5c..c14e035ffc 100644
--- a/wpimath/src/main/native/include/wpi/units/temperature.hpp
+++ b/wpimath/src/main/native/include/wpi/units/temperature.hpp
@@ -28,12 +28,12 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 // NOTE: temperature units have special conversion overloads, since they
 // require translations and aren't a reversible transform.
 
 /**
- * @namespace units::temperature
+ * @namespace wpi::units::temperature
  * @brief namespace for unit types and containers representing temperature
  *        values
  * @details The SI unit for temperature is `kelvin`, and the corresponding
@@ -44,7 +44,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_TEMPERATURE_UNITS)
 UNIT_ADD(temperature, kelvin, kelvin, K,
-         unit<std::ratio<1>, units::category::temperature_unit>)
+         unit<std::ratio<1>, wpi::units::category::temperature_unit>)
 UNIT_ADD(temperature, celsius, celsius, degC,
          unit<std::ratio<1>, kelvin, std::ratio<0>, std::ratio<27315, 100>>)
 UNIT_ADD(temperature, fahrenheit, fahrenheit, degF,
@@ -56,4 +56,4 @@ UNIT_ADD_CATEGORY_TRAIT(temperature)
 #endif
 
 using namespace temperature;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/time.hpp b/wpimath/src/main/native/include/wpi/units/time.hpp
index 8ddf69625b..ede6f51bff 100644
--- a/wpimath/src/main/native/include/wpi/units/time.hpp
+++ b/wpimath/src/main/native/include/wpi/units/time.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::time
+ * @namespace wpi::units::time
  * @brief namespace for unit types and containers representing time values
  * @details The SI unit for time is `seconds`, and the corresponding `base_unit`
  *          category is `time_unit`.
@@ -39,7 +39,7 @@ namespace units {
  */
 #if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TIME_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(time, second, seconds, s,
-                              unit<std::ratio<1>, units::category::time_unit>)
+                              unit<std::ratio<1>, wpi::units::category::time_unit>)
 UNIT_ADD(time, minute, minutes, min, unit<std::ratio<60>, seconds>)
 UNIT_ADD(time, hour, hours, hr, unit<std::ratio<60>, minutes>)
 UNIT_ADD(time, day, days, d, unit<std::ratio<24>, hours>)
@@ -54,4 +54,4 @@ UNIT_ADD_CATEGORY_TRAIT(time)
 #endif
 
 using namespace time;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/torque.hpp b/wpimath/src/main/native/include/wpi/units/torque.hpp
index da2fb691b1..0c06e8c54a 100644
--- a/wpimath/src/main/native/include/wpi/units/torque.hpp
+++ b/wpimath/src/main/native/include/wpi/units/torque.hpp
@@ -31,9 +31,9 @@
 #include "wpi/units/force.hpp"
 #include "wpi/units/length.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::torque
+ * @namespace wpi::units::torque
  * @brief namespace for unit types and containers representing torque values
  * @details The SI unit for torque is `newton_meters`, and the corresponding
  *          `base_unit` category is `torque_units`.
@@ -43,7 +43,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_TORQUE_UNITS)
 UNIT_ADD(torque, newton_meter, newton_meters, Nm,
-         unit<std::ratio<1>, units::energy::joule>)
+         unit<std::ratio<1>, wpi::units::energy::joule>)
 UNIT_ADD(torque, foot_pound, foot_pounds, ftlb,
          compound_unit<length::foot, force::pounds>)
 UNIT_ADD(torque, foot_poundal, foot_poundals, ftpdl,
@@ -57,4 +57,4 @@ UNIT_ADD_CATEGORY_TRAIT(torque)
 #endif
 
 using namespace torque;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/velocity.hpp b/wpimath/src/main/native/include/wpi/units/velocity.hpp
index 88dd43af63..09c24c055d 100644
--- a/wpimath/src/main/native/include/wpi/units/velocity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/velocity.hpp
@@ -30,9 +30,9 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/time.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::velocity
+ * @namespace wpi::units::velocity
  * @brief namespace for unit types and containers representing velocity values
  * @details The SI unit for velocity is `meters_per_second`, and the
  *          corresponding `base_unit` category is `velocity_unit`.
@@ -42,7 +42,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_VELOCITY_UNITS)
 UNIT_ADD(velocity, meters_per_second, meters_per_second, mps,
-         unit<std::ratio<1>, units::category::velocity_unit>)
+         unit<std::ratio<1>, wpi::units::category::velocity_unit>)
 UNIT_ADD(velocity, feet_per_second, feet_per_second, fps,
          compound_unit<length::feet, inverse<time::seconds>>)
 UNIT_ADD(velocity, miles_per_hour, miles_per_hour, mph,
@@ -56,4 +56,4 @@ UNIT_ADD_CATEGORY_TRAIT(velocity)
 #endif
 
 using namespace velocity;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/voltage.hpp b/wpimath/src/main/native/include/wpi/units/voltage.hpp
index 844775ebe7..4f2b88724b 100644
--- a/wpimath/src/main/native/include/wpi/units/voltage.hpp
+++ b/wpimath/src/main/native/include/wpi/units/voltage.hpp
@@ -28,9 +28,9 @@
 
 #include "wpi/units/base.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::voltage
+ * @namespace wpi::units::voltage
  * @brief namespace for unit types and containers representing voltage values
  * @details The SI unit for voltage is `volts`, and the corresponding
  *          `base_unit` category is `voltage_unit`.
@@ -40,7 +40,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_VOLTAGE_UNITS)
 UNIT_ADD_WITH_METRIC_PREFIXES(
-    voltage, volt, volts, V, unit<std::ratio<1>, units::category::voltage_unit>)
+    voltage, volt, volts, V, unit<std::ratio<1>, wpi::units::category::voltage_unit>)
 UNIT_ADD(voltage, statvolt, statvolts, statV,
          unit<std::ratio<1000000, 299792458>, volts>)
 UNIT_ADD(voltage, abvolt, abvolts, abV, unit<std::ratio<1, 100000000>, volts>)
@@ -49,4 +49,4 @@ UNIT_ADD_CATEGORY_TRAIT(voltage)
 #endif
 
 using namespace voltage;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/include/wpi/units/volume.hpp b/wpimath/src/main/native/include/wpi/units/volume.hpp
index 87bac25f6e..9ad18f7bf7 100644
--- a/wpimath/src/main/native/include/wpi/units/volume.hpp
+++ b/wpimath/src/main/native/include/wpi/units/volume.hpp
@@ -29,9 +29,9 @@
 #include "wpi/units/base.hpp"
 #include "wpi/units/length.hpp"
 
-namespace units {
+namespace wpi::units {
 /**
- * @namespace units::volume
+ * @namespace wpi::units::volume
  * @brief namespace for unit types and containers representing volume values
  * @details The SI unit for volume is `cubic_meters`, and the corresponding
  *          `base_unit` category is `volume_unit`.
@@ -41,7 +41,7 @@ namespace units {
 #if !defined(DISABLE_PREDEFINED_UNITS) || \
     defined(ENABLE_PREDEFINED_VOLUME_UNITS)
 UNIT_ADD(volume, cubic_meter, cubic_meters, cu_m,
-         unit<std::ratio<1>, units::category::volume_unit>)
+         unit<std::ratio<1>, wpi::units::category::volume_unit>)
 UNIT_ADD(volume, cubic_millimeter, cubic_millimeters, cu_mm,
          cubed<length::millimeter>)
 UNIT_ADD(volume, cubic_kilometer, cubic_kilometers, cu_km,
@@ -80,4 +80,4 @@ UNIT_ADD_CATEGORY_TRAIT(volume)
 #endif
 
 using namespace volume;
-}  // namespace units
+}  // namespace wpi::units
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp b/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
index 25f6710e9f..cd6ef22e05 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
@@ -7,6 +7,6 @@
 namespace gch {
 
 template <typename T>
-using small_vector = wpi::SmallVector<T>;
+using small_vector = wpi::util::SmallVector<T>;
 
 }  // namespace gch
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
index 43dcc748b6..74dd7990b0 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
@@ -116,7 +116,7 @@ class SLEIPNIR_DLLEXPORT Spy {
    */
   void write32le(int32_t num) {
     if constexpr (std::endian::native != std::endian::little) {
-      num = wpi::byteswap(num);
+      num = wpi::util::byteswap(num);
     }
     m_file.write(reinterpret_cast<char*>(&num), sizeof(num));
   }
diff --git a/wpimath/src/main/python/pyproject.toml b/wpimath/src/main/python/pyproject.toml
index 1b2de2631f..e58f426316 100644
--- a/wpimath/src/main/python/pyproject.toml
+++ b/wpimath/src/main/python/pyproject.toml
@@ -115,1344 +115,1344 @@ includedir = ["wpimath/_impl/src", "wpimath/_impl/src/type_casters"]
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_acceleration_type_caster.h"
 types = [
-    "units::feet_per_second_squared_t",
-    "units::meters_per_second_squared_t",
-    "units::standard_gravity_t",
+    "wpi::units::feet_per_second_squared_t",
+    "wpi::units::meters_per_second_squared_t",
+    "wpi::units::standard_gravity_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_acceleration_type_caster.h"
 types = [
-    "units::feet_per_second_squared",
-    "units::feet_per_second_squared",
-    "units::meters_per_second_squared",
-    "units::meters_per_second_squared",
-    "units::standard_gravity",
-    "units::standard_gravity",
+    "wpi::units::feet_per_second_squared",
+    "wpi::units::feet_per_second_squared",
+    "wpi::units::meters_per_second_squared",
+    "wpi::units::meters_per_second_squared",
+    "wpi::units::standard_gravity",
+    "wpi::units::standard_gravity",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angle_type_caster.h"
 types = [
-    "units::arcminute_t",
-    "units::arcsecond_t",
-    "units::degree_t",
-    "units::gradian_t",
-    "units::kiloradian_t",
-    "units::microradian_t",
-    "units::milliarcsecond_t",
-    "units::milliradian_t",
-    "units::nanoradian_t",
-    "units::radian_t",
-    "units::turn_t",
+    "wpi::units::arcminute_t",
+    "wpi::units::arcsecond_t",
+    "wpi::units::degree_t",
+    "wpi::units::gradian_t",
+    "wpi::units::kiloradian_t",
+    "wpi::units::microradian_t",
+    "wpi::units::milliarcsecond_t",
+    "wpi::units::milliradian_t",
+    "wpi::units::nanoradian_t",
+    "wpi::units::radian_t",
+    "wpi::units::turn_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angle_type_caster.h"
 types = [
-    "units::arcminute",
-    "units::arcminutes",
-    "units::arcsecond",
-    "units::arcseconds",
-    "units::degree",
-    "units::degrees",
-    "units::gradian",
-    "units::gradians",
-    "units::kiloradian",
-    "units::kiloradians",
-    "units::microradian",
-    "units::microradians",
-    "units::milliarcsecond",
-    "units::milliarcseconds",
-    "units::milliradian",
-    "units::milliradians",
-    "units::nanoradian",
-    "units::nanoradians",
-    "units::radian",
-    "units::radians",
-    "units::turn",
-    "units::turns",
+    "wpi::units::arcminute",
+    "wpi::units::arcminutes",
+    "wpi::units::arcsecond",
+    "wpi::units::arcseconds",
+    "wpi::units::degree",
+    "wpi::units::degrees",
+    "wpi::units::gradian",
+    "wpi::units::gradians",
+    "wpi::units::kiloradian",
+    "wpi::units::kiloradians",
+    "wpi::units::microradian",
+    "wpi::units::microradians",
+    "wpi::units::milliarcsecond",
+    "wpi::units::milliarcseconds",
+    "wpi::units::milliradian",
+    "wpi::units::milliradians",
+    "wpi::units::nanoradian",
+    "wpi::units::nanoradians",
+    "wpi::units::radian",
+    "wpi::units::radians",
+    "wpi::units::turn",
+    "wpi::units::turns",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angular_acceleration_type_caster.h"
 types = [
-    "units::radians_per_second_squared_t",
-    "units::degrees_per_second_squared_t",
-    "units::turns_per_second_squared_t",
+    "wpi::units::radians_per_second_squared_t",
+    "wpi::units::degrees_per_second_squared_t",
+    "wpi::units::turns_per_second_squared_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angular_acceleration_type_caster.h"
 types = [
-    "units::radians_per_second_squared",
-    "units::degrees_per_second_squared",
-    "units::turns_per_second_squared",
+    "wpi::units::radians_per_second_squared",
+    "wpi::units::degrees_per_second_squared",
+    "wpi::units::turns_per_second_squared",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angular_velocity_type_caster.h"
 types = [
-    "units::degrees_per_second_t",
-    "units::milliarcseconds_per_year_t",
-    "units::radians_per_second_t",
-    "units::turns_per_second_t",
-    "units::revolutions_per_minute_t",
+    "wpi::units::degrees_per_second_t",
+    "wpi::units::milliarcseconds_per_year_t",
+    "wpi::units::radians_per_second_t",
+    "wpi::units::turns_per_second_t",
+    "wpi::units::revolutions_per_minute_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_angular_velocity_type_caster.h"
 types = [
-    "units::degrees_per_second",
-    "units::milliarcseconds_per_year",
-    "units::radians_per_second",
-    "units::turns_per_second",
-    "units::revolutions_per_minute",
+    "wpi::units::degrees_per_second",
+    "wpi::units::milliarcseconds_per_year",
+    "wpi::units::radians_per_second",
+    "wpi::units::turns_per_second",
+    "wpi::units::revolutions_per_minute",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_area_type_caster.h"
 types = [
-    "units::acre_t",
-    "units::hectare_t",
-    "units::square_foot_t",
-    "units::square_inch_t",
-    "units::square_kilometer_t",
-    "units::square_meter_t",
-    "units::square_mile_t",
+    "wpi::units::acre_t",
+    "wpi::units::hectare_t",
+    "wpi::units::square_foot_t",
+    "wpi::units::square_inch_t",
+    "wpi::units::square_kilometer_t",
+    "wpi::units::square_meter_t",
+    "wpi::units::square_mile_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_area_type_caster.h"
 types = [
-    "units::acre",
-    "units::acres",
-    "units::hectare",
-    "units::hectares",
-    "units::square_feet",
-    "units::square_foot",
-    "units::square_inch",
-    "units::square_inches",
-    "units::square_kilometer",
-    "units::square_kilometers",
-    "units::square_meter",
-    "units::square_meters",
-    "units::square_mile",
-    "units::square_miles",
+    "wpi::units::acre",
+    "wpi::units::acres",
+    "wpi::units::hectare",
+    "wpi::units::hectares",
+    "wpi::units::square_feet",
+    "wpi::units::square_foot",
+    "wpi::units::square_inch",
+    "wpi::units::square_inches",
+    "wpi::units::square_kilometer",
+    "wpi::units::square_kilometers",
+    "wpi::units::square_meter",
+    "wpi::units::square_meters",
+    "wpi::units::square_mile",
+    "wpi::units::square_miles",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_capacitance_type_caster.h"
 types = [
-    "units::farad_t",
-    "units::kilofarad_t",
-    "units::microfarad_t",
-    "units::millifarad_t",
-    "units::nanofarad_t",
+    "wpi::units::farad_t",
+    "wpi::units::kilofarad_t",
+    "wpi::units::microfarad_t",
+    "wpi::units::millifarad_t",
+    "wpi::units::nanofarad_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_capacitance_type_caster.h"
 types = [
-    "units::farad",
-    "units::farads",
-    "units::kilofarad",
-    "units::kilofarads",
-    "units::microfarad",
-    "units::microfarads",
-    "units::millifarad",
-    "units::millifarads",
-    "units::nanofarad",
-    "units::nanofarads",
+    "wpi::units::farad",
+    "wpi::units::farads",
+    "wpi::units::kilofarad",
+    "wpi::units::kilofarads",
+    "wpi::units::microfarad",
+    "wpi::units::microfarads",
+    "wpi::units::millifarad",
+    "wpi::units::millifarads",
+    "wpi::units::nanofarad",
+    "wpi::units::nanofarads",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_charge_type_caster.h"
 types = [
-    "units::ampere_hour_t",
-    "units::coulomb_t",
-    "units::kiloampere_hour_t",
-    "units::kilocoulomb_t",
-    "units::microampere_hour_t",
-    "units::microcoulomb_t",
-    "units::milliampere_hour_t",
-    "units::millicoulomb_t",
-    "units::nanoampere_hour_t",
-    "units::nanocoulomb_t",
+    "wpi::units::ampere_hour_t",
+    "wpi::units::coulomb_t",
+    "wpi::units::kiloampere_hour_t",
+    "wpi::units::kilocoulomb_t",
+    "wpi::units::microampere_hour_t",
+    "wpi::units::microcoulomb_t",
+    "wpi::units::milliampere_hour_t",
+    "wpi::units::millicoulomb_t",
+    "wpi::units::nanoampere_hour_t",
+    "wpi::units::nanocoulomb_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_charge_type_caster.h"
 types = [
-    "units::ampere_hour",
-    "units::ampere_hours",
-    "units::coulomb",
-    "units::coulombs",
-    "units::kiloampere_hour",
-    "units::kiloampere_hours",
-    "units::kilocoulomb",
-    "units::kilocoulombs",
-    "units::microampere_hour",
-    "units::microampere_hours",
-    "units::microcoulomb",
-    "units::microcoulombs",
-    "units::milliampere_hour",
-    "units::milliampere_hours",
-    "units::millicoulomb",
-    "units::millicoulombs",
-    "units::nanoampere_hour",
-    "units::nanoampere_hours",
-    "units::nanocoulomb",
-    "units::nanocoulombs",
+    "wpi::units::ampere_hour",
+    "wpi::units::ampere_hours",
+    "wpi::units::coulomb",
+    "wpi::units::coulombs",
+    "wpi::units::kiloampere_hour",
+    "wpi::units::kiloampere_hours",
+    "wpi::units::kilocoulomb",
+    "wpi::units::kilocoulombs",
+    "wpi::units::microampere_hour",
+    "wpi::units::microampere_hours",
+    "wpi::units::microcoulomb",
+    "wpi::units::microcoulombs",
+    "wpi::units::milliampere_hour",
+    "wpi::units::milliampere_hours",
+    "wpi::units::millicoulomb",
+    "wpi::units::millicoulombs",
+    "wpi::units::nanoampere_hour",
+    "wpi::units::nanoampere_hours",
+    "wpi::units::nanocoulomb",
+    "wpi::units::nanocoulombs",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_concentration_type_caster.h"
 types = [
-    "units::percent_t",
-    "units::ppb_t",
-    "units::ppm_t",
-    "units::ppt_t",
+    "wpi::units::percent_t",
+    "wpi::units::ppb_t",
+    "wpi::units::ppm_t",
+    "wpi::units::ppt_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_concentration_type_caster.h"
 types = [
-    "units::parts_per_billion",
-    "units::parts_per_million",
-    "units::parts_per_trillion",
-    "units::percent",
-    "units::percent",
-    "units::ppb",
-    "units::ppm",
-    "units::ppt",
+    "wpi::units::parts_per_billion",
+    "wpi::units::parts_per_million",
+    "wpi::units::parts_per_trillion",
+    "wpi::units::percent",
+    "wpi::units::percent",
+    "wpi::units::ppb",
+    "wpi::units::ppm",
+    "wpi::units::ppt",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_conductance_type_caster.h"
 types = [
-    "units::kilosiemens_t",
-    "units::microsiemens_t",
-    "units::millisiemens_t",
-    "units::nanosiemens_t",
-    "units::siemens_t",
+    "wpi::units::kilosiemens_t",
+    "wpi::units::microsiemens_t",
+    "wpi::units::millisiemens_t",
+    "wpi::units::nanosiemens_t",
+    "wpi::units::siemens_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_conductance_type_caster.h"
 types = [
-    "units::kilosiemens",
-    "units::kilosiemens",
-    "units::microsiemens",
-    "units::microsiemens",
-    "units::millisiemens",
-    "units::millisiemens",
-    "units::nanosiemens",
-    "units::nanosiemens",
-    "units::siemens",
-    "units::siemens",
+    "wpi::units::kilosiemens",
+    "wpi::units::kilosiemens",
+    "wpi::units::microsiemens",
+    "wpi::units::microsiemens",
+    "wpi::units::millisiemens",
+    "wpi::units::millisiemens",
+    "wpi::units::nanosiemens",
+    "wpi::units::nanosiemens",
+    "wpi::units::siemens",
+    "wpi::units::siemens",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_current_type_caster.h"
 types = [
-    "units::ampere_t",
-    "units::kiloampere_t",
-    "units::microampere_t",
-    "units::milliampere_t",
-    "units::nanoampere_t",
+    "wpi::units::ampere_t",
+    "wpi::units::kiloampere_t",
+    "wpi::units::microampere_t",
+    "wpi::units::milliampere_t",
+    "wpi::units::nanoampere_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_current_type_caster.h"
 types = [
-    "units::ampere",
-    "units::amperes",
-    "units::kiloampere",
-    "units::kiloamperes",
-    "units::microampere",
-    "units::microamperes",
-    "units::milliampere",
-    "units::milliamperes",
-    "units::nanoampere",
-    "units::nanoamperes",
+    "wpi::units::ampere",
+    "wpi::units::amperes",
+    "wpi::units::kiloampere",
+    "wpi::units::kiloamperes",
+    "wpi::units::microampere",
+    "wpi::units::microamperes",
+    "wpi::units::milliampere",
+    "wpi::units::milliamperes",
+    "wpi::units::nanoampere",
+    "wpi::units::nanoamperes",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_data_type_caster.h"
 types = [
-    "units::exabit_t",
-    "units::exabyte_t",
+    "wpi::units::exabit_t",
+    "wpi::units::exabyte_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_data_type_caster.h"
 types = [
-    "units::exabit",
-    "units::exabits",
-    "units::exabyte",
-    "units::exabytes",
+    "wpi::units::exabit",
+    "wpi::units::exabits",
+    "wpi::units::exabyte",
+    "wpi::units::exabytes",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_data_transfer_rate_type_caster.h"
 types = [
-    "units::exabits_per_second_t",
-    "units::exabytes_per_second_t",
+    "wpi::units::exabits_per_second_t",
+    "wpi::units::exabytes_per_second_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_data_transfer_rate_type_caster.h"
 types = [
-    "units::exabits_per_second",
-    "units::exabits_per_second",
-    "units::exabytes_per_second",
-    "units::exabytes_per_second",
+    "wpi::units::exabits_per_second",
+    "wpi::units::exabits_per_second",
+    "wpi::units::exabytes_per_second",
+    "wpi::units::exabytes_per_second",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_density_type_caster.h"
 types = [
-    "units::grams_per_milliliter_t",
-    "units::kilograms_per_cubic_meter_t",
-    "units::kilograms_per_liter_t",
-    "units::ounces_per_cubic_foot_t",
-    "units::ounces_per_cubic_inch_t",
-    "units::ounces_per_gallon_t",
-    "units::pounds_per_cubic_foot_t",
-    "units::pounds_per_cubic_inch_t",
-    "units::pounds_per_gallon_t",
-    "units::slugs_per_cubic_foot_t",
+    "wpi::units::grams_per_milliliter_t",
+    "wpi::units::kilograms_per_cubic_meter_t",
+    "wpi::units::kilograms_per_liter_t",
+    "wpi::units::ounces_per_cubic_foot_t",
+    "wpi::units::ounces_per_cubic_inch_t",
+    "wpi::units::ounces_per_gallon_t",
+    "wpi::units::pounds_per_cubic_foot_t",
+    "wpi::units::pounds_per_cubic_inch_t",
+    "wpi::units::pounds_per_gallon_t",
+    "wpi::units::slugs_per_cubic_foot_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_density_type_caster.h"
 types = [
-    "units::grams_per_milliliter",
-    "units::grams_per_milliliter",
-    "units::kilograms_per_cubic_meter",
-    "units::kilograms_per_cubic_meter",
-    "units::kilograms_per_liter",
-    "units::kilograms_per_liter",
-    "units::ounces_per_cubic_foot",
-    "units::ounces_per_cubic_foot",
-    "units::ounces_per_cubic_inch",
-    "units::ounces_per_cubic_inch",
-    "units::ounces_per_gallon",
-    "units::ounces_per_gallon",
-    "units::pounds_per_cubic_foot",
-    "units::pounds_per_cubic_foot",
-    "units::pounds_per_cubic_inch",
-    "units::pounds_per_cubic_inch",
-    "units::pounds_per_gallon",
-    "units::pounds_per_gallon",
-    "units::slugs_per_cubic_foot",
-    "units::slugs_per_cubic_foot",
+    "wpi::units::grams_per_milliliter",
+    "wpi::units::grams_per_milliliter",
+    "wpi::units::kilograms_per_cubic_meter",
+    "wpi::units::kilograms_per_cubic_meter",
+    "wpi::units::kilograms_per_liter",
+    "wpi::units::kilograms_per_liter",
+    "wpi::units::ounces_per_cubic_foot",
+    "wpi::units::ounces_per_cubic_foot",
+    "wpi::units::ounces_per_cubic_inch",
+    "wpi::units::ounces_per_cubic_inch",
+    "wpi::units::ounces_per_gallon",
+    "wpi::units::ounces_per_gallon",
+    "wpi::units::pounds_per_cubic_foot",
+    "wpi::units::pounds_per_cubic_foot",
+    "wpi::units::pounds_per_cubic_inch",
+    "wpi::units::pounds_per_cubic_inch",
+    "wpi::units::pounds_per_gallon",
+    "wpi::units::pounds_per_gallon",
+    "wpi::units::slugs_per_cubic_foot",
+    "wpi::units::slugs_per_cubic_foot",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_energy_type_caster.h"
 types = [
-    "units::british_thermal_unit_59_t",
-    "units::british_thermal_unit_iso_t",
-    "units::british_thermal_unit_t",
-    "units::calorie_t",
-    "units::foot_pound_t",
-    "units::joule_t",
-    "units::kilocalorie_t",
-    "units::kilojoule_t",
-    "units::kilowatt_hour_t",
-    "units::microcalorie_t",
-    "units::microjoule_t",
-    "units::millicalorie_t",
-    "units::millijoule_t",
-    "units::nanocalorie_t",
-    "units::nanojoule_t",
-    "units::therm_t",
-    "units::watt_hour_t",
+    "wpi::units::british_thermal_unit_59_t",
+    "wpi::units::british_thermal_unit_iso_t",
+    "wpi::units::british_thermal_unit_t",
+    "wpi::units::calorie_t",
+    "wpi::units::foot_pound_t",
+    "wpi::units::joule_t",
+    "wpi::units::kilocalorie_t",
+    "wpi::units::kilojoule_t",
+    "wpi::units::kilowatt_hour_t",
+    "wpi::units::microcalorie_t",
+    "wpi::units::microjoule_t",
+    "wpi::units::millicalorie_t",
+    "wpi::units::millijoule_t",
+    "wpi::units::nanocalorie_t",
+    "wpi::units::nanojoule_t",
+    "wpi::units::therm_t",
+    "wpi::units::watt_hour_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_energy_type_caster.h"
 types = [
-    "units::british_thermal_unit",
-    "units::british_thermal_unit_59",
-    "units::british_thermal_unit_iso",
-    "units::british_thermal_units",
-    "units::british_thermal_units_59",
-    "units::british_thermal_units_iso",
-    "units::calorie",
-    "units::calories",
-    "units::foot_pound",
-    "units::foot_pounds",
-    "units::joule",
-    "units::joules",
-    "units::kilocalorie",
-    "units::kilocalories",
-    "units::kilojoule",
-    "units::kilojoules",
-    "units::kilowatt_hour",
-    "units::kilowatt_hours",
-    "units::microcalorie",
-    "units::microcalories",
-    "units::microjoule",
-    "units::microjoules",
-    "units::millicalorie",
-    "units::millicalories",
-    "units::millijoule",
-    "units::millijoules",
-    "units::nanocalorie",
-    "units::nanocalories",
-    "units::nanojoule",
-    "units::nanojoules",
-    "units::therm",
-    "units::therms",
-    "units::watt_hour",
-    "units::watt_hours",
+    "wpi::units::british_thermal_unit",
+    "wpi::units::british_thermal_unit_59",
+    "wpi::units::british_thermal_unit_iso",
+    "wpi::units::british_thermal_units",
+    "wpi::units::british_thermal_units_59",
+    "wpi::units::british_thermal_units_iso",
+    "wpi::units::calorie",
+    "wpi::units::calories",
+    "wpi::units::foot_pound",
+    "wpi::units::foot_pounds",
+    "wpi::units::joule",
+    "wpi::units::joules",
+    "wpi::units::kilocalorie",
+    "wpi::units::kilocalories",
+    "wpi::units::kilojoule",
+    "wpi::units::kilojoules",
+    "wpi::units::kilowatt_hour",
+    "wpi::units::kilowatt_hours",
+    "wpi::units::microcalorie",
+    "wpi::units::microcalories",
+    "wpi::units::microjoule",
+    "wpi::units::microjoules",
+    "wpi::units::millicalorie",
+    "wpi::units::millicalories",
+    "wpi::units::millijoule",
+    "wpi::units::millijoules",
+    "wpi::units::nanocalorie",
+    "wpi::units::nanocalories",
+    "wpi::units::nanojoule",
+    "wpi::units::nanojoules",
+    "wpi::units::therm",
+    "wpi::units::therms",
+    "wpi::units::watt_hour",
+    "wpi::units::watt_hours",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_force_type_caster.h"
 types = [
-    "units::dyne_t",
-    "units::kilonewton_t",
-    "units::kilopond_t",
-    "units::micronewton_t",
-    "units::millinewton_t",
-    "units::nanonewton_t",
-    "units::newton_t",
-    "units::pound_t",
-    "units::poundal_t",
+    "wpi::units::dyne_t",
+    "wpi::units::kilonewton_t",
+    "wpi::units::kilopond_t",
+    "wpi::units::micronewton_t",
+    "wpi::units::millinewton_t",
+    "wpi::units::nanonewton_t",
+    "wpi::units::newton_t",
+    "wpi::units::pound_t",
+    "wpi::units::poundal_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_force_type_caster.h"
 types = [
-    "units::dyne",
-    "units::dynes",
-    "units::kilonewton",
-    "units::kilonewtons",
-    "units::kilopond",
-    "units::kiloponds",
-    "units::micronewton",
-    "units::micronewtons",
-    "units::millinewton",
-    "units::millinewtons",
-    "units::nanonewton",
-    "units::nanonewtons",
-    "units::newton",
-    "units::newtons",
-    "units::pound",
-    "units::poundal",
-    "units::poundals",
-    "units::pounds",
+    "wpi::units::dyne",
+    "wpi::units::dynes",
+    "wpi::units::kilonewton",
+    "wpi::units::kilonewtons",
+    "wpi::units::kilopond",
+    "wpi::units::kiloponds",
+    "wpi::units::micronewton",
+    "wpi::units::micronewtons",
+    "wpi::units::millinewton",
+    "wpi::units::millinewtons",
+    "wpi::units::nanonewton",
+    "wpi::units::nanonewtons",
+    "wpi::units::newton",
+    "wpi::units::newtons",
+    "wpi::units::pound",
+    "wpi::units::poundal",
+    "wpi::units::poundals",
+    "wpi::units::pounds",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_frequency_type_caster.h"
 types = [
-    "units::hertz_t",
-    "units::kilohertz_t",
-    "units::microhertz_t",
-    "units::millihertz_t",
-    "units::nanohertz_t",
+    "wpi::units::hertz_t",
+    "wpi::units::kilohertz_t",
+    "wpi::units::microhertz_t",
+    "wpi::units::millihertz_t",
+    "wpi::units::nanohertz_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_frequency_type_caster.h"
 types = [
-    "units::hertz",
-    "units::hertz",
-    "units::kilohertz",
-    "units::kilohertz",
-    "units::microhertz",
-    "units::microhertz",
-    "units::millihertz",
-    "units::millihertz",
-    "units::nanohertz",
-    "units::nanohertz",
+    "wpi::units::hertz",
+    "wpi::units::hertz",
+    "wpi::units::kilohertz",
+    "wpi::units::kilohertz",
+    "wpi::units::microhertz",
+    "wpi::units::microhertz",
+    "wpi::units::millihertz",
+    "wpi::units::millihertz",
+    "wpi::units::nanohertz",
+    "wpi::units::nanohertz",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_illuminance_type_caster.h"
 types = [
-    "units::footcandle_t",
-    "units::kilolux_t",
-    "units::lumens_per_square_inch_t",
-    "units::lux_t",
-    "units::microlux_t",
-    "units::millilux_t",
-    "units::nanolux_t",
-    "units::phot_t",
+    "wpi::units::footcandle_t",
+    "wpi::units::kilolux_t",
+    "wpi::units::lumens_per_square_inch_t",
+    "wpi::units::lux_t",
+    "wpi::units::microlux_t",
+    "wpi::units::millilux_t",
+    "wpi::units::nanolux_t",
+    "wpi::units::phot_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_illuminance_type_caster.h"
 types = [
-    "units::footcandle",
-    "units::footcandles",
-    "units::kilolux",
-    "units::kiloluxes",
-    "units::lumens_per_square_inch",
-    "units::lumens_per_square_inch",
-    "units::lux",
-    "units::luxes",
-    "units::microlux",
-    "units::microluxes",
-    "units::millilux",
-    "units::milliluxes",
-    "units::nanolux",
-    "units::nanoluxes",
-    "units::phot",
-    "units::phots",
+    "wpi::units::footcandle",
+    "wpi::units::footcandles",
+    "wpi::units::kilolux",
+    "wpi::units::kiloluxes",
+    "wpi::units::lumens_per_square_inch",
+    "wpi::units::lumens_per_square_inch",
+    "wpi::units::lux",
+    "wpi::units::luxes",
+    "wpi::units::microlux",
+    "wpi::units::microluxes",
+    "wpi::units::millilux",
+    "wpi::units::milliluxes",
+    "wpi::units::nanolux",
+    "wpi::units::nanoluxes",
+    "wpi::units::phot",
+    "wpi::units::phots",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_impedance_type_caster.h"
 types = [
-    "units::kiloohm_t",
-    "units::microohm_t",
-    "units::milliohm_t",
-    "units::nanoohm_t",
-    "units::ohm_t",
+    "wpi::units::kiloohm_t",
+    "wpi::units::microohm_t",
+    "wpi::units::milliohm_t",
+    "wpi::units::nanoohm_t",
+    "wpi::units::ohm_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_impedance_type_caster.h"
 types = [
-    "units::kiloohm",
-    "units::kiloohms",
-    "units::microohm",
-    "units::microohms",
-    "units::milliohm",
-    "units::milliohms",
-    "units::nanoohm",
-    "units::nanoohms",
-    "units::ohm",
-    "units::ohms",
+    "wpi::units::kiloohm",
+    "wpi::units::kiloohms",
+    "wpi::units::microohm",
+    "wpi::units::microohms",
+    "wpi::units::milliohm",
+    "wpi::units::milliohms",
+    "wpi::units::nanoohm",
+    "wpi::units::nanoohms",
+    "wpi::units::ohm",
+    "wpi::units::ohms",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_inductance_type_caster.h"
 types = [
-    "units::henry_t",
-    "units::kilohenry_t",
-    "units::microhenry_t",
-    "units::millihenry_t",
-    "units::nanohenry_t",
+    "wpi::units::henry_t",
+    "wpi::units::kilohenry_t",
+    "wpi::units::microhenry_t",
+    "wpi::units::millihenry_t",
+    "wpi::units::nanohenry_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_inductance_type_caster.h"
 types = [
-    "units::henries",
-    "units::henry",
-    "units::kilohenries",
-    "units::kilohenry",
-    "units::microhenries",
-    "units::microhenry",
-    "units::millihenries",
-    "units::millihenry",
-    "units::nanohenries",
-    "units::nanohenry",
+    "wpi::units::henries",
+    "wpi::units::henry",
+    "wpi::units::kilohenries",
+    "wpi::units::kilohenry",
+    "wpi::units::microhenries",
+    "wpi::units::microhenry",
+    "wpi::units::millihenries",
+    "wpi::units::millihenry",
+    "wpi::units::nanohenries",
+    "wpi::units::nanohenry",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_length_type_caster.h"
 types = [
-    "units::angstrom_t",
-    "units::astronicalUnit_t",
-    "units::centimeter_t",
-    "units::chain_t",
-    "units::cubit_t",
-    "units::fathom_t",
-    "units::foot_t",
-    "units::furlong_t",
-    "units::hand_t",
-    "units::inch_t",
-    "units::kilometer_t",
-    "units::league_t",
-    "units::lightyear_t",
-    "units::meter_t",
-    "units::micrometer_t",
-    "units::mil_t",
-    "units::mile_t",
-    "units::millimeter_t",
-    "units::nanometer_t",
-    "units::nauticalLeague_t",
-    "units::nauticalMile_t",
-    "units::parsec_t",
-    "units::yard_t",
+    "wpi::units::angstrom_t",
+    "wpi::units::astronicalUnit_t",
+    "wpi::units::centimeter_t",
+    "wpi::units::chain_t",
+    "wpi::units::cubit_t",
+    "wpi::units::fathom_t",
+    "wpi::units::foot_t",
+    "wpi::units::furlong_t",
+    "wpi::units::hand_t",
+    "wpi::units::inch_t",
+    "wpi::units::kilometer_t",
+    "wpi::units::league_t",
+    "wpi::units::lightyear_t",
+    "wpi::units::meter_t",
+    "wpi::units::micrometer_t",
+    "wpi::units::mil_t",
+    "wpi::units::mile_t",
+    "wpi::units::millimeter_t",
+    "wpi::units::nanometer_t",
+    "wpi::units::nauticalLeague_t",
+    "wpi::units::nauticalMile_t",
+    "wpi::units::parsec_t",
+    "wpi::units::yard_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_length_type_caster.h"
 types = [
-    "units::angstrom",
-    "units::angstroms",
-    "units::astronicalUnit",
-    "units::astronicalUnits",
-    "units::chain",
-    "units::chains",
-    "units::cubit",
-    "units::cubits",
-    "units::fathom",
-    "units::fathoms",
-    "units::feet",
-    "units::foot",
-    "units::furlong",
-    "units::furlongs",
-    "units::hand",
-    "units::hands",
-    "units::inch",
-    "units::inches",
-    "units::kilometer",
-    "units::kilometers",
-    "units::league",
-    "units::leagues",
-    "units::lightyear",
-    "units::lightyears",
-    "units::meter",
-    "units::meters",
-    "units::micrometer",
-    "units::micrometers",
-    "units::mil",
-    "units::mile",
-    "units::miles",
-    "units::millimeter",
-    "units::millimeters",
-    "units::mils",
-    "units::nanometer",
-    "units::nanometers",
-    "units::nauticalLeague",
-    "units::nauticalLeagues",
-    "units::nauticalMile",
-    "units::nauticalMiles",
-    "units::parsec",
-    "units::parsecs",
-    "units::yard",
-    "units::yards",
+    "wpi::units::angstrom",
+    "wpi::units::angstroms",
+    "wpi::units::astronicalUnit",
+    "wpi::units::astronicalUnits",
+    "wpi::units::chain",
+    "wpi::units::chains",
+    "wpi::units::cubit",
+    "wpi::units::cubits",
+    "wpi::units::fathom",
+    "wpi::units::fathoms",
+    "wpi::units::feet",
+    "wpi::units::foot",
+    "wpi::units::furlong",
+    "wpi::units::furlongs",
+    "wpi::units::hand",
+    "wpi::units::hands",
+    "wpi::units::inch",
+    "wpi::units::inches",
+    "wpi::units::kilometer",
+    "wpi::units::kilometers",
+    "wpi::units::league",
+    "wpi::units::leagues",
+    "wpi::units::lightyear",
+    "wpi::units::lightyears",
+    "wpi::units::meter",
+    "wpi::units::meters",
+    "wpi::units::micrometer",
+    "wpi::units::micrometers",
+    "wpi::units::mil",
+    "wpi::units::mile",
+    "wpi::units::miles",
+    "wpi::units::millimeter",
+    "wpi::units::millimeters",
+    "wpi::units::mils",
+    "wpi::units::nanometer",
+    "wpi::units::nanometers",
+    "wpi::units::nauticalLeague",
+    "wpi::units::nauticalLeagues",
+    "wpi::units::nauticalMile",
+    "wpi::units::nauticalMiles",
+    "wpi::units::parsec",
+    "wpi::units::parsecs",
+    "wpi::units::yard",
+    "wpi::units::yards",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_luminous_flux_type_caster.h"
 types = [
-    "units::kilolumen_t",
-    "units::lumen_t",
-    "units::microlumen_t",
-    "units::millilumen_t",
-    "units::nanolumen_t",
+    "wpi::units::kilolumen_t",
+    "wpi::units::lumen_t",
+    "wpi::units::microlumen_t",
+    "wpi::units::millilumen_t",
+    "wpi::units::nanolumen_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_luminous_flux_type_caster.h"
 types = [
-    "units::kilolumen",
-    "units::kilolumens",
-    "units::lumen",
-    "units::lumens",
-    "units::microlumen",
-    "units::microlumens",
-    "units::millilumen",
-    "units::millilumens",
-    "units::nanolumen",
-    "units::nanolumens",
+    "wpi::units::kilolumen",
+    "wpi::units::kilolumens",
+    "wpi::units::lumen",
+    "wpi::units::lumens",
+    "wpi::units::microlumen",
+    "wpi::units::microlumens",
+    "wpi::units::millilumen",
+    "wpi::units::millilumens",
+    "wpi::units::nanolumen",
+    "wpi::units::nanolumens",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_luminous_intensity_type_caster.h"
 types = [
-    "units::candela_t",
-    "units::kilocandela_t",
-    "units::microcandela_t",
-    "units::millicandela_t",
-    "units::nanocandela_t",
+    "wpi::units::candela_t",
+    "wpi::units::kilocandela_t",
+    "wpi::units::microcandela_t",
+    "wpi::units::millicandela_t",
+    "wpi::units::nanocandela_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_luminous_intensity_type_caster.h"
 types = [
-    "units::candela",
-    "units::candelas",
-    "units::kilocandela",
-    "units::kilocandelas",
-    "units::microcandela",
-    "units::microcandelas",
-    "units::millicandela",
-    "units::millicandelas",
-    "units::nanocandela",
-    "units::nanocandelas",
+    "wpi::units::candela",
+    "wpi::units::candelas",
+    "wpi::units::kilocandela",
+    "wpi::units::kilocandelas",
+    "wpi::units::microcandela",
+    "wpi::units::microcandelas",
+    "wpi::units::millicandela",
+    "wpi::units::millicandelas",
+    "wpi::units::nanocandela",
+    "wpi::units::nanocandelas",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_magnetic_field_strength_type_caster.h"
 types = [
-    "units::gauss_t",
-    "units::kilotesla_t",
-    "units::microtesla_t",
-    "units::millitesla_t",
-    "units::nanotesla_t",
-    "units::tesla_t",
+    "wpi::units::gauss_t",
+    "wpi::units::kilotesla_t",
+    "wpi::units::microtesla_t",
+    "wpi::units::millitesla_t",
+    "wpi::units::nanotesla_t",
+    "wpi::units::tesla_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_magnetic_field_strength_type_caster.h"
 types = [
-    "units::gauss",
-    "units::gauss",
-    "units::kilotesla",
-    "units::kiloteslas",
-    "units::microtesla",
-    "units::microteslas",
-    "units::millitesla",
-    "units::milliteslas",
-    "units::nanotesla",
-    "units::nanoteslas",
-    "units::tesla",
-    "units::teslas",
+    "wpi::units::gauss",
+    "wpi::units::gauss",
+    "wpi::units::kilotesla",
+    "wpi::units::kiloteslas",
+    "wpi::units::microtesla",
+    "wpi::units::microteslas",
+    "wpi::units::millitesla",
+    "wpi::units::milliteslas",
+    "wpi::units::nanotesla",
+    "wpi::units::nanoteslas",
+    "wpi::units::tesla",
+    "wpi::units::teslas",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_magnetic_flux_type_caster.h"
 types = [
-    "units::kiloweber_t",
-    "units::maxwell_t",
-    "units::microweber_t",
-    "units::milliweber_t",
-    "units::nanoweber_t",
-    "units::weber_t",
+    "wpi::units::kiloweber_t",
+    "wpi::units::maxwell_t",
+    "wpi::units::microweber_t",
+    "wpi::units::milliweber_t",
+    "wpi::units::nanoweber_t",
+    "wpi::units::weber_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_magnetic_flux_type_caster.h"
 types = [
-    "units::kiloweber",
-    "units::kilowebers",
-    "units::maxwell",
-    "units::maxwells",
-    "units::microweber",
-    "units::microwebers",
-    "units::milliweber",
-    "units::milliwebers",
-    "units::nanoweber",
-    "units::nanowebers",
-    "units::weber",
-    "units::webers",
+    "wpi::units::kiloweber",
+    "wpi::units::kilowebers",
+    "wpi::units::maxwell",
+    "wpi::units::maxwells",
+    "wpi::units::microweber",
+    "wpi::units::microwebers",
+    "wpi::units::milliweber",
+    "wpi::units::milliwebers",
+    "wpi::units::nanoweber",
+    "wpi::units::nanowebers",
+    "wpi::units::weber",
+    "wpi::units::webers",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_mass_type_caster.h"
 types = [
-    "units::carat_t",
-    "units::gram_t",
-    "units::kilogram_t",
-    "units::long_ton_t",
-    "units::metric_ton_t",
-    "units::microgram_t",
-    "units::milligram_t",
-    "units::nanogram_t",
-    "units::ounce_t",
-    "units::pound_t",
-    "units::short_ton_t",
-    "units::slug_t",
-    "units::stone_t",
+    "wpi::units::carat_t",
+    "wpi::units::gram_t",
+    "wpi::units::kilogram_t",
+    "wpi::units::long_ton_t",
+    "wpi::units::metric_ton_t",
+    "wpi::units::microgram_t",
+    "wpi::units::milligram_t",
+    "wpi::units::nanogram_t",
+    "wpi::units::ounce_t",
+    "wpi::units::pound_t",
+    "wpi::units::short_ton_t",
+    "wpi::units::slug_t",
+    "wpi::units::stone_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_mass_type_caster.h"
 types = [
-    "units::carat",
-    "units::carats",
-    "units::gram",
-    "units::grams",
-    "units::kilogram",
-    "units::kilograms",
-    "units::long_ton",
-    "units::long_tons",
-    "units::metric_ton",
-    "units::metric_tons",
-    "units::microgram",
-    "units::micrograms",
-    "units::milligram",
-    "units::milligrams",
-    "units::nanogram",
-    "units::nanograms",
-    "units::ounce",
-    "units::ounces",
-    "units::pound",
-    "units::pounds",
-    "units::short_ton",
-    "units::short_tons",
-    "units::slug",
-    "units::slugs",
-    "units::stone",
-    "units::stone",
+    "wpi::units::carat",
+    "wpi::units::carats",
+    "wpi::units::gram",
+    "wpi::units::grams",
+    "wpi::units::kilogram",
+    "wpi::units::kilograms",
+    "wpi::units::long_ton",
+    "wpi::units::long_tons",
+    "wpi::units::metric_ton",
+    "wpi::units::metric_tons",
+    "wpi::units::microgram",
+    "wpi::units::micrograms",
+    "wpi::units::milligram",
+    "wpi::units::milligrams",
+    "wpi::units::nanogram",
+    "wpi::units::nanograms",
+    "wpi::units::ounce",
+    "wpi::units::ounces",
+    "wpi::units::pound",
+    "wpi::units::pounds",
+    "wpi::units::short_ton",
+    "wpi::units::short_tons",
+    "wpi::units::slug",
+    "wpi::units::slugs",
+    "wpi::units::stone",
+    "wpi::units::stone",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_moment_of_inertia_type_caster.h"
 types = [
-    "units::kilogram_square_meter_t",
+    "wpi::units::kilogram_square_meter_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_moment_of_inertia_type_caster.h"
 types = [
-    "units::kilogram_square_meter",
-    "units::kilogram_square_meters",
+    "wpi::units::kilogram_square_meter",
+    "wpi::units::kilogram_square_meters",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_power_type_caster.h"
 types = [
-    "units::horsepower_t",
-    "units::kilowatt_t",
-    "units::microwatt_t",
-    "units::milliwatt_t",
-    "units::nanowatt_t",
-    "units::watt_t",
+    "wpi::units::horsepower_t",
+    "wpi::units::kilowatt_t",
+    "wpi::units::microwatt_t",
+    "wpi::units::milliwatt_t",
+    "wpi::units::nanowatt_t",
+    "wpi::units::watt_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_power_type_caster.h"
 types = [
-    "units::horsepower",
-    "units::horsepower",
-    "units::kilowatt",
-    "units::kilowatts",
-    "units::microwatt",
-    "units::microwatts",
-    "units::milliwatt",
-    "units::milliwatts",
-    "units::nanowatt",
-    "units::nanowatts",
-    "units::watt",
-    "units::watts",
+    "wpi::units::horsepower",
+    "wpi::units::horsepower",
+    "wpi::units::kilowatt",
+    "wpi::units::kilowatts",
+    "wpi::units::microwatt",
+    "wpi::units::microwatts",
+    "wpi::units::milliwatt",
+    "wpi::units::milliwatts",
+    "wpi::units::nanowatt",
+    "wpi::units::nanowatts",
+    "wpi::units::watt",
+    "wpi::units::watts",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_pressure_type_caster.h"
 types = [
-    "units::atmosphere_t",
-    "units::bar_t",
-    "units::kilopascal_t",
-    "units::mbar_t",
-    "units::micropascal_t",
-    "units::millipascal_t",
-    "units::nanopascal_t",
-    "units::pascal_t",
-    "units::pounds_per_square_inch_t",
-    "units::torr_t",
+    "wpi::units::atmosphere_t",
+    "wpi::units::bar_t",
+    "wpi::units::kilopascal_t",
+    "wpi::units::mbar_t",
+    "wpi::units::micropascal_t",
+    "wpi::units::millipascal_t",
+    "wpi::units::nanopascal_t",
+    "wpi::units::pascal_t",
+    "wpi::units::pounds_per_square_inch_t",
+    "wpi::units::torr_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_pressure_type_caster.h"
 types = [
-    "units::atmosphere",
-    "units::atmospheres",
-    "units::bar",
-    "units::bars",
-    "units::kilopascal",
-    "units::kilopascals",
-    "units::mbar",
-    "units::mbars",
-    "units::micropascal",
-    "units::micropascals",
-    "units::millipascal",
-    "units::millipascals",
-    "units::nanopascal",
-    "units::nanopascals",
-    "units::pascal",
-    "units::pascals",
-    "units::pounds_per_square_inch",
-    "units::pounds_per_square_inch",
-    "units::torr",
-    "units::torrs",
+    "wpi::units::atmosphere",
+    "wpi::units::atmospheres",
+    "wpi::units::bar",
+    "wpi::units::bars",
+    "wpi::units::kilopascal",
+    "wpi::units::kilopascals",
+    "wpi::units::mbar",
+    "wpi::units::mbars",
+    "wpi::units::micropascal",
+    "wpi::units::micropascals",
+    "wpi::units::millipascal",
+    "wpi::units::millipascals",
+    "wpi::units::nanopascal",
+    "wpi::units::nanopascals",
+    "wpi::units::pascal",
+    "wpi::units::pascals",
+    "wpi::units::pounds_per_square_inch",
+    "wpi::units::pounds_per_square_inch",
+    "wpi::units::torr",
+    "wpi::units::torrs",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_radiation_type_caster.h"
 types = [
-    "units::becquerel_t",
-    "units::curie_t",
-    "units::gray_t",
-    "units::kilobecquerel_t",
-    "units::kilogray_t",
-    "units::kilosievert_t",
-    "units::microbecquerel_t",
-    "units::microgray_t",
-    "units::microsievert_t",
-    "units::millibecquerel_t",
-    "units::milligray_t",
-    "units::millisievert_t",
-    "units::nanobecquerel_t",
-    "units::nanogray_t",
-    "units::nanosievert_t",
-    "units::rad_t",
-    "units::rutherford_t",
-    "units::sievert_t",
+    "wpi::units::becquerel_t",
+    "wpi::units::curie_t",
+    "wpi::units::gray_t",
+    "wpi::units::kilobecquerel_t",
+    "wpi::units::kilogray_t",
+    "wpi::units::kilosievert_t",
+    "wpi::units::microbecquerel_t",
+    "wpi::units::microgray_t",
+    "wpi::units::microsievert_t",
+    "wpi::units::millibecquerel_t",
+    "wpi::units::milligray_t",
+    "wpi::units::millisievert_t",
+    "wpi::units::nanobecquerel_t",
+    "wpi::units::nanogray_t",
+    "wpi::units::nanosievert_t",
+    "wpi::units::rad_t",
+    "wpi::units::rutherford_t",
+    "wpi::units::sievert_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_radiation_type_caster.h"
 types = [
-    "units::becquerel",
-    "units::becquerels",
-    "units::curie",
-    "units::curies",
-    "units::gray",
-    "units::grays",
-    "units::kilobecquerel",
-    "units::kilobecquerels",
-    "units::kilogray",
-    "units::kilograys",
-    "units::kilosievert",
-    "units::kilosieverts",
-    "units::microbecquerel",
-    "units::microbecquerels",
-    "units::microgray",
-    "units::micrograys",
-    "units::microsievert",
-    "units::microsieverts",
-    "units::millibecquerel",
-    "units::millibecquerels",
-    "units::milligray",
-    "units::milligrays",
-    "units::millisievert",
-    "units::millisieverts",
-    "units::nanobecquerel",
-    "units::nanobecquerels",
-    "units::nanogray",
-    "units::nanograys",
-    "units::nanosievert",
-    "units::nanosieverts",
-    "units::rad",
-    "units::rads",
-    "units::rutherford",
-    "units::rutherfords",
-    "units::sievert",
-    "units::sieverts",
+    "wpi::units::becquerel",
+    "wpi::units::becquerels",
+    "wpi::units::curie",
+    "wpi::units::curies",
+    "wpi::units::gray",
+    "wpi::units::grays",
+    "wpi::units::kilobecquerel",
+    "wpi::units::kilobecquerels",
+    "wpi::units::kilogray",
+    "wpi::units::kilograys",
+    "wpi::units::kilosievert",
+    "wpi::units::kilosieverts",
+    "wpi::units::microbecquerel",
+    "wpi::units::microbecquerels",
+    "wpi::units::microgray",
+    "wpi::units::micrograys",
+    "wpi::units::microsievert",
+    "wpi::units::microsieverts",
+    "wpi::units::millibecquerel",
+    "wpi::units::millibecquerels",
+    "wpi::units::milligray",
+    "wpi::units::milligrays",
+    "wpi::units::millisievert",
+    "wpi::units::millisieverts",
+    "wpi::units::nanobecquerel",
+    "wpi::units::nanobecquerels",
+    "wpi::units::nanogray",
+    "wpi::units::nanograys",
+    "wpi::units::nanosievert",
+    "wpi::units::nanosieverts",
+    "wpi::units::rad",
+    "wpi::units::rads",
+    "wpi::units::rutherford",
+    "wpi::units::rutherfords",
+    "wpi::units::sievert",
+    "wpi::units::sieverts",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_solid_angle_type_caster.h"
 types = [
-    "units::degree_squared_t",
-    "units::kilosteradian_t",
-    "units::microsteradian_t",
-    "units::millisteradian_t",
-    "units::nanosteradian_t",
-    "units::spat_t",
-    "units::steradian_t",
+    "wpi::units::degree_squared_t",
+    "wpi::units::kilosteradian_t",
+    "wpi::units::microsteradian_t",
+    "wpi::units::millisteradian_t",
+    "wpi::units::nanosteradian_t",
+    "wpi::units::spat_t",
+    "wpi::units::steradian_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_solid_angle_type_caster.h"
 types = [
-    "units::degree_squared",
-    "units::degrees_squared",
-    "units::kilosteradian",
-    "units::kilosteradians",
-    "units::microsteradian",
-    "units::microsteradians",
-    "units::millisteradian",
-    "units::millisteradians",
-    "units::nanosteradian",
-    "units::nanosteradians",
-    "units::spat",
-    "units::spats",
-    "units::steradian",
-    "units::steradians",
+    "wpi::units::degree_squared",
+    "wpi::units::degrees_squared",
+    "wpi::units::kilosteradian",
+    "wpi::units::kilosteradians",
+    "wpi::units::microsteradian",
+    "wpi::units::microsteradians",
+    "wpi::units::millisteradian",
+    "wpi::units::millisteradians",
+    "wpi::units::nanosteradian",
+    "wpi::units::nanosteradians",
+    "wpi::units::spat",
+    "wpi::units::spats",
+    "wpi::units::steradian",
+    "wpi::units::steradians",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_substance_type_caster.h"
 types = [
-    "units::mole_t",
+    "wpi::units::mole_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_substance_type_caster.h"
 types = [
-    "units::mole",
-    "units::moles",
+    "wpi::units::mole",
+    "wpi::units::moles",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_temperature_type_caster.h"
 types = [
-    "units::celsius_t",
-    "units::fahrenheit_t",
-    "units::kelvin_t",
-    "units::rankine_t",
-    "units::reaumur_t",
+    "wpi::units::celsius_t",
+    "wpi::units::fahrenheit_t",
+    "wpi::units::kelvin_t",
+    "wpi::units::rankine_t",
+    "wpi::units::reaumur_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_temperature_type_caster.h"
 types = [
-    "units::celsius",
-    "units::celsius",
-    "units::fahrenheit",
-    "units::fahrenheit",
-    "units::kelvin",
-    "units::kelvin",
-    "units::rankine",
-    "units::rankine",
-    "units::reaumur",
-    "units::reaumur",
+    "wpi::units::celsius",
+    "wpi::units::celsius",
+    "wpi::units::fahrenheit",
+    "wpi::units::fahrenheit",
+    "wpi::units::kelvin",
+    "wpi::units::kelvin",
+    "wpi::units::rankine",
+    "wpi::units::rankine",
+    "wpi::units::reaumur",
+    "wpi::units::reaumur",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_time_type_caster.h"
 types = [
-    "units::day_t",
-    "units::gregorian_year_t",
-    "units::hour_t",
-    "units::julian_year_t",
-    "units::kilosecond_t",
-    "units::microsecond_t",
-    "units::millisecond_t",
-    "units::minute_t",
-    "units::nanosecond_t",
-    "units::second_t",
-    "units::week_t",
-    "units::year_t",
+    "wpi::units::day_t",
+    "wpi::units::gregorian_year_t",
+    "wpi::units::hour_t",
+    "wpi::units::julian_year_t",
+    "wpi::units::kilosecond_t",
+    "wpi::units::microsecond_t",
+    "wpi::units::millisecond_t",
+    "wpi::units::minute_t",
+    "wpi::units::nanosecond_t",
+    "wpi::units::second_t",
+    "wpi::units::week_t",
+    "wpi::units::year_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_time_type_caster.h"
 types = [
-    "units::day",
-    "units::days",
-    "units::gregorian_year",
-    "units::gregorian_years",
-    "units::hour",
-    "units::hours",
-    "units::julian_year",
-    "units::julian_years",
-    "units::kilosecond",
-    "units::kiloseconds",
-    "units::microsecond",
-    "units::microseconds",
-    "units::millisecond",
-    "units::milliseconds",
-    "units::minute",
-    "units::minutes",
-    "units::nanosecond",
-    "units::nanoseconds",
-    "units::second",
-    "units::seconds",
-    "units::week",
-    "units::weeks",
-    "units::year",
-    "units::years",
+    "wpi::units::day",
+    "wpi::units::days",
+    "wpi::units::gregorian_year",
+    "wpi::units::gregorian_years",
+    "wpi::units::hour",
+    "wpi::units::hours",
+    "wpi::units::julian_year",
+    "wpi::units::julian_years",
+    "wpi::units::kilosecond",
+    "wpi::units::kiloseconds",
+    "wpi::units::microsecond",
+    "wpi::units::microseconds",
+    "wpi::units::millisecond",
+    "wpi::units::milliseconds",
+    "wpi::units::minute",
+    "wpi::units::minutes",
+    "wpi::units::nanosecond",
+    "wpi::units::nanoseconds",
+    "wpi::units::second",
+    "wpi::units::seconds",
+    "wpi::units::week",
+    "wpi::units::weeks",
+    "wpi::units::year",
+    "wpi::units::years",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_torque_type_caster.h"
 types = [
-    "units::foot_pound_t",
-    "units::foot_poundal_t",
-    "units::inch_pound_t",
-    "units::meter_kilogram_t",
-    "units::newton_meter_t",
+    "wpi::units::foot_pound_t",
+    "wpi::units::foot_poundal_t",
+    "wpi::units::inch_pound_t",
+    "wpi::units::meter_kilogram_t",
+    "wpi::units::newton_meter_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_torque_type_caster.h"
 types = [
-    "units::foot_pound",
-    "units::foot_poundal",
-    "units::foot_poundals",
-    "units::foot_pounds",
-    "units::inch_pound",
-    "units::inch_pounds",
-    "units::meter_kilogram",
-    "units::meter_kilograms",
-    "units::newton_meter",
-    "units::newton_meters",
+    "wpi::units::foot_pound",
+    "wpi::units::foot_poundal",
+    "wpi::units::foot_poundals",
+    "wpi::units::foot_pounds",
+    "wpi::units::inch_pound",
+    "wpi::units::inch_pounds",
+    "wpi::units::meter_kilogram",
+    "wpi::units::meter_kilograms",
+    "wpi::units::newton_meter",
+    "wpi::units::newton_meters",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_velocity_type_caster.h"
 types = [
-    "units::feet_per_second_t",
-    "units::kilometers_per_hour_t",
-    "units::knot_t",
-    "units::meters_per_second_t",
-    "units::miles_per_hour_t",
+    "wpi::units::feet_per_second_t",
+    "wpi::units::kilometers_per_hour_t",
+    "wpi::units::knot_t",
+    "wpi::units::meters_per_second_t",
+    "wpi::units::miles_per_hour_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_velocity_type_caster.h"
 types = [
-    "units::feet_per_second",
-    "units::feet_per_second",
-    "units::kilometers_per_hour",
-    "units::kilometers_per_hour",
-    "units::knot",
-    "units::knots",
-    "units::meters_per_second",
-    "units::meters_per_second",
-    "units::miles_per_hour",
-    "units::miles_per_hour",
+    "wpi::units::feet_per_second",
+    "wpi::units::feet_per_second",
+    "wpi::units::kilometers_per_hour",
+    "wpi::units::kilometers_per_hour",
+    "wpi::units::knot",
+    "wpi::units::knots",
+    "wpi::units::meters_per_second",
+    "wpi::units::meters_per_second",
+    "wpi::units::miles_per_hour",
+    "wpi::units::miles_per_hour",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_voltage_type_caster.h"
 types = [
-    "units::abvolt_t",
-    "units::kilovolt_t",
-    "units::microvolt_t",
-    "units::millivolt_t",
-    "units::nanovolt_t",
-    "units::statvolt_t",
-    "units::volt_t",
+    "wpi::units::abvolt_t",
+    "wpi::units::kilovolt_t",
+    "wpi::units::microvolt_t",
+    "wpi::units::millivolt_t",
+    "wpi::units::nanovolt_t",
+    "wpi::units::statvolt_t",
+    "wpi::units::volt_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_voltage_type_caster.h"
 types = [
-    "units::abvolt",
-    "units::abvolts",
-    "units::kilovolt",
-    "units::kilovolts",
-    "units::microvolt",
-    "units::microvolts",
-    "units::millivolt",
-    "units::millivolts",
-    "units::nanovolt",
-    "units::nanovolts",
-    "units::statvolt",
-    "units::statvolts",
-    "units::volt",
-    "units::volts",
+    "wpi::units::abvolt",
+    "wpi::units::abvolts",
+    "wpi::units::kilovolt",
+    "wpi::units::kilovolts",
+    "wpi::units::microvolt",
+    "wpi::units::microvolts",
+    "wpi::units::millivolt",
+    "wpi::units::millivolts",
+    "wpi::units::nanovolt",
+    "wpi::units::nanovolts",
+    "wpi::units::statvolt",
+    "wpi::units::statvolts",
+    "wpi::units::volt",
+    "wpi::units::volts",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_volume_type_caster.h"
 types = [
-    "units::barrel_t",
-    "units::bushel_t",
-    "units::cord_t",
-    "units::cubic_fathom_t",
-    "units::cubic_foot_t",
-    "units::cubic_inch_t",
-    "units::cubic_kilometer_t",
-    "units::cubic_meter_t",
-    "units::cubic_mile_t",
-    "units::cubic_millimeter_t",
-    "units::cubic_yard_t",
-    "units::cup_t",
-    "units::dash_t",
-    "units::dram_t",
-    "units::drop_t",
-    "units::fifth_t",
-    "units::fluid_ounce_t",
-    "units::gallon_t",
-    "units::gill_t",
-    "units::kiloliter_t",
-    "units::liter_t",
-    "units::microliter_t",
-    "units::milliliter_t",
-    "units::nanoliter_t",
-    "units::peck_t",
-    "units::pinch_t",
-    "units::pint_t",
-    "units::quart_t",
-    "units::sack_t",
-    "units::shot_t",
-    "units::strike_t",
-    "units::tablespoon_t",
-    "units::teaspoon_t",
+    "wpi::units::barrel_t",
+    "wpi::units::bushel_t",
+    "wpi::units::cord_t",
+    "wpi::units::cubic_fathom_t",
+    "wpi::units::cubic_foot_t",
+    "wpi::units::cubic_inch_t",
+    "wpi::units::cubic_kilometer_t",
+    "wpi::units::cubic_meter_t",
+    "wpi::units::cubic_mile_t",
+    "wpi::units::cubic_millimeter_t",
+    "wpi::units::cubic_yard_t",
+    "wpi::units::cup_t",
+    "wpi::units::dash_t",
+    "wpi::units::dram_t",
+    "wpi::units::drop_t",
+    "wpi::units::fifth_t",
+    "wpi::units::fluid_ounce_t",
+    "wpi::units::gallon_t",
+    "wpi::units::gill_t",
+    "wpi::units::kiloliter_t",
+    "wpi::units::liter_t",
+    "wpi::units::microliter_t",
+    "wpi::units::milliliter_t",
+    "wpi::units::nanoliter_t",
+    "wpi::units::peck_t",
+    "wpi::units::pinch_t",
+    "wpi::units::pint_t",
+    "wpi::units::quart_t",
+    "wpi::units::sack_t",
+    "wpi::units::shot_t",
+    "wpi::units::strike_t",
+    "wpi::units::tablespoon_t",
+    "wpi::units::teaspoon_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_volume_type_caster.h"
 types = [
-    "units::barrel",
-    "units::barrels",
-    "units::bushel",
-    "units::bushels",
-    "units::cord",
-    "units::cords",
-    "units::cubic_fathom",
-    "units::cubic_fathoms",
-    "units::cubic_feet",
-    "units::cubic_foot",
-    "units::cubic_inch",
-    "units::cubic_inches",
-    "units::cubic_kilometer",
-    "units::cubic_kilometers",
-    "units::cubic_meter",
-    "units::cubic_meters",
-    "units::cubic_mile",
-    "units::cubic_miles",
-    "units::cubic_millimeter",
-    "units::cubic_millimeters",
-    "units::cubic_yard",
-    "units::cubic_yards",
-    "units::cup",
-    "units::cups",
-    "units::dash",
-    "units::dashes",
-    "units::dram",
-    "units::drams",
-    "units::drop",
-    "units::drops",
-    "units::fifth",
-    "units::fifths",
-    "units::fluid_ounce",
-    "units::fluid_ounces",
-    "units::gallon",
-    "units::gallons",
-    "units::gill",
-    "units::gills",
-    "units::kiloliter",
-    "units::kiloliters",
-    "units::liter",
-    "units::liters",
-    "units::microliter",
-    "units::microliters",
-    "units::milliliter",
-    "units::milliliters",
-    "units::nanoliter",
-    "units::nanoliters",
-    "units::peck",
-    "units::pecks",
-    "units::pinch",
-    "units::pinches",
-    "units::pint",
-    "units::pints",
-    "units::quart",
-    "units::quarts",
-    "units::sack",
-    "units::sacks",
-    "units::shot",
-    "units::shots",
-    "units::strike",
-    "units::strikes",
-    "units::tablespoon",
-    "units::tablespoons",
-    "units::teaspoon",
-    "units::teaspoons",
+    "wpi::units::barrel",
+    "wpi::units::barrels",
+    "wpi::units::bushel",
+    "wpi::units::bushels",
+    "wpi::units::cord",
+    "wpi::units::cords",
+    "wpi::units::cubic_fathom",
+    "wpi::units::cubic_fathoms",
+    "wpi::units::cubic_feet",
+    "wpi::units::cubic_foot",
+    "wpi::units::cubic_inch",
+    "wpi::units::cubic_inches",
+    "wpi::units::cubic_kilometer",
+    "wpi::units::cubic_kilometers",
+    "wpi::units::cubic_meter",
+    "wpi::units::cubic_meters",
+    "wpi::units::cubic_mile",
+    "wpi::units::cubic_miles",
+    "wpi::units::cubic_millimeter",
+    "wpi::units::cubic_millimeters",
+    "wpi::units::cubic_yard",
+    "wpi::units::cubic_yards",
+    "wpi::units::cup",
+    "wpi::units::cups",
+    "wpi::units::dash",
+    "wpi::units::dashes",
+    "wpi::units::dram",
+    "wpi::units::drams",
+    "wpi::units::drop",
+    "wpi::units::drops",
+    "wpi::units::fifth",
+    "wpi::units::fifths",
+    "wpi::units::fluid_ounce",
+    "wpi::units::fluid_ounces",
+    "wpi::units::gallon",
+    "wpi::units::gallons",
+    "wpi::units::gill",
+    "wpi::units::gills",
+    "wpi::units::kiloliter",
+    "wpi::units::kiloliters",
+    "wpi::units::liter",
+    "wpi::units::liters",
+    "wpi::units::microliter",
+    "wpi::units::microliters",
+    "wpi::units::milliliter",
+    "wpi::units::milliliters",
+    "wpi::units::nanoliter",
+    "wpi::units::nanoliters",
+    "wpi::units::peck",
+    "wpi::units::pecks",
+    "wpi::units::pinch",
+    "wpi::units::pinches",
+    "wpi::units::pint",
+    "wpi::units::pints",
+    "wpi::units::quart",
+    "wpi::units::quarts",
+    "wpi::units::sack",
+    "wpi::units::sacks",
+    "wpi::units::shot",
+    "wpi::units::shots",
+    "wpi::units::strike",
+    "wpi::units::strikes",
+    "wpi::units::tablespoon",
+    "wpi::units::tablespoons",
+    "wpi::units::teaspoon",
+    "wpi::units::teaspoons",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_compound_type_caster.h"
 types = [
-    "units::curvature_t",
+    "wpi::units::curvature_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_compound_type_caster.h"
 types = [
-    "units::compound_unit",
-    "units::inverse",
+    "wpi::units::compound_unit",
+    "wpi::units::inverse",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_misc_type_caster.h"
 types = [
-    "units::dimensionless_t",
-    "units::dimensionless::dimensionless_t",
-    "units::scalar_t",
-    "units::dimensionless::scalar_t",
+    "wpi::units::dimensionless_t",
+    "wpi::units::dimensionless::dimensionless_t",
+    "wpi::units::scalar_t",
+    "wpi::units::dimensionless::scalar_t",
 ]
 default_arg_cast = true
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "units_misc_type_caster.h"
 types = [
-    "units::dimensionless",
-    "units::dimensionless::dimensionless",
-    "units::scalar",
-    "units::dimensionless::scalar",
+    "wpi::units::dimensionless",
+    "wpi::units::dimensionless::dimensionless",
+    "wpi::units::scalar",
+    "wpi::units::dimensionless::scalar",
 ]
 default_arg_cast = false
 
 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
 header = "frc_eigen.h"
 types = [
-    "frc::Vectord",
-    "frc::Matrixd",
+    "wpi::math::Vectord",
+    "wpi::math::Matrixd",
 ]
 
 [tool.semiwrap.extension_modules."wpimath._wpimath"]
diff --git a/wpimath/src/main/python/semiwrap/MathUtil.yml b/wpimath/src/main/python/semiwrap/MathUtil.yml
index 8408fa5af9..04fa04bc0e 100644
--- a/wpimath/src/main/python/semiwrap/MathUtil.yml
+++ b/wpimath/src/main/python/semiwrap/MathUtil.yml
@@ -33,8 +33,8 @@ functions:
         - [double]
   SlewRateLimit:
     overloads:
-      const Translation2d&, const Translation2d&, units::second_t, units::meters_per_second_t:
-      const Translation3d&, const Translation3d&, units::second_t, units::meters_per_second_t:
+      const Translation2d&, const Translation2d&, wpi::units::second_t, wpi::units::meters_per_second_t:
+      const Translation3d&, const Translation3d&, wpi::units::second_t, wpi::units::meters_per_second_t:
   CopyDirectionPow:
     overloads:
       T, double, T:
diff --git a/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml
index 3c34a97d14..65d3920dfc 100644
--- a/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml
@@ -2,26 +2,26 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ArmFeedforward:
+  wpi::math::ArmFeedforward:
     force_type_casters:
-    - units::radians_per_second_squared
+    - wpi::units::radians_per_second_squared
     typealias:
-    - frc::ArmFeedforward::Acceleration
-    - frc::ArmFeedforward::kv_unit
-    - frc::ArmFeedforward::ka_unit
+    - wpi::math::ArmFeedforward::Acceleration
+    - wpi::math::ArmFeedforward::kv_unit
+    - wpi::math::ArmFeedforward::ka_unit
     methods:
       ArmFeedforward:
         overloads:
           '':
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
             ignore: true
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
             ignore: true
-          units::unit_t<Angle>, units::unit_t<Velocity> [const]:
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -39,4 +39,4 @@ extra_includes:
 - wpystruct.h
 
 inline_code: |
-  SetupWPyStruct<frc::ArmFeedforward>(cls_ArmFeedforward);
+  SetupWPyStruct<wpi::math::ArmFeedforward>(cls_ArmFeedforward);
diff --git a/wpimath/src/main/python/semiwrap/controls/BangBangController.yml b/wpimath/src/main/python/semiwrap/controls/BangBangController.yml
index 3fd20d7e74..daf522a642 100644
--- a/wpimath/src/main/python/semiwrap/controls/BangBangController.yml
+++ b/wpimath/src/main/python/semiwrap/controls/BangBangController.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::BangBangController:
+  wpi::math::BangBangController:
     ignored_bases:
-    - wpi::SendableHelper<BangBangController>
+    - wpi::util::SendableHelper<BangBangController>
     methods:
       BangBangController:
       SetSetpoint:
diff --git a/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml b/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml
index d93fada353..5de0cacf8d 100644
--- a/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::CentripetalAccelerationConstraint:
+  wpi::math::CentripetalAccelerationConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       CentripetalAccelerationConstraint:
       MaxVelocity:
@@ -12,6 +12,6 @@ classes:
 
 inline_code: |-
   cls_CentripetalAccelerationConstraint
-    .def_static("fromFps", [](units::feet_per_second_squared_t maxCentripetalAcceleration) {
+    .def_static("fromFps", [](wpi::units::feet_per_second_squared_t maxCentripetalAcceleration) {
       return std::make_shared<CentripetalAccelerationConstraint>(maxCentripetalAcceleration);
     }, py::arg("maxCentripetalAcceleration"));
diff --git a/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml
index 32451caed2..d765af91fd 100644
--- a/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml
@@ -2,15 +2,15 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ControlAffinePlantInversionFeedforward:
+  wpi::math::ControlAffinePlantInversionFeedforward:
     template_params:
     - int States
     - int Inputs
     methods:
       ControlAffinePlantInversionFeedforward:
         overloads:
-          std::function<StateVector (const StateVector&, const InputVector&)>, units::second_t:
-          std::function<StateVector (const StateVector&)>, const Matrixd<States, Inputs>&, units::second_t:
+          std::function<StateVector (const StateVector&, const InputVector&)>, wpi::units::second_t:
+          std::function<StateVector (const StateVector&)>, const Matrixd<States, Inputs>&, wpi::units::second_t:
       Uff:
         overloads:
           '[const]':
@@ -30,17 +30,17 @@ classes:
 
 templates:
   ControlAffinePlantInversionFeedforward_1_1:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 1
     - 1
   ControlAffinePlantInversionFeedforward_2_1:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 2
     - 1
   ControlAffinePlantInversionFeedforward_2_2:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 2
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/DCMotor.yml b/wpimath/src/main/python/semiwrap/controls/DCMotor.yml
index 68c659a083..c5fd38711e 100644
--- a/wpimath/src/main/python/semiwrap/controls/DCMotor.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DCMotor.yml
@@ -5,7 +5,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DCMotor:
+  wpi::math::DCMotor:
     attributes:
       nominalVoltage:
       stallTorque:
@@ -19,8 +19,8 @@ classes:
       DCMotor:
       Current:
         overloads:
-          units::radians_per_second_t, units::volt_t [const]:
-          units::newton_meter_t [const]:
+          wpi::units::radians_per_second_t, wpi::units::volt_t [const]:
+          wpi::units::newton_meter_t [const]:
       Torque:
       Voltage:
       Speed:
@@ -46,4 +46,4 @@ classes:
       Minion:
 
 inline_code: |
-  SetupWPyStruct<frc::DCMotor>(cls_DCMotor);
+  SetupWPyStruct<wpi::math::DCMotor>(cls_DCMotor);
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
index bd8864415c..76ee6fa0e9 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
@@ -2,11 +2,11 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::DifferentialDriveAccelerationLimiter:
+  wpi::math::DifferentialDriveAccelerationLimiter:
     methods:
       DifferentialDriveAccelerationLimiter:
         overloads:
-          LinearSystem<2, 2, 2>, units::meter_t, units::meters_per_second_squared_t, units::radians_per_second_squared_t:
-          ? LinearSystem<2, 2, 2>, units::meter_t, units::meters_per_second_squared_t, units::meters_per_second_squared_t, units::radians_per_second_squared_t
+          LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t:
+          ? LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t
           :
       Calculate:
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml
index ac8a9d1c8a..edd1d33bad 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml
@@ -2,13 +2,13 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::DifferentialDriveFeedforward:
+  wpi::math::DifferentialDriveFeedforward:
     force_type_casters:
-    - units::meters_per_second
-    - units::meters_per_second_squared
-    - units::radians_per_second
-    - units::radians_per_second_squared
-    - units::compound_unit
+    - wpi::units::meters_per_second
+    - wpi::units::meters_per_second_squared
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
+    - wpi::units::compound_unit
     attributes:
       m_kVLinear:
       m_kALinear:
@@ -17,10 +17,10 @@ classes:
     methods:
       DifferentialDriveFeedforward:
         overloads:
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), units::meter_t:
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
           decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
           # ? decltype ( 1 _V / 1 _mps ), decltype ( 1 _V / 1 _mps_sq ), decltype (
-          #   1 _V / 1 _rad_per_s ), decltype ( 1 _V / 1 _rad_per_s_sq ), units::meter_t
+          #   1 _V / 1 _rad_per_s ), decltype ( 1 _V / 1 _rad_per_s_sq ), wpi::units::meter_t
           # :
           #   param_override:
           #     kVLinear:
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml
index f3dffbf1ba..9a74332425 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::DifferentialDriveKinematicsConstraint:
+  wpi::math::DifferentialDriveKinematicsConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       DifferentialDriveKinematicsConstraint:
       MaxVelocity:
@@ -13,7 +13,7 @@ classes:
 inline_code: |-
   cls_DifferentialDriveKinematicsConstraint
     .def_static("fromFps", [](const DifferentialDriveKinematics& kinematics,
-                              units::feet_per_second_t maxSpeed) {
+                              wpi::units::feet_per_second_t maxSpeed) {
       return std::make_shared<DifferentialDriveKinematicsConstraint>(kinematics, maxSpeed);
     }, py::arg("kinematics"), py::arg("maxSpeed"))
   ;
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml
index a99a28dffc..f765ca54c2 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::DifferentialDrivePoseEstimator:
+  wpi::math::DifferentialDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps an Unscented Kalman Filter to fuse latency-compensated
@@ -40,8 +40,8 @@ classes:
     methods:
       DifferentialDrivePoseEstimator:
         overloads:
-          DifferentialDriveKinematics&, const Rotation2d&, units::meter_t, units::meter_t, const Pose2d&:
-          ? DifferentialDriveKinematics&, const Rotation2d&, units::meter_t, units::meter_t, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&:
+          ? DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
       ResetPosition:
       Update:
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml
index 847cf4a799..3466dbef79 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml
@@ -2,13 +2,13 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::DifferentialDrivePoseEstimator3d:
+  wpi::math::DifferentialDrivePoseEstimator3d:
     force_no_trampoline: true
     methods:
       DifferentialDrivePoseEstimator3d:
         overloads:
-          DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&:
-          ? DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          DifferentialDriveKinematics&, const Rotation3d&, wpi::units::meter_t, wpi::units::meter_t, const Pose3d&:
+          ? DifferentialDriveKinematics&, const Rotation3d&, wpi::units::meter_t, wpi::units::meter_t, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
       ResetPosition:
       Update:
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml
index 2107520b50..e8720f9865 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::DifferentialDriveVoltageConstraint:
+  wpi::math::DifferentialDriveVoltageConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       DifferentialDriveVoltageConstraint:
       MaxVelocity:
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml
index e199e03161..f2c0f5c4d7 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml
@@ -3,7 +3,7 @@ defaults:
 
 
 classes:
-  frc::DifferentialDriveWheelVoltages:
+  wpi::math::DifferentialDriveWheelVoltages:
     force_no_default_constructor: true
     attributes:
       left:
@@ -14,7 +14,7 @@ extra_includes:
 
 inline_code: |
   cls_DifferentialDriveWheelVoltages
-    .def(py::init<units::volt_t, units::volt_t>(),
+    .def(py::init<wpi::units::volt_t, wpi::units::volt_t>(),
       py::arg("left") = 0, py::arg("right") = 0)
     .def("__repr__", [](const DifferentialDriveWheelVoltages *self) {
       return "DifferentialDriveWheelVoltages("
@@ -23,4 +23,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::DifferentialDriveWheelVoltages>(cls_DifferentialDriveWheelVoltages);
+  SetupWPyStruct<wpi::math::DifferentialDriveWheelVoltages>(cls_DifferentialDriveWheelVoltages);
diff --git a/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml
index e44d36584f..974d22b42e 100644
--- a/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml
@@ -2,23 +2,23 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ElevatorFeedforward:
+  wpi::math::ElevatorFeedforward:
     force_type_casters:
-    - units::meters_per_second
+    - wpi::units::meters_per_second
     - meters_per_second_squared
     methods:
       ElevatorFeedforward:
         overloads:
           '':
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
             ignore: true
-          units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
             ignore: true
-          units::unit_t<Velocity> [const]:
-          units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -36,4 +36,4 @@ extra_includes:
 - wpystruct.h
 
 inline_code: |
-  SetupWPyStruct<frc::ElevatorFeedforward>(cls_ElevatorFeedforward);
+  SetupWPyStruct<wpi::math::ElevatorFeedforward>(cls_ElevatorFeedforward);
diff --git a/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml b/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml
index d48f5c2112..d8c8dadbf8 100644
--- a/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml
@@ -5,23 +5,23 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::EllipticalRegionConstraint:
+  wpi::math::EllipticalRegionConstraint:
     template_params:
     - typename Constraint
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       EllipticalRegionConstraint:
         overloads:
-          const Translation2d&, units::meter_t, units::meter_t, const Rotation2d&, const Constraint&:
+          const Translation2d&, wpi::units::meter_t, wpi::units::meter_t, const Rotation2d&, const Constraint&:
           const Ellipse2d&, const Constraint&:
       MaxVelocity:
       MinMaxAcceleration:
 
     template_inline_code: |
       cls_EllipticalRegionConstraint
-        .def_static("fromFeet", [](const Translation2d& center, units::foot_t xWidth,
-                                   units::foot_t yWidth, const Rotation2d& rotation,
+        .def_static("fromFeet", [](const Translation2d& center, wpi::units::foot_t xWidth,
+                                   wpi::units::foot_t yWidth, const Rotation2d& rotation,
                                    const Constraint& constraint) {
           return std::make_shared<EllipticalRegionConstraint<Constraint>>(center, xWidth, yWidth, rotation, constraint);
         }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"), py::arg("rotation"), py::arg("constraint"))
@@ -29,6 +29,6 @@ classes:
 
 templates:
   EllipticalRegionConstraint:
-    qualname: frc::EllipticalRegionConstraint
+    qualname: wpi::math::EllipticalRegionConstraint
     params:
-    - frc::PyTrajectoryConstraint
+    - wpi::math::PyTrajectoryConstraint
diff --git a/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml b/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml
index eff51e3d04..96532b038f 100644
--- a/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::ExponentialProfile:
+  wpi::math::ExponentialProfile:
     force_type_casters:
-    - units::meters_per_second_t
+    - wpi::units::meters_per_second_t
     template_params:
     - Distance
     - Input
@@ -18,7 +18,7 @@ classes:
       CalculateProfileTiming:
         overloads:
           const State&, const State& [const]:
-  frc::ExponentialProfile::Constraints:
+  wpi::math::ExponentialProfile::Constraints:
     attributes:
       maxInput:
       A:
@@ -33,13 +33,13 @@ classes:
       MaxVelocity:
     inline_code: |
       .def_static("fromStateSpace", [](Input_t maxInput, A_t a, B_t b) {
-          return typename frc::ExponentialProfile<Distance, Input>::Constraints(maxInput, a, b);
+          return typename wpi::math::ExponentialProfile<Distance, Input>::Constraints(maxInput, a, b);
         }, py::arg("maxInput"), py::arg("a"), py::arg("b"))
       .def_static("fromCharacteristics", [](Input_t maxInput, kV_t kv, kA_t ka) {
-          return typename frc::ExponentialProfile<Distance, Input>::Constraints(maxInput, kv, ka);
+          return typename wpi::math::ExponentialProfile<Distance, Input>::Constraints(maxInput, kv, ka);
         }, py::arg("maxInput"), py::arg("kV"), py::arg("kA"))
 
-  frc::ExponentialProfile::State:
+  wpi::math::ExponentialProfile::State:
     force_no_default_constructor: true
     attributes:
       position:
@@ -48,7 +48,7 @@ classes:
       operator==:
     inline_code: |
       .def(py::init<Distance_t, Velocity_t>())
-  frc::ExponentialProfile::ProfileTiming:
+  wpi::math::ExponentialProfile::ProfileTiming:
     attributes:
       inflectionTime:
       totalTime:
@@ -57,7 +57,7 @@ classes:
 
 templates:
   ExponentialProfileMeterVolts:
-    qualname: frc::ExponentialProfile
+    qualname: wpi::math::ExponentialProfile
     params:
-    - units::meter
-    - units::volt
+    - wpi::units::meter
+    - wpi::units::volt
diff --git a/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml b/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml
index 27eae06003..95338b6999 100644
--- a/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::ExtendedKalmanFilter:
+  wpi::math::ExtendedKalmanFilter:
     template_params:
     - int States
     - int Inputs
@@ -10,9 +10,9 @@ classes:
     methods:
       ExtendedKalmanFilter:
         overloads:
-          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, units::second_t
+          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, wpi::units::second_t
           :
-          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, std::function<OutputVector (const OutputVector&, const OutputVector&)>, std::function<StateVector (const StateVector&, const StateVector&)>, units::second_t
+          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, std::function<OutputVector (const OutputVector&, const OutputVector&)>, std::function<StateVector (const StateVector&, const StateVector&)>, wpi::units::second_t
           :
       P:
         overloads:
@@ -41,25 +41,25 @@ classes:
 
 templates:
   ExtendedKalmanFilter_1_1_1:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 1
     - 1
     - 1
   ExtendedKalmanFilter_2_1_1:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 1
     - 1
   ExtendedKalmanFilter_2_1_2:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 1
     - 2
   ExtendedKalmanFilter_2_2_2:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml b/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml
index e1bf7563b3..f1d240a3c2 100644
--- a/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ImplicitModelFollower:
+  wpi::math::ImplicitModelFollower:
     template_params:
     - int States
     - int Inputs
@@ -22,27 +22,27 @@ classes:
 
     template_inline_code: |
       cls_ImplicitModelFollower
-        .def(py::init<const frc::LinearSystem<States, Inputs, 1>&, const frc::LinearSystem<States, Inputs, 1>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 1>&, const wpi::math::LinearSystem<States, Inputs, 1>&>(),
           py::arg("plant"), py::arg("plantRef"))
-        .def(py::init<const frc::LinearSystem<States, Inputs, 2>&, const frc::LinearSystem<States, Inputs, 2>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 2>&, const wpi::math::LinearSystem<States, Inputs, 2>&>(),
           py::arg("plant"), py::arg("plantRef"))
-        .def(py::init<const frc::LinearSystem<States, Inputs, 3>&, const frc::LinearSystem<States, Inputs, 3>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 3>&, const wpi::math::LinearSystem<States, Inputs, 3>&>(),
           py::arg("plant"), py::arg("plantRef"))
         ;
 
 templates:
   ImplicitModelFollower_1_1:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 1
     - 1
   ImplicitModelFollower_2_1:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 2
     - 1
   ImplicitModelFollower_2_2:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 2
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml b/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml
index 6ea53930fd..94b780203c 100644
--- a/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml
+++ b/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::KalmanFilter:
+  wpi::math::KalmanFilter:
     template_params:
     - int States
     - int Inputs
@@ -31,31 +31,31 @@ classes:
 
 templates:
   KalmanFilter_1_1_1:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 1
     - 1
     - 1
   KalmanFilter_2_1_1:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 1
     - 1
   KalmanFilter_2_1_2:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 1
     - 2
   KalmanFilter_2_2_2:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 2
     - 2
   KalmanFilter_3_2_3:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 3
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml b/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml
index 36abca332f..5b63d020f4 100644
--- a/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml
@@ -2,13 +2,13 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LTVDifferentialDriveController:
+  wpi::math::LTVDifferentialDriveController:
     methods:
       LTVDifferentialDriveController:
       AtReference:
       SetTolerance:
       Calculate:
         overloads:
-          ? const Pose2d&, units::meters_per_second_t, units::meters_per_second_t, const Pose2d&, units::meters_per_second_t, units::meters_per_second_t
+          ? const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t
           :
-          const Pose2d&, units::meters_per_second_t, units::meters_per_second_t, const Trajectory::State&:
+          const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, const Trajectory::State&:
diff --git a/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml b/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml
index 6611e474f7..0c94264d05 100644
--- a/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml
@@ -2,12 +2,12 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LTVUnicycleController:
+  wpi::math::LTVUnicycleController:
     methods:
       LTVUnicycleController:
         overloads:
-          units::second_t:
-          const wpi::array<double, 3>&, const wpi::array<double, 2>&, units::second_t:
+          wpi::units::second_t:
+          const wpi::util::array<double, 3>&, const wpi::util::array<double, 2>&, wpi::units::second_t:
             # param_override:
             #   maxVelocity:
             #     default: 9_mps
@@ -15,6 +15,6 @@ classes:
       SetTolerance:
       Calculate:
         overloads:
-          const Pose2d&, const Pose2d&, units::meters_per_second_t, units::radians_per_second_t:
+          const Pose2d&, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t:
           const Pose2d&, const Trajectory::State&:
       SetEnabled:
diff --git a/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml
index 93deccc6de..4e6743d348 100644
--- a/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml
@@ -2,16 +2,16 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LinearPlantInversionFeedforward:
+  wpi::math::LinearPlantInversionFeedforward:
     template_params:
     - int States
     - int Inputs
     methods:
       LinearPlantInversionFeedforward:
         overloads:
-          const LinearSystem<States, Inputs, Outputs>&, units::second_t:
+          const LinearSystem<States, Inputs, Outputs>&, wpi::units::second_t:
             ignore: true
-          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, units::second_t:
+          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, wpi::units::second_t:
       Uff:
         overloads:
           '[const]':
@@ -31,22 +31,22 @@ classes:
 
 templates:
   LinearPlantInversionFeedforward_1_1:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 1
     - 1
   LinearPlantInversionFeedforward_2_1:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 2
     - 1
   LinearPlantInversionFeedforward_2_2:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 2
     - 2
   LinearPlantInversionFeedforward_3_2:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 3
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml b/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml
index addb967db2..025b5c0cf6 100644
--- a/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml
@@ -2,19 +2,19 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LinearQuadraticRegulator:
+  wpi::math::LinearQuadraticRegulator:
     template_params:
     - int States
     - int Inputs
     methods:
       LinearQuadraticRegulator:
         overloads:
-          const LinearSystem<States, Inputs, Outputs>&, const StateArray&, const InputArray&, units::second_t:
+          const LinearSystem<States, Inputs, Outputs>&, const StateArray&, const InputArray&, wpi::units::second_t:
             ignore: true
-          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const StateArray&, const InputArray&, units::second_t:
-          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, units::second_t
+          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const StateArray&, const InputArray&, wpi::units::second_t:
+          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, wpi::units::second_t
           :
-          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, const Matrixd<States, Inputs>&, units::second_t
+          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, const Matrixd<States, Inputs>&, wpi::units::second_t
           :
       K:
         overloads:
@@ -39,28 +39,28 @@ classes:
         - ['2']
     template_inline_code: |
       cls_LinearQuadraticRegulator
-        .def(py::init<const frc::LinearSystem<States, Inputs, 1>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>())
-        .def(py::init<const frc::LinearSystem<States, Inputs, 2>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>())
-        .def(py::init<const frc::LinearSystem<States, Inputs, 3>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>());
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 1>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>())
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 2>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>())
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 3>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>());
 
 templates:
   LinearQuadraticRegulator_1_1:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 1
     - 1
   LinearQuadraticRegulator_2_1:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 2
     - 1
   LinearQuadraticRegulator_2_2:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 2
     - 2
   LinearQuadraticRegulator_3_2:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 3
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml b/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml
index a96d320ebd..52ccfd459d 100644
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: system
 
 classes:
-  frc::LinearSystem:
+  wpi::math::LinearSystem:
     template_params:
     - int States
     - int Inputs
@@ -33,73 +33,73 @@ classes:
 
 templates:
   LinearSystem_1_1_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 1
   LinearSystem_1_1_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 2
   LinearSystem_1_1_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 3
   LinearSystem_2_1_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 1
   LinearSystem_2_1_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 2
   LinearSystem_2_1_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 3
   LinearSystem_2_2_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 1
   LinearSystem_2_2_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 2
   LinearSystem_2_2_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 3
   LinearSystem_3_2_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2
     - 1
   LinearSystem_3_2_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2
     - 2
   LinearSystem_3_2_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml b/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml
index 52874e4dd4..052bddddc3 100644
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml
@@ -2,12 +2,12 @@ defaults:
   subpackage: plant
 
 classes:
-  frc::LinearSystemId:
+  wpi::math::LinearSystemId:
     typealias:
-    - kv_meters = units::unit_t<units::compound_unit<units::volts, units::inverse<units::meters_per_second>>>
-    - kv_radians = units::unit_t<units::compound_unit<units::volts, units::inverse<units::radians_per_second>>>
-    - ka_meters = units::unit_t<units::compound_unit<units::volts, units::inverse<units::meters_per_second_squared>>>
-    - ka_radians = units::unit_t<units::compound_unit<units::volts, units::inverse<units::radians_per_second_squared>>>
+    - kv_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second>>>
+    - kv_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second>>>
+    - ka_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second_squared>>>
+    - ka_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second_squared>>>
     methods:
       ElevatorSystem:
       SingleJointedArmSystem:
@@ -15,48 +15,48 @@ classes:
         rename: identifyVelocitySystemMeters
         cpp_code: |
           [](kv_meters kV, ka_meters kA) {
-            return frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(kV, kA);
+            return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(kV, kA);
           }
       IdentifyPositionSystem:
         rename: identifyPositionSystemMeters
         cpp_code: |
           [](kv_meters kV, ka_meters kA) {
-            return frc::LinearSystemId::IdentifyPositionSystem<units::meter>(kV, kA);
+            return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(kV, kA);
           }
       IdentifyDrivetrainSystem:
         overloads:
           decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
             cpp_code: |
               [](kv_meters kVlinear, ka_meters kAlinear, kv_meters kVangular, ka_meters kAangular) {
-                return frc::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
+                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
               }
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), units::meter_t:
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
             cpp_code: |
-              [](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, units::meter_t trackWidth) {
-                return frc::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
+              [](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, wpi::units::meter_t trackWidth) {
+                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
               }
       FlywheelSystem:
       DCMotorSystem:
         overloads:
-          DCMotor, units::kilogram_square_meter_t, double:
+          DCMotor, wpi::units::kilogram_square_meter_t, double:
           decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)):
             cpp_code: |
               [](kv_meters kv, ka_meters ka) {
-                return frc::LinearSystemId::DCMotorSystem<units::meter>(kv, ka);
+                return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::meter>(kv, ka);
               }
       DrivetrainVelocitySystem:
 
     inline_code: |
       .def_static("DCMotorSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::DCMotorSystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )
 
       .def_static("identifyVelocitySystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )
       .def_static("identifyPositionSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::IdentifyPositionSystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )
diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml b/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml
index 09d0bc2b91..00a6897c84 100644
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml
+++ b/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: system
 
 classes:
-  frc::LinearSystemLoop:
+  wpi::math::LinearSystemLoop:
     template_params:
     - int States
     - int Inputs
@@ -10,11 +10,11 @@ classes:
     methods:
       LinearSystemLoop:
         overloads:
-          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t, units::second_t
+          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, wpi::units::volt_t, wpi::units::second_t
           :
-          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>, units::second_t
+          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>, wpi::units::second_t
           :
-          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t
+          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, wpi::units::volt_t
           :
           ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>
           :
@@ -48,31 +48,31 @@ classes:
       ClampInput:
 templates:
   LinearSystemLoop_1_1_1:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 1
     - 1
     - 1
   LinearSystemLoop_2_1_1:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 1
     - 1
   LinearSystemLoop_2_1_2:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 1
     - 2
   LinearSystemLoop_2_2_2:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 2
     - 2
   LinearSystemLoop_3_2_3:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 3
     - 2
diff --git a/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml b/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml
index 45053558a1..b6a2c94f31 100644
--- a/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::MaxVelocityConstraint:
+  wpi::math::MaxVelocityConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       MaxVelocityConstraint:
       MaxVelocity:
@@ -12,7 +12,7 @@ classes:
 
 inline_code: |-
   cls_MaxVelocityConstraint
-    .def_static("fromFps", [](units::feet_per_second_t maxVelocity) {
-      return std::make_shared<frc::MaxVelocityConstraint>(maxVelocity);
+    .def_static("fromFps", [](wpi::units::feet_per_second_t maxVelocity) {
+      return std::make_shared<wpi::math::MaxVelocityConstraint>(maxVelocity);
     }, py::arg("maxVelocity"))
   ;
diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml
index 051b732356..acf677b0a3 100644
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::MecanumDriveKinematicsConstraint:
+  wpi::math::MecanumDriveKinematicsConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       MecanumDriveKinematicsConstraint:
       MaxVelocity:
@@ -12,8 +12,8 @@ classes:
 
 inline_code: |-
   cls_MecanumDriveKinematicsConstraint
-    .def_static("fromFps", [](const frc::MecanumDriveKinematics& kinematics,
-                              units::feet_per_second_t maxSpeed) {
-      return std::make_shared<frc::MecanumDriveKinematicsConstraint>(kinematics, maxSpeed);
+    .def_static("fromFps", [](const wpi::math::MecanumDriveKinematics& kinematics,
+                              wpi::units::feet_per_second_t maxSpeed) {
+      return std::make_shared<wpi::math::MecanumDriveKinematicsConstraint>(kinematics, maxSpeed);
     }, py::arg("kinematics"), py::arg("maxSpeed"))
   ;
diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml
index f666b31874..48c27ad85c 100644
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::MecanumDrivePoseEstimator:
+  wpi::math::MecanumDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps an Unscented Kalman Filter to fuse latency-compensated
@@ -34,5 +34,5 @@ classes:
       MecanumDrivePoseEstimator:
         overloads:
           MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&:
-          ? MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          ? MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml
index 3cac61fb3c..66a08e5f38 100644
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml
@@ -2,11 +2,11 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::MecanumDrivePoseEstimator3d:
+  wpi::math::MecanumDrivePoseEstimator3d:
     force_no_trampoline: true
     methods:
       MecanumDrivePoseEstimator3d:
         overloads:
           MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&:
-          ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
diff --git a/wpimath/src/main/python/semiwrap/controls/PIDController.yml b/wpimath/src/main/python/semiwrap/controls/PIDController.yml
index 4da68d4f73..00b2b07bc8 100644
--- a/wpimath/src/main/python/semiwrap/controls/PIDController.yml
+++ b/wpimath/src/main/python/semiwrap/controls/PIDController.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::PIDController:
+  wpi::math::PIDController:
     ignored_bases:
-    - wpi::SendableHelper<PIDController>
+    - wpi::util::SendableHelper<PIDController>
     methods:
       PIDController:
         param_override:
diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
index 52ce29a3a1..5e95d1dde3 100644
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
@@ -10,7 +10,7 @@ extra_includes:
 
 
 classes:
-  frc::PoseEstimator:
+  wpi::math::PoseEstimator:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -25,39 +25,39 @@ classes:
       SampleAt:
       AddVisionMeasurement:
         overloads:
-          const Pose2d&, units::second_t:
-          const Pose2d&, units::second_t, const wpi::array<double, 3>&:
+          const Pose2d&, wpi::units::second_t:
+          const Pose2d&, wpi::units::second_t, const wpi::util::array<double, 3>&:
       Update:
       UpdateWithTime:
 
 templates:
   DifferentialDrivePoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDrivePoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>
diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
index 3ad301abb3..69cd62b6e6 100644
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
@@ -9,7 +9,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::PoseEstimator3d:
+  wpi::math::PoseEstimator3d:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -24,40 +24,40 @@ classes:
       SampleAt:
       AddVisionMeasurement:
         overloads:
-          const Pose3d&, units::second_t:
-          const Pose3d&, units::second_t, const wpi::array<double, 4>&:
+          const Pose3d&, wpi::units::second_t:
+          const Pose3d&, wpi::units::second_t, const wpi::util::array<double, 4>&:
       Update:
       UpdateWithTime:
 
 
 templates:
   DifferentialDrivePoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDrivePoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>
diff --git a/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml b/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml
index 71cf286a0b..f814482a9d 100644
--- a/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml
+++ b/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml
@@ -5,16 +5,16 @@ functions:
   IncrementAndGetProfiledPIDControllerInstances:
     ignore: true
 classes:
-  frc::ProfiledPIDController:
+  wpi::math::ProfiledPIDController:
     force_type_casters:
-    - units::radians_per_second
+    - wpi::units::radians_per_second
     template_params:
     - Distance
     ignored_bases:
-    - wpi::SendableHelper<ProfiledPIDController<Distance>>
+    - wpi::util::SendableHelper<ProfiledPIDController<Distance>>
     typealias:
-    - typename frc::ProfiledPIDController<Distance>::Velocity
-    - typename frc::ProfiledPIDController<Distance>::Velocity_t
+    - typename wpi::math::ProfiledPIDController<Distance>::Velocity
+    - typename wpi::math::ProfiledPIDController<Distance>::Velocity_t
     methods:
       ProfiledPIDController:
         param_override:
@@ -56,7 +56,7 @@ classes:
           Distance_t:
           Distance_t, State:
           Distance_t, Distance_t:
-          Distance_t, Distance_t, typename frc::TrapezoidProfile<Distance>::Constraints:
+          Distance_t, Distance_t, typename wpi::math::TrapezoidProfile<Distance>::Constraints:
             param_override:
               constraints:
                 x_type: typename TrapezoidProfile<Distance>::Constraints
@@ -69,12 +69,12 @@ classes:
 
 templates:
   ProfiledPIDController:
-    qualname: frc::ProfiledPIDController
+    qualname: wpi::math::ProfiledPIDController
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar
 
   # needed for HolonomicDriveController
   ProfiledPIDControllerRadians:
-    qualname: frc::ProfiledPIDController
+    qualname: wpi::math::ProfiledPIDController
     params:
-    - units::radian
+    - wpi::units::radian
diff --git a/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml b/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml
index 153423ae98..6aec5b8931 100644
--- a/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml
@@ -5,11 +5,11 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::RectangularRegionConstraint:
+  wpi::math::RectangularRegionConstraint:
     template_params:
     - typename Constraint
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       RectangularRegionConstraint:
         overloads:
@@ -20,6 +20,6 @@ classes:
 
 templates:
   RectangularRegionConstraint:
-    qualname: frc::RectangularRegionConstraint
+    qualname: wpi::math::RectangularRegionConstraint
     params:
-    - frc::PyTrajectoryConstraint
+    - wpi::math::PyTrajectoryConstraint
diff --git a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
index 156613020b..2bab307c39 100644
--- a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
@@ -5,28 +5,28 @@ extra_includes:
 - wpi/units/dimensionless.hpp
 
 classes:
-  frc::SimpleMotorFeedforward:
+  wpi::math::SimpleMotorFeedforward:
     force_type_casters:
-    - units::meters_per_second
-    - units::meters_per_second_squared
-    - units::radians_per_second
-    - units::radians_per_second_squared
+    - wpi::units::meters_per_second
+    - wpi::units::meters_per_second_squared
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
     typealias:
-    - typename frc::SimpleMotorFeedforward<Distance>::Velocity
-    - typename frc::SimpleMotorFeedforward<Distance>::Acceleration
-    - typename frc::SimpleMotorFeedforward<Distance>::kv_unit
-    - typename frc::SimpleMotorFeedforward<Distance>::ka_unit
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::Velocity
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::Acceleration
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::kv_unit
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::ka_unit
     template_params:
     - Distance
     methods:
       SimpleMotorFeedforward:
         overloads:
           '':
-          units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Velocity> [const]:
-          units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -42,16 +42,16 @@ classes:
 templates:
   # Unfortunately this is broken because calculate requires an SI unit
   # SimpleMotorFeedforward:
-  #   qualname: frc::SimpleMotorFeedforward
+  #   qualname: wpi::math::SimpleMotorFeedforward
   #   params:
-  #     - units::dimensionless::scalar
+  #     - wpi::units::dimensionless::scalar
 
   SimpleMotorFeedforwardMeters:
-    qualname: frc::SimpleMotorFeedforward
+    qualname: wpi::math::SimpleMotorFeedforward
     params:
-    - units::meter
+    - wpi::units::meter
 
   SimpleMotorFeedforwardRadians:
-    qualname: frc::SimpleMotorFeedforward
+    qualname: wpi::math::SimpleMotorFeedforward
     params:
-    - units::radian
+    - wpi::units::radian
diff --git a/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml b/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml
index b13e812cea..eac432a109 100644
--- a/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml
@@ -5,7 +5,7 @@ extra_includes:
 - gilsafe_object.h
 
 classes:
-  frc::SimulatedAnnealing:
+  wpi::math::SimulatedAnnealing:
     template_params:
     - State
     methods:
@@ -14,6 +14,6 @@ classes:
 
 templates:
   SimulatedAnnealing:
-    qualname: frc::SimulatedAnnealing
+    qualname: wpi::math::SimulatedAnnealing
     params:
     - semiwrap::gilsafe_object
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml
index b9107a469b..4f53b57a28 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml
@@ -2,37 +2,37 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::SwerveDriveKinematicsConstraint:
+  wpi::math::SwerveDriveKinematicsConstraint:
     template_params:
     - size_t NumModules
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       SwerveDriveKinematicsConstraint:
       MaxVelocity:
       MinMaxAcceleration:
     template_inline_code: |
       cls_SwerveDriveKinematicsConstraint
-        .def_static("fromFps", [](const frc::SwerveDriveKinematics<NumModules>& kinematics,
-                                  units::feet_per_second_t maxSpeed) {
-          return std::make_shared<frc::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxSpeed);
+        .def_static("fromFps", [](const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
+                                  wpi::units::feet_per_second_t maxSpeed) {
+          return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxSpeed);
         }, py::arg("kinematics"), py::arg("maxSpeed"))
       ;
 
 templates:
   SwerveDrive2KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 2
   SwerveDrive3KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 3
   SwerveDrive4KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 4
   SwerveDrive6KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
index 5f8d1cd8c7..774ead2191 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
@@ -5,7 +5,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
-  frc::SwerveDrivePoseEstimator:
+  wpi::math::SwerveDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps Swerve Drive Odometry to fuse latency-compensated
@@ -30,24 +30,24 @@ classes:
     methods:
       SwerveDrivePoseEstimator:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose2d&:
-          ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
 
 templates:
   SwerveDrive2PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 2
   SwerveDrive3PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 3
   SwerveDrive4PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 4
   SwerveDrive6PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
index 48115a785d..d7b0794719 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
@@ -5,32 +5,32 @@ extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
-  frc::SwerveDrivePoseEstimator3d:
+  wpi::math::SwerveDrivePoseEstimator3d:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
     methods:
       SwerveDrivePoseEstimator3d:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose3d&:
-          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
 
 
 templates:
   SwerveDrive2PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 2
   SwerveDrive3PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 3
   SwerveDrive4PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 4
   SwerveDrive6PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/controls/Trajectory.yml b/wpimath/src/main/python/semiwrap/controls/Trajectory.yml
index d806263936..30e2debe2f 100644
--- a/wpimath/src/main/python/semiwrap/controls/Trajectory.yml
+++ b/wpimath/src/main/python/semiwrap/controls/Trajectory.yml
@@ -10,9 +10,9 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Trajectory:
+  wpi::math::Trajectory:
     force_type_casters:
-    - units::curvature_t
+    - wpi::units::curvature_t
     methods:
       Trajectory:
         overloads:
@@ -26,7 +26,7 @@ classes:
       InitialPose:
       operator+:
       operator==:
-  frc::Trajectory::State:
+  wpi::math::Trajectory::State:
     force_no_default_constructor: true
     attributes:
       t:
@@ -42,11 +42,11 @@ inline_code: |
   cls_State
     .def(
       py::init<
-        units::second_t,
-        units::meters_per_second_t,
-        units::meters_per_second_squared_t,
+        wpi::units::second_t,
+        wpi::units::meters_per_second_t,
+        wpi::units::meters_per_second_squared_t,
         Pose2d,
-        units::curvature_t
+        wpi::units::curvature_t
       >(),
       py::arg("t") = 0_s,
       py::arg("velocity") = 0_mps,
@@ -54,13 +54,13 @@ inline_code: |
       py::arg("pose") = Pose2d(),
       py::arg("curvature") = 0.0
     )
-    .def_property_readonly("velocity_fps", [](frc::Trajectory::State * self) -> units::feet_per_second_t {
+    .def_property_readonly("velocity_fps", [](wpi::math::Trajectory::State * self) -> wpi::units::feet_per_second_t {
       return self->velocity;
     })
-    .def_property_readonly("acceleration_fps", [](frc::Trajectory::State * self) -> units::feet_per_second_squared_t {
+    .def_property_readonly("acceleration_fps", [](wpi::math::Trajectory::State * self) -> wpi::units::feet_per_second_squared_t {
       return self->acceleration;
     })
-    .def("__repr__", [](frc::Trajectory::State *self) {
+    .def("__repr__", [](wpi::math::Trajectory::State *self) {
       return "Trajectory.State("
         "t=" + std::to_string(self->t()) + ", "
         "velocity=" + std::to_string(self->velocity()) + ", "
@@ -68,4 +68,4 @@ inline_code: |
         "pose=" + rpy::toString(self->pose) + ", "
         "curvature=" + std::to_string(self->curvature()) + ")";
     })
-    .def_readwrite("curvature", &frc::Trajectory::State::curvature);
+    .def_readwrite("curvature", &wpi::math::Trajectory::State::curvature);
diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml b/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml
index ca1d09d828..6622f8bf2d 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml
@@ -5,7 +5,7 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::TrajectoryConfig:
+  wpi::math::TrajectoryConfig:
     methods:
       TrajectoryConfig:
       SetStartVelocity:
@@ -30,14 +30,14 @@ classes:
 
 inline_code: |-
   cls_TrajectoryConfig
-    .def_static("fromFps", [](units::feet_per_second_t maxVelocity, units::feet_per_second_squared_t maxAcceleration) {
+    .def_static("fromFps", [](wpi::units::feet_per_second_t maxVelocity, wpi::units::feet_per_second_squared_t maxAcceleration) {
       return std::make_shared<TrajectoryConfig>(maxVelocity, maxAcceleration);
     }, py::arg("maxVelocity"), py::arg("maxAcceleration"))
 
     // TODO: robotpy-build bug
 
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<2>&)>(
-  &frc::TrajectoryConfig::SetKinematics<2>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<2>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<2>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -45,8 +45,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<3>&)>(
-  &frc::TrajectoryConfig::SetKinematics<3>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<3>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<3>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -54,8 +54,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<4>&)>(
-  &frc::TrajectoryConfig::SetKinematics<4>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<4>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<4>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -63,8 +63,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<6>&)>(
-  &frc::TrajectoryConfig::SetKinematics<6>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<6>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<6>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml b/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml
index 73af5eced4..e905595f80 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml
@@ -2,26 +2,26 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::TrajectoryConstraint:
+  wpi::math::TrajectoryConstraint:
     force_type_casters:
-    - units::meters_per_second_squared
+    - wpi::units::meters_per_second_squared
     methods:
       TrajectoryConstraint:
       MaxVelocity:
       MinMaxAcceleration:
-  frc::TrajectoryConstraint::MinMax:
+  wpi::math::TrajectoryConstraint::MinMax:
     attributes:
       minAcceleration:
       maxAcceleration:
     inline_code: |
       .def(py::init([](
-          units::meters_per_second_squared_t minAcceleration,
-          units::meters_per_second_squared_t maxAcceleration) {
-        return frc::TrajectoryConstraint::MinMax{minAcceleration, maxAcceleration};
+          wpi::units::meters_per_second_squared_t minAcceleration,
+          wpi::units::meters_per_second_squared_t maxAcceleration) {
+        return wpi::math::TrajectoryConstraint::MinMax{minAcceleration, maxAcceleration};
       }), py::arg("minAcceleration"), py::arg("maxAcceleration"))
 
-      .def("__len__", [](const frc::TrajectoryConstraint::MinMax& self) { return 2; })
-      .def("__getitem__", [](const frc::TrajectoryConstraint::MinMax& self, int index) {
+      .def("__len__", [](const wpi::math::TrajectoryConstraint::MinMax& self) { return 2; })
+      .def("__getitem__", [](const wpi::math::TrajectoryConstraint::MinMax& self, int index) {
         switch (index) {
           case 0:
             return self.minAcceleration;
@@ -32,7 +32,7 @@ classes:
         }
       })
 
-      .def("__repr__", [](const frc::TrajectoryConstraint::MinMax &self) {
+      .def("__repr__", [](const wpi::math::TrajectoryConstraint::MinMax &self) {
         return py::str("TrajectoryConstraint.MinMax(minAcceleration={}, maxAcceleration={})").format(
           self.minAcceleration, self.maxAcceleration);
       })
diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml b/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
index 91ab346f3f..585af5ea69 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
@@ -6,10 +6,10 @@ extra_includes:
 - wpi/math/spline/QuinticHermiteSpline.hpp
 
 classes:
-  frc::TrajectoryGenerator:
+  wpi::math::TrajectoryGenerator:
     force_type_casters:
-    - units::unit_t
-    - units::curvature_t
+    - wpi::units::unit_t
+    - wpi::units::curvature_t
     methods:
       GenerateTrajectory:
         overloads:
diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml b/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml
index 97f4b524c1..b102e527b1 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml
@@ -2,9 +2,9 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::TrajectoryParameterizer:
+  wpi::math::TrajectoryParameterizer:
     force_type_casters:
-    - units::unit_t
-    - units::curvature_t
+    - wpi::units::unit_t
+    - wpi::units::curvature_t
     methods:
       TimeParameterizeTrajectory:
diff --git a/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml b/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml
index 2122c9f1e7..8eea00a1a2 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml
@@ -2,11 +2,11 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::TrapezoidProfile:
+  wpi::math::TrapezoidProfile:
     force_type_casters:
-    - units::second_t
-    - units::radians_per_second
-    - units::radians_per_second_squared
+    - wpi::units::second_t
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
     template_params:
     - Distance
     doc: |
@@ -70,7 +70,7 @@ classes:
             "velocity=" + std::to_string(self.velocity()) + ")";
         });
       }
-  frc::TrapezoidProfile::Constraints:
+  wpi::math::TrapezoidProfile::Constraints:
     attributes:
       maxVelocity:
       maxAcceleration:
@@ -85,7 +85,7 @@ classes:
                 default: '0'
               maxAcceleration:
                 default: '0'
-  frc::TrapezoidProfile::State:
+  wpi::math::TrapezoidProfile::State:
     force_no_default_constructor: true
     attributes:
       position:
@@ -95,12 +95,12 @@ classes:
         cpp_code: py::self == State()
 templates:
   TrapezoidProfile:
-    qualname: frc::TrapezoidProfile
+    qualname: wpi::math::TrapezoidProfile
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar
 
   # needed for HolonomicDriveController
   TrapezoidProfileRadians:
-    qualname: frc::TrapezoidProfile
+    qualname: wpi::math::TrapezoidProfile
     params:
-    - units::radian
+    - wpi::units::radian
diff --git a/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml b/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml
index ad40d99f46..de8af84b2b 100644
--- a/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: path
 
 classes:
-  frc::TravelingSalesman:
+  wpi::math::TravelingSalesman:
     methods:
       TravelingSalesman:
         overloads:
@@ -10,6 +10,6 @@ classes:
           std::function<double (Pose2d, Pose2d)>:
       Solve:
         overloads:
-          const wpi::array<Pose2d, Poses>&, int:
+          const wpi::util::array<Pose2d, Poses>&, int:
             ignore: true
           std::span<const Pose2d>, int:
diff --git a/wpimath/src/main/python/semiwrap/filter/Debouncer.yml b/wpimath/src/main/python/semiwrap/filter/Debouncer.yml
index fd98a0a50f..205b1a9630 100644
--- a/wpimath/src/main/python/semiwrap/filter/Debouncer.yml
+++ b/wpimath/src/main/python/semiwrap/filter/Debouncer.yml
@@ -1,12 +1,12 @@
 classes:
-  frc::Debouncer:
+  wpi::math::Debouncer:
     enums:
       DebounceType:
     methods:
       Debouncer:
         param_override:
           type:
-            default: frc::Debouncer::DebounceType::kRising
+            default: wpi::math::Debouncer::DebounceType::kRising
       Calculate:
       SetDebounceTime:
       GetDebounceTime:
diff --git a/wpimath/src/main/python/semiwrap/filter/LinearFilter.yml b/wpimath/src/main/python/semiwrap/filter/LinearFilter.yml
index 98b044af4f..11bdb90cad 100644
--- a/wpimath/src/main/python/semiwrap/filter/LinearFilter.yml
+++ b/wpimath/src/main/python/semiwrap/filter/LinearFilter.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::LinearFilter:
+  wpi::math::LinearFilter:
     template_params:
     - T
     methods:
@@ -24,6 +24,6 @@ classes:
 
 templates:
   LinearFilter:
-    qualname: frc::LinearFilter
+    qualname: wpi::math::LinearFilter
     params:
     - double
diff --git a/wpimath/src/main/python/semiwrap/filter/MedianFilter.yml b/wpimath/src/main/python/semiwrap/filter/MedianFilter.yml
index 28f21609f4..13f3e1f2ad 100644
--- a/wpimath/src/main/python/semiwrap/filter/MedianFilter.yml
+++ b/wpimath/src/main/python/semiwrap/filter/MedianFilter.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::MedianFilter:
+  wpi::math::MedianFilter:
     template_params:
     - T
     methods:
@@ -10,6 +10,6 @@ classes:
 
 templates:
   MedianFilter:
-    qualname: frc::MedianFilter
+    qualname: wpi::math::MedianFilter
     params:
     - double
diff --git a/wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml b/wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml
index f174c90762..401604fe76 100644
--- a/wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml
+++ b/wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml
@@ -1,10 +1,10 @@
 classes:
-  frc::SlewRateLimiter:
+  wpi::math::SlewRateLimiter:
     template_params:
     - Unit
     typealias:
-    - Unit_t = units::unit_t<Unit>
-    - Rate = units::compound_unit<Unit, units::inverse<units::seconds>>
+    - Unit_t = wpi::units::unit_t<Unit>
+    - Rate = wpi::units::compound_unit<Unit, wpi::units::inverse<wpi::units::seconds>>
     methods:
       SlewRateLimiter:
         overloads:
@@ -16,6 +16,6 @@ classes:
 
 templates:
   SlewRateLimiter:
-    qualname: frc::SlewRateLimiter
+    qualname: wpi::math::SlewRateLimiter
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar
diff --git a/wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml b/wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml
index 98f03e5d72..5a5664254c 100644
--- a/wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::CoordinateAxis:
+  wpi::math::CoordinateAxis:
     methods:
       CoordinateAxis:
       N:
diff --git a/wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml b/wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml
index b633e9e34b..5e251abd9b 100644
--- a/wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::CoordinateSystem:
+  wpi::math::CoordinateSystem:
     methods:
       CoordinateSystem:
       NWU:
diff --git a/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml b/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml
index 1d9bb7ed76..bf717940f3 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml
@@ -3,14 +3,14 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Ellipse2d:
+  wpi::math::Ellipse2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
     methods:
       Ellipse2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t:
+          const Pose2d&, wpi::units::meter_t, wpi::units::meter_t:
           const Translation2d&, double:
       Center:
       Rotation:
@@ -29,18 +29,18 @@ classes:
 
 inline_code: |-
   cls_Ellipse2d
-    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xSemiAxis, units::foot_t ySemiAxis) {
+    .def_static("fromFeet", [](const Pose2d& center, wpi::units::foot_t xSemiAxis, wpi::units::foot_t ySemiAxis) {
       return std::make_unique<Ellipse2d>(center, xSemiAxis, ySemiAxis);
     }, py::arg("center"), py::arg("xSemiAxis"), py::arg("ySemiAxis"))
     .def_property_readonly("xsemiaxis", &Ellipse2d::XSemiAxis)
     .def_property_readonly("ysemiaxis", &Ellipse2d::YSemiAxis)
-    .def_property_readonly("xsemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+    .def_property_readonly("xsemiaxis_feet", [](Ellipse2d &self) -> wpi::units::foot_t {
       return self.XSemiAxis();
     })
-    .def_property_readonly("ysemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+    .def_property_readonly("ysemiaxis_feet", [](Ellipse2d &self) -> wpi::units::foot_t {
       return self.YSemiAxis();
     })
     .def("__repr__", py::overload_cast<const Ellipse2d&>(&rpy::toString));
 
 
-  SetupWPyStruct<frc::Ellipse2d>(cls_Ellipse2d);
+  SetupWPyStruct<wpi::math::Ellipse2d>(cls_Ellipse2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml b/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml
index 6d294640e0..2cc1c8ecff 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml
@@ -8,17 +8,17 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Pose2d:
+  wpi::math::Pose2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
-    - units::radian_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
+    - wpi::units::radian_t
     methods:
       Pose2d:
         overloads:
           '':
           Translation2d, Rotation2d:
-          units::meter_t, units::meter_t, Rotation2d:
+          wpi::units::meter_t, wpi::units::meter_t, Rotation2d:
           const Eigen::Matrix3d&:
             rename: fromMatrix
             keepalive: []
@@ -44,23 +44,23 @@ classes:
 
 inline_code: |
   cls_Pose2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, Rotation2d r) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, Rotation2d r) {
       return std::make_unique<Pose2d>(x, y, r);
     }, py::arg("x"), py::arg("y"), py::arg("r"))
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::radian_t angle) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::radian_t angle) {
       return std::make_unique<Pose2d>(x, y, Rotation2d(angle));
     }, py::arg("x"), py::arg("y"), py::arg("angle"))
-    .def(py::init([](units::meter_t x, units::meter_t y, units::radian_t angle) {
+    .def(py::init([](wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::radian_t angle) {
       return std::make_unique<Pose2d>(x, y, angle);
     }), py::arg("x"), py::arg("y"), py::arg("angle"))
     .def_property_readonly("x", &Pose2d::X)
     .def_property_readonly("y", &Pose2d::Y)
-    .def_property_readonly("x_feet", [](Pose2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Pose2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Pose2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Pose2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
     .def("__repr__", py::overload_cast<const Pose2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Pose2d>(cls_Pose2d);
+  SetupWPyStruct<wpi::math::Pose2d>(cls_Pose2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml b/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml
index d55a93e8e4..93f6755bae 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml
@@ -8,13 +8,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Pose3d:
+  wpi::math::Pose3d:
     methods:
       Pose3d:
         overloads:
           '':
           Translation3d, Rotation3d:
-          units::meter_t, units::meter_t, units::meter_t, Rotation3d:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t, Rotation3d:
           const Pose2d&:
             keepalive: []
           const Eigen::Matrix4d&:
@@ -44,21 +44,21 @@ classes:
 
 inline_code: |
   cls_Pose3d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::foot_t z, Rotation3d r) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::foot_t z, Rotation3d r) {
       return std::make_unique<Pose3d>(x, y, z, r);
     }, py::arg("x"), py::arg("y"), py::arg("z"), py::arg("r"))
     .def_property_readonly("x", &Pose3d::X)
     .def_property_readonly("y", &Pose3d::Y)
     .def_property_readonly("z", &Pose3d::Z)
-    .def_property_readonly("x_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Pose3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Pose3d>(cls_Pose3d);
+  SetupWPyStruct<wpi::math::Pose3d>(cls_Pose3d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml b/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml
index 74886f4d76..717305bc06 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml
@@ -8,7 +8,7 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Quaternion:
+  wpi::math::Quaternion:
     methods:
       Quaternion:
         overloads:
@@ -47,4 +47,4 @@ inline_code: |
   cls_Quaternion
     .def("__repr__", py::overload_cast<const Quaternion&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Quaternion>(cls_Quaternion);
+  SetupWPyStruct<wpi::math::Quaternion>(cls_Quaternion);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml b/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml
index bb8c895f77..f02d69100a 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml
@@ -3,14 +3,14 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Rectangle2d:
+  wpi::math::Rectangle2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
     methods:
       Rectangle2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t:
+          const Pose2d&, wpi::units::meter_t, wpi::units::meter_t:
           const Translation2d&, const Translation2d&:
       Center:
       Rotation:
@@ -28,18 +28,18 @@ classes:
 
 inline_code: |-
   cls_Rectangle2d
-    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xWidth, units::foot_t yWidth) {
+    .def_static("fromFeet", [](const Pose2d& center, wpi::units::foot_t xWidth, wpi::units::foot_t yWidth) {
       return std::make_unique<Rectangle2d>(center, xWidth, yWidth);
     }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"))
     .def_property_readonly("xwidth", &Rectangle2d::XWidth)
     .def_property_readonly("ywidth", &Rectangle2d::YWidth)
-    .def_property_readonly("xwidth_feet", [](Rectangle2d &self) -> units::foot_t {
+    .def_property_readonly("xwidth_feet", [](Rectangle2d &self) -> wpi::units::foot_t {
       return self.XWidth();
     })
-    .def_property_readonly("ywidth_feet", [](Rectangle2d &self) -> units::foot_t {
+    .def_property_readonly("ywidth_feet", [](Rectangle2d &self) -> wpi::units::foot_t {
       return self.YWidth();
     })
     .def("__repr__", py::overload_cast<const Rectangle2d&>(&rpy::toString));
 
 
-  SetupWPyStruct<frc::Rectangle2d>(cls_Rectangle2d);
+  SetupWPyStruct<wpi::math::Rectangle2d>(cls_Rectangle2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml b/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml
index 162c1a77c6..51c9489d58 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml
@@ -8,7 +8,7 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Rotation2d:
+  wpi::math::Rotation2d:
     methods:
       Rotation2d:
         overloads:
@@ -19,9 +19,9 @@ classes:
               :param value: The value of the angle in radians.
             param_override:
               value:
-                x_type: units::radian_t
+                x_type: wpi::units::radian_t
             template_impls:
-            - [units::radian_t]
+            - [wpi::units::radian_t]
           double, double:
           const Eigen::Matrix2d&:
             rename: fromMatrix
@@ -44,12 +44,12 @@ classes:
 
 inline_code: |
   cls_Rotation2d
-    .def_static("fromDegrees", [](units::degree_t value) {
+    .def_static("fromDegrees", [](wpi::units::degree_t value) {
       return std::make_unique<Rotation2d>(value);
     }, py::arg("value"))
-    .def_static("fromRotations", [](units::turn_t value) {
+    .def_static("fromRotations", [](wpi::units::turn_t value) {
       return std::make_unique<Rotation2d>(value);
     })
     .def("__repr__", py::overload_cast<const Rotation2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Rotation2d>(cls_Rotation2d);
+  SetupWPyStruct<wpi::math::Rotation2d>(cls_Rotation2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml b/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml
index 881a995710..8e2f469b1a 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml
@@ -8,15 +8,15 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Rotation3d:
+  wpi::math::Rotation3d:
     methods:
       Rotation3d:
         overloads:
           '':
           const Quaternion&:
             keepalive: []
-          units::radian_t, units::radian_t, units::radian_t:
-          const Eigen::Vector3d&, units::radian_t:
+          wpi::units::radian_t, wpi::units::radian_t, wpi::units::radian_t:
+          const Eigen::Vector3d&, wpi::units::radian_t:
             keepalive: []
           const Eigen::Vector3d&:
             keepalive: []
@@ -47,25 +47,25 @@ classes:
 
 inline_code: |
   cls_Rotation3d
-    .def_static("fromDegrees", [](units::degree_t roll, units::degree_t pitch, units::degree_t yaw) {
+    .def_static("fromDegrees", [](wpi::units::degree_t roll, wpi::units::degree_t pitch, wpi::units::degree_t yaw) {
       return std::make_unique<Rotation3d>(roll, pitch, yaw);
     }, py::arg("roll"), py::arg("pitch"), py::arg("yaw"))
     .def_property_readonly("x", &Rotation3d::X)
     .def_property_readonly("y", &Rotation3d::Y)
     .def_property_readonly("z", &Rotation3d::Z)
     .def_property_readonly("angle", &Rotation3d::Angle)
-    .def_property_readonly("x_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("x_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->X();
     })
-    .def_property_readonly("y_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("y_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Y();
     })
-    .def_property_readonly("z_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("z_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Z();
     })
-    .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Angle();
     })
     .def("__repr__", py::overload_cast<const Rotation3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Rotation3d>(cls_Rotation3d);
+  SetupWPyStruct<wpi::math::Rotation3d>(cls_Rotation3d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml b/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
index 20f40e76cf..ce14e4833b 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
@@ -4,18 +4,18 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Transform2d:
+  wpi::math::Transform2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
-    - units::radian_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
+    - wpi::units::radian_t
     methods:
       Transform2d:
         overloads:
           const Pose2d&, const Pose2d&:
             keepalive: []
           Translation2d, Rotation2d:
-          units::meter_t, units::meter_t, Rotation2d:
+          wpi::units::meter_t, wpi::units::meter_t, Rotation2d:
           const Eigen::Matrix3d&:
             rename: fromMatrix
             keepalive: []
@@ -34,21 +34,21 @@ classes:
 
 inline_code: |
   cls_Transform2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::radian_t angle){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::radian_t angle){
       return std::make_unique<Transform2d>(Translation2d(x, y), Rotation2d(angle));
     }, py::arg("x"), py::arg("y"), py::arg("angle"))
-    .def(py::init([](units::meter_t x, units::meter_t y, units::radian_t angle) {
+    .def(py::init([](wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::radian_t angle) {
       return std::make_unique<Transform2d>(Translation2d(x, y), Rotation2d(angle));
     }), py::arg("x"), py::arg("y"), py::arg("angle"))
     .def_property_readonly("x", &Transform2d::X)
     .def_property_readonly("y", &Transform2d::Y)
-    .def_property_readonly("x_feet", [](Transform2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Transform2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Transform2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Transform2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
     .def("__repr__", py::overload_cast<const Transform2d&>(&rpy::toString));
   ;
 
-  SetupWPyStruct<frc::Transform2d>(cls_Transform2d);
+  SetupWPyStruct<wpi::math::Transform2d>(cls_Transform2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml b/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml
index 9a9bb27736..d45d6d78d0 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml
@@ -3,19 +3,19 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Transform3d:
+  wpi::math::Transform3d:
     methods:
       Transform3d:
         overloads:
           const Pose3d&, const Pose3d&:
             keepalive: []
           Translation3d, Rotation3d:
-          units::meter_t, units::meter_t, units::meter_t, Rotation3d:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t, Rotation3d:
           const Eigen::Matrix4d&:
             rename: fromMatrix
             keepalive: []
           '':
-          const frc::Transform2d&:
+          const wpi::math::Transform2d&:
             keepalive: []
       Translation:
       X:
@@ -36,15 +36,15 @@ inline_code: |
     .def_property_readonly("x", &Transform3d::X)
     .def_property_readonly("y", &Transform3d::Y)
     .def_property_readonly("z", &Transform3d::Z)
-    .def_property_readonly("x_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Transform3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Transform3d>(cls_Transform3d);
+  SetupWPyStruct<wpi::math::Transform3d>(cls_Transform3d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml b/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml
index ed8d689dda..a00387586b 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml
@@ -9,13 +9,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Translation2d:
+  wpi::math::Translation2d:
     methods:
       Translation2d:
         overloads:
           '':
-          units::meter_t, units::meter_t:
-          units::meter_t, const Rotation2d&:
+          wpi::units::meter_t, wpi::units::meter_t:
+          wpi::units::meter_t, const Rotation2d&:
           const Eigen::Vector2d&:
       Distance:
       X:
@@ -45,24 +45,24 @@ classes:
 
 inline_code: |
   cls_Translation2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y){
       return std::make_unique<Translation2d>(x, y);
     }, py::arg("x"), py::arg("y"))
-    .def_static("fromFeet", [](units::foot_t distance, const Rotation2d &angle) {
+    .def_static("fromFeet", [](wpi::units::foot_t distance, const Rotation2d &angle) {
       return std::make_unique<Translation2d>(distance, angle);
     }, py::arg("distance"), py::arg("angle"))
     .def_property_readonly("x", &Translation2d::X)
     .def_property_readonly("y", &Translation2d::Y)
-    .def_property_readonly("x_feet", [](Translation2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Translation2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def("distanceFeet", [](Translation2d * self, const Translation2d &other) -> units::foot_t {
+    .def("distanceFeet", [](Translation2d * self, const Translation2d &other) -> wpi::units::foot_t {
       return self->Distance(other);
     })
-    .def("normFeet", [](Translation2d * self) -> units::foot_t {
+    .def("normFeet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->Norm();
     })
     .def("__abs__", &Translation2d::Norm)
@@ -79,4 +79,4 @@ inline_code: |
     })
     .def("__repr__", py::overload_cast<const Translation2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Translation2d>(cls_Translation2d);
+  SetupWPyStruct<wpi::math::Translation2d>(cls_Translation2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml b/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml
index e2cfdf53e2..6a1d8379e8 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml
@@ -9,13 +9,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Translation3d:
+  wpi::math::Translation3d:
     methods:
       Translation3d:
         overloads:
           '':
-          units::meter_t, units::meter_t, units::meter_t:
-          units::meter_t, const Rotation3d&:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t:
+          wpi::units::meter_t, const Rotation3d&:
           const Eigen::Vector3d&:
           const Translation2d&:
       Distance:
@@ -47,25 +47,25 @@ classes:
       Cross:
 inline_code: |
   cls_Translation3d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::foot_t z){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::foot_t z){
       return std::make_unique<Translation3d>(x, y, z);
     }, py::arg("x"), py::arg("y"), py::arg("z"))
     .def_property_readonly("x", &Translation3d::X)
     .def_property_readonly("y", &Translation3d::Y)
     .def_property_readonly("z", &Translation3d::Z)
-    .def_property_readonly("x_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
-    .def("distanceFeet", [](Translation3d * self, const Translation3d &other) -> units::foot_t {
+    .def("distanceFeet", [](Translation3d * self, const Translation3d &other) -> wpi::units::foot_t {
       return self->Distance(other);
     })
-    .def("normFeet", [](const Translation3d * self) -> units::foot_t {
+    .def("normFeet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Norm();
     })
     .def("__abs__", &Translation3d::Norm)
@@ -84,4 +84,4 @@ inline_code: |
     })
     .def("__repr__", py::overload_cast<const Translation3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Translation3d>(cls_Translation3d);
+  SetupWPyStruct<wpi::math::Translation3d>(cls_Translation3d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Twist2d.yml b/wpimath/src/main/python/semiwrap/geometry/Twist2d.yml
index 2963a01145..149815bbd0 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Twist2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Twist2d.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Twist2d:
+  wpi::math::Twist2d:
     force_no_default_constructor: true
     attributes:
       dx:
@@ -16,33 +16,33 @@ classes:
 inline_code: |
   cls_Twist2d
     .def(
-      py::init<units::meter_t, units::meter_t, units::radian_t>(),
+      py::init<wpi::units::meter_t, wpi::units::meter_t, wpi::units::radian_t>(),
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dtheta") = 0
     )
-    .def_static("fromFeet", [](units::foot_t dx, units::foot_t dy, units::radian_t dtheta){
+    .def_static("fromFeet", [](wpi::units::foot_t dx, wpi::units::foot_t dy, wpi::units::radian_t dtheta){
       return Twist2d{dx, dy, dtheta};
     }, py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dtheta") = 0)
     .def_property("dx_feet", 
-      [](Twist2d * self) -> units::foot_t {
+      [](Twist2d * self) -> wpi::units::foot_t {
         return self->dx;
       },
-      [](Twist2d * self, units::foot_t dx) {
+      [](Twist2d * self, wpi::units::foot_t dx) {
         self->dx = dx;
       }
     )
     .def_property("dy_feet", 
-      [](Twist2d * self) -> units::foot_t {
+      [](Twist2d * self) -> wpi::units::foot_t {
         return self->dy;
       },
-      [](Twist2d * self, units::foot_t dy) {
+      [](Twist2d * self, wpi::units::foot_t dy) {
         self->dy = dy;
       }
     )
     .def_property("dtheta_degrees", 
-      [](Twist2d * self) -> units::degree_t {
+      [](Twist2d * self) -> wpi::units::degree_t {
         return self->dtheta;
       },
-      [](Twist2d * self, units::degree_t dtheta) {
+      [](Twist2d * self, wpi::units::degree_t dtheta) {
         self->dtheta = dtheta;
       }
     )
@@ -53,4 +53,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::Twist2d>(cls_Twist2d);
+  SetupWPyStruct<wpi::math::Twist2d>(cls_Twist2d);
diff --git a/wpimath/src/main/python/semiwrap/geometry/Twist3d.yml b/wpimath/src/main/python/semiwrap/geometry/Twist3d.yml
index 8d8cd6af90..d2fece48e0 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Twist3d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Twist3d.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Twist3d:
+  wpi::math::Twist3d:
     force_no_default_constructor: true
     attributes:
       dx:
@@ -19,62 +19,62 @@ classes:
 inline_code: |-
   cls_Twist3d
     .def(
-      py::init<units::meter_t, units::meter_t, units::meter_t,
-               units::radian_t, units::radian_t, units::radian_t>(),
+      py::init<wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t,
+               wpi::units::radian_t, wpi::units::radian_t, wpi::units::radian_t>(),
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dz") = 0,
       py::arg("rx") = 0, py::arg("ry") = 0, py::arg("rz") = 0)
     .def_static("fromFeet", [](
-      units::foot_t dx, units::foot_t dy, units::foot_t dz,
-      units::radian_t rx, units::radian_t ry, units::radian_t rz){
+      wpi::units::foot_t dx, wpi::units::foot_t dy, wpi::units::foot_t dz,
+      wpi::units::radian_t rx, wpi::units::radian_t ry, wpi::units::radian_t rz){
       return Twist3d{dx, dy, dz, rx, ry, rz};
     },
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dz") = 0,
       py::arg("rx") = 0, py::arg("ry") = 0, py::arg("rz") = 0)
     .def_property("dx_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dx;
       },
-      [](Twist3d * self, units::foot_t dx) {
+      [](Twist3d * self, wpi::units::foot_t dx) {
         self->dx = dx;
       }
     )
     .def_property("dy_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dy;
       },
-      [](Twist3d * self, units::foot_t dy) {
+      [](Twist3d * self, wpi::units::foot_t dy) {
         self->dy = dy;
       }
     )
     .def_property("dz_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dz;
       },
-      [](Twist3d * self, units::foot_t dz) {
+      [](Twist3d * self, wpi::units::foot_t dz) {
         self->dz = dz;
       }
     )
     .def_property("rx_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->rx;
       },
-      [](Twist3d * self, units::degree_t rx) {
+      [](Twist3d * self, wpi::units::degree_t rx) {
         self->rx = rx;
       }
     )
     .def_property("ry_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->ry;
       },
-      [](Twist3d * self, units::degree_t ry) {
+      [](Twist3d * self, wpi::units::degree_t ry) {
         self->ry = ry;
       }
     )
     .def_property("rz_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->rz;
       },
-      [](Twist3d * self, units::degree_t rz) {
+      [](Twist3d * self, wpi::units::degree_t rz) {
         self->rz = rz;
       }
     )
@@ -88,4 +88,4 @@ inline_code: |-
     })
   ;
 
-  SetupWPyStruct<frc::Twist3d>(cls_Twist3d);
+  SetupWPyStruct<wpi::math::Twist3d>(cls_Twist3d);
diff --git a/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml b/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
index 7141466337..f02c04c0d5 100644
--- a/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
+++ b/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
@@ -2,14 +2,14 @@ extra_includes:
 - "wpi/math/geometry/Pose3d.hpp"
 
 classes:
-  frc::TimeInterpolatableBuffer:
+  wpi::math::TimeInterpolatableBuffer:
     template_params:
     - T
     methods:
       TimeInterpolatableBuffer:
         overloads:
-          units::second_t, std::function<T (const T&, const T&, double)>:
-          units::second_t:
+          wpi::units::second_t, std::function<T (const T&, const T&, double)>:
+          wpi::units::second_t:
       AddSample:
       Clear:
       Sample:
@@ -21,30 +21,30 @@ classes:
 
 templates:
   TimeInterpolatablePose2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Pose2d
+    - wpi::math::Pose2d
   TimeInterpolatablePose3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Pose3d
+    - wpi::math::Pose3d
   TimeInterpolatableRotation2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Rotation2d
+    - wpi::math::Rotation2d
   TimeInterpolatableRotation3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Rotation3d
+    - wpi::math::Rotation3d
   TimeInterpolatableTranslation2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Translation2d
+    - wpi::math::Translation2d
   TimeInterpolatableTranslation3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Translation3d
+    - wpi::math::Translation3d
   TimeInterpolatableFloatBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
     - double
diff --git a/wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml b/wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml
index d673289965..beef1c6445 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::ChassisSpeeds:
+  wpi::math::ChassisSpeeds:
     force_no_default_constructor: true
     attributes:
       vx:
@@ -12,8 +12,8 @@ classes:
       ToTwist2d:
       Discretize:
         overloads:
-          units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, units::second_t:
-          const ChassisSpeeds&, units::second_t:
+          wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t, wpi::units::second_t:
+          const ChassisSpeeds&, wpi::units::second_t:
       operator+:
       operator-:
         overloads:
@@ -29,35 +29,35 @@ inline_code: |
   cls_ChassisSpeeds
     .def(
       py::init<
-        units::meters_per_second_t, units::meters_per_second_t,
-        units::radians_per_second_t
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t,
+        wpi::units::radians_per_second_t
       >(),
       py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0
     )
-    .def_static("fromFeet", [](units::feet_per_second_t vx, units::feet_per_second_t vy, units::radians_per_second_t omega){
+    .def_static("fromFeet", [](wpi::units::feet_per_second_t vx, wpi::units::feet_per_second_t vy, wpi::units::radians_per_second_t omega){
       return ChassisSpeeds{vx, vy, omega};
     }, py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0)
     .def_property("vx_fps",
-      [](ChassisSpeeds * self) -> units::feet_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->vx;
       },
-      [](ChassisSpeeds * self, units::feet_per_second_t vx) {
+      [](ChassisSpeeds * self, wpi::units::feet_per_second_t vx) {
         self->vx = vx;
       }
     )
     .def_property("vy_fps", 
-      [](ChassisSpeeds * self) -> units::feet_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->vy;
       },
-      [](ChassisSpeeds * self, units::feet_per_second_t vy) {
+      [](ChassisSpeeds * self, wpi::units::feet_per_second_t vy) {
         self->vy = vy;
       }
     )
     .def_property("omega_dps", 
-      [](ChassisSpeeds * self) -> units::degrees_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::degrees_per_second_t {
         return self->omega;
       },
-      [](ChassisSpeeds * self, units::degrees_per_second_t omega) {
+      [](ChassisSpeeds * self, wpi::units::degrees_per_second_t omega) {
         self->omega = omega;
       }
     )
@@ -81,4 +81,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::ChassisSpeeds>(cls_ChassisSpeeds);
+  SetupWPyStruct<wpi::math::ChassisSpeeds>(cls_ChassisSpeeds);
diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml
index 24b8c460d2..04b2ee336b 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DifferentialDriveKinematics:
+  wpi::math::DifferentialDriveKinematics:
     attributes:
       trackwidth:
     methods:
@@ -11,9 +11,9 @@ classes:
       ToWheelSpeeds:
       ToTwist2d:
         overloads:
-          const units::meter_t, const units::meter_t [const]:
+          const wpi::units::meter_t, const wpi::units::meter_t [const]:
           const DifferentialDriveWheelPositions&, const DifferentialDriveWheelPositions& [const]:
       Interpolate:
 
 inline_code: |
-  SetupWPyStruct<frc::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
+  SetupWPyStruct<wpi::math::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml
index 687e53a0aa..55f1649385 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveOdometry:
+  wpi::math::DifferentialDriveOdometry:
     force_no_trampoline: true
     methods:
       DifferentialDriveOdometry:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml
index 9048eb7f16..485f23f7cf 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveOdometry3d:
+  wpi::math::DifferentialDriveOdometry3d:
     force_no_trampoline: true
     methods:
       DifferentialDriveOdometry3d:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml
index a50e54f79b..55c6f38673 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveWheelPositions:
+  wpi::math::DifferentialDriveWheelPositions:
     attributes:
       left:
       right:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml
index 7b4040c477..cfb96dd9ba 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DifferentialDriveWheelSpeeds:
+  wpi::math::DifferentialDriveWheelSpeeds:
     force_no_default_constructor: true
     attributes:
       left:
@@ -21,25 +21,25 @@ classes:
 inline_code: |
   cls_DifferentialDriveWheelSpeeds
     .def(
-      py::init<units::meters_per_second_t, units::meters_per_second_t>(),
+      py::init<wpi::units::meters_per_second_t, wpi::units::meters_per_second_t>(),
       py::arg("left") = 0, py::arg("right") = 0
     )
-    .def_static("fromFeet", [](units::feet_per_second_t left, units::feet_per_second_t right){
+    .def_static("fromFeet", [](wpi::units::feet_per_second_t left, wpi::units::feet_per_second_t right){
       return DifferentialDriveWheelSpeeds{left, right};
     }, py::arg("left"), py::arg("right"))
     .def_property("left_fps",
-      [](DifferentialDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](DifferentialDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->left;
       },
-      [](DifferentialDriveWheelSpeeds * self, units::feet_per_second_t left) {
+      [](DifferentialDriveWheelSpeeds * self, wpi::units::feet_per_second_t left) {
         self->left = left;
       }
     )
     .def_property("right_fps", 
-      [](DifferentialDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](DifferentialDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->right;
       },
-      [](DifferentialDriveWheelSpeeds * self, units::feet_per_second_t right) {
+      [](DifferentialDriveWheelSpeeds * self, wpi::units::feet_per_second_t right) {
         self->right = right;
       }
     )
@@ -49,5 +49,5 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::DifferentialDriveWheelSpeeds>(cls_DifferentialDriveWheelSpeeds);
+  SetupWPyStruct<wpi::math::DifferentialDriveWheelSpeeds>(cls_DifferentialDriveWheelSpeeds);
 
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
index 77da465c25..57b87c12e2 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
@@ -7,9 +7,9 @@ extra_includes:
 
 
 classes:
-  frc::Kinematics:
+  wpi::math::Kinematics:
     force_type_casters:
-    - wpi::array
+    - wpi::util::array
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -22,32 +22,32 @@ classes:
 
 templates:
   DifferentialDriveKinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveKinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>
diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml
index 17fcfe2532..b97bf4ee4e 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::MecanumDriveKinematics:
+  wpi::math::MecanumDriveKinematics:
     methods:
       MecanumDriveKinematics:
       ToWheelSpeeds:
@@ -47,4 +47,4 @@ classes:
       Interpolate:
 
 inline_code: |
-  SetupWPyStruct<frc::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
+  SetupWPyStruct<wpi::math::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml
index 929e3e2570..6f56a97a1f 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveOdometry:
+  wpi::math::MecanumDriveOdometry:
     force_no_trampoline: true
     methods:
       MecanumDriveOdometry:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml
index a53f0d75eb..9ac6114049 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveOdometry3d:
+  wpi::math::MecanumDriveOdometry3d:
     force_no_trampoline: true
     methods:
       MecanumDriveOdometry3d:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml
index 82be5f55ef..5eafa4fc0f 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveWheelPositions:
+  wpi::math::MecanumDriveWheelPositions:
     attributes:
       frontLeft:
       frontRight:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml
index fff03df0d8..1e90ba3400 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::MecanumDriveWheelSpeeds:
+  wpi::math::MecanumDriveWheelSpeeds:
     force_no_default_constructor: true
     attributes:
       frontLeft:
@@ -23,50 +23,50 @@ inline_code: |
   cls_MecanumDriveWheelSpeeds
     .def(
       py::init<
-        units::meters_per_second_t, units::meters_per_second_t,
-        units::meters_per_second_t, units::meters_per_second_t
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t,
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t
       >(),
       py::arg("frontLeft") = 0, py::arg("frontRight") = 0,
       py::arg("rearLeft") = 0, py::arg("rearRight") = 0
     )
     .def_static("fromFeet", [](
-        units::feet_per_second_t frontLeft,
-        units::feet_per_second_t frontRight,
-        units::feet_per_second_t rearLeft,
-        units::feet_per_second_t rearRight
+        wpi::units::feet_per_second_t frontLeft,
+        wpi::units::feet_per_second_t frontRight,
+        wpi::units::feet_per_second_t rearLeft,
+        wpi::units::feet_per_second_t rearRight
     ){
       return MecanumDriveWheelSpeeds{frontLeft, frontRight, rearLeft, rearRight};
     }, py::arg("frontLeft"), py::arg("frontRight"),
        py::arg("rearLeft"), py::arg("rearRight"))
     .def_property("frontLeft_fps",
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->frontLeft;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->frontLeft = fps;
       }
     )
     .def_property("frontRight_fps", 
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->frontRight;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->frontRight = fps;
       }
     )
     .def_property("rearLeft_fps",
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->rearLeft;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->rearLeft = fps;
       }
     )
     .def_property("rearRight_fps", 
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->rearRight;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->rearRight = fps;
       }
     )
@@ -78,4 +78,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::MecanumDriveWheelSpeeds>(cls_MecanumDriveWheelSpeeds);
+  SetupWPyStruct<wpi::math::MecanumDriveWheelSpeeds>(cls_MecanumDriveWheelSpeeds);
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml b/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
index 84ff9fa136..d144ac62ad 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
@@ -6,7 +6,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::Odometry:
+  wpi::math::Odometry:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -21,32 +21,32 @@ classes:
 
 templates:
   DifferentialDriveOdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveOdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml b/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
index f68f512703..6b1657f5f4 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
@@ -6,7 +6,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::Odometry3d:
+  wpi::math::Odometry3d:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -22,32 +22,32 @@ classes:
 
 templates:
   DifferentialDriveOdometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveOdometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
index aa14d190f0..a4bd38be46 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
@@ -1,7 +1,7 @@
 classes:
-  frc::SwerveDriveKinematics:
+  wpi::math::SwerveDriveKinematics:
     force_type_casters:
-    - wpi::array
+    - wpi::util::array
     template_params:
     - size_t NumModules
     methods:
@@ -9,14 +9,14 @@ classes:
         overloads:
           ModuleTranslations&&...:
             ignore: true
-          const wpi::array<Translation2d, NumModules>&:
+          const wpi::util::array<Translation2d, NumModules>&:
             ignore: true
 
       ResetHeadings:
         overloads:
           ModuleHeadings&&...:
             ignore: true
-          wpi::array<Rotation2d, NumModules>:
+          wpi::util::array<Rotation2d, NumModules>:
 
       ToSwerveModuleStates:
         doc: |
@@ -48,29 +48,29 @@ classes:
         overloads:
           ModuleStates&&... [const]:
             ignore: true
-          const wpi::array<SwerveModuleState, NumModules>& [const]:
+          const wpi::util::array<SwerveModuleState, NumModules>& [const]:
       ToTwist2d:
         overloads:
           ModuleDeltas&&... [const]:
             ignore: true
-          wpi::array<SwerveModulePosition, NumModules> [const]:
-          const wpi::array<SwerveModulePosition, NumModules>&, const wpi::array<SwerveModulePosition, NumModules>& [const]:
+          wpi::util::array<SwerveModulePosition, NumModules> [const]:
+          const wpi::util::array<SwerveModulePosition, NumModules>&, const wpi::util::array<SwerveModulePosition, NumModules>& [const]:
       DesaturateWheelSpeeds:
         overloads:
-          wpi::array<SwerveModuleState, NumModules>*, units::meters_per_second_t:
+          wpi::util::array<SwerveModuleState, NumModules>*, wpi::units::meters_per_second_t:
             cpp_code: |
-              [](wpi::array<SwerveModuleState, NumModules> moduleStates, units::meters_per_second_t attainableMaxSpeed) {
-                frc::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, attainableMaxSpeed);
+              [](wpi::util::array<SwerveModuleState, NumModules> moduleStates, wpi::units::meters_per_second_t attainableMaxSpeed) {
+                wpi::math::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, attainableMaxSpeed);
                 return moduleStates;
               }
-          ? wpi::array<SwerveModuleState, NumModules>*, ChassisSpeeds, units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t
+          ? wpi::util::array<SwerveModuleState, NumModules>*, ChassisSpeeds, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t
           : cpp_code: |
-              [](wpi::array<SwerveModuleState, NumModules> moduleStates,
+              [](wpi::util::array<SwerveModuleState, NumModules> moduleStates,
                   ChassisSpeeds currentChassisSpeed,
-                  units::meters_per_second_t attainableMaxModuleSpeed,
-                  units::meters_per_second_t attainableMaxRobotTranslationSpeed,
-                  units::radians_per_second_t attainableMaxRobotRotationSpeed) {
-                frc::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, currentChassisSpeed, attainableMaxModuleSpeed, attainableMaxRobotTranslationSpeed, attainableMaxRobotRotationSpeed);
+                  wpi::units::meters_per_second_t attainableMaxModuleSpeed,
+                  wpi::units::meters_per_second_t attainableMaxRobotTranslationSpeed,
+                  wpi::units::radians_per_second_t attainableMaxRobotRotationSpeed) {
+                wpi::math::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, currentChassisSpeed, attainableMaxModuleSpeed, attainableMaxRobotTranslationSpeed, attainableMaxRobotRotationSpeed);
                 return moduleStates;
               }
 
@@ -91,18 +91,18 @@ classes:
 
 templates:
   SwerveDrive2Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 2
   SwerveDrive3Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 3
   SwerveDrive4Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 4
   SwerveDrive6Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml
index 072f0cfac8..32e7ad3dc8 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SwerveDriveOdometry:
+  wpi::math::SwerveDriveOdometry:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
@@ -7,18 +7,18 @@ classes:
       SwerveDriveOdometry:
 templates:
   SwerveDrive2Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 2
   SwerveDrive3Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 3
   SwerveDrive4Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 4
   SwerveDrive6Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml
index 63752d4685..c76351210e 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SwerveDriveOdometry3d:
+  wpi::math::SwerveDriveOdometry3d:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
@@ -8,18 +8,18 @@ classes:
 
 templates:
   SwerveDrive2Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 2
   SwerveDrive3Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 3
   SwerveDrive4Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 4
   SwerveDrive6Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 6
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml
index aaa7130feb..637475a57f 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::SwerveModulePosition:
+  wpi::math::SwerveModulePosition:
     force_no_default_constructor: true
     attributes:
       distance:
@@ -13,15 +13,15 @@ classes:
     inline_code: |
       .def(
         py::init<
-          units::meter_t, frc::Rotation2d
+          wpi::units::meter_t, wpi::math::Rotation2d
         >(),
-        py::arg("distance") = 0, py::arg("angle") = frc::Rotation2d()
+        py::arg("distance") = 0, py::arg("angle") = wpi::math::Rotation2d()
       )
       .def_property("distance_ft",
-        [](SwerveModulePosition * self) -> units::foot_t {
+        [](SwerveModulePosition * self) -> wpi::units::foot_t {
           return self->distance;
         },
-        [](SwerveModulePosition * self, units::foot_t distance) {
+        [](SwerveModulePosition * self, wpi::units::foot_t distance) {
           self->distance = distance;
         }
       )
@@ -31,4 +31,4 @@ classes:
       })
 
 inline_code: |
-  SetupWPyStruct<frc::SwerveModulePosition>(cls_SwerveModulePosition);
+  SetupWPyStruct<wpi::math::SwerveModulePosition>(cls_SwerveModulePosition);
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml
index 9ba68ee960..70b6478265 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::SwerveModuleState:
+  wpi::math::SwerveModuleState:
     force_no_default_constructor: true
     attributes:
       speed:
@@ -20,15 +20,15 @@ inline_code: |
   cls_SwerveModuleState
     .def(
       py::init<
-        units::meters_per_second_t, frc::Rotation2d
+        wpi::units::meters_per_second_t, wpi::math::Rotation2d
       >(),
-      py::arg("speed") = 0, py::arg("angle") = frc::Rotation2d()
+      py::arg("speed") = 0, py::arg("angle") = wpi::math::Rotation2d()
     )
     .def_property("speed_fps",
-      [](SwerveModuleState * self) -> units::feet_per_second_t {
+      [](SwerveModuleState * self) -> wpi::units::feet_per_second_t {
         return self->speed;
       },
-      [](SwerveModuleState * self, units::feet_per_second_t speed) {
+      [](SwerveModuleState * self, wpi::units::feet_per_second_t speed) {
         self->speed = speed;
       }
     )
@@ -38,4 +38,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::SwerveModuleState>(cls_SwerveModuleState);
+  SetupWPyStruct<wpi::math::SwerveModuleState>(cls_SwerveModuleState);
diff --git a/wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml b/wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml
index 8947e658a1..f32ee9e859 100644
--- a/wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml
+++ b/wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::CubicHermiteSpline:
+  wpi::math::CubicHermiteSpline:
     force_no_trampoline: true
     methods:
       CubicHermiteSpline:
diff --git a/wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml b/wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml
index 054929423f..b7750fc608 100644
--- a/wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml
+++ b/wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::QuinticHermiteSpline:
+  wpi::math::QuinticHermiteSpline:
     force_no_trampoline: true
     methods:
       QuinticHermiteSpline:
diff --git a/wpimath/src/main/python/semiwrap/spline/Spline.yml b/wpimath/src/main/python/semiwrap/spline/Spline.yml
index 8804b137a7..4417d7550a 100644
--- a/wpimath/src/main/python/semiwrap/spline/Spline.yml
+++ b/wpimath/src/main/python/semiwrap/spline/Spline.yml
@@ -2,11 +2,11 @@ extra_includes:
 - pybind11/stl.h
 
 classes:
-  frc::Spline:
+  wpi::math::Spline:
     is_polymorphic: true
     force_type_casters:
-    - units::curvature_t
-    - wpi::array
+    - wpi::units::curvature_t
+    - wpi::util::array
     template_params:
     - int Degree
     methods:
@@ -26,12 +26,12 @@ classes:
       cls_ControlVector
         .def(
           py::init<
-            wpi::array<double, (Degree + 1) / 2>,
-            wpi::array<double, (Degree + 1) / 2>>(),
+            wpi::util::array<double, (Degree + 1) / 2>,
+            wpi::util::array<double, (Degree + 1) / 2>>(),
           py::arg("x"),
           py::arg("y")
         );
-  frc::Spline::ControlVector:
+  wpi::math::Spline::ControlVector:
     force_no_default_constructor: true
     attributes:
       x:
@@ -39,11 +39,11 @@ classes:
 
 templates:
   Spline3:
-    qualname: frc::Spline
+    qualname: wpi::math::Spline
     params:
     - 3
 
   Spline5:
-    qualname: frc::Spline
+    qualname: wpi::math::Spline
     params:
     - 5
diff --git a/wpimath/src/main/python/semiwrap/spline/SplineHelper.yml b/wpimath/src/main/python/semiwrap/spline/SplineHelper.yml
index 8ec6394658..f6f25b214d 100644
--- a/wpimath/src/main/python/semiwrap/spline/SplineHelper.yml
+++ b/wpimath/src/main/python/semiwrap/spline/SplineHelper.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::SplineHelper:
+  wpi::math::SplineHelper:
     methods:
       CubicControlVectorsFromWaypoints:
       QuinticSplinesFromWaypoints:
diff --git a/wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml b/wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml
index a4971fa5b3..5a1e4d9164 100644
--- a/wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml
+++ b/wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml
@@ -1,13 +1,13 @@
 classes:
-  frc::SplineParameterizer:
+  wpi::math::SplineParameterizer:
     force_no_default_constructor: true
     force_type_casters:
-    - units::curvature_t
+    - wpi::units::curvature_t
     methods:
       Parameterize:
         template_impls:
         - ['3']
         - ['5']
 
-  frc::SplineParameterizer::MalformedSplineException:
+  wpi::math::SplineParameterizer::MalformedSplineException:
     ignore: true
diff --git a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
index e4930f3bf8..e80ff79298 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
@@ -3,35 +3,35 @@
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include <semiwrap.h>
 
-namespace frc {
+namespace wpi::math {
 
 struct PyTrajectoryConstraint : public TrajectoryConstraint {
 
   PyTrajectoryConstraint() {}
 
-  units::meters_per_second_t
-  MaxVelocity(const Pose2d &pose, units::curvature_t curvature,
-              units::meters_per_second_t velocity) const override {
+  wpi::units::meters_per_second_t
+  MaxVelocity(const Pose2d &pose, wpi::units::curvature_t curvature,
+              wpi::units::meters_per_second_t velocity) const override {
     return m_constraint->MaxVelocity(pose, curvature, velocity);
   }
 
-  MinMax MinMaxAcceleration(const Pose2d &pose, units::curvature_t curvature,
-                            units::meters_per_second_t speed) const override {
+  MinMax MinMaxAcceleration(const Pose2d &pose, wpi::units::curvature_t curvature,
+                            wpi::units::meters_per_second_t speed) const override {
     return m_constraint->MinMaxAcceleration(pose, curvature, speed);
   }
 
   std::shared_ptr<TrajectoryConstraint> m_constraint;
 };
 
-}; // namespace frc
+}; // namespace wpi::math
 
 namespace pybind11 {
 namespace detail {
 
-template <> struct type_caster<frc::PyTrajectoryConstraint> {
-  using value_conv = make_caster<std::shared_ptr<frc::TrajectoryConstraint>>;
+template <> struct type_caster<wpi::math::PyTrajectoryConstraint> {
+  using value_conv = make_caster<std::shared_ptr<wpi::math::TrajectoryConstraint>>;
 
-  PYBIND11_TYPE_CASTER(frc::PyTrajectoryConstraint, _("wpimath._controls._controls.constraint.TrajectoryConstraint"));
+  PYBIND11_TYPE_CASTER(wpi::math::PyTrajectoryConstraint, _("wpimath._controls._controls.constraint.TrajectoryConstraint"));
 
   bool load(handle src, bool convert) {
     value_conv conv;
@@ -40,11 +40,11 @@ template <> struct type_caster<frc::PyTrajectoryConstraint> {
     }
 
     value.m_constraint =
-        cast_op<std::shared_ptr<frc::TrajectoryConstraint>>(std::move(conv));
+        cast_op<std::shared_ptr<wpi::math::TrajectoryConstraint>>(std::move(conv));
     return true;
   }
 
-  static handle cast(const frc::PyTrajectoryConstraint &src,
+  static handle cast(const wpi::math::PyTrajectoryConstraint &src,
                      return_value_policy policy, handle parent) {
     return value_conv::cast(src.m_constraint, policy, parent);
   }
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/_units_base_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/_units_base_type_caster.h
index d539405512..10d5f88c33 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/_units_base_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/_units_base_type_caster.h
@@ -11,24 +11,24 @@ namespace detail {
   When going from C++ to Python (eg, return values), the units that a user
   gets as a float are in whatever the unit was for C++.
 
-    units::foot_t getFeet();    // converted to float, value is feet
+    wpi::units::foot_t getFeet();    // converted to float, value is feet
 
   When going from Python to C++, the units a user uses are once again
   whatever the C++ function specifies:
 
-    void setFeet(units::foot_t ft);   // must pass a float, it's in feet
-    void setMeters(units::meter_t m); // must pass a float, it's in meters
+    void setFeet(wpi::units::foot_t ft);   // must pass a float, it's in feet
+    void setMeters(wpi::units::meter_t m); // must pass a float, it's in meters
 
   Unfortunately, with this type caster and robotpy-build there are mismatch
   issues with implicit conversions when default values are used that don't
   match the actual value:
 
-    foo(units::second_t tm = 10_ms);    // if not careful, pybind11 will 
+    foo(wpi::units::second_t tm = 10_ms);    // if not careful, pybind11 will 
                                         // store as 10 seconds
 */
 template <class U, typename T, template <typename> class S>
-struct type_caster<units::unit_t<U, T, S>> {
-  using value_type = units::unit_t<U, T, S>;
+struct type_caster<wpi::units::unit_t<U, T, S>> {
+  using value_type = wpi::units::unit_t<U, T, S>;
 
   // TODO: there should be a way to include the type with this
   PYBIND11_TYPE_CASTER(value_type, handle_type_name<value_type>::name);
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
index f75f93a2ac..032c09f055 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
@@ -4,27 +4,27 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::meters_per_second_squared_t> {
+template <> struct handle_type_name<wpi::units::meters_per_second_squared_t> {
   static constexpr auto name = _("wpimath.units.meters_per_second_squared");
 };
 
-template <> struct handle_type_name<units::meters_per_second_squared> {
+template <> struct handle_type_name<wpi::units::meters_per_second_squared> {
   static constexpr auto name = _("wpimath.units.meters_per_second_squared");
 };
 
-template <> struct handle_type_name<units::feet_per_second_squared_t> {
+template <> struct handle_type_name<wpi::units::feet_per_second_squared_t> {
   static constexpr auto name = _("wpimath.units.feet_per_second_squared");
 };
 
-template <> struct handle_type_name<units::feet_per_second_squared> {
+template <> struct handle_type_name<wpi::units::feet_per_second_squared> {
   static constexpr auto name = _("wpimath.units.feet_per_second_squared");
 };
 
-template <> struct handle_type_name<units::standard_gravity_t> {
+template <> struct handle_type_name<wpi::units::standard_gravity_t> {
   static constexpr auto name = _("wpimath.units.standard_gravity");
 };
 
-template <> struct handle_type_name<units::standard_gravity> {
+template <> struct handle_type_name<wpi::units::standard_gravity> {
   static constexpr auto name = _("wpimath.units.standard_gravity");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
index 14dfa0c690..c4323817c7 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
@@ -4,91 +4,91 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::radian_t> {
+template <> struct handle_type_name<wpi::units::radian_t> {
   static constexpr auto name = _("wpimath.units.radians");
 };
 
-template <> struct handle_type_name<units::radians> {
+template <> struct handle_type_name<wpi::units::radians> {
   static constexpr auto name = _("wpimath.units.radians");
 };
 
-template <> struct handle_type_name<units::nanoradian_t> {
+template <> struct handle_type_name<wpi::units::nanoradian_t> {
   static constexpr auto name = _("wpimath.units.nanoradians");
 };
 
-template <> struct handle_type_name<units::nanoradians> {
+template <> struct handle_type_name<wpi::units::nanoradians> {
   static constexpr auto name = _("wpimath.units.nanoradians");
 };
 
-template <> struct handle_type_name<units::microradian_t> {
+template <> struct handle_type_name<wpi::units::microradian_t> {
   static constexpr auto name = _("wpimath.units.microradians");
 };
 
-template <> struct handle_type_name<units::microradians> {
+template <> struct handle_type_name<wpi::units::microradians> {
   static constexpr auto name = _("wpimath.units.microradians");
 };
 
-template <> struct handle_type_name<units::milliradian_t> {
+template <> struct handle_type_name<wpi::units::milliradian_t> {
   static constexpr auto name = _("wpimath.units.milliradians");
 };
 
-template <> struct handle_type_name<units::milliradians> {
+template <> struct handle_type_name<wpi::units::milliradians> {
   static constexpr auto name = _("wpimath.units.milliradians");
 };
 
-template <> struct handle_type_name<units::kiloradian_t> {
+template <> struct handle_type_name<wpi::units::kiloradian_t> {
   static constexpr auto name = _("wpimath.units.kiloradians");
 };
 
-template <> struct handle_type_name<units::kiloradians> {
+template <> struct handle_type_name<wpi::units::kiloradians> {
   static constexpr auto name = _("wpimath.units.kiloradians");
 };
 
-template <> struct handle_type_name<units::degree_t> {
+template <> struct handle_type_name<wpi::units::degree_t> {
   static constexpr auto name = _("wpimath.units.degrees");
 };
 
-template <> struct handle_type_name<units::degrees> {
+template <> struct handle_type_name<wpi::units::degrees> {
   static constexpr auto name = _("wpimath.units.degrees");
 };
 
-template <> struct handle_type_name<units::arcminute_t> {
+template <> struct handle_type_name<wpi::units::arcminute_t> {
   static constexpr auto name = _("wpimath.units.arcminutes");
 };
 
-template <> struct handle_type_name<units::arcminutes> {
+template <> struct handle_type_name<wpi::units::arcminutes> {
   static constexpr auto name = _("wpimath.units.arcminutes");
 };
 
-template <> struct handle_type_name<units::arcsecond_t> {
+template <> struct handle_type_name<wpi::units::arcsecond_t> {
   static constexpr auto name = _("wpimath.units.arcseconds");
 };
 
-template <> struct handle_type_name<units::arcseconds> {
+template <> struct handle_type_name<wpi::units::arcseconds> {
   static constexpr auto name = _("wpimath.units.arcseconds");
 };
 
-template <> struct handle_type_name<units::milliarcsecond_t> {
+template <> struct handle_type_name<wpi::units::milliarcsecond_t> {
   static constexpr auto name = _("wpimath.units.milliarcseconds");
 };
 
-template <> struct handle_type_name<units::milliarcseconds> {
+template <> struct handle_type_name<wpi::units::milliarcseconds> {
   static constexpr auto name = _("wpimath.units.milliarcseconds");
 };
 
-template <> struct handle_type_name<units::turn_t> {
+template <> struct handle_type_name<wpi::units::turn_t> {
   static constexpr auto name = _("wpimath.units.turns");
 };
 
-template <> struct handle_type_name<units::turns> {
+template <> struct handle_type_name<wpi::units::turns> {
   static constexpr auto name = _("wpimath.units.turns");
 };
 
-template <> struct handle_type_name<units::gradian_t> {
+template <> struct handle_type_name<wpi::units::gradian_t> {
   static constexpr auto name = _("wpimath.units.gradians");
 };
 
-template <> struct handle_type_name<units::gradians> {
+template <> struct handle_type_name<wpi::units::gradians> {
   static constexpr auto name = _("wpimath.units.gradians");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
index c633786416..01dc182c89 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
@@ -4,27 +4,27 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::radians_per_second_squared_t> {
+template <> struct handle_type_name<wpi::units::radians_per_second_squared_t> {
   static constexpr auto name = _("wpimath.units.radians_per_second_squared");
 };
 
-template <> struct handle_type_name<units::radians_per_second_squared> {
+template <> struct handle_type_name<wpi::units::radians_per_second_squared> {
   static constexpr auto name = _("wpimath.units.radians_per_second_squared");
 };
 
-template <> struct handle_type_name<units::degrees_per_second_squared_t> {
+template <> struct handle_type_name<wpi::units::degrees_per_second_squared_t> {
   static constexpr auto name = _("wpimath.units.degrees_per_second_squared");
 };
 
-template <> struct handle_type_name<units::degrees_per_second_squared> {
+template <> struct handle_type_name<wpi::units::degrees_per_second_squared> {
   static constexpr auto name = _("wpimath.units.degrees_per_second_squared");
 };
 
-template <> struct handle_type_name<units::turns_per_second_squared_t> {
+template <> struct handle_type_name<wpi::units::turns_per_second_squared_t> {
   static constexpr auto name = _("wpimath.units.turns_per_second_squared");
 };
 
-template <> struct handle_type_name<units::turns_per_second_squared> {
+template <> struct handle_type_name<wpi::units::turns_per_second_squared> {
   static constexpr auto name = _("wpimath.units.turns_per_second_squared");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
index 3c3f857351..ca974fec09 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::radians_per_second_t> {
+template <> struct handle_type_name<wpi::units::radians_per_second_t> {
   static constexpr auto name = _("wpimath.units.radians_per_second");
 };
 
-template <> struct handle_type_name<units::radians_per_second> {
+template <> struct handle_type_name<wpi::units::radians_per_second> {
   static constexpr auto name = _("wpimath.units.radians_per_second");
 };
 
-template <> struct handle_type_name<units::degrees_per_second_t> {
+template <> struct handle_type_name<wpi::units::degrees_per_second_t> {
   static constexpr auto name = _("wpimath.units.degrees_per_second");
 };
 
-template <> struct handle_type_name<units::degrees_per_second> {
+template <> struct handle_type_name<wpi::units::degrees_per_second> {
   static constexpr auto name = _("wpimath.units.degrees_per_second");
 };
 
-template <> struct handle_type_name<units::turns_per_second_t> {
+template <> struct handle_type_name<wpi::units::turns_per_second_t> {
   static constexpr auto name = _("wpimath.units.turns_per_second");
 };
 
-template <> struct handle_type_name<units::turns_per_second> {
+template <> struct handle_type_name<wpi::units::turns_per_second> {
   static constexpr auto name = _("wpimath.units.turns_per_second");
 };
 
-template <> struct handle_type_name<units::revolutions_per_minute_t> {
+template <> struct handle_type_name<wpi::units::revolutions_per_minute_t> {
   static constexpr auto name = _("wpimath.units.revolutions_per_minute");
 };
 
-template <> struct handle_type_name<units::revolutions_per_minute> {
+template <> struct handle_type_name<wpi::units::revolutions_per_minute> {
   static constexpr auto name = _("wpimath.units.revolutions_per_minute");
 };
 
-template <> struct handle_type_name<units::milliarcseconds_per_year_t> {
+template <> struct handle_type_name<wpi::units::milliarcseconds_per_year_t> {
   static constexpr auto name = _("wpimath.units.milliarcseconds_per_year");
 };
 
-template <> struct handle_type_name<units::milliarcseconds_per_year> {
+template <> struct handle_type_name<wpi::units::milliarcseconds_per_year> {
   static constexpr auto name = _("wpimath.units.milliarcseconds_per_year");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
index ed0fc9c69d..ff733500a7 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
@@ -4,59 +4,59 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::square_meter_t> {
+template <> struct handle_type_name<wpi::units::square_meter_t> {
   static constexpr auto name = _("wpimath.units.square_meters");
 };
 
-template <> struct handle_type_name<units::square_meters> {
+template <> struct handle_type_name<wpi::units::square_meters> {
   static constexpr auto name = _("wpimath.units.square_meters");
 };
 
-template <> struct handle_type_name<units::square_foot_t> {
+template <> struct handle_type_name<wpi::units::square_foot_t> {
   static constexpr auto name = _("wpimath.units.square_feet");
 };
 
-template <> struct handle_type_name<units::square_feet> {
+template <> struct handle_type_name<wpi::units::square_feet> {
   static constexpr auto name = _("wpimath.units.square_feet");
 };
 
-template <> struct handle_type_name<units::square_inch_t> {
+template <> struct handle_type_name<wpi::units::square_inch_t> {
   static constexpr auto name = _("wpimath.units.square_inches");
 };
 
-template <> struct handle_type_name<units::square_inches> {
+template <> struct handle_type_name<wpi::units::square_inches> {
   static constexpr auto name = _("wpimath.units.square_inches");
 };
 
-template <> struct handle_type_name<units::square_mile_t> {
+template <> struct handle_type_name<wpi::units::square_mile_t> {
   static constexpr auto name = _("wpimath.units.square_miles");
 };
 
-template <> struct handle_type_name<units::square_miles> {
+template <> struct handle_type_name<wpi::units::square_miles> {
   static constexpr auto name = _("wpimath.units.square_miles");
 };
 
-template <> struct handle_type_name<units::square_kilometer_t> {
+template <> struct handle_type_name<wpi::units::square_kilometer_t> {
   static constexpr auto name = _("wpimath.units.square_kilometers");
 };
 
-template <> struct handle_type_name<units::square_kilometers> {
+template <> struct handle_type_name<wpi::units::square_kilometers> {
   static constexpr auto name = _("wpimath.units.square_kilometers");
 };
 
-template <> struct handle_type_name<units::hectare_t> {
+template <> struct handle_type_name<wpi::units::hectare_t> {
   static constexpr auto name = _("wpimath.units.hectares");
 };
 
-template <> struct handle_type_name<units::hectares> {
+template <> struct handle_type_name<wpi::units::hectares> {
   static constexpr auto name = _("wpimath.units.hectares");
 };
 
-template <> struct handle_type_name<units::acre_t> {
+template <> struct handle_type_name<wpi::units::acre_t> {
   static constexpr auto name = _("wpimath.units.acres");
 };
 
-template <> struct handle_type_name<units::acres> {
+template <> struct handle_type_name<wpi::units::acres> {
   static constexpr auto name = _("wpimath.units.acres");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
index 46d1063b01..7ab11464a6 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::farad_t> {
+template <> struct handle_type_name<wpi::units::farad_t> {
   static constexpr auto name = _("wpimath.units.farads");
 };
 
-template <> struct handle_type_name<units::farads> {
+template <> struct handle_type_name<wpi::units::farads> {
   static constexpr auto name = _("wpimath.units.farads");
 };
 
-template <> struct handle_type_name<units::nanofarad_t> {
+template <> struct handle_type_name<wpi::units::nanofarad_t> {
   static constexpr auto name = _("wpimath.units.nanofarads");
 };
 
-template <> struct handle_type_name<units::nanofarads> {
+template <> struct handle_type_name<wpi::units::nanofarads> {
   static constexpr auto name = _("wpimath.units.nanofarads");
 };
 
-template <> struct handle_type_name<units::microfarad_t> {
+template <> struct handle_type_name<wpi::units::microfarad_t> {
   static constexpr auto name = _("wpimath.units.microfarads");
 };
 
-template <> struct handle_type_name<units::microfarads> {
+template <> struct handle_type_name<wpi::units::microfarads> {
   static constexpr auto name = _("wpimath.units.microfarads");
 };
 
-template <> struct handle_type_name<units::millifarad_t> {
+template <> struct handle_type_name<wpi::units::millifarad_t> {
   static constexpr auto name = _("wpimath.units.millifarads");
 };
 
-template <> struct handle_type_name<units::millifarads> {
+template <> struct handle_type_name<wpi::units::millifarads> {
   static constexpr auto name = _("wpimath.units.millifarads");
 };
 
-template <> struct handle_type_name<units::kilofarad_t> {
+template <> struct handle_type_name<wpi::units::kilofarad_t> {
   static constexpr auto name = _("wpimath.units.kilofarads");
 };
 
-template <> struct handle_type_name<units::kilofarads> {
+template <> struct handle_type_name<wpi::units::kilofarads> {
   static constexpr auto name = _("wpimath.units.kilofarads");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
index f3e3a7ab4e..e1d260befb 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
@@ -4,83 +4,83 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::coulomb_t> {
+template <> struct handle_type_name<wpi::units::coulomb_t> {
   static constexpr auto name = _("wpimath.units.coulombs");
 };
 
-template <> struct handle_type_name<units::coulombs> {
+template <> struct handle_type_name<wpi::units::coulombs> {
   static constexpr auto name = _("wpimath.units.coulombs");
 };
 
-template <> struct handle_type_name<units::nanocoulomb_t> {
+template <> struct handle_type_name<wpi::units::nanocoulomb_t> {
   static constexpr auto name = _("wpimath.units.nanocoulombs");
 };
 
-template <> struct handle_type_name<units::nanocoulombs> {
+template <> struct handle_type_name<wpi::units::nanocoulombs> {
   static constexpr auto name = _("wpimath.units.nanocoulombs");
 };
 
-template <> struct handle_type_name<units::microcoulomb_t> {
+template <> struct handle_type_name<wpi::units::microcoulomb_t> {
   static constexpr auto name = _("wpimath.units.microcoulombs");
 };
 
-template <> struct handle_type_name<units::microcoulombs> {
+template <> struct handle_type_name<wpi::units::microcoulombs> {
   static constexpr auto name = _("wpimath.units.microcoulombs");
 };
 
-template <> struct handle_type_name<units::millicoulomb_t> {
+template <> struct handle_type_name<wpi::units::millicoulomb_t> {
   static constexpr auto name = _("wpimath.units.millicoulombs");
 };
 
-template <> struct handle_type_name<units::millicoulombs> {
+template <> struct handle_type_name<wpi::units::millicoulombs> {
   static constexpr auto name = _("wpimath.units.millicoulombs");
 };
 
-template <> struct handle_type_name<units::kilocoulomb_t> {
+template <> struct handle_type_name<wpi::units::kilocoulomb_t> {
   static constexpr auto name = _("wpimath.units.kilocoulombs");
 };
 
-template <> struct handle_type_name<units::kilocoulombs> {
+template <> struct handle_type_name<wpi::units::kilocoulombs> {
   static constexpr auto name = _("wpimath.units.kilocoulombs");
 };
 
-template <> struct handle_type_name<units::ampere_hour_t> {
+template <> struct handle_type_name<wpi::units::ampere_hour_t> {
   static constexpr auto name = _("wpimath.units.ampere_hours");
 };
 
-template <> struct handle_type_name<units::ampere_hours> {
+template <> struct handle_type_name<wpi::units::ampere_hours> {
   static constexpr auto name = _("wpimath.units.ampere_hours");
 };
 
-template <> struct handle_type_name<units::nanoampere_hour_t> {
+template <> struct handle_type_name<wpi::units::nanoampere_hour_t> {
   static constexpr auto name = _("wpimath.units.nanoampere_hours");
 };
 
-template <> struct handle_type_name<units::nanoampere_hours> {
+template <> struct handle_type_name<wpi::units::nanoampere_hours> {
   static constexpr auto name = _("wpimath.units.nanoampere_hours");
 };
 
-template <> struct handle_type_name<units::microampere_hour_t> {
+template <> struct handle_type_name<wpi::units::microampere_hour_t> {
   static constexpr auto name = _("wpimath.units.microampere_hours");
 };
 
-template <> struct handle_type_name<units::microampere_hours> {
+template <> struct handle_type_name<wpi::units::microampere_hours> {
   static constexpr auto name = _("wpimath.units.microampere_hours");
 };
 
-template <> struct handle_type_name<units::milliampere_hour_t> {
+template <> struct handle_type_name<wpi::units::milliampere_hour_t> {
   static constexpr auto name = _("wpimath.units.milliampere_hours");
 };
 
-template <> struct handle_type_name<units::milliampere_hours> {
+template <> struct handle_type_name<wpi::units::milliampere_hours> {
   static constexpr auto name = _("wpimath.units.milliampere_hours");
 };
 
-template <> struct handle_type_name<units::kiloampere_hour_t> {
+template <> struct handle_type_name<wpi::units::kiloampere_hour_t> {
   static constexpr auto name = _("wpimath.units.kiloampere_hours");
 };
 
-template <> struct handle_type_name<units::kiloampere_hours> {
+template <> struct handle_type_name<wpi::units::kiloampere_hours> {
   static constexpr auto name = _("wpimath.units.kiloampere_hours");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
index 41c9cb13d3..e837852a96 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
@@ -11,82 +11,82 @@ namespace pybind11 {
 namespace detail {
 
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<units::radian, units::inverse<units::meter>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<wpi::units::radian, wpi::units::inverse<wpi::units::meter>>>> {
   static constexpr auto name = _("wpimath.units.radians_per_meter");
 };
 
 template <>
-struct handle_type_name<units::unit_t<units::compound_unit<
-    units::radians_per_second, units::inverse<units::volt>>>> {
+struct handle_type_name<wpi::units::unit_t<wpi::units::compound_unit<
+    wpi::units::radians_per_second, wpi::units::inverse<wpi::units::volt>>>> {
   static constexpr auto name = _("wpimath.units.radians_per_second_per_volt");
 };
 
 template <>
-struct handle_type_name<units::unit_t<units::inverse<units::seconds>>> {
+struct handle_type_name<wpi::units::unit_t<wpi::units::inverse<wpi::units::seconds>>> {
   static constexpr auto name = _("wpimath.units.units_per_second");
 };
 
 template <>
 struct handle_type_name<
-    units::unit_t<units::inverse<units::squared<units::seconds>>>> {
+    wpi::units::unit_t<wpi::units::inverse<wpi::units::squared<wpi::units::seconds>>>> {
   static constexpr auto name = _("wpimath.units.units_per_second_squared");
 };
 
-using volt_seconds = units::compound_unit<units::volts, units::seconds>;
-using volt_seconds_squared = units::compound_unit<volt_seconds, units::seconds>;
+using volt_seconds = wpi::units::compound_unit<wpi::units::volts, wpi::units::seconds>;
+using volt_seconds_squared = wpi::units::compound_unit<volt_seconds, wpi::units::seconds>;
 
-template <> struct handle_type_name<units::unit_t<volt_seconds>> {
+template <> struct handle_type_name<wpi::units::unit_t<volt_seconds>> {
   static constexpr auto name = _("wpimath.units.volt_seconds");
 };
 
-template <> struct handle_type_name<units::unit_t<volt_seconds_squared>> {
+template <> struct handle_type_name<wpi::units::unit_t<volt_seconds_squared>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_squared");
 };
 
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<volt_seconds, units::inverse<units::meter>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<volt_seconds, wpi::units::inverse<wpi::units::meter>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_per_meter");
 };
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<volt_seconds_squared, units::inverse<units::meter>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<volt_seconds_squared, wpi::units::inverse<wpi::units::meter>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_squared_per_meter");
 };
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<volt_seconds, units::inverse<units::feet>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<volt_seconds, wpi::units::inverse<wpi::units::feet>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_per_feet");
 };
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<volt_seconds_squared, units::inverse<units::feet>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<volt_seconds_squared, wpi::units::inverse<wpi::units::feet>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_squared_per_feet");
 };
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<volt_seconds, units::inverse<units::radian>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<volt_seconds, wpi::units::inverse<wpi::units::radian>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_per_radian");
 };
 template <>
-struct handle_type_name<units::unit_t<units::compound_unit<
-    volt_seconds_squared, units::inverse<units::radian>>>> {
+struct handle_type_name<wpi::units::unit_t<wpi::units::compound_unit<
+    volt_seconds_squared, wpi::units::inverse<wpi::units::radian>>>> {
   static constexpr auto name = _("wpimath.units.volt_seconds_squared_per_radian");
 };
 
-using unit_seconds = units::compound_unit<units::dimensionless::scalar, units::seconds>;
-using unit_seconds_squared = units::compound_unit<unit_seconds, units::seconds>;
+using unit_seconds = wpi::units::compound_unit<wpi::units::dimensionless::scalar, wpi::units::seconds>;
+using unit_seconds_squared = wpi::units::compound_unit<unit_seconds, wpi::units::seconds>;
 
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<unit_seconds_squared, units::inverse<units::dimensionless::scalar>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<unit_seconds_squared, wpi::units::inverse<wpi::units::dimensionless::scalar>>>> {
   static constexpr auto name = _("wpimath.units.unit_seconds_squared_per_unit");
 };
 
 template <>
-struct handle_type_name<units::unit_t<
-    units::compound_unit<units::meters_per_second_squared, units::inverse<units::volts>>>> {
+struct handle_type_name<wpi::units::unit_t<
+    wpi::units::compound_unit<wpi::units::meters_per_second_squared, wpi::units::inverse<wpi::units::volts>>>> {
   static constexpr auto name = _("wpimath.units.meters_per_second_squared_per_volt");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
index 160f3a2202..7a4d8d5fd9 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
@@ -4,35 +4,35 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::ppm_t> {
+template <> struct handle_type_name<wpi::units::ppm_t> {
   static constexpr auto name = _("wpimath.units.parts_per_million");
 };
 
-template <> struct handle_type_name<units::parts_per_million> {
+template <> struct handle_type_name<wpi::units::parts_per_million> {
   static constexpr auto name = _("wpimath.units.parts_per_million");
 };
 
-template <> struct handle_type_name<units::ppb_t> {
+template <> struct handle_type_name<wpi::units::ppb_t> {
   static constexpr auto name = _("wpimath.units.parts_per_billion");
 };
 
-template <> struct handle_type_name<units::parts_per_billion> {
+template <> struct handle_type_name<wpi::units::parts_per_billion> {
   static constexpr auto name = _("wpimath.units.parts_per_billion");
 };
 
-template <> struct handle_type_name<units::ppt_t> {
+template <> struct handle_type_name<wpi::units::ppt_t> {
   static constexpr auto name = _("wpimath.units.parts_per_trillion");
 };
 
-template <> struct handle_type_name<units::parts_per_trillion> {
+template <> struct handle_type_name<wpi::units::parts_per_trillion> {
   static constexpr auto name = _("wpimath.units.parts_per_trillion");
 };
 
-template <> struct handle_type_name<units::percent_t> {
+template <> struct handle_type_name<wpi::units::percent_t> {
   static constexpr auto name = _("wpimath.units.percent");
 };
 
-template <> struct handle_type_name<units::percent> {
+template <> struct handle_type_name<wpi::units::percent> {
   static constexpr auto name = _("wpimath.units.percent");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
index 0b7f48bbf3..bf3200b099 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::siemens_t> {
+template <> struct handle_type_name<wpi::units::siemens_t> {
   static constexpr auto name = _("wpimath.units.siemens");
 };
 
-template <> struct handle_type_name<units::siemens> {
+template <> struct handle_type_name<wpi::units::siemens> {
   static constexpr auto name = _("wpimath.units.siemens");
 };
 
-template <> struct handle_type_name<units::nanosiemens_t> {
+template <> struct handle_type_name<wpi::units::nanosiemens_t> {
   static constexpr auto name = _("wpimath.units.nanosiemens");
 };
 
-template <> struct handle_type_name<units::nanosiemens> {
+template <> struct handle_type_name<wpi::units::nanosiemens> {
   static constexpr auto name = _("wpimath.units.nanosiemens");
 };
 
-template <> struct handle_type_name<units::microsiemens_t> {
+template <> struct handle_type_name<wpi::units::microsiemens_t> {
   static constexpr auto name = _("wpimath.units.microsiemens");
 };
 
-template <> struct handle_type_name<units::microsiemens> {
+template <> struct handle_type_name<wpi::units::microsiemens> {
   static constexpr auto name = _("wpimath.units.microsiemens");
 };
 
-template <> struct handle_type_name<units::millisiemens_t> {
+template <> struct handle_type_name<wpi::units::millisiemens_t> {
   static constexpr auto name = _("wpimath.units.millisiemens");
 };
 
-template <> struct handle_type_name<units::millisiemens> {
+template <> struct handle_type_name<wpi::units::millisiemens> {
   static constexpr auto name = _("wpimath.units.millisiemens");
 };
 
-template <> struct handle_type_name<units::kilosiemens_t> {
+template <> struct handle_type_name<wpi::units::kilosiemens_t> {
   static constexpr auto name = _("wpimath.units.kilosiemens");
 };
 
-template <> struct handle_type_name<units::kilosiemens> {
+template <> struct handle_type_name<wpi::units::kilosiemens> {
   static constexpr auto name = _("wpimath.units.kilosiemens");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
index 56952e11f6..fd5939564b 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::ampere_t> {
+template <> struct handle_type_name<wpi::units::ampere_t> {
   static constexpr auto name = _("wpimath.units.amperes");
 };
 
-template <> struct handle_type_name<units::amperes> {
+template <> struct handle_type_name<wpi::units::amperes> {
   static constexpr auto name = _("wpimath.units.amperes");
 };
 
-template <> struct handle_type_name<units::nanoampere_t> {
+template <> struct handle_type_name<wpi::units::nanoampere_t> {
   static constexpr auto name = _("wpimath.units.nanoamperes");
 };
 
-template <> struct handle_type_name<units::nanoamperes> {
+template <> struct handle_type_name<wpi::units::nanoamperes> {
   static constexpr auto name = _("wpimath.units.nanoamperes");
 };
 
-template <> struct handle_type_name<units::microampere_t> {
+template <> struct handle_type_name<wpi::units::microampere_t> {
   static constexpr auto name = _("wpimath.units.microamperes");
 };
 
-template <> struct handle_type_name<units::microamperes> {
+template <> struct handle_type_name<wpi::units::microamperes> {
   static constexpr auto name = _("wpimath.units.microamperes");
 };
 
-template <> struct handle_type_name<units::milliampere_t> {
+template <> struct handle_type_name<wpi::units::milliampere_t> {
   static constexpr auto name = _("wpimath.units.milliamperes");
 };
 
-template <> struct handle_type_name<units::milliamperes> {
+template <> struct handle_type_name<wpi::units::milliamperes> {
   static constexpr auto name = _("wpimath.units.milliamperes");
 };
 
-template <> struct handle_type_name<units::kiloampere_t> {
+template <> struct handle_type_name<wpi::units::kiloampere_t> {
   static constexpr auto name = _("wpimath.units.kiloamperes");
 };
 
-template <> struct handle_type_name<units::kiloamperes> {
+template <> struct handle_type_name<wpi::units::kiloamperes> {
   static constexpr auto name = _("wpimath.units.kiloamperes");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
index 2aebbbc968..717702982d 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
@@ -4,19 +4,19 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::exabytes_per_second_t> {
+template <> struct handle_type_name<wpi::units::exabytes_per_second_t> {
   static constexpr auto name = _("wpimath.units.exabytes_per_second");
 };
 
-template <> struct handle_type_name<units::exabytes_per_second> {
+template <> struct handle_type_name<wpi::units::exabytes_per_second> {
   static constexpr auto name = _("wpimath.units.exabytes_per_second");
 };
 
-template <> struct handle_type_name<units::exabits_per_second_t> {
+template <> struct handle_type_name<wpi::units::exabits_per_second_t> {
   static constexpr auto name = _("wpimath.units.exabits_per_second");
 };
 
-template <> struct handle_type_name<units::exabits_per_second> {
+template <> struct handle_type_name<wpi::units::exabits_per_second> {
   static constexpr auto name = _("wpimath.units.exabits_per_second");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
index e89cfd2442..759fa1cafc 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
@@ -4,19 +4,19 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::exabyte_t> {
+template <> struct handle_type_name<wpi::units::exabyte_t> {
   static constexpr auto name = _("wpimath.units.exabytes");
 };
 
-template <> struct handle_type_name<units::exabytes> {
+template <> struct handle_type_name<wpi::units::exabytes> {
   static constexpr auto name = _("wpimath.units.exabytes");
 };
 
-template <> struct handle_type_name<units::exabit_t> {
+template <> struct handle_type_name<wpi::units::exabit_t> {
   static constexpr auto name = _("wpimath.units.exabits");
 };
 
-template <> struct handle_type_name<units::exabits> {
+template <> struct handle_type_name<wpi::units::exabits> {
   static constexpr auto name = _("wpimath.units.exabits");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
index 1fd3272838..7b4d2bf3fb 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
@@ -4,83 +4,83 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::kilograms_per_cubic_meter_t> {
+template <> struct handle_type_name<wpi::units::kilograms_per_cubic_meter_t> {
   static constexpr auto name = _("wpimath.units.kilograms_per_cubic_meter");
 };
 
-template <> struct handle_type_name<units::kilograms_per_cubic_meter> {
+template <> struct handle_type_name<wpi::units::kilograms_per_cubic_meter> {
   static constexpr auto name = _("wpimath.units.kilograms_per_cubic_meter");
 };
 
-template <> struct handle_type_name<units::grams_per_milliliter_t> {
+template <> struct handle_type_name<wpi::units::grams_per_milliliter_t> {
   static constexpr auto name = _("wpimath.units.grams_per_milliliter");
 };
 
-template <> struct handle_type_name<units::grams_per_milliliter> {
+template <> struct handle_type_name<wpi::units::grams_per_milliliter> {
   static constexpr auto name = _("wpimath.units.grams_per_milliliter");
 };
 
-template <> struct handle_type_name<units::kilograms_per_liter_t> {
+template <> struct handle_type_name<wpi::units::kilograms_per_liter_t> {
   static constexpr auto name = _("wpimath.units.kilograms_per_liter");
 };
 
-template <> struct handle_type_name<units::kilograms_per_liter> {
+template <> struct handle_type_name<wpi::units::kilograms_per_liter> {
   static constexpr auto name = _("wpimath.units.kilograms_per_liter");
 };
 
-template <> struct handle_type_name<units::ounces_per_cubic_foot_t> {
+template <> struct handle_type_name<wpi::units::ounces_per_cubic_foot_t> {
   static constexpr auto name = _("wpimath.units.ounces_per_cubic_foot");
 };
 
-template <> struct handle_type_name<units::ounces_per_cubic_foot> {
+template <> struct handle_type_name<wpi::units::ounces_per_cubic_foot> {
   static constexpr auto name = _("wpimath.units.ounces_per_cubic_foot");
 };
 
-template <> struct handle_type_name<units::ounces_per_cubic_inch_t> {
+template <> struct handle_type_name<wpi::units::ounces_per_cubic_inch_t> {
   static constexpr auto name = _("wpimath.units.ounces_per_cubic_inch");
 };
 
-template <> struct handle_type_name<units::ounces_per_cubic_inch> {
+template <> struct handle_type_name<wpi::units::ounces_per_cubic_inch> {
   static constexpr auto name = _("wpimath.units.ounces_per_cubic_inch");
 };
 
-template <> struct handle_type_name<units::ounces_per_gallon_t> {
+template <> struct handle_type_name<wpi::units::ounces_per_gallon_t> {
   static constexpr auto name = _("wpimath.units.ounces_per_gallon");
 };
 
-template <> struct handle_type_name<units::ounces_per_gallon> {
+template <> struct handle_type_name<wpi::units::ounces_per_gallon> {
   static constexpr auto name = _("wpimath.units.ounces_per_gallon");
 };
 
-template <> struct handle_type_name<units::pounds_per_cubic_foot_t> {
+template <> struct handle_type_name<wpi::units::pounds_per_cubic_foot_t> {
   static constexpr auto name = _("wpimath.units.pounds_per_cubic_foot");
 };
 
-template <> struct handle_type_name<units::pounds_per_cubic_foot> {
+template <> struct handle_type_name<wpi::units::pounds_per_cubic_foot> {
   static constexpr auto name = _("wpimath.units.pounds_per_cubic_foot");
 };
 
-template <> struct handle_type_name<units::pounds_per_cubic_inch_t> {
+template <> struct handle_type_name<wpi::units::pounds_per_cubic_inch_t> {
   static constexpr auto name = _("wpimath.units.pounds_per_cubic_inch");
 };
 
-template <> struct handle_type_name<units::pounds_per_cubic_inch> {
+template <> struct handle_type_name<wpi::units::pounds_per_cubic_inch> {
   static constexpr auto name = _("wpimath.units.pounds_per_cubic_inch");
 };
 
-template <> struct handle_type_name<units::pounds_per_gallon_t> {
+template <> struct handle_type_name<wpi::units::pounds_per_gallon_t> {
   static constexpr auto name = _("wpimath.units.pounds_per_gallon");
 };
 
-template <> struct handle_type_name<units::pounds_per_gallon> {
+template <> struct handle_type_name<wpi::units::pounds_per_gallon> {
   static constexpr auto name = _("wpimath.units.pounds_per_gallon");
 };
 
-template <> struct handle_type_name<units::slugs_per_cubic_foot_t> {
+template <> struct handle_type_name<wpi::units::slugs_per_cubic_foot_t> {
   static constexpr auto name = _("wpimath.units.slugs_per_cubic_foot");
 };
 
-template <> struct handle_type_name<units::slugs_per_cubic_foot> {
+template <> struct handle_type_name<wpi::units::slugs_per_cubic_foot> {
   static constexpr auto name = _("wpimath.units.slugs_per_cubic_foot");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
index 0d7e785c34..b671ab4b2e 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
@@ -4,139 +4,139 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::joule_t> {
+template <> struct handle_type_name<wpi::units::joule_t> {
   static constexpr auto name = _("wpimath.units.joules");
 };
 
-template <> struct handle_type_name<units::joules> {
+template <> struct handle_type_name<wpi::units::joules> {
   static constexpr auto name = _("wpimath.units.joules");
 };
 
-template <> struct handle_type_name<units::nanojoule_t> {
+template <> struct handle_type_name<wpi::units::nanojoule_t> {
   static constexpr auto name = _("wpimath.units.nanojoules");
 };
 
-template <> struct handle_type_name<units::nanojoules> {
+template <> struct handle_type_name<wpi::units::nanojoules> {
   static constexpr auto name = _("wpimath.units.nanojoules");
 };
 
-template <> struct handle_type_name<units::microjoule_t> {
+template <> struct handle_type_name<wpi::units::microjoule_t> {
   static constexpr auto name = _("wpimath.units.microjoules");
 };
 
-template <> struct handle_type_name<units::microjoules> {
+template <> struct handle_type_name<wpi::units::microjoules> {
   static constexpr auto name = _("wpimath.units.microjoules");
 };
 
-template <> struct handle_type_name<units::millijoule_t> {
+template <> struct handle_type_name<wpi::units::millijoule_t> {
   static constexpr auto name = _("wpimath.units.millijoules");
 };
 
-template <> struct handle_type_name<units::millijoules> {
+template <> struct handle_type_name<wpi::units::millijoules> {
   static constexpr auto name = _("wpimath.units.millijoules");
 };
 
-template <> struct handle_type_name<units::kilojoule_t> {
+template <> struct handle_type_name<wpi::units::kilojoule_t> {
   static constexpr auto name = _("wpimath.units.kilojoules");
 };
 
-template <> struct handle_type_name<units::kilojoules> {
+template <> struct handle_type_name<wpi::units::kilojoules> {
   static constexpr auto name = _("wpimath.units.kilojoules");
 };
 
-template <> struct handle_type_name<units::calorie_t> {
+template <> struct handle_type_name<wpi::units::calorie_t> {
   static constexpr auto name = _("wpimath.units.calories");
 };
 
-template <> struct handle_type_name<units::calories> {
+template <> struct handle_type_name<wpi::units::calories> {
   static constexpr auto name = _("wpimath.units.calories");
 };
 
-template <> struct handle_type_name<units::nanocalorie_t> {
+template <> struct handle_type_name<wpi::units::nanocalorie_t> {
   static constexpr auto name = _("wpimath.units.nanocalories");
 };
 
-template <> struct handle_type_name<units::nanocalories> {
+template <> struct handle_type_name<wpi::units::nanocalories> {
   static constexpr auto name = _("wpimath.units.nanocalories");
 };
 
-template <> struct handle_type_name<units::microcalorie_t> {
+template <> struct handle_type_name<wpi::units::microcalorie_t> {
   static constexpr auto name = _("wpimath.units.microcalories");
 };
 
-template <> struct handle_type_name<units::microcalories> {
+template <> struct handle_type_name<wpi::units::microcalories> {
   static constexpr auto name = _("wpimath.units.microcalories");
 };
 
-template <> struct handle_type_name<units::millicalorie_t> {
+template <> struct handle_type_name<wpi::units::millicalorie_t> {
   static constexpr auto name = _("wpimath.units.millicalories");
 };
 
-template <> struct handle_type_name<units::millicalories> {
+template <> struct handle_type_name<wpi::units::millicalories> {
   static constexpr auto name = _("wpimath.units.millicalories");
 };
 
-template <> struct handle_type_name<units::kilocalorie_t> {
+template <> struct handle_type_name<wpi::units::kilocalorie_t> {
   static constexpr auto name = _("wpimath.units.kilocalories");
 };
 
-template <> struct handle_type_name<units::kilocalories> {
+template <> struct handle_type_name<wpi::units::kilocalories> {
   static constexpr auto name = _("wpimath.units.kilocalories");
 };
 
-template <> struct handle_type_name<units::kilowatt_hour_t> {
+template <> struct handle_type_name<wpi::units::kilowatt_hour_t> {
   static constexpr auto name = _("wpimath.units.kilowatt_hours");
 };
 
-template <> struct handle_type_name<units::kilowatt_hours> {
+template <> struct handle_type_name<wpi::units::kilowatt_hours> {
   static constexpr auto name = _("wpimath.units.kilowatt_hours");
 };
 
-template <> struct handle_type_name<units::watt_hour_t> {
+template <> struct handle_type_name<wpi::units::watt_hour_t> {
   static constexpr auto name = _("wpimath.units.watt_hours");
 };
 
-template <> struct handle_type_name<units::watt_hours> {
+template <> struct handle_type_name<wpi::units::watt_hours> {
   static constexpr auto name = _("wpimath.units.watt_hours");
 };
 
-template <> struct handle_type_name<units::british_thermal_unit_t> {
+template <> struct handle_type_name<wpi::units::british_thermal_unit_t> {
   static constexpr auto name = _("wpimath.units.british_thermal_units");
 };
 
-template <> struct handle_type_name<units::british_thermal_units> {
+template <> struct handle_type_name<wpi::units::british_thermal_units> {
   static constexpr auto name = _("wpimath.units.british_thermal_units");
 };
 
-template <> struct handle_type_name<units::british_thermal_unit_iso_t> {
+template <> struct handle_type_name<wpi::units::british_thermal_unit_iso_t> {
   static constexpr auto name = _("wpimath.units.british_thermal_units_iso");
 };
 
-template <> struct handle_type_name<units::british_thermal_units_iso> {
+template <> struct handle_type_name<wpi::units::british_thermal_units_iso> {
   static constexpr auto name = _("wpimath.units.british_thermal_units_iso");
 };
 
-template <> struct handle_type_name<units::british_thermal_unit_59_t> {
+template <> struct handle_type_name<wpi::units::british_thermal_unit_59_t> {
   static constexpr auto name = _("wpimath.units.british_thermal_units_59");
 };
 
-template <> struct handle_type_name<units::british_thermal_units_59> {
+template <> struct handle_type_name<wpi::units::british_thermal_units_59> {
   static constexpr auto name = _("wpimath.units.british_thermal_units_59");
 };
 
-template <> struct handle_type_name<units::therm_t> {
+template <> struct handle_type_name<wpi::units::therm_t> {
   static constexpr auto name = _("wpimath.units.therms");
 };
 
-template <> struct handle_type_name<units::therms> {
+template <> struct handle_type_name<wpi::units::therms> {
   static constexpr auto name = _("wpimath.units.therms");
 };
 
-template <> struct handle_type_name<units::foot_pound_t> {
+template <> struct handle_type_name<wpi::units::foot_pound_t> {
   static constexpr auto name = _("wpimath.units.foot_pounds");
 };
 
-template <> struct handle_type_name<units::foot_pounds> {
+template <> struct handle_type_name<wpi::units::foot_pounds> {
   static constexpr auto name = _("wpimath.units.foot_pounds");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
index 1d6c1e5f3e..94274e63e3 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
@@ -4,75 +4,75 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::newton_t> {
+template <> struct handle_type_name<wpi::units::newton_t> {
   static constexpr auto name = _("wpimath.units.newtons");
 };
 
-template <> struct handle_type_name<units::newtons> {
+template <> struct handle_type_name<wpi::units::newtons> {
   static constexpr auto name = _("wpimath.units.newtons");
 };
 
-template <> struct handle_type_name<units::nanonewton_t> {
+template <> struct handle_type_name<wpi::units::nanonewton_t> {
   static constexpr auto name = _("wpimath.units.nanonewtons");
 };
 
-template <> struct handle_type_name<units::nanonewtons> {
+template <> struct handle_type_name<wpi::units::nanonewtons> {
   static constexpr auto name = _("wpimath.units.nanonewtons");
 };
 
-template <> struct handle_type_name<units::micronewton_t> {
+template <> struct handle_type_name<wpi::units::micronewton_t> {
   static constexpr auto name = _("wpimath.units.micronewtons");
 };
 
-template <> struct handle_type_name<units::micronewtons> {
+template <> struct handle_type_name<wpi::units::micronewtons> {
   static constexpr auto name = _("wpimath.units.micronewtons");
 };
 
-template <> struct handle_type_name<units::millinewton_t> {
+template <> struct handle_type_name<wpi::units::millinewton_t> {
   static constexpr auto name = _("wpimath.units.millinewtons");
 };
 
-template <> struct handle_type_name<units::millinewtons> {
+template <> struct handle_type_name<wpi::units::millinewtons> {
   static constexpr auto name = _("wpimath.units.millinewtons");
 };
 
-template <> struct handle_type_name<units::kilonewton_t> {
+template <> struct handle_type_name<wpi::units::kilonewton_t> {
   static constexpr auto name = _("wpimath.units.kilonewtons");
 };
 
-template <> struct handle_type_name<units::kilonewtons> {
+template <> struct handle_type_name<wpi::units::kilonewtons> {
   static constexpr auto name = _("wpimath.units.kilonewtons");
 };
 
-template <> struct handle_type_name<units::pound_t> {
+template <> struct handle_type_name<wpi::units::pound_t> {
   static constexpr auto name = _("wpimath.units.pounds");
 };
 
-template <> struct handle_type_name<units::pounds> {
+template <> struct handle_type_name<wpi::units::pounds> {
   static constexpr auto name = _("wpimath.units.pounds");
 };
 
-template <> struct handle_type_name<units::dyne_t> {
+template <> struct handle_type_name<wpi::units::dyne_t> {
   static constexpr auto name = _("wpimath.units.dynes");
 };
 
-template <> struct handle_type_name<units::dynes> {
+template <> struct handle_type_name<wpi::units::dynes> {
   static constexpr auto name = _("wpimath.units.dynes");
 };
 
-template <> struct handle_type_name<units::kilopond_t> {
+template <> struct handle_type_name<wpi::units::kilopond_t> {
   static constexpr auto name = _("wpimath.units.kiloponds");
 };
 
-template <> struct handle_type_name<units::kiloponds> {
+template <> struct handle_type_name<wpi::units::kiloponds> {
   static constexpr auto name = _("wpimath.units.kiloponds");
 };
 
-template <> struct handle_type_name<units::poundal_t> {
+template <> struct handle_type_name<wpi::units::poundal_t> {
   static constexpr auto name = _("wpimath.units.poundals");
 };
 
-template <> struct handle_type_name<units::poundals> {
+template <> struct handle_type_name<wpi::units::poundals> {
   static constexpr auto name = _("wpimath.units.poundals");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
index 75c3caf554..f4a477487b 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::hertz_t> {
+template <> struct handle_type_name<wpi::units::hertz_t> {
   static constexpr auto name = _("wpimath.units.hertz");
 };
 
-template <> struct handle_type_name<units::hertz> {
+template <> struct handle_type_name<wpi::units::hertz> {
   static constexpr auto name = _("wpimath.units.hertz");
 };
 
-template <> struct handle_type_name<units::nanohertz_t> {
+template <> struct handle_type_name<wpi::units::nanohertz_t> {
   static constexpr auto name = _("wpimath.units.nanohertz");
 };
 
-template <> struct handle_type_name<units::nanohertz> {
+template <> struct handle_type_name<wpi::units::nanohertz> {
   static constexpr auto name = _("wpimath.units.nanohertz");
 };
 
-template <> struct handle_type_name<units::microhertz_t> {
+template <> struct handle_type_name<wpi::units::microhertz_t> {
   static constexpr auto name = _("wpimath.units.microhertz");
 };
 
-template <> struct handle_type_name<units::microhertz> {
+template <> struct handle_type_name<wpi::units::microhertz> {
   static constexpr auto name = _("wpimath.units.microhertz");
 };
 
-template <> struct handle_type_name<units::millihertz_t> {
+template <> struct handle_type_name<wpi::units::millihertz_t> {
   static constexpr auto name = _("wpimath.units.millihertz");
 };
 
-template <> struct handle_type_name<units::millihertz> {
+template <> struct handle_type_name<wpi::units::millihertz> {
   static constexpr auto name = _("wpimath.units.millihertz");
 };
 
-template <> struct handle_type_name<units::kilohertz_t> {
+template <> struct handle_type_name<wpi::units::kilohertz_t> {
   static constexpr auto name = _("wpimath.units.kilohertz");
 };
 
-template <> struct handle_type_name<units::kilohertz> {
+template <> struct handle_type_name<wpi::units::kilohertz> {
   static constexpr auto name = _("wpimath.units.kilohertz");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
index 8df5e1f48c..f087b0b30f 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
@@ -4,67 +4,67 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::lux_t> {
+template <> struct handle_type_name<wpi::units::lux_t> {
   static constexpr auto name = _("wpimath.units.luxes");
 };
 
-template <> struct handle_type_name<units::luxes> {
+template <> struct handle_type_name<wpi::units::luxes> {
   static constexpr auto name = _("wpimath.units.luxes");
 };
 
-template <> struct handle_type_name<units::nanolux_t> {
+template <> struct handle_type_name<wpi::units::nanolux_t> {
   static constexpr auto name = _("wpimath.units.nanoluxes");
 };
 
-template <> struct handle_type_name<units::nanoluxes> {
+template <> struct handle_type_name<wpi::units::nanoluxes> {
   static constexpr auto name = _("wpimath.units.nanoluxes");
 };
 
-template <> struct handle_type_name<units::microlux_t> {
+template <> struct handle_type_name<wpi::units::microlux_t> {
   static constexpr auto name = _("wpimath.units.microluxes");
 };
 
-template <> struct handle_type_name<units::microluxes> {
+template <> struct handle_type_name<wpi::units::microluxes> {
   static constexpr auto name = _("wpimath.units.microluxes");
 };
 
-template <> struct handle_type_name<units::millilux_t> {
+template <> struct handle_type_name<wpi::units::millilux_t> {
   static constexpr auto name = _("wpimath.units.milliluxes");
 };
 
-template <> struct handle_type_name<units::milliluxes> {
+template <> struct handle_type_name<wpi::units::milliluxes> {
   static constexpr auto name = _("wpimath.units.milliluxes");
 };
 
-template <> struct handle_type_name<units::kilolux_t> {
+template <> struct handle_type_name<wpi::units::kilolux_t> {
   static constexpr auto name = _("wpimath.units.kiloluxes");
 };
 
-template <> struct handle_type_name<units::kiloluxes> {
+template <> struct handle_type_name<wpi::units::kiloluxes> {
   static constexpr auto name = _("wpimath.units.kiloluxes");
 };
 
-template <> struct handle_type_name<units::footcandle_t> {
+template <> struct handle_type_name<wpi::units::footcandle_t> {
   static constexpr auto name = _("wpimath.units.footcandles");
 };
 
-template <> struct handle_type_name<units::footcandles> {
+template <> struct handle_type_name<wpi::units::footcandles> {
   static constexpr auto name = _("wpimath.units.footcandles");
 };
 
-template <> struct handle_type_name<units::lumens_per_square_inch_t> {
+template <> struct handle_type_name<wpi::units::lumens_per_square_inch_t> {
   static constexpr auto name = _("wpimath.units.lumens_per_square_inch");
 };
 
-template <> struct handle_type_name<units::lumens_per_square_inch> {
+template <> struct handle_type_name<wpi::units::lumens_per_square_inch> {
   static constexpr auto name = _("wpimath.units.lumens_per_square_inch");
 };
 
-template <> struct handle_type_name<units::phot_t> {
+template <> struct handle_type_name<wpi::units::phot_t> {
   static constexpr auto name = _("wpimath.units.phots");
 };
 
-template <> struct handle_type_name<units::phots> {
+template <> struct handle_type_name<wpi::units::phots> {
   static constexpr auto name = _("wpimath.units.phots");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
index d4a89edb45..57b6c9f630 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::ohm_t> {
+template <> struct handle_type_name<wpi::units::ohm_t> {
   static constexpr auto name = _("wpimath.units.ohms");
 };
 
-template <> struct handle_type_name<units::ohms> {
+template <> struct handle_type_name<wpi::units::ohms> {
   static constexpr auto name = _("wpimath.units.ohms");
 };
 
-template <> struct handle_type_name<units::nanoohm_t> {
+template <> struct handle_type_name<wpi::units::nanoohm_t> {
   static constexpr auto name = _("wpimath.units.nanoohms");
 };
 
-template <> struct handle_type_name<units::nanoohms> {
+template <> struct handle_type_name<wpi::units::nanoohms> {
   static constexpr auto name = _("wpimath.units.nanoohms");
 };
 
-template <> struct handle_type_name<units::microohm_t> {
+template <> struct handle_type_name<wpi::units::microohm_t> {
   static constexpr auto name = _("wpimath.units.microohms");
 };
 
-template <> struct handle_type_name<units::microohms> {
+template <> struct handle_type_name<wpi::units::microohms> {
   static constexpr auto name = _("wpimath.units.microohms");
 };
 
-template <> struct handle_type_name<units::milliohm_t> {
+template <> struct handle_type_name<wpi::units::milliohm_t> {
   static constexpr auto name = _("wpimath.units.milliohms");
 };
 
-template <> struct handle_type_name<units::milliohms> {
+template <> struct handle_type_name<wpi::units::milliohms> {
   static constexpr auto name = _("wpimath.units.milliohms");
 };
 
-template <> struct handle_type_name<units::kiloohm_t> {
+template <> struct handle_type_name<wpi::units::kiloohm_t> {
   static constexpr auto name = _("wpimath.units.kiloohms");
 };
 
-template <> struct handle_type_name<units::kiloohms> {
+template <> struct handle_type_name<wpi::units::kiloohms> {
   static constexpr auto name = _("wpimath.units.kiloohms");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
index 8585c0dc1d..3820713b49 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::henry_t> {
+template <> struct handle_type_name<wpi::units::henry_t> {
   static constexpr auto name = _("wpimath.units.henries");
 };
 
-template <> struct handle_type_name<units::henries> {
+template <> struct handle_type_name<wpi::units::henries> {
   static constexpr auto name = _("wpimath.units.henries");
 };
 
-template <> struct handle_type_name<units::nanohenry_t> {
+template <> struct handle_type_name<wpi::units::nanohenry_t> {
   static constexpr auto name = _("wpimath.units.nanohenries");
 };
 
-template <> struct handle_type_name<units::nanohenries> {
+template <> struct handle_type_name<wpi::units::nanohenries> {
   static constexpr auto name = _("wpimath.units.nanohenries");
 };
 
-template <> struct handle_type_name<units::microhenry_t> {
+template <> struct handle_type_name<wpi::units::microhenry_t> {
   static constexpr auto name = _("wpimath.units.microhenries");
 };
 
-template <> struct handle_type_name<units::microhenries> {
+template <> struct handle_type_name<wpi::units::microhenries> {
   static constexpr auto name = _("wpimath.units.microhenries");
 };
 
-template <> struct handle_type_name<units::millihenry_t> {
+template <> struct handle_type_name<wpi::units::millihenry_t> {
   static constexpr auto name = _("wpimath.units.millihenries");
 };
 
-template <> struct handle_type_name<units::millihenries> {
+template <> struct handle_type_name<wpi::units::millihenries> {
   static constexpr auto name = _("wpimath.units.millihenries");
 };
 
-template <> struct handle_type_name<units::kilohenry_t> {
+template <> struct handle_type_name<wpi::units::kilohenry_t> {
   static constexpr auto name = _("wpimath.units.kilohenries");
 };
 
-template <> struct handle_type_name<units::kilohenries> {
+template <> struct handle_type_name<wpi::units::kilohenries> {
   static constexpr auto name = _("wpimath.units.kilohenries");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
index f85fd206dd..3eb4321ea5 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
@@ -4,187 +4,187 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::meter_t> {
+template <> struct handle_type_name<wpi::units::meter_t> {
   static constexpr auto name = _("wpimath.units.meters");
 };
 
-template <> struct handle_type_name<units::meters> {
+template <> struct handle_type_name<wpi::units::meters> {
   static constexpr auto name = _("wpimath.units.meters");
 };
 
-template <> struct handle_type_name<units::nanometer_t> {
+template <> struct handle_type_name<wpi::units::nanometer_t> {
   static constexpr auto name = _("wpimath.units.nanometers");
 };
 
-template <> struct handle_type_name<units::nanometers> {
+template <> struct handle_type_name<wpi::units::nanometers> {
   static constexpr auto name = _("wpimath.units.nanometers");
 };
 
-template <> struct handle_type_name<units::micrometer_t> {
+template <> struct handle_type_name<wpi::units::micrometer_t> {
   static constexpr auto name = _("wpimath.units.micrometers");
 };
 
-template <> struct handle_type_name<units::micrometers> {
+template <> struct handle_type_name<wpi::units::micrometers> {
   static constexpr auto name = _("wpimath.units.micrometers");
 };
 
-template <> struct handle_type_name<units::millimeter_t> {
+template <> struct handle_type_name<wpi::units::millimeter_t> {
   static constexpr auto name = _("wpimath.units.millimeters");
 };
 
-template <> struct handle_type_name<units::millimeters> {
+template <> struct handle_type_name<wpi::units::millimeters> {
   static constexpr auto name = _("wpimath.units.millimeters");
 };
 
-template <> struct handle_type_name<units::centimeter_t> {
+template <> struct handle_type_name<wpi::units::centimeter_t> {
   static constexpr auto name = _("wpimath.units.centimeters");
 };
 
-template <> struct handle_type_name<units::centimeters> {
+template <> struct handle_type_name<wpi::units::centimeters> {
   static constexpr auto name = _("wpimath.units.centimeters");
 };
 
-template <> struct handle_type_name<units::kilometer_t> {
+template <> struct handle_type_name<wpi::units::kilometer_t> {
   static constexpr auto name = _("wpimath.units.kilometers");
 };
 
-template <> struct handle_type_name<units::kilometers> {
+template <> struct handle_type_name<wpi::units::kilometers> {
   static constexpr auto name = _("wpimath.units.kilometers");
 };
 
-template <> struct handle_type_name<units::foot_t> {
+template <> struct handle_type_name<wpi::units::foot_t> {
   static constexpr auto name = _("wpimath.units.feet");
 };
 
-template <> struct handle_type_name<units::feet> {
+template <> struct handle_type_name<wpi::units::feet> {
   static constexpr auto name = _("wpimath.units.feet");
 };
 
-template <> struct handle_type_name<units::mil_t> {
+template <> struct handle_type_name<wpi::units::mil_t> {
   static constexpr auto name = _("wpimath.units.mils");
 };
 
-template <> struct handle_type_name<units::mils> {
+template <> struct handle_type_name<wpi::units::mils> {
   static constexpr auto name = _("wpimath.units.mils");
 };
 
-template <> struct handle_type_name<units::inch_t> {
+template <> struct handle_type_name<wpi::units::inch_t> {
   static constexpr auto name = _("wpimath.units.inches");
 };
 
-template <> struct handle_type_name<units::inches> {
+template <> struct handle_type_name<wpi::units::inches> {
   static constexpr auto name = _("wpimath.units.inches");
 };
 
-template <> struct handle_type_name<units::mile_t> {
+template <> struct handle_type_name<wpi::units::mile_t> {
   static constexpr auto name = _("wpimath.units.miles");
 };
 
-template <> struct handle_type_name<units::miles> {
+template <> struct handle_type_name<wpi::units::miles> {
   static constexpr auto name = _("wpimath.units.miles");
 };
 
-template <> struct handle_type_name<units::nauticalMile_t> {
+template <> struct handle_type_name<wpi::units::nauticalMile_t> {
   static constexpr auto name = _("wpimath.units.nauticalMiles");
 };
 
-template <> struct handle_type_name<units::nauticalMiles> {
+template <> struct handle_type_name<wpi::units::nauticalMiles> {
   static constexpr auto name = _("wpimath.units.nauticalMiles");
 };
 
-template <> struct handle_type_name<units::astronicalUnit_t> {
+template <> struct handle_type_name<wpi::units::astronicalUnit_t> {
   static constexpr auto name = _("wpimath.units.astronicalUnits");
 };
 
-template <> struct handle_type_name<units::astronicalUnits> {
+template <> struct handle_type_name<wpi::units::astronicalUnits> {
   static constexpr auto name = _("wpimath.units.astronicalUnits");
 };
 
-template <> struct handle_type_name<units::lightyear_t> {
+template <> struct handle_type_name<wpi::units::lightyear_t> {
   static constexpr auto name = _("wpimath.units.lightyears");
 };
 
-template <> struct handle_type_name<units::lightyears> {
+template <> struct handle_type_name<wpi::units::lightyears> {
   static constexpr auto name = _("wpimath.units.lightyears");
 };
 
-template <> struct handle_type_name<units::parsec_t> {
+template <> struct handle_type_name<wpi::units::parsec_t> {
   static constexpr auto name = _("wpimath.units.parsecs");
 };
 
-template <> struct handle_type_name<units::parsecs> {
+template <> struct handle_type_name<wpi::units::parsecs> {
   static constexpr auto name = _("wpimath.units.parsecs");
 };
 
-template <> struct handle_type_name<units::angstrom_t> {
+template <> struct handle_type_name<wpi::units::angstrom_t> {
   static constexpr auto name = _("wpimath.units.angstroms");
 };
 
-template <> struct handle_type_name<units::angstroms> {
+template <> struct handle_type_name<wpi::units::angstroms> {
   static constexpr auto name = _("wpimath.units.angstroms");
 };
 
-template <> struct handle_type_name<units::cubit_t> {
+template <> struct handle_type_name<wpi::units::cubit_t> {
   static constexpr auto name = _("wpimath.units.cubits");
 };
 
-template <> struct handle_type_name<units::cubits> {
+template <> struct handle_type_name<wpi::units::cubits> {
   static constexpr auto name = _("wpimath.units.cubits");
 };
 
-template <> struct handle_type_name<units::fathom_t> {
+template <> struct handle_type_name<wpi::units::fathom_t> {
   static constexpr auto name = _("wpimath.units.fathoms");
 };
 
-template <> struct handle_type_name<units::fathoms> {
+template <> struct handle_type_name<wpi::units::fathoms> {
   static constexpr auto name = _("wpimath.units.fathoms");
 };
 
-template <> struct handle_type_name<units::chain_t> {
+template <> struct handle_type_name<wpi::units::chain_t> {
   static constexpr auto name = _("wpimath.units.chains");
 };
 
-template <> struct handle_type_name<units::chains> {
+template <> struct handle_type_name<wpi::units::chains> {
   static constexpr auto name = _("wpimath.units.chains");
 };
 
-template <> struct handle_type_name<units::furlong_t> {
+template <> struct handle_type_name<wpi::units::furlong_t> {
   static constexpr auto name = _("wpimath.units.furlongs");
 };
 
-template <> struct handle_type_name<units::furlongs> {
+template <> struct handle_type_name<wpi::units::furlongs> {
   static constexpr auto name = _("wpimath.units.furlongs");
 };
 
-template <> struct handle_type_name<units::hand_t> {
+template <> struct handle_type_name<wpi::units::hand_t> {
   static constexpr auto name = _("wpimath.units.hands");
 };
 
-template <> struct handle_type_name<units::hands> {
+template <> struct handle_type_name<wpi::units::hands> {
   static constexpr auto name = _("wpimath.units.hands");
 };
 
-template <> struct handle_type_name<units::league_t> {
+template <> struct handle_type_name<wpi::units::league_t> {
   static constexpr auto name = _("wpimath.units.leagues");
 };
 
-template <> struct handle_type_name<units::leagues> {
+template <> struct handle_type_name<wpi::units::leagues> {
   static constexpr auto name = _("wpimath.units.leagues");
 };
 
-template <> struct handle_type_name<units::nauticalLeague_t> {
+template <> struct handle_type_name<wpi::units::nauticalLeague_t> {
   static constexpr auto name = _("wpimath.units.nauticalLeagues");
 };
 
-template <> struct handle_type_name<units::nauticalLeagues> {
+template <> struct handle_type_name<wpi::units::nauticalLeagues> {
   static constexpr auto name = _("wpimath.units.nauticalLeagues");
 };
 
-template <> struct handle_type_name<units::yard_t> {
+template <> struct handle_type_name<wpi::units::yard_t> {
   static constexpr auto name = _("wpimath.units.yards");
 };
 
-template <> struct handle_type_name<units::yards> {
+template <> struct handle_type_name<wpi::units::yards> {
   static constexpr auto name = _("wpimath.units.yards");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
index 7a4c3cc79d..9e0af5d056 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::lumen_t> {
+template <> struct handle_type_name<wpi::units::lumen_t> {
   static constexpr auto name = _("wpimath.units.lumens");
 };
 
-template <> struct handle_type_name<units::lumens> {
+template <> struct handle_type_name<wpi::units::lumens> {
   static constexpr auto name = _("wpimath.units.lumens");
 };
 
-template <> struct handle_type_name<units::nanolumen_t> {
+template <> struct handle_type_name<wpi::units::nanolumen_t> {
   static constexpr auto name = _("wpimath.units.nanolumens");
 };
 
-template <> struct handle_type_name<units::nanolumens> {
+template <> struct handle_type_name<wpi::units::nanolumens> {
   static constexpr auto name = _("wpimath.units.nanolumens");
 };
 
-template <> struct handle_type_name<units::microlumen_t> {
+template <> struct handle_type_name<wpi::units::microlumen_t> {
   static constexpr auto name = _("wpimath.units.microlumens");
 };
 
-template <> struct handle_type_name<units::microlumens> {
+template <> struct handle_type_name<wpi::units::microlumens> {
   static constexpr auto name = _("wpimath.units.microlumens");
 };
 
-template <> struct handle_type_name<units::millilumen_t> {
+template <> struct handle_type_name<wpi::units::millilumen_t> {
   static constexpr auto name = _("wpimath.units.millilumens");
 };
 
-template <> struct handle_type_name<units::millilumens> {
+template <> struct handle_type_name<wpi::units::millilumens> {
   static constexpr auto name = _("wpimath.units.millilumens");
 };
 
-template <> struct handle_type_name<units::kilolumen_t> {
+template <> struct handle_type_name<wpi::units::kilolumen_t> {
   static constexpr auto name = _("wpimath.units.kilolumens");
 };
 
-template <> struct handle_type_name<units::kilolumens> {
+template <> struct handle_type_name<wpi::units::kilolumens> {
   static constexpr auto name = _("wpimath.units.kilolumens");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
index d6a9bc6e55..45061f63b6 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::candela_t> {
+template <> struct handle_type_name<wpi::units::candela_t> {
   static constexpr auto name = _("wpimath.units.candelas");
 };
 
-template <> struct handle_type_name<units::candelas> {
+template <> struct handle_type_name<wpi::units::candelas> {
   static constexpr auto name = _("wpimath.units.candelas");
 };
 
-template <> struct handle_type_name<units::nanocandela_t> {
+template <> struct handle_type_name<wpi::units::nanocandela_t> {
   static constexpr auto name = _("wpimath.units.nanocandelas");
 };
 
-template <> struct handle_type_name<units::nanocandelas> {
+template <> struct handle_type_name<wpi::units::nanocandelas> {
   static constexpr auto name = _("wpimath.units.nanocandelas");
 };
 
-template <> struct handle_type_name<units::microcandela_t> {
+template <> struct handle_type_name<wpi::units::microcandela_t> {
   static constexpr auto name = _("wpimath.units.microcandelas");
 };
 
-template <> struct handle_type_name<units::microcandelas> {
+template <> struct handle_type_name<wpi::units::microcandelas> {
   static constexpr auto name = _("wpimath.units.microcandelas");
 };
 
-template <> struct handle_type_name<units::millicandela_t> {
+template <> struct handle_type_name<wpi::units::millicandela_t> {
   static constexpr auto name = _("wpimath.units.millicandelas");
 };
 
-template <> struct handle_type_name<units::millicandelas> {
+template <> struct handle_type_name<wpi::units::millicandelas> {
   static constexpr auto name = _("wpimath.units.millicandelas");
 };
 
-template <> struct handle_type_name<units::kilocandela_t> {
+template <> struct handle_type_name<wpi::units::kilocandela_t> {
   static constexpr auto name = _("wpimath.units.kilocandelas");
 };
 
-template <> struct handle_type_name<units::kilocandelas> {
+template <> struct handle_type_name<wpi::units::kilocandelas> {
   static constexpr auto name = _("wpimath.units.kilocandelas");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
index bb30e25ccf..d9d09accd2 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
@@ -4,51 +4,51 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::tesla_t> {
+template <> struct handle_type_name<wpi::units::tesla_t> {
   static constexpr auto name = _("wpimath.units.teslas");
 };
 
-template <> struct handle_type_name<units::teslas> {
+template <> struct handle_type_name<wpi::units::teslas> {
   static constexpr auto name = _("wpimath.units.teslas");
 };
 
-template <> struct handle_type_name<units::nanotesla_t> {
+template <> struct handle_type_name<wpi::units::nanotesla_t> {
   static constexpr auto name = _("wpimath.units.nanoteslas");
 };
 
-template <> struct handle_type_name<units::nanoteslas> {
+template <> struct handle_type_name<wpi::units::nanoteslas> {
   static constexpr auto name = _("wpimath.units.nanoteslas");
 };
 
-template <> struct handle_type_name<units::microtesla_t> {
+template <> struct handle_type_name<wpi::units::microtesla_t> {
   static constexpr auto name = _("wpimath.units.microteslas");
 };
 
-template <> struct handle_type_name<units::microteslas> {
+template <> struct handle_type_name<wpi::units::microteslas> {
   static constexpr auto name = _("wpimath.units.microteslas");
 };
 
-template <> struct handle_type_name<units::millitesla_t> {
+template <> struct handle_type_name<wpi::units::millitesla_t> {
   static constexpr auto name = _("wpimath.units.milliteslas");
 };
 
-template <> struct handle_type_name<units::milliteslas> {
+template <> struct handle_type_name<wpi::units::milliteslas> {
   static constexpr auto name = _("wpimath.units.milliteslas");
 };
 
-template <> struct handle_type_name<units::kilotesla_t> {
+template <> struct handle_type_name<wpi::units::kilotesla_t> {
   static constexpr auto name = _("wpimath.units.kiloteslas");
 };
 
-template <> struct handle_type_name<units::kiloteslas> {
+template <> struct handle_type_name<wpi::units::kiloteslas> {
   static constexpr auto name = _("wpimath.units.kiloteslas");
 };
 
-template <> struct handle_type_name<units::gauss_t> {
+template <> struct handle_type_name<wpi::units::gauss_t> {
   static constexpr auto name = _("wpimath.units.gauss");
 };
 
-template <> struct handle_type_name<units::gauss> {
+template <> struct handle_type_name<wpi::units::gauss> {
   static constexpr auto name = _("wpimath.units.gauss");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
index 942a473f72..4650ff64b3 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
@@ -4,51 +4,51 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::weber_t> {
+template <> struct handle_type_name<wpi::units::weber_t> {
   static constexpr auto name = _("wpimath.units.webers");
 };
 
-template <> struct handle_type_name<units::webers> {
+template <> struct handle_type_name<wpi::units::webers> {
   static constexpr auto name = _("wpimath.units.webers");
 };
 
-template <> struct handle_type_name<units::nanoweber_t> {
+template <> struct handle_type_name<wpi::units::nanoweber_t> {
   static constexpr auto name = _("wpimath.units.nanowebers");
 };
 
-template <> struct handle_type_name<units::nanowebers> {
+template <> struct handle_type_name<wpi::units::nanowebers> {
   static constexpr auto name = _("wpimath.units.nanowebers");
 };
 
-template <> struct handle_type_name<units::microweber_t> {
+template <> struct handle_type_name<wpi::units::microweber_t> {
   static constexpr auto name = _("wpimath.units.microwebers");
 };
 
-template <> struct handle_type_name<units::microwebers> {
+template <> struct handle_type_name<wpi::units::microwebers> {
   static constexpr auto name = _("wpimath.units.microwebers");
 };
 
-template <> struct handle_type_name<units::milliweber_t> {
+template <> struct handle_type_name<wpi::units::milliweber_t> {
   static constexpr auto name = _("wpimath.units.milliwebers");
 };
 
-template <> struct handle_type_name<units::milliwebers> {
+template <> struct handle_type_name<wpi::units::milliwebers> {
   static constexpr auto name = _("wpimath.units.milliwebers");
 };
 
-template <> struct handle_type_name<units::kiloweber_t> {
+template <> struct handle_type_name<wpi::units::kiloweber_t> {
   static constexpr auto name = _("wpimath.units.kilowebers");
 };
 
-template <> struct handle_type_name<units::kilowebers> {
+template <> struct handle_type_name<wpi::units::kilowebers> {
   static constexpr auto name = _("wpimath.units.kilowebers");
 };
 
-template <> struct handle_type_name<units::maxwell_t> {
+template <> struct handle_type_name<wpi::units::maxwell_t> {
   static constexpr auto name = _("wpimath.units.maxwells");
 };
 
-template <> struct handle_type_name<units::maxwells> {
+template <> struct handle_type_name<wpi::units::maxwells> {
   static constexpr auto name = _("wpimath.units.maxwells");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
index 07edf38f17..e49d803489 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
@@ -4,107 +4,107 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::gram_t> {
+template <> struct handle_type_name<wpi::units::gram_t> {
   static constexpr auto name = _("wpimath.units.grams");
 };
 
-template <> struct handle_type_name<units::grams> {
+template <> struct handle_type_name<wpi::units::grams> {
   static constexpr auto name = _("wpimath.units.grams");
 };
 
-template <> struct handle_type_name<units::nanogram_t> {
+template <> struct handle_type_name<wpi::units::nanogram_t> {
   static constexpr auto name = _("wpimath.units.nanograms");
 };
 
-template <> struct handle_type_name<units::nanograms> {
+template <> struct handle_type_name<wpi::units::nanograms> {
   static constexpr auto name = _("wpimath.units.nanograms");
 };
 
-template <> struct handle_type_name<units::microgram_t> {
+template <> struct handle_type_name<wpi::units::microgram_t> {
   static constexpr auto name = _("wpimath.units.micrograms");
 };
 
-template <> struct handle_type_name<units::micrograms> {
+template <> struct handle_type_name<wpi::units::micrograms> {
   static constexpr auto name = _("wpimath.units.micrograms");
 };
 
-template <> struct handle_type_name<units::milligram_t> {
+template <> struct handle_type_name<wpi::units::milligram_t> {
   static constexpr auto name = _("wpimath.units.milligrams");
 };
 
-template <> struct handle_type_name<units::milligrams> {
+template <> struct handle_type_name<wpi::units::milligrams> {
   static constexpr auto name = _("wpimath.units.milligrams");
 };
 
-template <> struct handle_type_name<units::kilogram_t> {
+template <> struct handle_type_name<wpi::units::kilogram_t> {
   static constexpr auto name = _("wpimath.units.kilograms");
 };
 
-template <> struct handle_type_name<units::kilograms> {
+template <> struct handle_type_name<wpi::units::kilograms> {
   static constexpr auto name = _("wpimath.units.kilograms");
 };
 
-template <> struct handle_type_name<units::metric_ton_t> {
+template <> struct handle_type_name<wpi::units::metric_ton_t> {
   static constexpr auto name = _("wpimath.units.metric_tons");
 };
 
-template <> struct handle_type_name<units::metric_tons> {
+template <> struct handle_type_name<wpi::units::metric_tons> {
   static constexpr auto name = _("wpimath.units.metric_tons");
 };
 
-template <> struct handle_type_name<units::pound_t> {
+template <> struct handle_type_name<wpi::units::pound_t> {
   static constexpr auto name = _("wpimath.units.pounds");
 };
 
-template <> struct handle_type_name<units::pounds> {
+template <> struct handle_type_name<wpi::units::pounds> {
   static constexpr auto name = _("wpimath.units.pounds");
 };
 
-template <> struct handle_type_name<units::long_ton_t> {
+template <> struct handle_type_name<wpi::units::long_ton_t> {
   static constexpr auto name = _("wpimath.units.long_tons");
 };
 
-template <> struct handle_type_name<units::long_tons> {
+template <> struct handle_type_name<wpi::units::long_tons> {
   static constexpr auto name = _("wpimath.units.long_tons");
 };
 
-template <> struct handle_type_name<units::short_ton_t> {
+template <> struct handle_type_name<wpi::units::short_ton_t> {
   static constexpr auto name = _("wpimath.units.short_tons");
 };
 
-template <> struct handle_type_name<units::short_tons> {
+template <> struct handle_type_name<wpi::units::short_tons> {
   static constexpr auto name = _("wpimath.units.short_tons");
 };
 
-template <> struct handle_type_name<units::stone_t> {
+template <> struct handle_type_name<wpi::units::stone_t> {
   static constexpr auto name = _("wpimath.units.stone");
 };
 
-template <> struct handle_type_name<units::stone> {
+template <> struct handle_type_name<wpi::units::stone> {
   static constexpr auto name = _("wpimath.units.stone");
 };
 
-template <> struct handle_type_name<units::ounce_t> {
+template <> struct handle_type_name<wpi::units::ounce_t> {
   static constexpr auto name = _("wpimath.units.ounces");
 };
 
-template <> struct handle_type_name<units::ounces> {
+template <> struct handle_type_name<wpi::units::ounces> {
   static constexpr auto name = _("wpimath.units.ounces");
 };
 
-template <> struct handle_type_name<units::carat_t> {
+template <> struct handle_type_name<wpi::units::carat_t> {
   static constexpr auto name = _("wpimath.units.carats");
 };
 
-template <> struct handle_type_name<units::carats> {
+template <> struct handle_type_name<wpi::units::carats> {
   static constexpr auto name = _("wpimath.units.carats");
 };
 
-template <> struct handle_type_name<units::slug_t> {
+template <> struct handle_type_name<wpi::units::slug_t> {
   static constexpr auto name = _("wpimath.units.slugs");
 };
 
-template <> struct handle_type_name<units::slugs> {
+template <> struct handle_type_name<wpi::units::slugs> {
   static constexpr auto name = _("wpimath.units.slugs");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
index da662ee9d8..e500aa4561 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
@@ -5,19 +5,19 @@
 namespace pybind11 {
 namespace detail {
 
-template <> struct handle_type_name<units::dimensionless::scalar_t> {
+template <> struct handle_type_name<wpi::units::dimensionless::scalar_t> {
   static constexpr auto name = _("float");
 };
 
-template <> struct handle_type_name<units::dimensionless::scalar> {
+template <> struct handle_type_name<wpi::units::dimensionless::scalar> {
   static constexpr auto name = _("float");
 };
 
-// template <> struct handle_type_name<units::dimensionless::dimensionless_t> {
+// template <> struct handle_type_name<wpi::units::dimensionless::dimensionless_t> {
 //   static constexpr auto name = _("float");
 // };
 
-// template <> struct handle_type_name<units::dimensionless::dimensionless> {
+// template <> struct handle_type_name<wpi::units::dimensionless::dimensionless> {
 //   static constexpr auto name = _("float");
 // };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
index b9f3daa822..ba4ca20076 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
@@ -4,11 +4,11 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::kilogram_square_meter_t> {
+template <> struct handle_type_name<wpi::units::kilogram_square_meter_t> {
   static constexpr auto name = _("wpimath.units.kilogram_square_meters");
 };
 
-template <> struct handle_type_name<units::kilogram_square_meters> {
+template <> struct handle_type_name<wpi::units::kilogram_square_meters> {
   static constexpr auto name = _("wpimath.units.kilogram_square_meters");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
index 16788f6910..e4f43087e3 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
@@ -4,51 +4,51 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::watt_t> {
+template <> struct handle_type_name<wpi::units::watt_t> {
   static constexpr auto name = _("wpimath.units.watts");
 };
 
-template <> struct handle_type_name<units::watts> {
+template <> struct handle_type_name<wpi::units::watts> {
   static constexpr auto name = _("wpimath.units.watts");
 };
 
-template <> struct handle_type_name<units::nanowatt_t> {
+template <> struct handle_type_name<wpi::units::nanowatt_t> {
   static constexpr auto name = _("wpimath.units.nanowatts");
 };
 
-template <> struct handle_type_name<units::nanowatts> {
+template <> struct handle_type_name<wpi::units::nanowatts> {
   static constexpr auto name = _("wpimath.units.nanowatts");
 };
 
-template <> struct handle_type_name<units::microwatt_t> {
+template <> struct handle_type_name<wpi::units::microwatt_t> {
   static constexpr auto name = _("wpimath.units.microwatts");
 };
 
-template <> struct handle_type_name<units::microwatts> {
+template <> struct handle_type_name<wpi::units::microwatts> {
   static constexpr auto name = _("wpimath.units.microwatts");
 };
 
-template <> struct handle_type_name<units::milliwatt_t> {
+template <> struct handle_type_name<wpi::units::milliwatt_t> {
   static constexpr auto name = _("wpimath.units.milliwatts");
 };
 
-template <> struct handle_type_name<units::milliwatts> {
+template <> struct handle_type_name<wpi::units::milliwatts> {
   static constexpr auto name = _("wpimath.units.milliwatts");
 };
 
-template <> struct handle_type_name<units::kilowatt_t> {
+template <> struct handle_type_name<wpi::units::kilowatt_t> {
   static constexpr auto name = _("wpimath.units.kilowatts");
 };
 
-template <> struct handle_type_name<units::kilowatts> {
+template <> struct handle_type_name<wpi::units::kilowatts> {
   static constexpr auto name = _("wpimath.units.kilowatts");
 };
 
-template <> struct handle_type_name<units::horsepower_t> {
+template <> struct handle_type_name<wpi::units::horsepower_t> {
   static constexpr auto name = _("wpimath.units.horsepower");
 };
 
-template <> struct handle_type_name<units::horsepower> {
+template <> struct handle_type_name<wpi::units::horsepower> {
   static constexpr auto name = _("wpimath.units.horsepower");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
index 46f578f269..c6aacba348 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
@@ -4,83 +4,83 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::pascal_t> {
+template <> struct handle_type_name<wpi::units::pascal_t> {
   static constexpr auto name = _("wpimath.units.pascals");
 };
 
-template <> struct handle_type_name<units::pascals> {
+template <> struct handle_type_name<wpi::units::pascals> {
   static constexpr auto name = _("wpimath.units.pascals");
 };
 
-template <> struct handle_type_name<units::nanopascal_t> {
+template <> struct handle_type_name<wpi::units::nanopascal_t> {
   static constexpr auto name = _("wpimath.units.nanopascals");
 };
 
-template <> struct handle_type_name<units::nanopascals> {
+template <> struct handle_type_name<wpi::units::nanopascals> {
   static constexpr auto name = _("wpimath.units.nanopascals");
 };
 
-template <> struct handle_type_name<units::micropascal_t> {
+template <> struct handle_type_name<wpi::units::micropascal_t> {
   static constexpr auto name = _("wpimath.units.micropascals");
 };
 
-template <> struct handle_type_name<units::micropascals> {
+template <> struct handle_type_name<wpi::units::micropascals> {
   static constexpr auto name = _("wpimath.units.micropascals");
 };
 
-template <> struct handle_type_name<units::millipascal_t> {
+template <> struct handle_type_name<wpi::units::millipascal_t> {
   static constexpr auto name = _("wpimath.units.millipascals");
 };
 
-template <> struct handle_type_name<units::millipascals> {
+template <> struct handle_type_name<wpi::units::millipascals> {
   static constexpr auto name = _("wpimath.units.millipascals");
 };
 
-template <> struct handle_type_name<units::kilopascal_t> {
+template <> struct handle_type_name<wpi::units::kilopascal_t> {
   static constexpr auto name = _("wpimath.units.kilopascals");
 };
 
-template <> struct handle_type_name<units::kilopascals> {
+template <> struct handle_type_name<wpi::units::kilopascals> {
   static constexpr auto name = _("wpimath.units.kilopascals");
 };
 
-template <> struct handle_type_name<units::bar_t> {
+template <> struct handle_type_name<wpi::units::bar_t> {
   static constexpr auto name = _("wpimath.units.bars");
 };
 
-template <> struct handle_type_name<units::bars> {
+template <> struct handle_type_name<wpi::units::bars> {
   static constexpr auto name = _("wpimath.units.bars");
 };
 
-template <> struct handle_type_name<units::mbar_t> {
+template <> struct handle_type_name<wpi::units::mbar_t> {
   static constexpr auto name = _("wpimath.units.mbars");
 };
 
-template <> struct handle_type_name<units::mbars> {
+template <> struct handle_type_name<wpi::units::mbars> {
   static constexpr auto name = _("wpimath.units.mbars");
 };
 
-template <> struct handle_type_name<units::atmosphere_t> {
+template <> struct handle_type_name<wpi::units::atmosphere_t> {
   static constexpr auto name = _("wpimath.units.atmospheres");
 };
 
-template <> struct handle_type_name<units::atmospheres> {
+template <> struct handle_type_name<wpi::units::atmospheres> {
   static constexpr auto name = _("wpimath.units.atmospheres");
 };
 
-template <> struct handle_type_name<units::pounds_per_square_inch_t> {
+template <> struct handle_type_name<wpi::units::pounds_per_square_inch_t> {
   static constexpr auto name = _("wpimath.units.pounds_per_square_inch");
 };
 
-template <> struct handle_type_name<units::pounds_per_square_inch> {
+template <> struct handle_type_name<wpi::units::pounds_per_square_inch> {
   static constexpr auto name = _("wpimath.units.pounds_per_square_inch");
 };
 
-template <> struct handle_type_name<units::torr_t> {
+template <> struct handle_type_name<wpi::units::torr_t> {
   static constexpr auto name = _("wpimath.units.torrs");
 };
 
-template <> struct handle_type_name<units::torrs> {
+template <> struct handle_type_name<wpi::units::torrs> {
   static constexpr auto name = _("wpimath.units.torrs");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
index 67d50c3148..b48cef48d2 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
@@ -4,147 +4,147 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::becquerel_t> {
+template <> struct handle_type_name<wpi::units::becquerel_t> {
   static constexpr auto name = _("wpimath.units.becquerels");
 };
 
-template <> struct handle_type_name<units::becquerels> {
+template <> struct handle_type_name<wpi::units::becquerels> {
   static constexpr auto name = _("wpimath.units.becquerels");
 };
 
-template <> struct handle_type_name<units::nanobecquerel_t> {
+template <> struct handle_type_name<wpi::units::nanobecquerel_t> {
   static constexpr auto name = _("wpimath.units.nanobecquerels");
 };
 
-template <> struct handle_type_name<units::nanobecquerels> {
+template <> struct handle_type_name<wpi::units::nanobecquerels> {
   static constexpr auto name = _("wpimath.units.nanobecquerels");
 };
 
-template <> struct handle_type_name<units::microbecquerel_t> {
+template <> struct handle_type_name<wpi::units::microbecquerel_t> {
   static constexpr auto name = _("wpimath.units.microbecquerels");
 };
 
-template <> struct handle_type_name<units::microbecquerels> {
+template <> struct handle_type_name<wpi::units::microbecquerels> {
   static constexpr auto name = _("wpimath.units.microbecquerels");
 };
 
-template <> struct handle_type_name<units::millibecquerel_t> {
+template <> struct handle_type_name<wpi::units::millibecquerel_t> {
   static constexpr auto name = _("wpimath.units.millibecquerels");
 };
 
-template <> struct handle_type_name<units::millibecquerels> {
+template <> struct handle_type_name<wpi::units::millibecquerels> {
   static constexpr auto name = _("wpimath.units.millibecquerels");
 };
 
-template <> struct handle_type_name<units::kilobecquerel_t> {
+template <> struct handle_type_name<wpi::units::kilobecquerel_t> {
   static constexpr auto name = _("wpimath.units.kilobecquerels");
 };
 
-template <> struct handle_type_name<units::kilobecquerels> {
+template <> struct handle_type_name<wpi::units::kilobecquerels> {
   static constexpr auto name = _("wpimath.units.kilobecquerels");
 };
 
-template <> struct handle_type_name<units::gray_t> {
+template <> struct handle_type_name<wpi::units::gray_t> {
   static constexpr auto name = _("wpimath.units.grays");
 };
 
-template <> struct handle_type_name<units::grays> {
+template <> struct handle_type_name<wpi::units::grays> {
   static constexpr auto name = _("wpimath.units.grays");
 };
 
-template <> struct handle_type_name<units::nanogray_t> {
+template <> struct handle_type_name<wpi::units::nanogray_t> {
   static constexpr auto name = _("wpimath.units.nanograys");
 };
 
-template <> struct handle_type_name<units::nanograys> {
+template <> struct handle_type_name<wpi::units::nanograys> {
   static constexpr auto name = _("wpimath.units.nanograys");
 };
 
-template <> struct handle_type_name<units::microgray_t> {
+template <> struct handle_type_name<wpi::units::microgray_t> {
   static constexpr auto name = _("wpimath.units.micrograys");
 };
 
-template <> struct handle_type_name<units::micrograys> {
+template <> struct handle_type_name<wpi::units::micrograys> {
   static constexpr auto name = _("wpimath.units.micrograys");
 };
 
-template <> struct handle_type_name<units::milligray_t> {
+template <> struct handle_type_name<wpi::units::milligray_t> {
   static constexpr auto name = _("wpimath.units.milligrays");
 };
 
-template <> struct handle_type_name<units::milligrays> {
+template <> struct handle_type_name<wpi::units::milligrays> {
   static constexpr auto name = _("wpimath.units.milligrays");
 };
 
-template <> struct handle_type_name<units::kilogray_t> {
+template <> struct handle_type_name<wpi::units::kilogray_t> {
   static constexpr auto name = _("wpimath.units.kilograys");
 };
 
-template <> struct handle_type_name<units::kilograys> {
+template <> struct handle_type_name<wpi::units::kilograys> {
   static constexpr auto name = _("wpimath.units.kilograys");
 };
 
-template <> struct handle_type_name<units::sievert_t> {
+template <> struct handle_type_name<wpi::units::sievert_t> {
   static constexpr auto name = _("wpimath.units.sieverts");
 };
 
-template <> struct handle_type_name<units::sieverts> {
+template <> struct handle_type_name<wpi::units::sieverts> {
   static constexpr auto name = _("wpimath.units.sieverts");
 };
 
-template <> struct handle_type_name<units::nanosievert_t> {
+template <> struct handle_type_name<wpi::units::nanosievert_t> {
   static constexpr auto name = _("wpimath.units.nanosieverts");
 };
 
-template <> struct handle_type_name<units::nanosieverts> {
+template <> struct handle_type_name<wpi::units::nanosieverts> {
   static constexpr auto name = _("wpimath.units.nanosieverts");
 };
 
-template <> struct handle_type_name<units::microsievert_t> {
+template <> struct handle_type_name<wpi::units::microsievert_t> {
   static constexpr auto name = _("wpimath.units.microsieverts");
 };
 
-template <> struct handle_type_name<units::microsieverts> {
+template <> struct handle_type_name<wpi::units::microsieverts> {
   static constexpr auto name = _("wpimath.units.microsieverts");
 };
 
-template <> struct handle_type_name<units::millisievert_t> {
+template <> struct handle_type_name<wpi::units::millisievert_t> {
   static constexpr auto name = _("wpimath.units.millisieverts");
 };
 
-template <> struct handle_type_name<units::millisieverts> {
+template <> struct handle_type_name<wpi::units::millisieverts> {
   static constexpr auto name = _("wpimath.units.millisieverts");
 };
 
-template <> struct handle_type_name<units::kilosievert_t> {
+template <> struct handle_type_name<wpi::units::kilosievert_t> {
   static constexpr auto name = _("wpimath.units.kilosieverts");
 };
 
-template <> struct handle_type_name<units::kilosieverts> {
+template <> struct handle_type_name<wpi::units::kilosieverts> {
   static constexpr auto name = _("wpimath.units.kilosieverts");
 };
 
-template <> struct handle_type_name<units::curie_t> {
+template <> struct handle_type_name<wpi::units::curie_t> {
   static constexpr auto name = _("wpimath.units.curies");
 };
 
-template <> struct handle_type_name<units::curies> {
+template <> struct handle_type_name<wpi::units::curies> {
   static constexpr auto name = _("wpimath.units.curies");
 };
 
-template <> struct handle_type_name<units::rutherford_t> {
+template <> struct handle_type_name<wpi::units::rutherford_t> {
   static constexpr auto name = _("wpimath.units.rutherfords");
 };
 
-template <> struct handle_type_name<units::rutherfords> {
+template <> struct handle_type_name<wpi::units::rutherfords> {
   static constexpr auto name = _("wpimath.units.rutherfords");
 };
 
-template <> struct handle_type_name<units::rad_t> {
+template <> struct handle_type_name<wpi::units::rad_t> {
   static constexpr auto name = _("wpimath.units.rads");
 };
 
-template <> struct handle_type_name<units::rads> {
+template <> struct handle_type_name<wpi::units::rads> {
   static constexpr auto name = _("wpimath.units.rads");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
index 1ef6a3f491..490a1d3a0a 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
@@ -4,59 +4,59 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::steradian_t> {
+template <> struct handle_type_name<wpi::units::steradian_t> {
   static constexpr auto name = _("wpimath.units.steradians");
 };
 
-template <> struct handle_type_name<units::steradians> {
+template <> struct handle_type_name<wpi::units::steradians> {
   static constexpr auto name = _("wpimath.units.steradians");
 };
 
-template <> struct handle_type_name<units::nanosteradian_t> {
+template <> struct handle_type_name<wpi::units::nanosteradian_t> {
   static constexpr auto name = _("wpimath.units.nanosteradians");
 };
 
-template <> struct handle_type_name<units::nanosteradians> {
+template <> struct handle_type_name<wpi::units::nanosteradians> {
   static constexpr auto name = _("wpimath.units.nanosteradians");
 };
 
-template <> struct handle_type_name<units::microsteradian_t> {
+template <> struct handle_type_name<wpi::units::microsteradian_t> {
   static constexpr auto name = _("wpimath.units.microsteradians");
 };
 
-template <> struct handle_type_name<units::microsteradians> {
+template <> struct handle_type_name<wpi::units::microsteradians> {
   static constexpr auto name = _("wpimath.units.microsteradians");
 };
 
-template <> struct handle_type_name<units::millisteradian_t> {
+template <> struct handle_type_name<wpi::units::millisteradian_t> {
   static constexpr auto name = _("wpimath.units.millisteradians");
 };
 
-template <> struct handle_type_name<units::millisteradians> {
+template <> struct handle_type_name<wpi::units::millisteradians> {
   static constexpr auto name = _("wpimath.units.millisteradians");
 };
 
-template <> struct handle_type_name<units::kilosteradian_t> {
+template <> struct handle_type_name<wpi::units::kilosteradian_t> {
   static constexpr auto name = _("wpimath.units.kilosteradians");
 };
 
-template <> struct handle_type_name<units::kilosteradians> {
+template <> struct handle_type_name<wpi::units::kilosteradians> {
   static constexpr auto name = _("wpimath.units.kilosteradians");
 };
 
-template <> struct handle_type_name<units::degree_squared_t> {
+template <> struct handle_type_name<wpi::units::degree_squared_t> {
   static constexpr auto name = _("wpimath.units.degrees_squared");
 };
 
-template <> struct handle_type_name<units::degrees_squared> {
+template <> struct handle_type_name<wpi::units::degrees_squared> {
   static constexpr auto name = _("wpimath.units.degrees_squared");
 };
 
-template <> struct handle_type_name<units::spat_t> {
+template <> struct handle_type_name<wpi::units::spat_t> {
   static constexpr auto name = _("wpimath.units.spats");
 };
 
-template <> struct handle_type_name<units::spats> {
+template <> struct handle_type_name<wpi::units::spats> {
   static constexpr auto name = _("wpimath.units.spats");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
index 11b04a039a..202f8f0fbd 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
@@ -4,11 +4,11 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::mole_t> {
+template <> struct handle_type_name<wpi::units::mole_t> {
   static constexpr auto name = _("wpimath.units.moles");
 };
 
-template <> struct handle_type_name<units::moles> {
+template <> struct handle_type_name<wpi::units::moles> {
   static constexpr auto name = _("wpimath.units.moles");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
index 32003c0f30..091e2ebcc8 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::kelvin_t> {
+template <> struct handle_type_name<wpi::units::kelvin_t> {
   static constexpr auto name = _("wpimath.units.kelvin");
 };
 
-template <> struct handle_type_name<units::kelvin> {
+template <> struct handle_type_name<wpi::units::kelvin> {
   static constexpr auto name = _("wpimath.units.kelvin");
 };
 
-template <> struct handle_type_name<units::celsius_t> {
+template <> struct handle_type_name<wpi::units::celsius_t> {
   static constexpr auto name = _("wpimath.units.celsius");
 };
 
-template <> struct handle_type_name<units::celsius> {
+template <> struct handle_type_name<wpi::units::celsius> {
   static constexpr auto name = _("wpimath.units.celsius");
 };
 
-template <> struct handle_type_name<units::fahrenheit_t> {
+template <> struct handle_type_name<wpi::units::fahrenheit_t> {
   static constexpr auto name = _("wpimath.units.fahrenheit");
 };
 
-template <> struct handle_type_name<units::fahrenheit> {
+template <> struct handle_type_name<wpi::units::fahrenheit> {
   static constexpr auto name = _("wpimath.units.fahrenheit");
 };
 
-template <> struct handle_type_name<units::reaumur_t> {
+template <> struct handle_type_name<wpi::units::reaumur_t> {
   static constexpr auto name = _("wpimath.units.reaumur");
 };
 
-template <> struct handle_type_name<units::reaumur> {
+template <> struct handle_type_name<wpi::units::reaumur> {
   static constexpr auto name = _("wpimath.units.reaumur");
 };
 
-template <> struct handle_type_name<units::rankine_t> {
+template <> struct handle_type_name<wpi::units::rankine_t> {
   static constexpr auto name = _("wpimath.units.rankine");
 };
 
-template <> struct handle_type_name<units::rankine> {
+template <> struct handle_type_name<wpi::units::rankine> {
   static constexpr auto name = _("wpimath.units.rankine");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
index 0caeca2c1e..f0bb0ad13c 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
@@ -4,99 +4,99 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::second_t> {
+template <> struct handle_type_name<wpi::units::second_t> {
   static constexpr auto name = _("wpimath.units.seconds");
 };
 
-template <> struct handle_type_name<units::seconds> {
+template <> struct handle_type_name<wpi::units::seconds> {
   static constexpr auto name = _("wpimath.units.seconds");
 };
 
-template <> struct handle_type_name<units::nanosecond_t> {
+template <> struct handle_type_name<wpi::units::nanosecond_t> {
   static constexpr auto name = _("wpimath.units.nanoseconds");
 };
 
-template <> struct handle_type_name<units::nanoseconds> {
+template <> struct handle_type_name<wpi::units::nanoseconds> {
   static constexpr auto name = _("wpimath.units.nanoseconds");
 };
 
-template <> struct handle_type_name<units::microsecond_t> {
+template <> struct handle_type_name<wpi::units::microsecond_t> {
   static constexpr auto name = _("wpimath.units.microseconds");
 };
 
-template <> struct handle_type_name<units::microseconds> {
+template <> struct handle_type_name<wpi::units::microseconds> {
   static constexpr auto name = _("wpimath.units.microseconds");
 };
 
-template <> struct handle_type_name<units::millisecond_t> {
+template <> struct handle_type_name<wpi::units::millisecond_t> {
   static constexpr auto name = _("wpimath.units.milliseconds");
 };
 
-template <> struct handle_type_name<units::milliseconds> {
+template <> struct handle_type_name<wpi::units::milliseconds> {
   static constexpr auto name = _("wpimath.units.milliseconds");
 };
 
-template <> struct handle_type_name<units::kilosecond_t> {
+template <> struct handle_type_name<wpi::units::kilosecond_t> {
   static constexpr auto name = _("wpimath.units.kiloseconds");
 };
 
-template <> struct handle_type_name<units::kiloseconds> {
+template <> struct handle_type_name<wpi::units::kiloseconds> {
   static constexpr auto name = _("wpimath.units.kiloseconds");
 };
 
-template <> struct handle_type_name<units::minute_t> {
+template <> struct handle_type_name<wpi::units::minute_t> {
   static constexpr auto name = _("wpimath.units.minutes");
 };
 
-template <> struct handle_type_name<units::minutes> {
+template <> struct handle_type_name<wpi::units::minutes> {
   static constexpr auto name = _("wpimath.units.minutes");
 };
 
-template <> struct handle_type_name<units::hour_t> {
+template <> struct handle_type_name<wpi::units::hour_t> {
   static constexpr auto name = _("wpimath.units.hours");
 };
 
-template <> struct handle_type_name<units::hours> {
+template <> struct handle_type_name<wpi::units::hours> {
   static constexpr auto name = _("wpimath.units.hours");
 };
 
-template <> struct handle_type_name<units::day_t> {
+template <> struct handle_type_name<wpi::units::day_t> {
   static constexpr auto name = _("wpimath.units.days");
 };
 
-template <> struct handle_type_name<units::days> {
+template <> struct handle_type_name<wpi::units::days> {
   static constexpr auto name = _("wpimath.units.days");
 };
 
-template <> struct handle_type_name<units::week_t> {
+template <> struct handle_type_name<wpi::units::week_t> {
   static constexpr auto name = _("wpimath.units.weeks");
 };
 
-template <> struct handle_type_name<units::weeks> {
+template <> struct handle_type_name<wpi::units::weeks> {
   static constexpr auto name = _("wpimath.units.weeks");
 };
 
-template <> struct handle_type_name<units::year_t> {
+template <> struct handle_type_name<wpi::units::year_t> {
   static constexpr auto name = _("wpimath.units.years");
 };
 
-template <> struct handle_type_name<units::years> {
+template <> struct handle_type_name<wpi::units::years> {
   static constexpr auto name = _("wpimath.units.years");
 };
 
-template <> struct handle_type_name<units::julian_year_t> {
+template <> struct handle_type_name<wpi::units::julian_year_t> {
   static constexpr auto name = _("wpimath.units.julian_years");
 };
 
-template <> struct handle_type_name<units::julian_years> {
+template <> struct handle_type_name<wpi::units::julian_years> {
   static constexpr auto name = _("wpimath.units.julian_years");
 };
 
-template <> struct handle_type_name<units::gregorian_year_t> {
+template <> struct handle_type_name<wpi::units::gregorian_year_t> {
   static constexpr auto name = _("wpimath.units.gregorian_years");
 };
 
-template <> struct handle_type_name<units::gregorian_years> {
+template <> struct handle_type_name<wpi::units::gregorian_years> {
   static constexpr auto name = _("wpimath.units.gregorian_years");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
index a68aa3f523..f0cc6e6bea 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::newton_meter_t> {
+template <> struct handle_type_name<wpi::units::newton_meter_t> {
   static constexpr auto name = _("wpimath.units.newton_meters");
 };
 
-template <> struct handle_type_name<units::newton_meters> {
+template <> struct handle_type_name<wpi::units::newton_meters> {
   static constexpr auto name = _("wpimath.units.newton_meters");
 };
 
-// template <> struct handle_type_name<units::foot_pound_t> {
+// template <> struct handle_type_name<wpi::units::foot_pound_t> {
 //   static constexpr auto name = _("wpimath.units.foot_pounds");
 // };
 
-// template <> struct handle_type_name<units::foot_pounds> {
+// template <> struct handle_type_name<wpi::units::foot_pounds> {
 //   static constexpr auto name = _("wpimath.units.foot_pounds");
 // };
 
-template <> struct handle_type_name<units::foot_poundal_t> {
+template <> struct handle_type_name<wpi::units::foot_poundal_t> {
   static constexpr auto name = _("wpimath.units.foot_poundals");
 };
 
-template <> struct handle_type_name<units::foot_poundals> {
+template <> struct handle_type_name<wpi::units::foot_poundals> {
   static constexpr auto name = _("wpimath.units.foot_poundals");
 };
 
-template <> struct handle_type_name<units::inch_pound_t> {
+template <> struct handle_type_name<wpi::units::inch_pound_t> {
   static constexpr auto name = _("wpimath.units.inch_pounds");
 };
 
-template <> struct handle_type_name<units::inch_pounds> {
+template <> struct handle_type_name<wpi::units::inch_pounds> {
   static constexpr auto name = _("wpimath.units.inch_pounds");
 };
 
-template <> struct handle_type_name<units::meter_kilogram_t> {
+template <> struct handle_type_name<wpi::units::meter_kilogram_t> {
   static constexpr auto name = _("wpimath.units.meter_kilograms");
 };
 
-template <> struct handle_type_name<units::meter_kilograms> {
+template <> struct handle_type_name<wpi::units::meter_kilograms> {
   static constexpr auto name = _("wpimath.units.meter_kilograms");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
index 115803f2aa..d6e3319736 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
@@ -4,43 +4,43 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::meters_per_second_t> {
+template <> struct handle_type_name<wpi::units::meters_per_second_t> {
   static constexpr auto name = _("wpimath.units.meters_per_second");
 };
 
-template <> struct handle_type_name<units::meters_per_second> {
+template <> struct handle_type_name<wpi::units::meters_per_second> {
   static constexpr auto name = _("wpimath.units.meters_per_second");
 };
 
-template <> struct handle_type_name<units::feet_per_second_t> {
+template <> struct handle_type_name<wpi::units::feet_per_second_t> {
   static constexpr auto name = _("wpimath.units.feet_per_second");
 };
 
-template <> struct handle_type_name<units::feet_per_second> {
+template <> struct handle_type_name<wpi::units::feet_per_second> {
   static constexpr auto name = _("wpimath.units.feet_per_second");
 };
 
-template <> struct handle_type_name<units::miles_per_hour_t> {
+template <> struct handle_type_name<wpi::units::miles_per_hour_t> {
   static constexpr auto name = _("wpimath.units.miles_per_hour");
 };
 
-template <> struct handle_type_name<units::miles_per_hour> {
+template <> struct handle_type_name<wpi::units::miles_per_hour> {
   static constexpr auto name = _("wpimath.units.miles_per_hour");
 };
 
-template <> struct handle_type_name<units::kilometers_per_hour_t> {
+template <> struct handle_type_name<wpi::units::kilometers_per_hour_t> {
   static constexpr auto name = _("wpimath.units.kilometers_per_hour");
 };
 
-template <> struct handle_type_name<units::kilometers_per_hour> {
+template <> struct handle_type_name<wpi::units::kilometers_per_hour> {
   static constexpr auto name = _("wpimath.units.kilometers_per_hour");
 };
 
-template <> struct handle_type_name<units::knot_t> {
+template <> struct handle_type_name<wpi::units::knot_t> {
   static constexpr auto name = _("wpimath.units.knots");
 };
 
-template <> struct handle_type_name<units::knots> {
+template <> struct handle_type_name<wpi::units::knots> {
   static constexpr auto name = _("wpimath.units.knots");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
index 16f3ac2e95..8c99318965 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
@@ -4,59 +4,59 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::volt_t> {
+template <> struct handle_type_name<wpi::units::volt_t> {
   static constexpr auto name = _("wpimath.units.volts");
 };
 
-template <> struct handle_type_name<units::volts> {
+template <> struct handle_type_name<wpi::units::volts> {
   static constexpr auto name = _("wpimath.units.volts");
 };
 
-template <> struct handle_type_name<units::nanovolt_t> {
+template <> struct handle_type_name<wpi::units::nanovolt_t> {
   static constexpr auto name = _("wpimath.units.nanovolts");
 };
 
-template <> struct handle_type_name<units::nanovolts> {
+template <> struct handle_type_name<wpi::units::nanovolts> {
   static constexpr auto name = _("wpimath.units.nanovolts");
 };
 
-template <> struct handle_type_name<units::microvolt_t> {
+template <> struct handle_type_name<wpi::units::microvolt_t> {
   static constexpr auto name = _("wpimath.units.microvolts");
 };
 
-template <> struct handle_type_name<units::microvolts> {
+template <> struct handle_type_name<wpi::units::microvolts> {
   static constexpr auto name = _("wpimath.units.microvolts");
 };
 
-template <> struct handle_type_name<units::millivolt_t> {
+template <> struct handle_type_name<wpi::units::millivolt_t> {
   static constexpr auto name = _("wpimath.units.millivolts");
 };
 
-template <> struct handle_type_name<units::millivolts> {
+template <> struct handle_type_name<wpi::units::millivolts> {
   static constexpr auto name = _("wpimath.units.millivolts");
 };
 
-template <> struct handle_type_name<units::kilovolt_t> {
+template <> struct handle_type_name<wpi::units::kilovolt_t> {
   static constexpr auto name = _("wpimath.units.kilovolts");
 };
 
-template <> struct handle_type_name<units::kilovolts> {
+template <> struct handle_type_name<wpi::units::kilovolts> {
   static constexpr auto name = _("wpimath.units.kilovolts");
 };
 
-template <> struct handle_type_name<units::statvolt_t> {
+template <> struct handle_type_name<wpi::units::statvolt_t> {
   static constexpr auto name = _("wpimath.units.statvolts");
 };
 
-template <> struct handle_type_name<units::statvolts> {
+template <> struct handle_type_name<wpi::units::statvolts> {
   static constexpr auto name = _("wpimath.units.statvolts");
 };
 
-template <> struct handle_type_name<units::abvolt_t> {
+template <> struct handle_type_name<wpi::units::abvolt_t> {
   static constexpr auto name = _("wpimath.units.abvolts");
 };
 
-template <> struct handle_type_name<units::abvolts> {
+template <> struct handle_type_name<wpi::units::abvolts> {
   static constexpr auto name = _("wpimath.units.abvolts");
 };
 
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
index d6b9218837..c2253cbbaa 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
@@ -4,267 +4,267 @@
 
 namespace pybind11 {
 namespace detail {
-template <> struct handle_type_name<units::cubic_meter_t> {
+template <> struct handle_type_name<wpi::units::cubic_meter_t> {
   static constexpr auto name = _("wpimath.units.cubic_meters");
 };
 
-template <> struct handle_type_name<units::cubic_meters> {
+template <> struct handle_type_name<wpi::units::cubic_meters> {
   static constexpr auto name = _("wpimath.units.cubic_meters");
 };
 
-template <> struct handle_type_name<units::cubic_millimeter_t> {
+template <> struct handle_type_name<wpi::units::cubic_millimeter_t> {
   static constexpr auto name = _("wpimath.units.cubic_millimeters");
 };
 
-template <> struct handle_type_name<units::cubic_millimeters> {
+template <> struct handle_type_name<wpi::units::cubic_millimeters> {
   static constexpr auto name = _("wpimath.units.cubic_millimeters");
 };
 
-template <> struct handle_type_name<units::cubic_kilometer_t> {
+template <> struct handle_type_name<wpi::units::cubic_kilometer_t> {
   static constexpr auto name = _("wpimath.units.cubic_kilometers");
 };
 
-template <> struct handle_type_name<units::cubic_kilometers> {
+template <> struct handle_type_name<wpi::units::cubic_kilometers> {
   static constexpr auto name = _("wpimath.units.cubic_kilometers");
 };
 
-template <> struct handle_type_name<units::liter_t> {
+template <> struct handle_type_name<wpi::units::liter_t> {
   static constexpr auto name = _("wpimath.units.liters");
 };
 
-template <> struct handle_type_name<units::liters> {
+template <> struct handle_type_name<wpi::units::liters> {
   static constexpr auto name = _("wpimath.units.liters");
 };
 
-template <> struct handle_type_name<units::nanoliter_t> {
+template <> struct handle_type_name<wpi::units::nanoliter_t> {
   static constexpr auto name = _("wpimath.units.nanoliters");
 };
 
-template <> struct handle_type_name<units::nanoliters> {
+template <> struct handle_type_name<wpi::units::nanoliters> {
   static constexpr auto name = _("wpimath.units.nanoliters");
 };
 
-template <> struct handle_type_name<units::microliter_t> {
+template <> struct handle_type_name<wpi::units::microliter_t> {
   static constexpr auto name = _("wpimath.units.microliters");
 };
 
-template <> struct handle_type_name<units::microliters> {
+template <> struct handle_type_name<wpi::units::microliters> {
   static constexpr auto name = _("wpimath.units.microliters");
 };
 
-template <> struct handle_type_name<units::milliliter_t> {
+template <> struct handle_type_name<wpi::units::milliliter_t> {
   static constexpr auto name = _("wpimath.units.milliliters");
 };
 
-template <> struct handle_type_name<units::milliliters> {
+template <> struct handle_type_name<wpi::units::milliliters> {
   static constexpr auto name = _("wpimath.units.milliliters");
 };
 
-template <> struct handle_type_name<units::kiloliter_t> {
+template <> struct handle_type_name<wpi::units::kiloliter_t> {
   static constexpr auto name = _("wpimath.units.kiloliters");
 };
 
-template <> struct handle_type_name<units::kiloliters> {
+template <> struct handle_type_name<wpi::units::kiloliters> {
   static constexpr auto name = _("wpimath.units.kiloliters");
 };
 
-template <> struct handle_type_name<units::cubic_inch_t> {
+template <> struct handle_type_name<wpi::units::cubic_inch_t> {
   static constexpr auto name = _("wpimath.units.cubic_inches");
 };
 
-template <> struct handle_type_name<units::cubic_inches> {
+template <> struct handle_type_name<wpi::units::cubic_inches> {
   static constexpr auto name = _("wpimath.units.cubic_inches");
 };
 
-template <> struct handle_type_name<units::cubic_foot_t> {
+template <> struct handle_type_name<wpi::units::cubic_foot_t> {
   static constexpr auto name = _("wpimath.units.cubic_feet");
 };
 
-template <> struct handle_type_name<units::cubic_feet> {
+template <> struct handle_type_name<wpi::units::cubic_feet> {
   static constexpr auto name = _("wpimath.units.cubic_feet");
 };
 
-template <> struct handle_type_name<units::cubic_yard_t> {
+template <> struct handle_type_name<wpi::units::cubic_yard_t> {
   static constexpr auto name = _("wpimath.units.cubic_yards");
 };
 
-template <> struct handle_type_name<units::cubic_yards> {
+template <> struct handle_type_name<wpi::units::cubic_yards> {
   static constexpr auto name = _("wpimath.units.cubic_yards");
 };
 
-template <> struct handle_type_name<units::cubic_mile_t> {
+template <> struct handle_type_name<wpi::units::cubic_mile_t> {
   static constexpr auto name = _("wpimath.units.cubic_miles");
 };
 
-template <> struct handle_type_name<units::cubic_miles> {
+template <> struct handle_type_name<wpi::units::cubic_miles> {
   static constexpr auto name = _("wpimath.units.cubic_miles");
 };
 
-template <> struct handle_type_name<units::gallon_t> {
+template <> struct handle_type_name<wpi::units::gallon_t> {
   static constexpr auto name = _("wpimath.units.gallons");
 };
 
-template <> struct handle_type_name<units::gallons> {
+template <> struct handle_type_name<wpi::units::gallons> {
   static constexpr auto name = _("wpimath.units.gallons");
 };
 
-template <> struct handle_type_name<units::quart_t> {
+template <> struct handle_type_name<wpi::units::quart_t> {
   static constexpr auto name = _("wpimath.units.quarts");
 };
 
-template <> struct handle_type_name<units::quarts> {
+template <> struct handle_type_name<wpi::units::quarts> {
   static constexpr auto name = _("wpimath.units.quarts");
 };
 
-template <> struct handle_type_name<units::pint_t> {
+template <> struct handle_type_name<wpi::units::pint_t> {
   static constexpr auto name = _("wpimath.units.pints");
 };
 
-template <> struct handle_type_name<units::pints> {
+template <> struct handle_type_name<wpi::units::pints> {
   static constexpr auto name = _("wpimath.units.pints");
 };
 
-template <> struct handle_type_name<units::cup_t> {
+template <> struct handle_type_name<wpi::units::cup_t> {
   static constexpr auto name = _("wpimath.units.cups");
 };
 
-template <> struct handle_type_name<units::cups> {
+template <> struct handle_type_name<wpi::units::cups> {
   static constexpr auto name = _("wpimath.units.cups");
 };
 
-template <> struct handle_type_name<units::fluid_ounce_t> {
+template <> struct handle_type_name<wpi::units::fluid_ounce_t> {
   static constexpr auto name = _("wpimath.units.fluid_ounces");
 };
 
-template <> struct handle_type_name<units::fluid_ounces> {
+template <> struct handle_type_name<wpi::units::fluid_ounces> {
   static constexpr auto name = _("wpimath.units.fluid_ounces");
 };
 
-template <> struct handle_type_name<units::barrel_t> {
+template <> struct handle_type_name<wpi::units::barrel_t> {
   static constexpr auto name = _("wpimath.units.barrels");
 };
 
-template <> struct handle_type_name<units::barrels> {
+template <> struct handle_type_name<wpi::units::barrels> {
   static constexpr auto name = _("wpimath.units.barrels");
 };
 
-template <> struct handle_type_name<units::bushel_t> {
+template <> struct handle_type_name<wpi::units::bushel_t> {
   static constexpr auto name = _("wpimath.units.bushels");
 };
 
-template <> struct handle_type_name<units::bushels> {
+template <> struct handle_type_name<wpi::units::bushels> {
   static constexpr auto name = _("wpimath.units.bushels");
 };
 
-template <> struct handle_type_name<units::cord_t> {
+template <> struct handle_type_name<wpi::units::cord_t> {
   static constexpr auto name = _("wpimath.units.cords");
 };
 
-template <> struct handle_type_name<units::cords> {
+template <> struct handle_type_name<wpi::units::cords> {
   static constexpr auto name = _("wpimath.units.cords");
 };
 
-template <> struct handle_type_name<units::cubic_fathom_t> {
+template <> struct handle_type_name<wpi::units::cubic_fathom_t> {
   static constexpr auto name = _("wpimath.units.cubic_fathoms");
 };
 
-template <> struct handle_type_name<units::cubic_fathoms> {
+template <> struct handle_type_name<wpi::units::cubic_fathoms> {
   static constexpr auto name = _("wpimath.units.cubic_fathoms");
 };
 
-template <> struct handle_type_name<units::tablespoon_t> {
+template <> struct handle_type_name<wpi::units::tablespoon_t> {
   static constexpr auto name = _("wpimath.units.tablespoons");
 };
 
-template <> struct handle_type_name<units::tablespoons> {
+template <> struct handle_type_name<wpi::units::tablespoons> {
   static constexpr auto name = _("wpimath.units.tablespoons");
 };
 
-template <> struct handle_type_name<units::teaspoon_t> {
+template <> struct handle_type_name<wpi::units::teaspoon_t> {
   static constexpr auto name = _("wpimath.units.teaspoons");
 };
 
-template <> struct handle_type_name<units::teaspoons> {
+template <> struct handle_type_name<wpi::units::teaspoons> {
   static constexpr auto name = _("wpimath.units.teaspoons");
 };
 
-template <> struct handle_type_name<units::pinch_t> {
+template <> struct handle_type_name<wpi::units::pinch_t> {
   static constexpr auto name = _("wpimath.units.pinches");
 };
 
-template <> struct handle_type_name<units::pinches> {
+template <> struct handle_type_name<wpi::units::pinches> {
   static constexpr auto name = _("wpimath.units.pinches");
 };
 
-template <> struct handle_type_name<units::dash_t> {
+template <> struct handle_type_name<wpi::units::dash_t> {
   static constexpr auto name = _("wpimath.units.dashes");
 };
 
-template <> struct handle_type_name<units::dashes> {
+template <> struct handle_type_name<wpi::units::dashes> {
   static constexpr auto name = _("wpimath.units.dashes");
 };
 
-template <> struct handle_type_name<units::drop_t> {
+template <> struct handle_type_name<wpi::units::drop_t> {
   static constexpr auto name = _("wpimath.units.drops");
 };
 
-template <> struct handle_type_name<units::drops> {
+template <> struct handle_type_name<wpi::units::drops> {
   static constexpr auto name = _("wpimath.units.drops");
 };
 
-template <> struct handle_type_name<units::fifth_t> {
+template <> struct handle_type_name<wpi::units::fifth_t> {
   static constexpr auto name = _("wpimath.units.fifths");
 };
 
-template <> struct handle_type_name<units::fifths> {
+template <> struct handle_type_name<wpi::units::fifths> {
   static constexpr auto name = _("wpimath.units.fifths");
 };
 
-template <> struct handle_type_name<units::dram_t> {
+template <> struct handle_type_name<wpi::units::dram_t> {
   static constexpr auto name = _("wpimath.units.drams");
 };
 
-template <> struct handle_type_name<units::drams> {
+template <> struct handle_type_name<wpi::units::drams> {
   static constexpr auto name = _("wpimath.units.drams");
 };
 
-template <> struct handle_type_name<units::gill_t> {
+template <> struct handle_type_name<wpi::units::gill_t> {
   static constexpr auto name = _("wpimath.units.gills");
 };
 
-template <> struct handle_type_name<units::gills> {
+template <> struct handle_type_name<wpi::units::gills> {
   static constexpr auto name = _("wpimath.units.gills");
 };
 
-template <> struct handle_type_name<units::peck_t> {
+template <> struct handle_type_name<wpi::units::peck_t> {
   static constexpr auto name = _("wpimath.units.pecks");
 };
 
-template <> struct handle_type_name<units::pecks> {
+template <> struct handle_type_name<wpi::units::pecks> {
   static constexpr auto name = _("wpimath.units.pecks");
 };
 
-template <> struct handle_type_name<units::sack_t> {
+template <> struct handle_type_name<wpi::units::sack_t> {
   static constexpr auto name = _("wpimath.units.sacks");
 };
 
-template <> struct handle_type_name<units::sacks> {
+template <> struct handle_type_name<wpi::units::sacks> {
   static constexpr auto name = _("wpimath.units.sacks");
 };
 
-template <> struct handle_type_name<units::shot_t> {
+template <> struct handle_type_name<wpi::units::shot_t> {
   static constexpr auto name = _("wpimath.units.shots");
 };
 
-template <> struct handle_type_name<units::shots> {
+template <> struct handle_type_name<wpi::units::shots> {
   static constexpr auto name = _("wpimath.units.shots");
 };
 
-template <> struct handle_type_name<units::strike_t> {
+template <> struct handle_type_name<wpi::units::strike_t> {
   static constexpr auto name = _("wpimath.units.strikes");
 };
 
-template <> struct handle_type_name<units::strikes> {
+template <> struct handle_type_name<wpi::units::strikes> {
   static constexpr auto name = _("wpimath.units.strikes");
 };
 
diff --git a/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h b/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
index 2c3a9e776e..7ef82e799b 100644
--- a/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
+++ b/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
@@ -11,11 +11,11 @@
 
 namespace rpy {
 
-inline std::string toString(const frc::Rotation2d &self) {
+inline std::string toString(const wpi::math::Rotation2d &self) {
   return "Rotation2d(" + std::to_string(self.Radians()()) + ")";
 }
 
-inline std::string toString(const frc::Rotation3d &self) {
+inline std::string toString(const wpi::math::Rotation3d &self) {
   return "Rotation3d("
          "x=" +
          std::to_string(self.X()()) +
@@ -27,7 +27,7 @@ inline std::string toString(const frc::Rotation3d &self) {
          std::to_string(self.Z()()) + ")";
 }
 
-inline std::string toString(const frc::Translation2d &self) {
+inline std::string toString(const wpi::math::Translation2d &self) {
   return "Translation2d("
          "x=" +
          std::to_string(self.X()()) +
@@ -36,7 +36,7 @@ inline std::string toString(const frc::Translation2d &self) {
          std::to_string(self.Y()()) + ")";
 }
 
-inline std::string toString(const frc::Translation3d &self) {
+inline std::string toString(const wpi::math::Translation3d &self) {
   return "Translation3d("
          "x=" +
          std::to_string(self.X()()) +
@@ -48,7 +48,7 @@ inline std::string toString(const frc::Translation3d &self) {
          std::to_string(self.Z()()) + ")";
 }
 
-inline std::string toString(const frc::Quaternion &self) {
+inline std::string toString(const wpi::math::Quaternion &self) {
   return "Quaternion("
          "w=" +
          std::to_string(self.W()) +
@@ -63,33 +63,33 @@ inline std::string toString(const frc::Quaternion &self) {
          std::to_string(self.Z()) + ")";
 }
 
-inline std::string toString(const frc::Transform2d &self) {
+inline std::string toString(const wpi::math::Transform2d &self) {
   return "Transform2d(" + rpy::toString(self.Translation()) + ", " +
          rpy::toString(self.Rotation()) + ")";
 }
 
-inline std::string toString(const frc::Transform3d &self) {
+inline std::string toString(const wpi::math::Transform3d &self) {
   return "Transform3d(" + rpy::toString(self.Translation()) + ", " +
          rpy::toString(self.Rotation()) + ")";
 }
 
-inline std::string toString(const frc::Pose2d &self) {
+inline std::string toString(const wpi::math::Pose2d &self) {
   return "Pose2d(" + rpy::toString(self.Translation()) + ", " +
          rpy::toString(self.Rotation()) + ")";
 }
 
-inline std::string toString(const frc::Pose3d &self) {
+inline std::string toString(const wpi::math::Pose3d &self) {
   return "Pose3d(" + rpy::toString(self.Translation()) + ", " +
          rpy::toString(self.Rotation()) + ")";
 }
 
-inline std::string toString(const frc::Rectangle2d &self) {
+inline std::string toString(const wpi::math::Rectangle2d &self) {
   return "Rectangle2d(center=" + rpy::toString(self.Center()) +
     ", xWidth=" + std::to_string(self.XWidth()()) +
     ", yWidth=" + std::to_string(self.YWidth()()) + ")";
 }
 
-inline std::string toString(const frc::Ellipse2d &self) {
+inline std::string toString(const wpi::math::Ellipse2d &self) {
   return "Ellipse2d(center=" + rpy::toString(self.Center()) +
     ", xSemiAxis=" + std::to_string(self.XSemiAxis()()) +
     ", ySemiAxis=" + std::to_string(self.YSemiAxis()()) + ")";
diff --git a/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp b/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
index 18c790e6a6..7dd6c8d83e 100644
--- a/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
@@ -7,13 +7,13 @@
 #include "wpi/math/util/ComputerVisionUtil.hpp"
 
 TEST(ComputerVisionUtilTest, ObjectToRobotPose) {
-  frc::Pose3d robot{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 30_deg}};
-  frc::Transform3d cameraToObject{frc::Translation3d{1_m, 1_m, 1_m},
-                                  frc::Rotation3d{0_deg, -20_deg, 45_deg}};
-  frc::Transform3d robotToCamera{frc::Translation3d{1_m, 0_m, 2_m},
-                                 frc::Rotation3d{0_deg, 0_deg, 25_deg}};
-  frc::Pose3d object = robot + robotToCamera + cameraToObject;
+  wpi::math::Pose3d robot{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 30_deg}};
+  wpi::math::Transform3d cameraToObject{wpi::math::Translation3d{1_m, 1_m, 1_m},
+                                  wpi::math::Rotation3d{0_deg, -20_deg, 45_deg}};
+  wpi::math::Transform3d robotToCamera{wpi::math::Translation3d{1_m, 0_m, 2_m},
+                                 wpi::math::Rotation3d{0_deg, 0_deg, 25_deg}};
+  wpi::math::Pose3d object = robot + robotToCamera + cameraToObject;
 
   EXPECT_EQ(robot,
-            frc::ObjectToRobotPose(object, cameraToObject, robotToCamera));
+            wpi::math::ObjectToRobotPose(object, cameraToObject, robotToCamera));
 }
diff --git a/wpimath/src/test/native/cpp/DARETest.cpp b/wpimath/src/test/native/cpp/DARETest.cpp
index b5b72e00f6..12c26cfeca 100644
--- a/wpimath/src/test/native/cpp/DARETest.cpp
+++ b/wpimath/src/test/native/cpp/DARETest.cpp
@@ -15,52 +15,52 @@
 #include "wpi/util/print.hpp"
 
 // 2x1
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 1>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 1, 1>& R, bool checkPreconditions);
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 1>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 1, 1>& R,
                 const Eigen::Matrix<double, 2, 1>& N, bool checkPreconditions);
 
 // 4x1
-extern template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
-frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 4, 4>, wpi::math::DAREError>
+wpi::math::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
                 const Eigen::Matrix<double, 4, 1>& B,
                 const Eigen::Matrix<double, 4, 4>& Q,
                 const Eigen::Matrix<double, 1, 1>& R, bool checkPreconditions);
-extern template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
-frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 4, 4>, wpi::math::DAREError>
+wpi::math::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
                 const Eigen::Matrix<double, 4, 1>& B,
                 const Eigen::Matrix<double, 4, 4>& Q,
                 const Eigen::Matrix<double, 1, 1>& R,
                 const Eigen::Matrix<double, 4, 1>& N, bool checkPreconditions);
 
 // 2x2
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 2>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 2, 2>& R, bool checkPreconditions);
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 2>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 2, 2>& R,
                 const Eigen::Matrix<double, 2, 2>& N, bool checkPreconditions);
 
 // 2x3
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 3>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 3, 3>& R, bool checkPreconditions);
-extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
+extern template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 3>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 3, 3>& R,
@@ -76,9 +76,9 @@ void ExpectMatrixEqual(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs,
   }
 
   if (::testing::Test::HasFailure()) {
-    wpi::print("lhs =\n{}\n", lhs);
-    wpi::print("rhs =\n{}\n", rhs);
-    wpi::print("delta =\n{}\n", Eigen::MatrixXd{lhs - rhs});
+    wpi::util::print("lhs =\n{}\n", lhs);
+    wpi::util::print("rhs =\n{}\n", rhs);
+    wpi::util::print("delta =\n{}\n", Eigen::MatrixXd{lhs - rhs});
   }
 }
 
@@ -131,13 +131,13 @@ TEST(DARETest, NonInvertibleA_ABQR) {
   // Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
   // Riccati Equation"
 
-  frc::Matrixd<4, 4> A{
+  wpi::math::Matrixd<4, 4> A{
       {0.5, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}, {0, 0, 0, 0}};
-  frc::Matrixd<4, 1> B{{0}, {0}, {0}, {1}};
-  frc::Matrixd<4, 4> Q{{1, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
-  frc::Matrixd<1, 1> R{0.25};
+  wpi::math::Matrixd<4, 1> B{{0}, {0}, {0}, {1}};
+  wpi::math::Matrixd<4, 4> Q{{1, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
+  wpi::math::Matrixd<1, 1> R{0.25};
 
-  auto ret = frc::DARE<4, 1>(A, B, Q, R);
+  auto ret = wpi::math::DARE<4, 1>(A, B, Q, R);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -150,19 +150,19 @@ TEST(DARETest, NonInvertibleA_ABQRN) {
   // Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
   // Riccati Equation"
 
-  frc::Matrixd<4, 4> A{
+  wpi::math::Matrixd<4, 4> A{
       {0.5, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}, {0, 0, 0, 0}};
-  frc::Matrixd<4, 1> B{{0}, {0}, {0}, {1}};
-  frc::Matrixd<4, 4> Q{{1, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
-  frc::Matrixd<1, 1> R{0.25};
+  wpi::math::Matrixd<4, 1> B{{0}, {0}, {0}, {1}};
+  wpi::math::Matrixd<4, 4> Q{{1, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
+  wpi::math::Matrixd<1, 1> R{0.25};
 
-  frc::Matrixd<4, 4> Aref{
+  wpi::math::Matrixd<4, 4> Aref{
       {0.25, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}, {0, 0, 0, 0}};
   Q = (A - Aref).transpose() * Q * (A - Aref);
   R = B.transpose() * Q * B + R;
-  frc::Matrixd<4, 1> N = (A - Aref).transpose() * Q * B;
+  wpi::math::Matrixd<4, 1> N = (A - Aref).transpose() * Q * B;
 
-  auto ret = frc::DARE<4, 1>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<4, 1>(A, B, Q, R, N);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -172,12 +172,12 @@ TEST(DARETest, NonInvertibleA_ABQRN) {
 }
 
 TEST(DARETest, InvertibleA_ABQR) {
-  frc::Matrixd<2, 2> A{{1, 1}, {0, 1}};
-  frc::Matrixd<2, 1> B{{0}, {1}};
-  frc::Matrixd<2, 2> Q{{1, 0}, {0, 0}};
-  frc::Matrixd<1, 1> R{{0.3}};
+  wpi::math::Matrixd<2, 2> A{{1, 1}, {0, 1}};
+  wpi::math::Matrixd<2, 1> B{{0}, {1}};
+  wpi::math::Matrixd<2, 2> Q{{1, 0}, {0, 0}};
+  wpi::math::Matrixd<1, 1> R{{0.3}};
 
-  auto ret = frc::DARE<2, 1>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 1>(A, B, Q, R);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -187,17 +187,17 @@ TEST(DARETest, InvertibleA_ABQR) {
 }
 
 TEST(DARETest, InvertibleA_ABQRN) {
-  frc::Matrixd<2, 2> A{{1, 1}, {0, 1}};
-  frc::Matrixd<2, 1> B{{0}, {1}};
-  frc::Matrixd<2, 2> Q{{1, 0}, {0, 0}};
-  frc::Matrixd<1, 1> R{0.3};
+  wpi::math::Matrixd<2, 2> A{{1, 1}, {0, 1}};
+  wpi::math::Matrixd<2, 1> B{{0}, {1}};
+  wpi::math::Matrixd<2, 2> Q{{1, 0}, {0, 0}};
+  wpi::math::Matrixd<1, 1> R{0.3};
 
-  frc::Matrixd<2, 2> Aref{{0.5, 1}, {0, 1}};
+  wpi::math::Matrixd<2, 2> Aref{{0.5, 1}, {0, 1}};
   Q = (A - Aref).transpose() * Q * (A - Aref);
   R = B.transpose() * Q * B + R;
-  frc::Matrixd<2, 1> N = (A - Aref).transpose() * Q * B;
+  wpi::math::Matrixd<2, 1> N = (A - Aref).transpose() * Q * B;
 
-  auto ret = frc::DARE<2, 1>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 1>(A, B, Q, R, N);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -209,12 +209,12 @@ TEST(DARETest, InvertibleA_ABQRN) {
 TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
   // The first generalized eigenvalue of (S, T) is stable
 
-  frc::Matrixd<2, 2> A{{0, 1}, {0, 0}};
-  frc::Matrixd<2, 1> B{{0}, {1}};
-  frc::Matrixd<2, 2> Q{{1, 0}, {0, 1}};
-  frc::Matrixd<1, 1> R{1};
+  wpi::math::Matrixd<2, 2> A{{0, 1}, {0, 0}};
+  wpi::math::Matrixd<2, 1> B{{0}, {1}};
+  wpi::math::Matrixd<2, 2> Q{{1, 0}, {0, 1}};
+  wpi::math::Matrixd<1, 1> R{1};
 
-  auto ret = frc::DARE<2, 1>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 1>(A, B, Q, R);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -226,17 +226,17 @@ TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
 TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQRN) {
   // The first generalized eigenvalue of (S, T) is stable
 
-  frc::Matrixd<2, 2> A{{0, 1}, {0, 0}};
-  frc::Matrixd<2, 1> B{{0}, {1}};
-  frc::Matrixd<2, 2> Q{{1, 0}, {0, 1}};
-  frc::Matrixd<1, 1> R{1};
+  wpi::math::Matrixd<2, 2> A{{0, 1}, {0, 0}};
+  wpi::math::Matrixd<2, 1> B{{0}, {1}};
+  wpi::math::Matrixd<2, 2> Q{{1, 0}, {0, 1}};
+  wpi::math::Matrixd<1, 1> R{1};
 
-  frc::Matrixd<2, 2> Aref{{0, 0.5}, {0, 0}};
+  wpi::math::Matrixd<2, 2> Aref{{0, 0.5}, {0, 0}};
   Q = (A - Aref).transpose() * Q * (A - Aref);
   R = B.transpose() * Q * B + R;
-  frc::Matrixd<2, 1> N = (A - Aref).transpose() * Q * B;
+  wpi::math::Matrixd<2, 1> N = (A - Aref).transpose() * Q * B;
 
-  auto ret = frc::DARE<2, 1>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 1>(A, B, Q, R, N);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -251,7 +251,7 @@ TEST(DARETest, IdentitySystem_ABQR) {
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -267,7 +267,7 @@ TEST(DARETest, IdentitySystem_ABQRN) {
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d N{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -278,11 +278,11 @@ TEST(DARETest, IdentitySystem_ABQRN) {
 
 TEST(DARETest, MoreInputsThanStates_ABQR) {
   const Eigen::Matrix2d A{Eigen::Matrix2d::Identity()};
-  const frc::Matrixd<2, 3> B{{1.0, 0.0, 0.0}, {0.0, 0.5, 0.3}};
+  const wpi::math::Matrixd<2, 3> B{{1.0, 0.0, 0.0}, {0.0, 0.5, 0.3}};
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix3d R{Eigen::Matrix3d::Identity()};
 
-  auto ret = frc::DARE<2, 3>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 3>(A, B, Q, R);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -293,12 +293,12 @@ TEST(DARETest, MoreInputsThanStates_ABQR) {
 
 TEST(DARETest, MoreInputsThanStates_ABQRN) {
   const Eigen::Matrix2d A{Eigen::Matrix2d::Identity()};
-  const frc::Matrixd<2, 3> B{{1.0, 0.0, 0.0}, {0.0, 0.5, 0.3}};
+  const wpi::math::Matrixd<2, 3> B{{1.0, 0.0, 0.0}, {0.0, 0.5, 0.3}};
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix3d R{Eigen::Matrix3d::Identity()};
-  const frc::Matrixd<2, 3> N{{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}};
+  const wpi::math::Matrixd<2, 3> N{{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}};
 
-  auto ret = frc::DARE<2, 3>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 3>(A, B, Q, R, N);
   EXPECT_TRUE(ret);
   auto X = ret.value();
 
@@ -313,9 +313,9 @@ TEST(DARETest, QNotSymmetric_ABQR) {
   const Eigen::Matrix2d Q{{1.0, 1.0}, {0.0, 1.0}};
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::QNotSymmetric);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::QNotSymmetric);
 }
 
 TEST(DARETest, QNotPositiveSemidefinite_ABQR) {
@@ -324,9 +324,9 @@ TEST(DARETest, QNotPositiveSemidefinite_ABQR) {
   const Eigen::Matrix2d Q{-Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::QNotPositiveSemidefinite);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::QNotPositiveSemidefinite);
 }
 
 TEST(DARETest, QNotSymmetric_ABQRN) {
@@ -336,9 +336,9 @@ TEST(DARETest, QNotSymmetric_ABQRN) {
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d N{2.0 * Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::QNotSymmetric);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::QNotSymmetric);
 }
 
 TEST(DARETest, QNotPositiveSemidefinite_ABQRN) {
@@ -348,9 +348,9 @@ TEST(DARETest, QNotPositiveSemidefinite_ABQRN) {
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d N{2.0 * Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::QNotPositiveSemidefinite);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::QNotPositiveSemidefinite);
 }
 
 TEST(DARETest, RNotSymmetric_ABQR) {
@@ -359,9 +359,9 @@ TEST(DARETest, RNotSymmetric_ABQR) {
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d R{{1.0, 1.0}, {0.0, 1.0}};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::RNotSymmetric);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::RNotSymmetric);
 }
 
 TEST(DARETest, RNotPositiveDefinite_ABQR) {
@@ -370,14 +370,14 @@ TEST(DARETest, RNotPositiveDefinite_ABQR) {
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
 
   const Eigen::Matrix2d R1{Eigen::Matrix2d::Zero()};
-  auto ret1 = frc::DARE<2, 2>(A, B, Q, R1);
+  auto ret1 = wpi::math::DARE<2, 2>(A, B, Q, R1);
   EXPECT_FALSE(ret1);
-  EXPECT_EQ(ret1.error(), frc::DAREError::RNotPositiveDefinite);
+  EXPECT_EQ(ret1.error(), wpi::math::DAREError::RNotPositiveDefinite);
 
   const Eigen::Matrix2d R2{-Eigen::Matrix2d::Identity()};
-  auto ret2 = frc::DARE<2, 2>(A, B, Q, R2);
+  auto ret2 = wpi::math::DARE<2, 2>(A, B, Q, R2);
   EXPECT_FALSE(ret2);
-  EXPECT_EQ(ret2.error(), frc::DAREError::RNotPositiveDefinite);
+  EXPECT_EQ(ret2.error(), wpi::math::DAREError::RNotPositiveDefinite);
 }
 
 TEST(DARETest, RNotSymmetric_ABQRN) {
@@ -387,9 +387,9 @@ TEST(DARETest, RNotSymmetric_ABQRN) {
   const Eigen::Matrix2d N{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d R{{1.0, 1.0}, {0.0, 1.0}};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::RNotSymmetric);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::RNotSymmetric);
 }
 
 TEST(DARETest, RNotPositiveDefinite_ABQRN) {
@@ -399,14 +399,14 @@ TEST(DARETest, RNotPositiveDefinite_ABQRN) {
   const Eigen::Matrix2d N{Eigen::Matrix2d::Identity()};
 
   const Eigen::Matrix2d R1{Eigen::Matrix2d::Zero()};
-  auto ret1 = frc::DARE<2, 2>(A, B, Q, R1, N);
+  auto ret1 = wpi::math::DARE<2, 2>(A, B, Q, R1, N);
   EXPECT_FALSE(ret1);
-  EXPECT_EQ(ret1.error(), frc::DAREError::RNotPositiveDefinite);
+  EXPECT_EQ(ret1.error(), wpi::math::DAREError::RNotPositiveDefinite);
 
   const Eigen::Matrix2d R2{-Eigen::Matrix2d::Identity()};
-  auto ret2 = frc::DARE<2, 2>(A, B, Q, R2, N);
+  auto ret2 = wpi::math::DARE<2, 2>(A, B, Q, R2, N);
   EXPECT_FALSE(ret2);
-  EXPECT_EQ(ret2.error(), frc::DAREError::RNotPositiveDefinite);
+  EXPECT_EQ(ret2.error(), wpi::math::DAREError::RNotPositiveDefinite);
 }
 
 TEST(DARETest, ABNotStabilizable_ABQR) {
@@ -415,9 +415,9 @@ TEST(DARETest, ABNotStabilizable_ABQR) {
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::ABNotStabilizable);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::ABNotStabilizable);
 }
 
 TEST(DARETest, ABNotStabilizable_ABQRN) {
@@ -427,9 +427,9 @@ TEST(DARETest, ABNotStabilizable_ABQRN) {
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d N{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::ABNotStabilizable);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::ABNotStabilizable);
 }
 
 TEST(DARETest, ACNotDetectable_ABQR) {
@@ -438,9 +438,9 @@ TEST(DARETest, ACNotDetectable_ABQR) {
   const Eigen::Matrix2d Q{Eigen::Matrix2d::Zero()};
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::ACNotDetectable);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::ACNotDetectable);
 }
 
 TEST(DARETest, ACNotDetectable_ABQRN) {
@@ -450,9 +450,9 @@ TEST(DARETest, ACNotDetectable_ABQRN) {
   const Eigen::Matrix2d R{Eigen::Matrix2d::Identity()};
   const Eigen::Matrix2d N{Eigen::Matrix2d::Zero()};
 
-  auto ret = frc::DARE<2, 2>(A, B, Q, R, N);
+  auto ret = wpi::math::DARE<2, 2>(A, B, Q, R, N);
   EXPECT_FALSE(ret);
-  EXPECT_EQ(ret.error(), frc::DAREError::ACNotDetectable);
+  EXPECT_EQ(ret.error(), wpi::math::DAREError::ACNotDetectable);
 }
 
 TEST(DARETest, QDecomposition) {
@@ -465,12 +465,12 @@ TEST(DARETest, QDecomposition) {
   // (A, C₁) should be detectable pair
   const Eigen::Matrix2d C_1{{0.0, 0.0}, {1.0, 0.0}};
   const Eigen::Matrix2d Q_1 = C_1.transpose() * C_1;
-  auto ret1 = frc::DARE<2, 2>(A, B, Q_1, R);
+  auto ret1 = wpi::math::DARE<2, 2>(A, B, Q_1, R);
   EXPECT_TRUE(ret1);
 
   // (A, C₂) shouldn't be detectable pair
   const Eigen::Matrix2d C_2 = C_1.transpose();
   const Eigen::Matrix2d Q_2 = C_2.transpose() * C_2;
-  auto ret2 = frc::DARE<2, 2>(A, B, Q_2, R);
+  auto ret2 = wpi::math::DARE<2, 2>(A, B, Q_2, R);
   EXPECT_FALSE(ret2);
 }
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
index f73f25aa39..2219077ff6 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
@@ -4,13 +4,13 @@
 
 #include "wpi/math/linalg/DARE.hpp"
 
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 1>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 1, 1>& R, bool checkPreconditions);
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 1>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 1, 1>& R,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
index 097f3be2cc..d881aec6ec 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
@@ -4,13 +4,13 @@
 
 #include "wpi/math/linalg/DARE.hpp"
 
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 2>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 2, 2>& R, bool checkPreconditions);
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 2>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 2, 2>& R,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
index c2ea60250a..0a23f782b2 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
@@ -4,13 +4,13 @@
 
 #include "wpi/math/linalg/DARE.hpp"
 
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 3>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 3, 3>& R, bool checkPreconditions);
-template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
-frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
+template wpi::util::expected<Eigen::Matrix<double, 2, 2>, wpi::math::DAREError>
+wpi::math::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
                 const Eigen::Matrix<double, 2, 3>& B,
                 const Eigen::Matrix<double, 2, 2>& Q,
                 const Eigen::Matrix<double, 3, 3>& R,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
index 5fa1ab1e7d..54e0d1ebf6 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
@@ -5,13 +5,13 @@
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/util/expected"
 
-template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
-frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
+template wpi::util::expected<Eigen::Matrix<double, 4, 4>, wpi::math::DAREError>
+wpi::math::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
                 const Eigen::Matrix<double, 4, 1>& B,
                 const Eigen::Matrix<double, 4, 4>& Q,
                 const Eigen::Matrix<double, 1, 1>& R, bool checkPreconditions);
-template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
-frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
+template wpi::util::expected<Eigen::Matrix<double, 4, 4>, wpi::math::DAREError>
+wpi::math::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
                 const Eigen::Matrix<double, 4, 1>& B,
                 const Eigen::Matrix<double, 4, 4>& Q,
                 const Eigen::Matrix<double, 1, 1>& R,
diff --git a/wpimath/src/test/native/cpp/EigenTest.cpp b/wpimath/src/test/native/cpp/EigenTest.cpp
index 15644545e0..998c1d076b 100644
--- a/wpimath/src/test/native/cpp/EigenTest.cpp
+++ b/wpimath/src/test/native/cpp/EigenTest.cpp
@@ -8,22 +8,22 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 
 TEST(EigenTest, Multiplication) {
-  frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};
-  frc::Matrixd<2, 2> m2{{3, 0}, {0, 2.5}};
+  wpi::math::Matrixd<2, 2> m1{{2, 1}, {0, 1}};
+  wpi::math::Matrixd<2, 2> m2{{3, 0}, {0, 2.5}};
 
   const auto result = m1 * m2;
 
-  frc::Matrixd<2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
+  wpi::math::Matrixd<2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
 
   EXPECT_TRUE(expectedResult.isApprox(result));
 
-  frc::Matrixd<2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
-  frc::Matrixd<3, 4> m4{
+  wpi::math::Matrixd<2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
+  wpi::math::Matrixd<3, 4> m4{
       {3.0, 1.5, 2.0, 4.5}, {2.3, 1.0, 1.6, 3.1}, {5.2, 2.1, 2.0, 1.0}};
 
   const auto result2 = m3 * m4;
 
-  frc::Matrixd<2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
+  wpi::math::Matrixd<2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
                                      {22.13, 9.82, 13.28, 23.53}};
 
   EXPECT_TRUE(expectedResult2.isApprox(result2));
diff --git a/wpimath/src/test/native/cpp/MathUtilTest.cpp b/wpimath/src/test/native/cpp/MathUtilTest.cpp
index f87dc991e6..d3fe98dc9f 100644
--- a/wpimath/src/test/native/cpp/MathUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/MathUtilTest.cpp
@@ -21,256 +21,256 @@
 
 TEST(MathUtilTest, ApplyDeadbandUnityScale) {
   // < 0
-  EXPECT_DOUBLE_EQ(-1.0, frc::ApplyDeadband(-1.0, 0.02));
+  EXPECT_DOUBLE_EQ(-1.0, wpi::math::ApplyDeadband(-1.0, 0.02));
   EXPECT_DOUBLE_EQ((-0.03 + 0.02) / (1.0 - 0.02),
-                   frc::ApplyDeadband(-0.03, 0.02));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.02, 0.02));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.01, 0.02));
+                   wpi::math::ApplyDeadband(-0.03, 0.02));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(-0.02, 0.02));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(-0.01, 0.02));
 
   // == 0
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.0, 0.02));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.0, 0.02));
 
   // > 0
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.01, 0.02));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.02, 0.02));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.01, 0.02));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.02, 0.02));
   EXPECT_DOUBLE_EQ((0.03 - 0.02) / (1.0 - 0.02),
-                   frc::ApplyDeadband(0.03, 0.02));
-  EXPECT_DOUBLE_EQ(1.0, frc::ApplyDeadband(1.0, 0.02));
+                   wpi::math::ApplyDeadband(0.03, 0.02));
+  EXPECT_DOUBLE_EQ(1.0, wpi::math::ApplyDeadband(1.0, 0.02));
 }
 
 TEST(MathUtilTest, ApplyDeadbandArbitraryScale) {
   // < 0
-  EXPECT_DOUBLE_EQ(-2.5, frc::ApplyDeadband(-2.5, 0.02, 2.5));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.02, 0.02, 2.5));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(-0.01, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(-2.5, wpi::math::ApplyDeadband(-2.5, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(-0.02, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(-0.01, 0.02, 2.5));
 
   // == 0
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.0, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.0, 0.02, 2.5));
 
   // > 0
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.01, 0.02, 2.5));
-  EXPECT_DOUBLE_EQ(0.0, frc::ApplyDeadband(0.02, 0.02, 2.5));
-  EXPECT_DOUBLE_EQ(2.5, frc::ApplyDeadband(2.5, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.01, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::ApplyDeadband(0.02, 0.02, 2.5));
+  EXPECT_DOUBLE_EQ(2.5, wpi::math::ApplyDeadband(2.5, 0.02, 2.5));
 }
 
 TEST(MathUtilTest, ApplyDeadbandUnits) {
   // < 0
   EXPECT_UNITS_EQ(-20_rad,
-                  frc::ApplyDeadband<units::radian_t>(-20_rad, 1_rad, 20_rad));
+                  wpi::math::ApplyDeadband<wpi::units::radian_t>(-20_rad, 1_rad, 20_rad));
 }
 
 TEST(MathUtilTest, ApplyDeadbandLargeMaxMagnitude) {
   EXPECT_DOUBLE_EQ(
       80.0,
-      frc::ApplyDeadband(100.0, 20.0, std::numeric_limits<double>::infinity()));
+      wpi::math::ApplyDeadband(100.0, 20.0, std::numeric_limits<double>::infinity()));
 }
 
 TEST(MathUtilTest, ApplyDeadband2dUnityScale) {
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {1.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {1.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {1.0}}, 0.02));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {-1.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {-1.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {-1.0}}, 0.02));
   EXPECT_EQ((Eigen::Vector2d{{-1.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{-1.0}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{-1.0}, {0.0}}, 0.02));
 
   // == 0
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02));
 
   // > 0
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02));
   EXPECT_EQ((Eigen::Vector2d{{(0.03 - 0.02) / (1.0 - 0.02)}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.03}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.03}, {0.0}}, 0.02));
   EXPECT_EQ((Eigen::Vector2d{{1.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{1.0}, {0.0}}, 0.02));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{1.0}, {0.0}}, 0.02));
 }
 
 TEST(MathUtilTest, ApplyDeadband2dArbitraryScale) {
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {2.5}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {2.5}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {2.5}}, 0.02, 2.5));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {-2.5}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {-2.5}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {-2.5}}, 0.02, 2.5));
   EXPECT_EQ((Eigen::Vector2d{{-2.5}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{-2.5}, {0.0}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{-2.5}, {0.0}}, 0.02, 2.5));
 
   // == 0
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02, 2.5));
 
   // > 0
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02, 2.5));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02, 2.5));
   EXPECT_EQ((Eigen::Vector2d{{2.5}, {0.0}}),
-            frc::ApplyDeadband(Eigen::Vector2d{{2.5}, {0.0}}, 0.02, 2.5));
+            wpi::math::ApplyDeadband(Eigen::Vector2d{{2.5}, {0.0}}, 0.02, 2.5));
 }
 
 TEST(MathUtilTest, ApplyDeadband2dLargeMaxMagnitude) {
   EXPECT_EQ((Eigen::Vector2d{{80.0}, {0.0}}),
-            (frc::ApplyDeadband(Eigen::Vector2d{{100.0}, {0.0}}, 20.0,
+            (wpi::math::ApplyDeadband(Eigen::Vector2d{{100.0}, {0.0}}, 20.0,
                                 std::numeric_limits<double>::infinity())));
 }
 
 TEST(MathUtilTest, ApplyDeadband2dUnits) {
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 2.5_mps}),
-            frc::ApplyDeadband(
-                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 2.5_mps},
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 2.5_mps}),
+            wpi::math::ApplyDeadband(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 2.5_mps},
                 0.02_mps, 2.5_mps));
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}),
-            frc::ApplyDeadband(
-                Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps},
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{1_mps, 0_mps}),
+            wpi::math::ApplyDeadband(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{1_mps, 0_mps},
                 0.02_mps));
 
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}),
-            frc::ApplyDeadband(
-                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps},
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 0_mps}),
+            wpi::math::ApplyDeadband(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 0_mps},
                 0.02_mps, 2.5_mps));
 }
 
 TEST(MathUtilTest, CopyDirectionPow) {
-  EXPECT_DOUBLE_EQ(0.5, frc::CopyDirectionPow(0.5, 1.0));
-  EXPECT_DOUBLE_EQ(-0.5, frc::CopyDirectionPow(-0.5, 1.0));
+  EXPECT_DOUBLE_EQ(0.5, wpi::math::CopyDirectionPow(0.5, 1.0));
+  EXPECT_DOUBLE_EQ(-0.5, wpi::math::CopyDirectionPow(-0.5, 1.0));
 
-  EXPECT_DOUBLE_EQ(0.5 * 0.5, frc::CopyDirectionPow(0.5, 2.0));
-  EXPECT_DOUBLE_EQ(-(0.5 * 0.5), frc::CopyDirectionPow(-0.5, 2.0));
+  EXPECT_DOUBLE_EQ(0.5 * 0.5, wpi::math::CopyDirectionPow(0.5, 2.0));
+  EXPECT_DOUBLE_EQ(-(0.5 * 0.5), wpi::math::CopyDirectionPow(-0.5, 2.0));
 
-  EXPECT_DOUBLE_EQ(std::sqrt(0.5), frc::CopyDirectionPow(0.5, 0.5));
-  EXPECT_DOUBLE_EQ(-std::sqrt(0.5), frc::CopyDirectionPow(-0.5, 0.5));
+  EXPECT_DOUBLE_EQ(std::sqrt(0.5), wpi::math::CopyDirectionPow(0.5, 0.5));
+  EXPECT_DOUBLE_EQ(-std::sqrt(0.5), wpi::math::CopyDirectionPow(-0.5, 0.5));
 
-  EXPECT_DOUBLE_EQ(0.0, frc::CopyDirectionPow(0.0, 2.0));
-  EXPECT_DOUBLE_EQ(1.0, frc::CopyDirectionPow(1.0, 2.0));
-  EXPECT_DOUBLE_EQ(-1.0, frc::CopyDirectionPow(-1.0, 2.0));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::CopyDirectionPow(0.0, 2.0));
+  EXPECT_DOUBLE_EQ(1.0, wpi::math::CopyDirectionPow(1.0, 2.0));
+  EXPECT_DOUBLE_EQ(-1.0, wpi::math::CopyDirectionPow(-1.0, 2.0));
 
-  EXPECT_DOUBLE_EQ(std::pow(0.8, 0.3), frc::CopyDirectionPow(0.8, 0.3));
-  EXPECT_DOUBLE_EQ(-std::pow(0.8, 0.3), frc::CopyDirectionPow(-0.8, 0.3));
+  EXPECT_DOUBLE_EQ(std::pow(0.8, 0.3), wpi::math::CopyDirectionPow(0.8, 0.3));
+  EXPECT_DOUBLE_EQ(-std::pow(0.8, 0.3), wpi::math::CopyDirectionPow(-0.8, 0.3));
 }
 
 TEST(MathUtilTest, CopyDirectionPowWithMaxMagnitude) {
-  EXPECT_DOUBLE_EQ(5.0, frc::CopyDirectionPow(5.0, 1.0, 10.0));
-  EXPECT_DOUBLE_EQ(-5.0, frc::CopyDirectionPow(-5.0, 1.0, 10.0));
+  EXPECT_DOUBLE_EQ(5.0, wpi::math::CopyDirectionPow(5.0, 1.0, 10.0));
+  EXPECT_DOUBLE_EQ(-5.0, wpi::math::CopyDirectionPow(-5.0, 1.0, 10.0));
 
-  EXPECT_DOUBLE_EQ(0.5 * 0.5 * 10, frc::CopyDirectionPow(5.0, 2.0, 10.0));
-  EXPECT_DOUBLE_EQ(-0.5 * 0.5 * 10, frc::CopyDirectionPow(-5.0, 2.0, 10.0));
+  EXPECT_DOUBLE_EQ(0.5 * 0.5 * 10, wpi::math::CopyDirectionPow(5.0, 2.0, 10.0));
+  EXPECT_DOUBLE_EQ(-0.5 * 0.5 * 10, wpi::math::CopyDirectionPow(-5.0, 2.0, 10.0));
 
-  EXPECT_DOUBLE_EQ(std::sqrt(0.5) * 10, frc::CopyDirectionPow(5.0, 0.5, 10.0));
+  EXPECT_DOUBLE_EQ(std::sqrt(0.5) * 10, wpi::math::CopyDirectionPow(5.0, 0.5, 10.0));
   EXPECT_DOUBLE_EQ(-std::sqrt(0.5) * 10,
-                   frc::CopyDirectionPow(-5.0, 0.5, 10.0));
+                   wpi::math::CopyDirectionPow(-5.0, 0.5, 10.0));
 
-  EXPECT_DOUBLE_EQ(0.0, frc::CopyDirectionPow(0.0, 2.0, 5.0));
-  EXPECT_DOUBLE_EQ(5.0, frc::CopyDirectionPow(5.0, 2.0, 5.0));
-  EXPECT_DOUBLE_EQ(-5.0, frc::CopyDirectionPow(-5.0, 2.0, 5.0));
+  EXPECT_DOUBLE_EQ(0.0, wpi::math::CopyDirectionPow(0.0, 2.0, 5.0));
+  EXPECT_DOUBLE_EQ(5.0, wpi::math::CopyDirectionPow(5.0, 2.0, 5.0));
+  EXPECT_DOUBLE_EQ(-5.0, wpi::math::CopyDirectionPow(-5.0, 2.0, 5.0));
 
   EXPECT_DOUBLE_EQ(std::pow(0.8, 0.3) * 100,
-                   frc::CopyDirectionPow(80.0, 0.3, 100.0));
+                   wpi::math::CopyDirectionPow(80.0, 0.3, 100.0));
   EXPECT_DOUBLE_EQ(-std::pow(0.8, 0.3) * 100,
-                   frc::CopyDirectionPow(-80.0, 0.3, 100.0));
+                   wpi::math::CopyDirectionPow(-80.0, 0.3, 100.0));
 }
 
 TEST(MathUtilTest, CopyDirectionPowWithUnits) {
   EXPECT_UNITS_EQ(
-      0_mps, frc::CopyDirectionPow<units::meters_per_second_t>(0_mps, 2.0));
+      0_mps, wpi::math::CopyDirectionPow<wpi::units::meters_per_second_t>(0_mps, 2.0));
   EXPECT_UNITS_EQ(
-      1_mps, frc::CopyDirectionPow<units::meters_per_second_t>(1_mps, 2.0));
+      1_mps, wpi::math::CopyDirectionPow<wpi::units::meters_per_second_t>(1_mps, 2.0));
   EXPECT_UNITS_EQ(
-      -1_mps, frc::CopyDirectionPow<units::meters_per_second_t>(-1_mps, 2.0));
+      -1_mps, wpi::math::CopyDirectionPow<wpi::units::meters_per_second_t>(-1_mps, 2.0));
 
   EXPECT_UNITS_EQ(
-      units::meters_per_second_t{0.5 * 0.5 * 10},
-      frc::CopyDirectionPow<units::meters_per_second_t>(5_mps, 2.0, 10_mps));
+      wpi::units::meters_per_second_t{0.5 * 0.5 * 10},
+      wpi::math::CopyDirectionPow<wpi::units::meters_per_second_t>(5_mps, 2.0, 10_mps));
   EXPECT_UNITS_EQ(
-      units::meters_per_second_t{-0.5 * 0.5 * 10},
-      frc::CopyDirectionPow<units::meters_per_second_t>(-5_mps, 2.0, 10_mps));
+      wpi::units::meters_per_second_t{-0.5 * 0.5 * 10},
+      wpi::math::CopyDirectionPow<wpi::units::meters_per_second_t>(-5_mps, 2.0, 10_mps));
 }
 
 TEST(MathUtilTest, CopyDirectionPow2d) {
   EXPECT_EQ((Eigen::Vector2d{{0.5}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 1.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 1.0));
   EXPECT_EQ((Eigen::Vector2d{{-0.5}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 1.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 1.0));
 
   EXPECT_EQ((Eigen::Vector2d{{0.25}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 2.0));
   EXPECT_EQ((Eigen::Vector2d{{-0.25}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 2.0));
 
   EXPECT_EQ((Eigen::Vector2d{{std::sqrt(0.5)}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 0.5));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 0.5));
   EXPECT_EQ((Eigen::Vector2d{{-std::sqrt(0.5)}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 0.5));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 0.5));
 
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0));
 
   EXPECT_EQ((Eigen::Vector2d{{1.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{1.0}, {0.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{1.0}, {0.0}}, 2.0));
   EXPECT_EQ((Eigen::Vector2d{{-1.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-1.0}, {0.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-1.0}, {0.0}}, 2.0));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {1.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {1.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {1.0}}, 2.0));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {-1.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-1.0}}, 2.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-1.0}}, 2.0));
 
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {std::pow(0.8, 0.3)}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.8}}, 0.3));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.8}}, 0.3));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {-std::pow(0.8, 0.3)}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-0.8}}, 0.3));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-0.8}}, 0.3));
 }
 
 TEST(MathUtilTest, CopyDirectionPow2dMaxDistance) {
   EXPECT_EQ((Eigen::Vector2d{{5.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 1.0, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 1.0, 10.0));
   EXPECT_EQ((Eigen::Vector2d{{-5.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 1.0, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 1.0, 10.0));
 
   EXPECT_EQ((Eigen::Vector2d{{2.5}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 10.0));
   EXPECT_EQ((Eigen::Vector2d{{-2.5}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 10.0));
 
   EXPECT_EQ((Eigen::Vector2d{{std::sqrt(0.5) * 10.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 0.5, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 0.5, 10.0));
   EXPECT_EQ((Eigen::Vector2d{{-std::sqrt(0.5) * 10.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 0.5, 10.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 0.5, 10.0));
 
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0, 5.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0, 5.0));
   EXPECT_EQ((Eigen::Vector2d{{5.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 5.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 5.0));
   EXPECT_EQ((Eigen::Vector2d{{-5.0}, {0.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 5.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 5.0));
 
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {std::pow(0.8, 0.3) * 100.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {80.0}}, 0.3, 100.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {80.0}}, 0.3, 100.0));
   EXPECT_EQ((Eigen::Vector2d{{0.0}, {-std::pow(0.8, 0.3) * 100.0}}),
-            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-80.0}}, 0.3, 100.0));
+            wpi::math::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-80.0}}, 0.3, 100.0));
 }
 
 TEST(MathUtilTest, CopyDirectionPow2dUnits) {
   EXPECT_EQ(
-      (Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}),
-      frc::CopyDirectionPow(
-          Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}, 2.0));
+      (Eigen::Vector<wpi::units::meters_per_second_t, 2>{1_mps, 0_mps}),
+      wpi::math::CopyDirectionPow(
+          Eigen::Vector<wpi::units::meters_per_second_t, 2>{1_mps, 0_mps}, 2.0));
   EXPECT_EQ(
-      (Eigen::Vector<units::meters_per_second_t, 2>{-1_mps, 0_mps}),
-      frc::CopyDirectionPow(
-          Eigen::Vector<units::meters_per_second_t, 2>{-1_mps, 0_mps}, 2.0));
+      (Eigen::Vector<wpi::units::meters_per_second_t, 2>{-1_mps, 0_mps}),
+      wpi::math::CopyDirectionPow(
+          Eigen::Vector<wpi::units::meters_per_second_t, 2>{-1_mps, 0_mps}, 2.0));
 
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}),
-            frc::CopyDirectionPow(
-                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}, 2.0,
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 0_mps}),
+            wpi::math::CopyDirectionPow(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{0_mps, 0_mps}, 2.0,
                 5_mps));
 
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{5_mps, 0_mps}),
-            frc::CopyDirectionPow(
-                Eigen::Vector<units::meters_per_second_t, 2>{5_mps, 0_mps}, 2.0,
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{5_mps, 0_mps}),
+            wpi::math::CopyDirectionPow(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{5_mps, 0_mps}, 2.0,
                 5_mps));
-  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{-5_mps, 0_mps}),
-            frc::CopyDirectionPow(
-                Eigen::Vector<units::meters_per_second_t, 2>{-5_mps, 0_mps},
+  EXPECT_EQ((Eigen::Vector<wpi::units::meters_per_second_t, 2>{-5_mps, 0_mps}),
+            wpi::math::CopyDirectionPow(
+                Eigen::Vector<wpi::units::meters_per_second_t, 2>{-5_mps, 0_mps},
                 2.0, 5_mps));
 }
 
@@ -279,156 +279,156 @@ TEST(MathUtilTest, InputModulus) {
   // result of an angle reference minus the measurement.
 
   // Test symmetric range
-  EXPECT_DOUBLE_EQ(-20.0, frc::InputModulus(170.0 - (-170.0), -180.0, 180.0));
+  EXPECT_DOUBLE_EQ(-20.0, wpi::math::InputModulus(170.0 - (-170.0), -180.0, 180.0));
   EXPECT_DOUBLE_EQ(-20.0,
-                   frc::InputModulus(170.0 + 360.0 - (-170.0), -180.0, 180.0));
+                   wpi::math::InputModulus(170.0 + 360.0 - (-170.0), -180.0, 180.0));
   EXPECT_DOUBLE_EQ(-20.0,
-                   frc::InputModulus(170.0 - (-170.0 + 360.0), -180.0, 180.0));
-  EXPECT_DOUBLE_EQ(20.0, frc::InputModulus(-170.0 - 170.0, -180.0, 180.0));
+                   wpi::math::InputModulus(170.0 - (-170.0 + 360.0), -180.0, 180.0));
+  EXPECT_DOUBLE_EQ(20.0, wpi::math::InputModulus(-170.0 - 170.0, -180.0, 180.0));
   EXPECT_DOUBLE_EQ(20.0,
-                   frc::InputModulus(-170.0 + 360.0 - 170.0, -180.0, 180.0));
+                   wpi::math::InputModulus(-170.0 + 360.0 - 170.0, -180.0, 180.0));
   EXPECT_DOUBLE_EQ(20.0,
-                   frc::InputModulus(-170.0 - (170.0 + 360.0), -180.0, 180.0));
+                   wpi::math::InputModulus(-170.0 - (170.0 + 360.0), -180.0, 180.0));
 
   // Test range starting at zero
-  EXPECT_DOUBLE_EQ(340.0, frc::InputModulus(170.0 - 190.0, 0.0, 360.0));
-  EXPECT_DOUBLE_EQ(340.0, frc::InputModulus(170.0 + 360.0 - 190.0, 0.0, 360.0));
+  EXPECT_DOUBLE_EQ(340.0, wpi::math::InputModulus(170.0 - 190.0, 0.0, 360.0));
+  EXPECT_DOUBLE_EQ(340.0, wpi::math::InputModulus(170.0 + 360.0 - 190.0, 0.0, 360.0));
   EXPECT_DOUBLE_EQ(340.0,
-                   frc::InputModulus(170.0 - (190.0 + 360.0), 0.0, 360.0));
+                   wpi::math::InputModulus(170.0 - (190.0 + 360.0), 0.0, 360.0));
 
   // Test asymmetric range that doesn't start at zero
-  EXPECT_DOUBLE_EQ(-20.0, frc::InputModulus(170.0 - (-170.0), -170.0, 190.0));
+  EXPECT_DOUBLE_EQ(-20.0, wpi::math::InputModulus(170.0 - (-170.0), -170.0, 190.0));
 
   // Test range with both positive endpoints
-  EXPECT_DOUBLE_EQ(2.0, frc::InputModulus(0.0, 1.0, 3.0));
-  EXPECT_DOUBLE_EQ(3.0, frc::InputModulus(1.0, 1.0, 3.0));
-  EXPECT_DOUBLE_EQ(2.0, frc::InputModulus(2.0, 1.0, 3.0));
-  EXPECT_DOUBLE_EQ(3.0, frc::InputModulus(3.0, 1.0, 3.0));
-  EXPECT_DOUBLE_EQ(2.0, frc::InputModulus(4.0, 1.0, 3.0));
+  EXPECT_DOUBLE_EQ(2.0, wpi::math::InputModulus(0.0, 1.0, 3.0));
+  EXPECT_DOUBLE_EQ(3.0, wpi::math::InputModulus(1.0, 1.0, 3.0));
+  EXPECT_DOUBLE_EQ(2.0, wpi::math::InputModulus(2.0, 1.0, 3.0));
+  EXPECT_DOUBLE_EQ(3.0, wpi::math::InputModulus(3.0, 1.0, 3.0));
+  EXPECT_DOUBLE_EQ(2.0, wpi::math::InputModulus(4.0, 1.0, 3.0));
 
   // Test all supported types
   EXPECT_DOUBLE_EQ(-20.0,
-                   frc::InputModulus<double>(170.0 - (-170.0), -170.0, 190.0));
-  EXPECT_EQ(-20, frc::InputModulus<int>(170 - (-170), -170, 190));
-  EXPECT_EQ(-20_deg, frc::InputModulus<units::degree_t>(170_deg - (-170_deg),
+                   wpi::math::InputModulus<double>(170.0 - (-170.0), -170.0, 190.0));
+  EXPECT_EQ(-20, wpi::math::InputModulus<int>(170 - (-170), -170, 190));
+  EXPECT_EQ(-20_deg, wpi::math::InputModulus<wpi::units::degree_t>(170_deg - (-170_deg),
                                                         -170_deg, 190_deg));
 }
 
 TEST(MathUtilTest, AngleModulus) {
   EXPECT_UNITS_NEAR(
-      frc::AngleModulus(units::radian_t{-2000 * std::numbers::pi / 180}),
-      units::radian_t{160 * std::numbers::pi / 180}, 1e-10);
+      wpi::math::AngleModulus(wpi::units::radian_t{-2000 * std::numbers::pi / 180}),
+      wpi::units::radian_t{160 * std::numbers::pi / 180}, 1e-10);
   EXPECT_UNITS_NEAR(
-      frc::AngleModulus(units::radian_t{358 * std::numbers::pi / 180}),
-      units::radian_t{-2 * std::numbers::pi / 180}, 1e-10);
-  EXPECT_UNITS_NEAR(frc::AngleModulus(units::radian_t{2.0 * std::numbers::pi}),
+      wpi::math::AngleModulus(wpi::units::radian_t{358 * std::numbers::pi / 180}),
+      wpi::units::radian_t{-2 * std::numbers::pi / 180}, 1e-10);
+  EXPECT_UNITS_NEAR(wpi::math::AngleModulus(wpi::units::radian_t{2.0 * std::numbers::pi}),
                     0_rad, 1e-10);
 
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{5 * std::numbers::pi}),
-                  units::radian_t{std::numbers::pi});
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{-5 * std::numbers::pi}),
-                  units::radian_t{std::numbers::pi});
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{std::numbers::pi / 2}),
-                  units::radian_t{std::numbers::pi / 2});
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{-std::numbers::pi / 2}),
-                  units::radian_t{-std::numbers::pi / 2});
+  EXPECT_UNITS_EQ(wpi::math::AngleModulus(wpi::units::radian_t{5 * std::numbers::pi}),
+                  wpi::units::radian_t{std::numbers::pi});
+  EXPECT_UNITS_EQ(wpi::math::AngleModulus(wpi::units::radian_t{-5 * std::numbers::pi}),
+                  wpi::units::radian_t{std::numbers::pi});
+  EXPECT_UNITS_EQ(wpi::math::AngleModulus(wpi::units::radian_t{std::numbers::pi / 2}),
+                  wpi::units::radian_t{std::numbers::pi / 2});
+  EXPECT_UNITS_EQ(wpi::math::AngleModulus(wpi::units::radian_t{-std::numbers::pi / 2}),
+                  wpi::units::radian_t{-std::numbers::pi / 2});
 }
 
 TEST(MathUtilTest, IsNear) {
   // The answer is always 42
   // Positive integer checks
-  EXPECT_TRUE(frc::IsNear(42, 42, 1));
-  EXPECT_TRUE(frc::IsNear(42, 41, 2));
-  EXPECT_TRUE(frc::IsNear(42, 43, 2));
-  EXPECT_FALSE(frc::IsNear(42, 44, 1));
+  EXPECT_TRUE(wpi::math::IsNear(42, 42, 1));
+  EXPECT_TRUE(wpi::math::IsNear(42, 41, 2));
+  EXPECT_TRUE(wpi::math::IsNear(42, 43, 2));
+  EXPECT_FALSE(wpi::math::IsNear(42, 44, 1));
 
   // Negative integer checks
-  EXPECT_TRUE(frc::IsNear(-42, -42, 1));
-  EXPECT_TRUE(frc::IsNear(-42, -41, 2));
-  EXPECT_TRUE(frc::IsNear(-42, -43, 2));
-  EXPECT_FALSE(frc::IsNear(-42, -44, 1));
+  EXPECT_TRUE(wpi::math::IsNear(-42, -42, 1));
+  EXPECT_TRUE(wpi::math::IsNear(-42, -41, 2));
+  EXPECT_TRUE(wpi::math::IsNear(-42, -43, 2));
+  EXPECT_FALSE(wpi::math::IsNear(-42, -44, 1));
 
   // Mixed sign integer checks
-  EXPECT_FALSE(frc::IsNear(-42, 42, 1));
-  EXPECT_FALSE(frc::IsNear(-42, 41, 2));
-  EXPECT_FALSE(frc::IsNear(-42, 43, 2));
-  EXPECT_FALSE(frc::IsNear(42, -42, 1));
-  EXPECT_FALSE(frc::IsNear(42, -41, 2));
-  EXPECT_FALSE(frc::IsNear(42, -43, 2));
+  EXPECT_FALSE(wpi::math::IsNear(-42, 42, 1));
+  EXPECT_FALSE(wpi::math::IsNear(-42, 41, 2));
+  EXPECT_FALSE(wpi::math::IsNear(-42, 43, 2));
+  EXPECT_FALSE(wpi::math::IsNear(42, -42, 1));
+  EXPECT_FALSE(wpi::math::IsNear(42, -41, 2));
+  EXPECT_FALSE(wpi::math::IsNear(42, -43, 2));
 
   // Floating point checks
-  EXPECT_TRUE(frc::IsNear<double>(42, 41.5, 1));
-  EXPECT_TRUE(frc::IsNear<double>(42, 42.5, 1));
-  EXPECT_TRUE(frc::IsNear<double>(42, 41.5, 0.75));
-  EXPECT_TRUE(frc::IsNear<double>(42, 42.5, 0.75));
+  EXPECT_TRUE(wpi::math::IsNear<double>(42, 41.5, 1));
+  EXPECT_TRUE(wpi::math::IsNear<double>(42, 42.5, 1));
+  EXPECT_TRUE(wpi::math::IsNear<double>(42, 41.5, 0.75));
+  EXPECT_TRUE(wpi::math::IsNear<double>(42, 42.5, 0.75));
 
   // Wraparound checks
-  EXPECT_TRUE(frc::IsNear(0_deg, 356_deg, 5_deg, 0_deg, 360_deg));
-  EXPECT_TRUE(frc::IsNear(0, -356, 5, 0, 360));
-  EXPECT_TRUE(frc::IsNear(0, 4, 5, 0, 360));
-  EXPECT_TRUE(frc::IsNear(0, -4, 5, 0, 360));
-  EXPECT_TRUE(frc::IsNear(400, 41, 5, 0, 360));
-  EXPECT_TRUE(frc::IsNear(400, -319, 5, 0, 360));
-  EXPECT_TRUE(frc::IsNear(400, 401, 5, 0, 360));
-  EXPECT_FALSE(frc::IsNear<double>(0, 356, 2.5, 0, 360));
-  EXPECT_FALSE(frc::IsNear<double>(0, -356, 2.5, 0, 360));
-  EXPECT_FALSE(frc::IsNear<double>(0, 4, 2.5, 0, 360));
-  EXPECT_FALSE(frc::IsNear<double>(0, -4, 2.5, 0, 360));
-  EXPECT_FALSE(frc::IsNear(400, 35, 5, 0, 360));
-  EXPECT_FALSE(frc::IsNear(400, -315, 5, 0, 360));
-  EXPECT_FALSE(frc::IsNear(400, 395, 5, 0, 360));
-  EXPECT_FALSE(frc::IsNear(0_deg, -4_deg, 2.5_deg, 0_deg, 360_deg));
+  EXPECT_TRUE(wpi::math::IsNear(0_deg, 356_deg, 5_deg, 0_deg, 360_deg));
+  EXPECT_TRUE(wpi::math::IsNear(0, -356, 5, 0, 360));
+  EXPECT_TRUE(wpi::math::IsNear(0, 4, 5, 0, 360));
+  EXPECT_TRUE(wpi::math::IsNear(0, -4, 5, 0, 360));
+  EXPECT_TRUE(wpi::math::IsNear(400, 41, 5, 0, 360));
+  EXPECT_TRUE(wpi::math::IsNear(400, -319, 5, 0, 360));
+  EXPECT_TRUE(wpi::math::IsNear(400, 401, 5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear<double>(0, 356, 2.5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear<double>(0, -356, 2.5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear<double>(0, 4, 2.5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear<double>(0, -4, 2.5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear(400, 35, 5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear(400, -315, 5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear(400, 395, 5, 0, 360));
+  EXPECT_FALSE(wpi::math::IsNear(0_deg, -4_deg, 2.5_deg, 0_deg, 360_deg));
 }
 
 TEST(MathUtilTest, Translation2dSlewRateLimitUnchanged) {
-  const frc::Translation2d translation1{0_m, 0_m};
-  const frc::Translation2d translation2{2_m, 2_m};
+  const wpi::math::Translation2d translation1{0_m, 0_m};
+  const wpi::math::Translation2d translation2{2_m, 2_m};
 
-  const frc::Translation2d result1 =
-      frc::SlewRateLimit(translation1, translation2, 1_s, 50_mps);
+  const wpi::math::Translation2d result1 =
+      wpi::math::SlewRateLimit(translation1, translation2, 1_s, 50_mps);
 
-  const frc::Translation2d expected1{2_m, 2_m};
+  const wpi::math::Translation2d expected1{2_m, 2_m};
 
   EXPECT_EQ(result1, expected1);
 }
 
 TEST(MathUtilTest, Translation2dSlewRateLimitChanged) {
-  const frc::Translation2d translation3{1_m, 1_m};
-  const frc::Translation2d translation4{3_m, 3_m};
+  const wpi::math::Translation2d translation3{1_m, 1_m};
+  const wpi::math::Translation2d translation4{3_m, 3_m};
 
-  const frc::Translation2d result2 =
-      frc::SlewRateLimit(translation3, translation4, 0.25_s, 2_mps);
+  const wpi::math::Translation2d result2 =
+      wpi::math::SlewRateLimit(translation3, translation4, 0.25_s, 2_mps);
 
-  const frc::Translation2d expected2{
-      units::meter_t{1.0 + 0.5 * (std::numbers::sqrt2 / 2)},
-      units::meter_t{1.0 + 0.5 * (std::numbers::sqrt2 / 2)}};
+  const wpi::math::Translation2d expected2{
+      wpi::units::meter_t{1.0 + 0.5 * (std::numbers::sqrt2 / 2)},
+      wpi::units::meter_t{1.0 + 0.5 * (std::numbers::sqrt2 / 2)}};
 
   EXPECT_EQ(result2, expected2);
 }
 
 TEST(MathUtilTest, Translation3dSlewRateLimitUnchanged) {
-  const frc::Translation3d translation1{0_m, 0_m, 0_m};
-  const frc::Translation3d translation2{2_m, 2_m, 2_m};
+  const wpi::math::Translation3d translation1{0_m, 0_m, 0_m};
+  const wpi::math::Translation3d translation2{2_m, 2_m, 2_m};
 
-  const frc::Translation3d result1 =
-      frc::SlewRateLimit(translation1, translation2, 1_s, 50.0_mps);
+  const wpi::math::Translation3d result1 =
+      wpi::math::SlewRateLimit(translation1, translation2, 1_s, 50.0_mps);
 
-  const frc::Translation3d expected1{2_m, 2_m, 2_m};
+  const wpi::math::Translation3d expected1{2_m, 2_m, 2_m};
 
   EXPECT_EQ(result1, expected1);
 }
 
 TEST(MathUtilTest, Translation3dSlewRateLimitChanged) {
-  const frc::Translation3d translation3{1_m, 1_m, 1_m};
-  const frc::Translation3d translation4{3_m, 3_m, 3_m};
+  const wpi::math::Translation3d translation3{1_m, 1_m, 1_m};
+  const wpi::math::Translation3d translation4{3_m, 3_m, 3_m};
 
-  const frc::Translation3d result2 =
-      frc::SlewRateLimit(translation3, translation4, 0.25_s, 2.0_mps);
+  const wpi::math::Translation3d result2 =
+      wpi::math::SlewRateLimit(translation3, translation4, 0.25_s, 2.0_mps);
 
-  const frc::Translation3d expected2{
-      units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3},
-      units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3},
-      units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3}};
+  const wpi::math::Translation3d expected2{
+      wpi::units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3},
+      wpi::units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3},
+      wpi::units::meter_t{1.0 + 0.5 * std::numbers::inv_sqrt3}};
 
   EXPECT_EQ(result2, expected2);
 }
diff --git a/wpimath/src/test/native/cpp/ProtoTestBase.hpp b/wpimath/src/test/native/cpp/ProtoTestBase.hpp
index e1bc16ed78..27caf376c1 100644
--- a/wpimath/src/test/native/cpp/ProtoTestBase.hpp
+++ b/wpimath/src/test/native/cpp/ProtoTestBase.hpp
@@ -15,8 +15,8 @@ class ProtoTest : public testing::Test {};
 TYPED_TEST_SUITE_P(ProtoTest);
 
 TYPED_TEST_P(ProtoTest, RoundTrip) {
-  wpi::ProtobufMessage<decltype(TypeParam::kTestData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(TypeParam::kTestData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, TypeParam::kTestData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/StateSpaceTest.cpp b/wpimath/src/test/native/cpp/StateSpaceTest.cpp
index 3cf8a3b258..7c06c865a2 100644
--- a/wpimath/src/test/native/cpp/StateSpaceTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceTest.cpp
@@ -17,7 +17,7 @@
 #include "wpi/math/system/plant/LinearSystemId.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 constexpr double kPositionStddev = 0.0001;
 constexpr auto kDt = 0.00505_s;
@@ -36,7 +36,7 @@ class StateSpaceTest : public testing::Test {
     // Gear ratio
     constexpr double G = 40.0 / 40.0;
 
-    return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
+    return wpi::math::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
   LinearQuadraticRegulator<2, 1> controller{plant, {0.02, 0.4}, {12.0}, kDt};
   KalmanFilter<2, 1, 1> observer{plant, {0.05, 1.0}, {0.0001}, kDt};
@@ -67,4 +67,4 @@ TEST_F(StateSpaceTest, CorrectPredictLoop) {
   EXPECT_NEAR(loop.Xhat(1), 0.0, 0.5);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
index 4fcccefefa..2ad89c20d9 100644
--- a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/util/StateSpaceUtil.hpp"
 
 TEST(StateSpaceUtilTest, CostParameterPack) {
-  constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);
+  constexpr wpi::math::Matrixd<3, 3> mat = wpi::math::MakeCostMatrix(1.0, 2.0, 3.0);
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -21,7 +21,7 @@ TEST(StateSpaceUtilTest, CostParameterPack) {
 }
 
 TEST(StateSpaceUtilTest, CostArray) {
-  constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix<3>({1.0, 2.0, 3.0});
+  constexpr wpi::math::Matrixd<3, 3> mat = wpi::math::MakeCostMatrix<3>({1.0, 2.0, 3.0});
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -34,7 +34,7 @@ TEST(StateSpaceUtilTest, CostArray) {
 }
 
 TEST(StateSpaceUtilTest, CostDynamic) {
-  Eigen::MatrixXd mat = frc::MakeCostMatrix(std::vector{1.0, 2.0, 3.0});
+  Eigen::MatrixXd mat = wpi::math::MakeCostMatrix(std::vector{1.0, 2.0, 3.0});
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -47,7 +47,7 @@ TEST(StateSpaceUtilTest, CostDynamic) {
 }
 
 TEST(StateSpaceUtilTest, CovParameterPack) {
-  constexpr frc::Matrixd<3, 3> mat = frc::MakeCovMatrix(1.0, 2.0, 3.0);
+  constexpr wpi::math::Matrixd<3, 3> mat = wpi::math::MakeCovMatrix(1.0, 2.0, 3.0);
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -60,7 +60,7 @@ TEST(StateSpaceUtilTest, CovParameterPack) {
 }
 
 TEST(StateSpaceUtilTest, CovArray) {
-  constexpr frc::Matrixd<3, 3> mat = frc::MakeCovMatrix<3>({1.0, 2.0, 3.0});
+  constexpr wpi::math::Matrixd<3, 3> mat = wpi::math::MakeCovMatrix<3>({1.0, 2.0, 3.0});
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -73,7 +73,7 @@ TEST(StateSpaceUtilTest, CovArray) {
 }
 
 TEST(StateSpaceUtilTest, CovDynamic) {
-  Eigen::MatrixXd mat = frc::MakeCovMatrix(std::vector{1.0, 2.0, 3.0});
+  Eigen::MatrixXd mat = wpi::math::MakeCovMatrix(std::vector{1.0, 2.0, 3.0});
   EXPECT_NEAR(mat(0, 0), 1.0, 1e-3);
   EXPECT_NEAR(mat(0, 1), 0.0, 1e-3);
   EXPECT_NEAR(mat(0, 2), 0.0, 1e-3);
@@ -87,63 +87,63 @@ TEST(StateSpaceUtilTest, CovDynamic) {
 
 TEST(StateSpaceUtilTest, WhiteNoiseVectorParameterPack) {
   [[maybe_unused]]
-  frc::Vectord<2> vec = frc::MakeWhiteNoiseVector(2.0, 3.0);
+  wpi::math::Vectord<2> vec = wpi::math::MakeWhiteNoiseVector(2.0, 3.0);
 }
 
 TEST(StateSpaceUtilTest, WhiteNoiseVectorArray) {
   [[maybe_unused]]
-  frc::Vectord<2> vec = frc::MakeWhiteNoiseVector<2>({2.0, 3.0});
+  wpi::math::Vectord<2> vec = wpi::math::MakeWhiteNoiseVector<2>({2.0, 3.0});
 }
 
 TEST(StateSpaceUtilTest, WhiteNoiseVectorDynamic) {
   [[maybe_unused]]
-  Eigen::VectorXd vec = frc::MakeWhiteNoiseVector(std::vector{2.0, 3.0});
+  Eigen::VectorXd vec = wpi::math::MakeWhiteNoiseVector(std::vector{2.0, 3.0});
 }
 
 TEST(StateSpaceUtilTest, IsStabilizable) {
-  frc::Matrixd<2, 1> B{0, 1};
+  wpi::math::Matrixd<2, 1> B{0, 1};
 
   // First eigenvalue is uncontrollable and unstable.
   // Second eigenvalue is controllable and stable.
   EXPECT_FALSE(
-      (frc::IsStabilizable<2, 1>(frc::Matrixd<2, 2>{{1.2, 0}, {0, 0.5}}, B)));
+      (wpi::math::IsStabilizable<2, 1>(wpi::math::Matrixd<2, 2>{{1.2, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and marginally stable.
   // Second eigenvalue is controllable and stable.
   EXPECT_FALSE(
-      (frc::IsStabilizable<2, 1>(frc::Matrixd<2, 2>{{1, 0}, {0, 0.5}}, B)));
+      (wpi::math::IsStabilizable<2, 1>(wpi::math::Matrixd<2, 2>{{1, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and stable.
   // Second eigenvalue is controllable and stable.
   EXPECT_TRUE(
-      (frc::IsStabilizable<2, 1>(frc::Matrixd<2, 2>{{0.2, 0}, {0, 0.5}}, B)));
+      (wpi::math::IsStabilizable<2, 1>(wpi::math::Matrixd<2, 2>{{0.2, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and stable.
   // Second eigenvalue is controllable and unstable.
   EXPECT_TRUE(
-      (frc::IsStabilizable<2, 1>(frc::Matrixd<2, 2>{{0.2, 0}, {0, 1.2}}, B)));
+      (wpi::math::IsStabilizable<2, 1>(wpi::math::Matrixd<2, 2>{{0.2, 0}, {0, 1.2}}, B)));
 }
 
 TEST(StateSpaceUtilTest, IsDetectable) {
-  frc::Matrixd<1, 2> C{0, 1};
+  wpi::math::Matrixd<1, 2> C{0, 1};
 
   // First eigenvalue is unobservable and unstable.
   // Second eigenvalue is observable and stable.
   EXPECT_FALSE(
-      (frc::IsDetectable<2, 1>(frc::Matrixd<2, 2>{{1.2, 0}, {0, 0.5}}, C)));
+      (wpi::math::IsDetectable<2, 1>(wpi::math::Matrixd<2, 2>{{1.2, 0}, {0, 0.5}}, C)));
 
   // First eigenvalue is unobservable and marginally stable.
   // Second eigenvalue is observable and stable.
   EXPECT_FALSE(
-      (frc::IsDetectable<2, 1>(frc::Matrixd<2, 2>{{1, 0}, {0, 0.5}}, C)));
+      (wpi::math::IsDetectable<2, 1>(wpi::math::Matrixd<2, 2>{{1, 0}, {0, 0.5}}, C)));
 
   // First eigenvalue is unobservable and stable.
   // Second eigenvalue is observable and stable.
   EXPECT_TRUE(
-      (frc::IsDetectable<2, 1>(frc::Matrixd<2, 2>{{0.2, 0}, {0, 0.5}}, C)));
+      (wpi::math::IsDetectable<2, 1>(wpi::math::Matrixd<2, 2>{{0.2, 0}, {0, 0.5}}, C)));
 
   // First eigenvalue is unobservable and stable.
   // Second eigenvalue is observable and unstable.
   EXPECT_TRUE(
-      (frc::IsDetectable<2, 1>(frc::Matrixd<2, 2>{{0.2, 0}, {0, 1.2}}, C)));
+      (wpi::math::IsDetectable<2, 1>(wpi::math::Matrixd<2, 2>{{0.2, 0}, {0, 1.2}}, C)));
 }
diff --git a/wpimath/src/test/native/cpp/StructTestBase.hpp b/wpimath/src/test/native/cpp/StructTestBase.hpp
index 014db74760..450c01392b 100644
--- a/wpimath/src/test/native/cpp/StructTestBase.hpp
+++ b/wpimath/src/test/native/cpp/StructTestBase.hpp
@@ -16,45 +16,45 @@ TYPED_TEST_SUITE_P(StructTest);
 // For these tests:
 // TypeParam defines Type, kTestData, and CheckEq
 // Type is the data type
-// StructType is the instantiation of wpi::Struct<>
+// StructType is the instantiation of wpi::util::Struct<>
 
 TYPED_TEST_P(StructTest, RoundTrip) {
   using Type = typename TypeParam::Type;
-  using StructType = wpi::Struct<Type>;
+  using StructType = wpi::util::Struct<Type>;
   uint8_t buffer[StructType::GetSize()];
   std::memset(buffer, 0, StructType::GetSize());
-  wpi::PackStruct(buffer, TypeParam::kTestData);
+  wpi::util::PackStruct(buffer, TypeParam::kTestData);
 
-  Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
+  Type unpacked_data = wpi::util::UnpackStruct<Type>(buffer);
   TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
 }
 
 TYPED_TEST_P(StructTest, DoublePack) {
   using Type = typename TypeParam::Type;
-  using StructType = wpi::Struct<Type>;
+  using StructType = wpi::util::Struct<Type>;
   uint8_t buffer[StructType::GetSize()];
   std::memset(buffer, 0, StructType::GetSize());
-  wpi::PackStruct(buffer, TypeParam::kTestData);
-  wpi::PackStruct(buffer, TypeParam::kTestData);
+  wpi::util::PackStruct(buffer, TypeParam::kTestData);
+  wpi::util::PackStruct(buffer, TypeParam::kTestData);
 
-  Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
+  Type unpacked_data = wpi::util::UnpackStruct<Type>(buffer);
   TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
 }
 
 TYPED_TEST_P(StructTest, DoubleUnpack) {
   using Type = typename TypeParam::Type;
-  using StructType = wpi::Struct<Type>;
+  using StructType = wpi::util::Struct<Type>;
   uint8_t buffer[StructType::GetSize()];
   std::memset(buffer, 0, StructType::GetSize());
-  wpi::PackStruct(buffer, TypeParam::kTestData);
+  wpi::util::PackStruct(buffer, TypeParam::kTestData);
 
   {
-    Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
+    Type unpacked_data = wpi::util::UnpackStruct<Type>(buffer);
     TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
   }
 
   {
-    Type unpacked_data = wpi::UnpackStruct<Type>(buffer);
+    Type unpacked_data = wpi::util::UnpackStruct<Type>(buffer);
     TypeParam::CheckEq(TypeParam::kTestData, unpacked_data);
   }
 }
diff --git a/wpimath/src/test/native/cpp/UnitsTest.cpp b/wpimath/src/test/native/cpp/UnitsTest.cpp
index f61623287d..2440a9c8a3 100644
--- a/wpimath/src/test/native/cpp/UnitsTest.cpp
+++ b/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -51,46 +51,46 @@
 #include "wpi/units/voltage.hpp"
 #include "wpi/units/volume.hpp"
 
-using namespace units::acceleration;
-using namespace units::angle;
-using namespace units::angular_acceleration;
-using namespace units::angular_jerk;
-using namespace units::angular_velocity;
-using namespace units::area;
-using namespace units::capacitance;
-using namespace units::charge;
-using namespace units::concentration;
-using namespace units::conductance;
-using namespace units::data;
-using namespace units::data_transfer_rate;
-using namespace units::density;
-using namespace units::dimensionless;
-using namespace units::energy;
-using namespace units::frequency;
-using namespace units::illuminance;
-using namespace units::impedance;
-using namespace units::inductance;
-using namespace units::length;
-using namespace units::luminous_flux;
-using namespace units::luminous_intensity;
-using namespace units::magnetic_field_strength;
-using namespace units::magnetic_flux;
-using namespace units::mass;
-using namespace units::math;
-using namespace units::power;
-using namespace units::pressure;
-using namespace units::radiation;
-using namespace units::solid_angle;
-using namespace units::temperature;
-using namespace units::time;
-using namespace units::torque;
-using namespace units::velocity;
-using namespace units::voltage;
-using namespace units::volume;
+using namespace wpi::units::acceleration;
+using namespace wpi::units::angle;
+using namespace wpi::units::angular_acceleration;
+using namespace wpi::units::angular_jerk;
+using namespace wpi::units::angular_velocity;
+using namespace wpi::units::area;
+using namespace wpi::units::capacitance;
+using namespace wpi::units::charge;
+using namespace wpi::units::concentration;
+using namespace wpi::units::conductance;
+using namespace wpi::units::data;
+using namespace wpi::units::data_transfer_rate;
+using namespace wpi::units::density;
+using namespace wpi::units::dimensionless;
+using namespace wpi::units::energy;
+using namespace wpi::units::frequency;
+using namespace wpi::units::illuminance;
+using namespace wpi::units::impedance;
+using namespace wpi::units::inductance;
+using namespace wpi::units::length;
+using namespace wpi::units::luminous_flux;
+using namespace wpi::units::luminous_intensity;
+using namespace wpi::units::magnetic_field_strength;
+using namespace wpi::units::magnetic_flux;
+using namespace wpi::units::mass;
+using namespace wpi::units::math;
+using namespace wpi::units::power;
+using namespace wpi::units::pressure;
+using namespace wpi::units::radiation;
+using namespace wpi::units::solid_angle;
+using namespace wpi::units::temperature;
+using namespace wpi::units::time;
+using namespace wpi::units::torque;
+using namespace wpi::units::velocity;
+using namespace wpi::units::voltage;
+using namespace wpi::units::volume;
 using namespace units;
 
 #if !defined(_MSC_VER) || _MSC_VER > 1800
-using namespace units::literals;
+using namespace wpi::units::literals;
 #endif
 
 namespace {
@@ -452,7 +452,7 @@ TEST_F(TypeTraits, is_substance_unit) {
 TEST_F(TypeTraits, is_luminous_intensity_unit) {
   EXPECT_TRUE((traits::is_luminous_intensity_unit_v<candela>));
   EXPECT_FALSE(
-      (traits::is_luminous_intensity_unit_v<units::radiation::rad>));
+      (traits::is_luminous_intensity_unit_v<wpi::units::radiation::rad>));
   EXPECT_FALSE((traits::is_luminous_intensity_unit_v<double>));
 
   EXPECT_TRUE((traits::is_luminous_intensity_unit_v<candela_t>));
@@ -534,19 +534,19 @@ TEST_F(TypeTraits, is_acceleration_unit) {
 }
 
 TEST_F(TypeTraits, is_force_unit) {
-  EXPECT_TRUE((traits::is_force_unit_v<units::force::newton>));
-  EXPECT_TRUE((traits::is_force_unit_v<units::force::dynes>));
+  EXPECT_TRUE((traits::is_force_unit_v<wpi::units::force::newton>));
+  EXPECT_TRUE((traits::is_force_unit_v<wpi::units::force::dynes>));
   EXPECT_FALSE((traits::is_force_unit_v<meter>));
   EXPECT_FALSE((traits::is_force_unit_v<double>));
 
-  EXPECT_TRUE((traits::is_force_unit_v<units::force::newton_t>));
-  EXPECT_TRUE((traits::is_force_unit_v<const units::force::newton_t>));
-  EXPECT_TRUE((traits::is_force_unit_v<const units::force::newton_t&>));
-  EXPECT_TRUE((traits::is_force_unit_v<units::force::dyne_t>));
+  EXPECT_TRUE((traits::is_force_unit_v<wpi::units::force::newton_t>));
+  EXPECT_TRUE((traits::is_force_unit_v<const wpi::units::force::newton_t>));
+  EXPECT_TRUE((traits::is_force_unit_v<const wpi::units::force::newton_t&>));
+  EXPECT_TRUE((traits::is_force_unit_v<wpi::units::force::dyne_t>));
   EXPECT_FALSE((traits::is_force_unit_v<watt_t>));
-  EXPECT_TRUE((traits::is_force_unit_v<units::force::dyne_t,
-                                     units::force::newton_t>));
-  EXPECT_FALSE((traits::is_force_unit_v<watt_t, units::force::newton_t>));
+  EXPECT_TRUE((traits::is_force_unit_v<wpi::units::force::dyne_t,
+                                     wpi::units::force::newton_t>));
+  EXPECT_FALSE((traits::is_force_unit_v<watt_t, wpi::units::force::newton_t>));
 }
 
 TEST_F(TypeTraits, is_pressure_unit) {
@@ -677,7 +677,7 @@ TEST_F(TypeTraits, is_magnetic_flux_unit) {
 
 TEST_F(TypeTraits, is_magnetic_field_strength_unit) {
   EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<
-               units::magnetic_field_strength::tesla>));
+               wpi::units::magnetic_field_strength::tesla>));
   EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<gauss>));
   EXPECT_FALSE((traits::is_magnetic_field_strength_unit_v<volt>));
   EXPECT_FALSE((traits::is_magnetic_field_strength_unit_v<double>));
@@ -919,13 +919,13 @@ TEST_F(UnitManipulators, dimensionalAnalysis) {
   // REALLY handy if the unit types aren't know (i.e. they themselves are
   // template parameters), as you can get the resulting unit of the operation.
 
-  using velocity = units::detail::unit_divide<meters, second>;
+  using velocity = wpi::units::detail::unit_divide<meters, second>;
   bool shouldBeTrue = std::is_same_v<meters_per_second, velocity>;
   EXPECT_TRUE(shouldBeTrue);
 
   using acceleration1 = unit<std::ratio<1>, category::acceleration_unit>;
-  using acceleration2 = units::detail::unit_divide<
-      meters, units::detail::unit_multiply<seconds, seconds>>;
+  using acceleration2 = wpi::units::detail::unit_divide<
+      meters, wpi::units::detail::unit_multiply<seconds, seconds>>;
   shouldBeTrue = std::is_same_v<acceleration1, acceleration2>;
   EXPECT_TRUE(shouldBeTrue);
 }
@@ -964,7 +964,7 @@ TEST_F(UnitContainer, has_value_member) {
 }
 
 TEST_F(UnitContainer, make_unit) {
-  auto dist = units::make_unit<meter_t>(5);
+  auto dist = wpi::units::make_unit<meter_t>(5);
   EXPECT_EQ(meter_t(5), dist);
 }
 
@@ -1380,17 +1380,17 @@ TEST_F(UnitContainer, cout) {
 
   // undefined unit
   testing::internal::CaptureStdout();
-  std::cout << units::math::cpow<4>(meter_t(2));
+  std::cout << wpi::units::math::cpow<4>(meter_t(2));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("16 m^4", output.c_str());
 
   testing::internal::CaptureStdout();
-  std::cout << units::math::cpow<3>(foot_t(2));
+  std::cout << wpi::units::math::cpow<3>(foot_t(2));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("8 cu_ft", output.c_str());
 
   testing::internal::CaptureStdout();
-  std::cout << std::setprecision(9) << units::math::cpow<4>(foot_t(2));
+  std::cout << std::setprecision(9) << wpi::units::math::cpow<4>(foot_t(2));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("0.138095597 m^4", output.c_str());
 
@@ -1427,59 +1427,59 @@ TEST_F(UnitContainer, cout) {
 #if __has_include(<fmt/format.h>) && !defined(UNIT_LIB_DISABLE_FMT)
 TEST_F(UnitContainer, fmtlib) {
   testing::internal::CaptureStdout();
-  wpi::print("{}", degree_t(349.87));
+  wpi::util::print("{}", degree_t(349.87));
   std::string output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("349.87 deg", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", meter_t(1.0));
+  wpi::util::print("{}", meter_t(1.0));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("1 m", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", dB_t(31.0));
+  wpi::util::print("{}", dB_t(31.0));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("31 dB", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", volt_t(21.79));
+  wpi::util::print("{}", volt_t(21.79));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("21.79 V", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", dBW_t(12.0));
+  wpi::util::print("{}", dBW_t(12.0));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("12 dBW", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", dBm_t(120.0));
+  wpi::util::print("{}", dBm_t(120.0));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("120 dBm", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", miles_per_hour_t(72.1));
+  wpi::util::print("{}", miles_per_hour_t(72.1));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("72.1 mph", output.c_str());
 
   // undefined unit
   testing::internal::CaptureStdout();
-  wpi::print("{}", units::math::cpow<4>(meter_t(2)));
+  wpi::util::print("{}", wpi::units::math::cpow<4>(meter_t(2)));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("16 m^4", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{}", units::math::cpow<3>(foot_t(2)));
+  wpi::util::print("{}", wpi::units::math::cpow<3>(foot_t(2)));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("8 cu_ft", output.c_str());
 
   testing::internal::CaptureStdout();
-  wpi::print("{:.9}", units::math::cpow<4>(foot_t(2)));
+  wpi::util::print("{:.9}", wpi::units::math::cpow<4>(foot_t(2)));
   output = testing::internal::GetCapturedStdout();
   EXPECT_STREQ("0.138095597 m^4", output.c_str());
 
   // constants
   testing::internal::CaptureStdout();
-  wpi::print("{:.8}", constants::k_B);
+  wpi::util::print("{:.8}", constants::k_B);
   output = testing::internal::GetCapturedStdout();
 #if defined(_MSC_VER) && (_MSC_VER <= 1800)
   EXPECT_STREQ("1.3806485e-023 m^2 kg s^-2 K^-1", output.c_str());
@@ -1488,7 +1488,7 @@ TEST_F(UnitContainer, fmtlib) {
 #endif
 
   testing::internal::CaptureStdout();
-  wpi::print("{:.9}", constants::mu_B);
+  wpi::util::print("{:.9}", constants::mu_B);
   output = testing::internal::GetCapturedStdout();
 #if defined(_MSC_VER) && (_MSC_VER <= 1800)
   EXPECT_STREQ("9.27400999e-024 m^2 A", output.c_str());
@@ -1497,7 +1497,7 @@ TEST_F(UnitContainer, fmtlib) {
 #endif
 
   testing::internal::CaptureStdout();
-  wpi::print("{:.7}", constants::sigma);
+  wpi::util::print("{:.7}", constants::sigma);
   output = testing::internal::GetCapturedStdout();
 #if defined(_MSC_VER) && (_MSC_VER <= 1800)
   EXPECT_STREQ("5.670367e-008 kg s^-3 K^-4", output.c_str());
@@ -1509,10 +1509,10 @@ TEST_F(UnitContainer, fmtlib) {
 
 TEST_F(UnitContainer, to_string) {
   foot_t a(3.5);
-  EXPECT_STREQ("3.5 ft", units::length::to_string(a).c_str());
+  EXPECT_STREQ("3.5 ft", wpi::units::length::to_string(a).c_str());
 
   meter_t b(8);
-  EXPECT_STREQ("8 m", units::length::to_string(b).c_str());
+  EXPECT_STREQ("8 m", wpi::units::length::to_string(b).c_str());
 }
 
 TEST_F(UnitContainer, DISABLED_to_string_locale) {
@@ -1530,10 +1530,10 @@ TEST_F(UnitContainer, DISABLED_to_string_locale) {
   EXPECT_EQ(point_de, ',');
 
   kilometer_t de = 2_km;
-  EXPECT_STREQ("2 km", units::length::to_string(de).c_str());
+  EXPECT_STREQ("2 km", wpi::units::length::to_string(de).c_str());
 
   de = 2.5_km;
-  EXPECT_STREQ("2,5 km", units::length::to_string(de).c_str());
+  EXPECT_STREQ("2,5 km", wpi::units::length::to_string(de).c_str());
 
   // US locale
 #if defined(_MSC_VER)
@@ -1547,20 +1547,20 @@ TEST_F(UnitContainer, DISABLED_to_string_locale) {
   EXPECT_EQ(point_us, '.');
 
   mile_t us = 2_mi;
-  EXPECT_STREQ("2 mi", units::length::to_string(us).c_str());
+  EXPECT_STREQ("2 mi", wpi::units::length::to_string(us).c_str());
 
   us = 2.5_mi;
-  EXPECT_STREQ("2.5 mi", units::length::to_string(us).c_str());
+  EXPECT_STREQ("2.5 mi", wpi::units::length::to_string(us).c_str());
 }
 
 TEST_F(UnitContainer, nameAndAbbreviation) {
   foot_t a(3.5);
-  EXPECT_STREQ("ft", units::abbreviation(a));
+  EXPECT_STREQ("ft", wpi::units::abbreviation(a));
   EXPECT_STREQ("ft", a.abbreviation());
   EXPECT_STREQ("foot", a.name());
 
   meter_t b(8);
-  EXPECT_STREQ("m", units::abbreviation(b));
+  EXPECT_STREQ("m", wpi::units::abbreviation(b));
   EXPECT_STREQ("m", b.abbreviation());
   EXPECT_STREQ("meter", b.name());
 }
@@ -2033,17 +2033,17 @@ TEST_F(UnitConversion, acceleration) {
 TEST_F(UnitConversion, force) {
   double test;
 
-  test = convert<units::force::newton, units::force::newton>(1.0);
+  test = convert<wpi::units::force::newton, wpi::units::force::newton>(1.0);
   EXPECT_NEAR(1.0, test, 5.0e-5);
-  test = convert<units::force::newton, units::force::pounds>(6.3);
+  test = convert<wpi::units::force::newton, wpi::units::force::pounds>(6.3);
   EXPECT_NEAR(1.4163, test, 5.0e-5);
-  test = convert<units::force::newton, units::force::dynes>(5.0);
+  test = convert<wpi::units::force::newton, wpi::units::force::dynes>(5.0);
   EXPECT_NEAR(500000.0, test, 5.0e-5);
-  test = convert<units::force::newtons, units::force::poundals>(2.1);
+  test = convert<wpi::units::force::newtons, wpi::units::force::poundals>(2.1);
   EXPECT_NEAR(15.1893, test, 5.0e-5);
-  test = convert<units::force::newtons, units::force::kiloponds>(173.0);
+  test = convert<wpi::units::force::newtons, wpi::units::force::kiloponds>(173.0);
   EXPECT_NEAR(17.6411, test, 5.0e-5);
-  test = convert<units::force::poundals, units::force::kiloponds>(21.879);
+  test = convert<wpi::units::force::poundals, wpi::units::force::kiloponds>(21.879);
   EXPECT_NEAR(0.308451933, test, 5.0e-10);
 }
 
@@ -2635,16 +2635,16 @@ TEST_F(UnitConversion, data_transfer_rate) {
 
 TEST_F(UnitConversion, pi) {
   EXPECT_TRUE(
-      units::traits::is_dimensionless_unit_v<decltype(constants::pi)>);
-  EXPECT_TRUE(units::traits::is_dimensionless_unit_v<constants::PI>);
+      wpi::units::traits::is_dimensionless_unit_v<decltype(constants::pi)>);
+  EXPECT_TRUE(wpi::units::traits::is_dimensionless_unit_v<constants::PI>);
 
   // implicit conversion/arithmetic
   EXPECT_NEAR(3.14159, constants::pi, 5.0e-6);
   EXPECT_NEAR(6.28318531, (2 * constants::pi), 5.0e-9);
   EXPECT_NEAR(6.28318531, (constants::pi + constants::pi), 5.0e-9);
   EXPECT_NEAR(0.0, (constants::pi - constants::pi), 5.0e-9);
-  EXPECT_NEAR(31.00627668, units::math::cpow<3>(constants::pi), 5.0e-10);
-  EXPECT_NEAR(0.0322515344, (1.0 / units::math::cpow<3>(constants::pi)),
+  EXPECT_NEAR(31.00627668, wpi::units::math::cpow<3>(constants::pi), 5.0e-10);
+  EXPECT_NEAR(0.0322515344, (1.0 / wpi::units::math::cpow<3>(constants::pi)),
               5.0e-11);
   EXPECT_TRUE(constants::detail::PI_VAL == constants::pi);
   EXPECT_TRUE(1.0 != constants::pi);
@@ -2748,10 +2748,10 @@ TEST_F(UnitConversion, std_chrono) {
 }
 
 TEST_F(UnitConversion, squaredTemperature) {
-  using squared_celsius = units::compound_unit<squared<celsius>>;
-  using squared_celsius_t = units::unit_t<squared_celsius>;
+  using squared_celsius = wpi::units::compound_unit<squared<celsius>>;
+  using squared_celsius_t = wpi::units::unit_t<squared_celsius>;
   const squared_celsius_t right(100);
-  const celsius_t rootRight = units::math::sqrt(right);
+  const celsius_t rootRight = wpi::units::math::sqrt(right);
   EXPECT_EQ(celsius_t(10), rootRight);
 }
 
@@ -3127,8 +3127,8 @@ TEST_F(Constexpr, arithmetic) {
   constexpr auto result5(meter_t(1) - meter_t(1));
   constexpr auto result6(meter_t(1) * meter_t(1));
   constexpr auto result7(meter_t(1) / meter_t(1));
-  constexpr auto result8(units::math::cpow<2>(meter_t(2)));
-  constexpr auto result9 = units::math::cpow<3>(2_m);
+  constexpr auto result8(wpi::units::math::cpow<2>(meter_t(2)));
+  constexpr auto result9 = wpi::units::math::cpow<3>(2_m);
   constexpr auto result10 = 2_m * 2_m;
 
   EXPECT_TRUE(noexcept(result0));
@@ -3329,7 +3329,7 @@ TEST_F(CompileTimeArithmetic, unit_value_multiply) {
   EXPECT_TRUE((
       traits::is_unit_value_t_category_v<category::area_unit, productF2>));
 
-  using nRatio = unit_value_t<units::force::newton, 5>;
+  using nRatio = unit_value_t<wpi::units::force::newton, 5>;
 
   using productN = unit_value_multiply<nRatio, ftRatio>;
   EXPECT_FALSE(
@@ -3517,11 +3517,11 @@ TEST_F(CaseStudies, pythagoreanTheorum) {
 TEST(Units, overloadResolution) {
   // Slight hack to get nested functions
   struct Scope {
-    static bool f(units::meter_t) {
+    static bool f(wpi::units::meter_t) {
       return true;
     };
 
-    static bool f(units::second_t) {
+    static bool f(wpi::units::second_t) {
       return false;
     };
   };
diff --git a/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
index b2f1d03d03..dd5873e787 100644
--- a/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
@@ -35,22 +35,22 @@ using Kg_unit = decltype(1_V);
  * @param dt The simulation time.
  * @return The final state as a 2-vector of angle and angular velocity.
  */
-frc::Matrixd<2, 1> Simulate(Ks_unit Ks, Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
-                            units::radian_t currentAngle,
-                            units::radians_per_second_t currentVelocity,
-                            units::volt_t input, units::second_t dt) {
-  frc::Matrixd<2, 2> A{{0.0, 1.0}, {0.0, -Kv.value() / Ka.value()}};
-  frc::Matrixd<2, 1> B{{0.0}, {1.0 / Ka.value()}};
+wpi::math::Matrixd<2, 1> Simulate(Ks_unit Ks, Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
+                            wpi::units::radian_t currentAngle,
+                            wpi::units::radians_per_second_t currentVelocity,
+                            wpi::units::volt_t input, wpi::units::second_t dt) {
+  wpi::math::Matrixd<2, 2> A{{0.0, 1.0}, {0.0, -Kv.value() / Ka.value()}};
+  wpi::math::Matrixd<2, 1> B{{0.0}, {1.0 / Ka.value()}};
 
-  return frc::RK4(
-      [&](const frc::Matrixd<2, 1>& x,
-          const frc::Matrixd<1, 1>& u) -> frc::Matrixd<2, 1> {
-        frc::Matrixd<2, 1> c{0.0, -Ks.value() / Ka.value() * wpi::sgn(x(1)) -
+  return wpi::math::RK4(
+      [&](const wpi::math::Matrixd<2, 1>& x,
+          const wpi::math::Matrixd<1, 1>& u) -> wpi::math::Matrixd<2, 1> {
+        wpi::math::Matrixd<2, 1> c{0.0, -Ks.value() / Ka.value() * wpi::util::sgn(x(1)) -
                                       Kg.value() / Ka.value() * std::cos(x(0))};
         return A * x + B * u + c;
       },
-      frc::Matrixd<2, 1>{currentAngle.value(), currentVelocity.value()},
-      frc::Matrixd<1, 1>{input.value()}, dt);
+      wpi::math::Matrixd<2, 1>{currentAngle.value(), currentVelocity.value()},
+      wpi::math::Matrixd<1, 1>{input.value()}, dt);
 }
 
 /**
@@ -66,12 +66,12 @@ frc::Matrixd<2, 1> Simulate(Ks_unit Ks, Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
  * @param input The input voltage.
  * @param dt The simulation time.
  */
-void CalculateAndSimulate(const frc::ArmFeedforward& armFF, Ks_unit Ks,
+void CalculateAndSimulate(const wpi::math::ArmFeedforward& armFF, Ks_unit Ks,
                           Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
-                          units::radian_t currentAngle,
-                          units::radians_per_second_t currentVelocity,
-                          units::radians_per_second_t nextVelocity,
-                          units::second_t dt) {
+                          wpi::units::radian_t currentAngle,
+                          wpi::units::radians_per_second_t currentVelocity,
+                          wpi::units::radians_per_second_t nextVelocity,
+                          wpi::units::second_t dt) {
   auto input = armFF.Calculate(currentAngle, currentVelocity, nextVelocity);
   EXPECT_NEAR(
       nextVelocity.value(),
@@ -86,7 +86,7 @@ TEST(ArmFeedforwardTest, Calculate) {
   constexpr auto Kv = 1.5_V / 1_rad_per_s;
   constexpr auto Ka = 2_V / 1_rad_per_s_sq;
   constexpr auto Kg = 1_V;
-  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
 
   // Calculate(angle, angular velocity)
   EXPECT_NEAR(
@@ -112,7 +112,7 @@ TEST(ArmFeedforwardTest, CalculateIllConditionedModel) {
   constexpr auto Kv = 2.7167_V / 1_rad_per_s;
   constexpr auto Ka = 1e-2_V / 1_rad_per_s_sq;
   constexpr auto Kg = 0.2708_V;
-  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
 
   constexpr auto currentAngle = 1_rad;
   constexpr auto currentVelocity = 0.02_rad_per_s;
@@ -123,7 +123,7 @@ TEST(ArmFeedforwardTest, CalculateIllConditionedModel) {
   EXPECT_DOUBLE_EQ(
       armFF.Calculate(currentAngle, currentVelocity, nextVelocity).value(),
       (Ks + Kv * currentVelocity + Ka * averageAccel +
-       Kg * units::math::cos(currentAngle))
+       Kg * wpi::units::math::cos(currentAngle))
           .value());
 }
 
@@ -132,7 +132,7 @@ TEST(ArmFeedforwardTest, CalculateIllConditionedGradient) {
   constexpr auto Kv = 2.7167_V / 1_rad_per_s;
   constexpr auto Ka = 0.50799_V / 1_rad_per_s_sq;
   constexpr auto Kg = 0.2708_V;
-  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
 
   CalculateAndSimulate(armFF, Ks, Kv, Ka, Kg, 1_rad, 0.02_rad_per_s,
                        0_rad_per_s, 20_ms);
@@ -143,7 +143,7 @@ TEST(ArmFeedforwardTest, AchievableVelocity) {
   constexpr auto Kv = 1.5_V / 1_rad_per_s;
   constexpr auto Ka = 2_V / 1_rad_per_s_sq;
   constexpr auto Kg = 1_V;
-  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
 
   EXPECT_NEAR(armFF
                   .MaxAchievableVelocity(12_V, std::numbers::pi / 3 * 1_rad,
@@ -162,7 +162,7 @@ TEST(ArmFeedforwardTest, AchievableAcceleration) {
   constexpr auto Kv = 1.5_V / 1_rad_per_s;
   constexpr auto Ka = 2_V / 1_rad_per_s_sq;
   constexpr auto Kg = 1_V;
-  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, Kv, Ka};
 
   EXPECT_NEAR(armFF
                   .MaxAchievableAcceleration(12_V, std::numbers::pi / 3 * 1_rad,
@@ -191,7 +191,7 @@ TEST(ArmFeedforwardTest, NegativeGains) {
   constexpr auto Kv = 1.5_V / 1_rad_per_s;
   constexpr auto Ka = 2_V / 1_rad_per_s_sq;
   constexpr auto Kg = 1_V;
-  frc::ArmFeedforward armFF{Ks, Kg, -Kv, -Ka};
+  wpi::math::ArmFeedforward armFF{Ks, Kg, -Kv, -Ka};
 
   EXPECT_EQ(armFF.GetKv().value(), 0);
   EXPECT_EQ(armFF.GetKa().value(), 0);
diff --git a/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
index 4d0069cfb9..43242088a5 100644
--- a/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
@@ -7,13 +7,13 @@
 #include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangInputOutputTest, ShouldOutput) {
-  frc::BangBangController controller;
+  wpi::math::BangBangController controller;
 
   EXPECT_DOUBLE_EQ(controller.Calculate(0, 1), 1);
 }
 
 TEST(BangBangInputOutputTest, ShouldNotOutput) {
-  frc::BangBangController controller;
+  wpi::math::BangBangController controller;
 
   EXPECT_DOUBLE_EQ(controller.Calculate(1, 0), 0);
 }
diff --git a/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp b/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
index 9a2fbe60c7..f84b7ab080 100644
--- a/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangToleranceTest, InTolerance) {
-  frc::BangBangController controller{0.1};
+  wpi::math::BangBangController controller{0.1};
 
   controller.SetSetpoint(1);
   controller.Calculate(1);
@@ -15,7 +15,7 @@ TEST(BangBangToleranceTest, InTolerance) {
 }
 
 TEST(BangBangToleranceTest, OutOfTolerance) {
-  frc::BangBangController controller{0.1};
+  wpi::math::BangBangController controller{0.1};
 
   controller.SetSetpoint(1);
   controller.Calculate(0);
diff --git a/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
index 0c2a4c181f..2e2a26577c 100644
--- a/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 Vectord<2> Dynamics(const Vectord<2>& x, const Vectord<1>& u) {
   return Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}} * x +
@@ -20,7 +20,7 @@ Vectord<2> StateDynamics(const Vectord<2>& x) {
 }
 
 TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
-  frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{&Dynamics,
+  wpi::math::ControlAffinePlantInversionFeedforward<2, 1> feedforward{&Dynamics,
                                                                 20_ms};
 
   Vectord<2> r{2, 2};
@@ -30,7 +30,7 @@ TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
 }
 
 TEST(ControlAffinePlantInversionFeedforwardTest, CalculateState) {
-  frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
+  wpi::math::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
       &StateDynamics, Matrixd<2, 1>{{0.0}, {1.0}}, 20_ms};
 
   Vectord<2> r{2, 2};
@@ -39,4 +39,4 @@ TEST(ControlAffinePlantInversionFeedforwardTest, CalculateState) {
   EXPECT_NEAR(48, feedforward.Calculate(r, nextR)(0, 0), 1e-6);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
index 4fa9ba29e6..5ea7f9c631 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
@@ -8,11 +8,11 @@
 #include "wpi/math/system/plant/LinearSystemId.hpp"
 #include "wpi/units/math.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
   constexpr auto maxA = 2_mps_sq;
   constexpr auto maxAlpha = 2_rad_per_s_sq;
 
@@ -31,15 +31,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   {
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{12.0, 12.0};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
-    EXPECT_GT(units::math::abs(a), maxA);
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    EXPECT_GT(wpi::units::math::abs(a), maxA);
   }
   {
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{-12.0, 12.0};
-    units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
+    wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
                                               trackwidth.value()};
-    EXPECT_GT(units::math::abs(alpha), maxAlpha);
+    EXPECT_GT(wpi::units::math::abs(alpha), maxAlpha);
   }
 
   // Forward
@@ -47,19 +47,19 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
-    units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
                                               trackwidth.value()};
-    EXPECT_LE(units::math::abs(a), maxA);
-    EXPECT_LE(units::math::abs(alpha), maxAlpha);
+    EXPECT_LE(wpi::units::math::abs(a), maxA);
+    EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
   }
 
   // Backward
@@ -67,19 +67,19 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
-    units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
                                               trackwidth.value()};
-    EXPECT_LE(units::math::abs(a), maxA);
-    EXPECT_LE(units::math::abs(alpha), maxAlpha);
+    EXPECT_LE(wpi::units::math::abs(a), maxA);
+    EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
   }
 
   // Rotate CCW
@@ -87,25 +87,25 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
-    units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
                                               trackwidth.value()};
-    EXPECT_LE(units::math::abs(a), maxA);
-    EXPECT_LE(units::math::abs(alpha), maxAlpha);
+    EXPECT_LE(wpi::units::math::abs(a), maxA);
+    EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
   }
 }
 
 TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
@@ -126,9 +126,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
@@ -143,9 +143,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
@@ -160,9 +160,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
@@ -173,7 +173,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
 
 TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
   constexpr auto minA = -1_mps_sq;
   constexpr auto maxA = 2_mps_sq;
   constexpr auto maxAlpha = 2_rad_per_s_sq;
@@ -193,9 +193,9 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   {
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{12.0, 12.0};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
-    EXPECT_GT(units::math::abs(a), maxA);
-    EXPECT_GT(units::math::abs(a), -minA);
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    EXPECT_GT(wpi::units::math::abs(a), maxA);
+    EXPECT_GT(wpi::units::math::abs(a), -minA);
   }
 
   // a should always be within [minA, maxA]
@@ -204,15 +204,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
     EXPECT_GE(a, minA);
     EXPECT_LE(a, maxA);
   }
@@ -222,15 +222,15 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   for (auto t = 0_s; t < 3_s; t += dt) {
     x = plant.CalculateX(x, u, dt);
     auto [left, right] =
-        accelLimiter.Calculate(units::meters_per_second_t{xAccelLimiter(0)},
-                               units::meters_per_second_t{xAccelLimiter(1)},
-                               units::volt_t{u(0)}, units::volt_t{u(1)});
+        accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
+                               wpi::units::meters_per_second_t{xAccelLimiter(1)},
+                               wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
     xAccelLimiter =
         plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
 
     Vectord<2> accels =
         plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
-    units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
+    wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
     EXPECT_GE(a, minA);
     EXPECT_LE(a, maxA);
   }
@@ -254,4 +254,4 @@ TEST(DifferentialDriveAccelerationLimiterTest, MinAccelGreaterThanMaxAccel) {
       std::invalid_argument);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
index 56bdc0b0b2..c08962358b 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
@@ -20,12 +20,12 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
   constexpr auto kVAngular = 1_V / 1_rad_per_s;
   constexpr auto kAAngular = 1_V / 1_rad_per_s_sq;
   constexpr auto trackwidth = 1_m;
-  constexpr units::second_t dt = 20_ms;
+  constexpr wpi::units::second_t dt = 20_ms;
 
-  frc::DifferentialDriveFeedforward differentialDriveFeedforward{
+  wpi::math::DifferentialDriveFeedforward differentialDriveFeedforward{
       kVLinear, kALinear, kVAngular, kAAngular, trackwidth};
-  frc::LinearSystem<2, 2, 2> plant =
-      frc::LinearSystemId::IdentifyDrivetrainSystem(
+  wpi::math::LinearSystem<2, 2, 2> plant =
+      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
           kVLinear, kALinear, kVAngular, kAAngular, trackwidth);
   for (auto currentLeftVelocity = -4_mps; currentLeftVelocity <= 4_mps;
        currentLeftVelocity += 2_mps) {
@@ -54,12 +54,12 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithoutTrackwidth) {
   constexpr auto kALinear = 1_V / 1_mps_sq;
   constexpr auto kVAngular = 1_V / 1_mps;
   constexpr auto kAAngular = 1_V / 1_mps_sq;
-  constexpr units::second_t dt = 20_ms;
+  constexpr wpi::units::second_t dt = 20_ms;
 
-  frc::DifferentialDriveFeedforward differentialDriveFeedforward{
+  wpi::math::DifferentialDriveFeedforward differentialDriveFeedforward{
       kVLinear, kALinear, kVAngular, kAAngular};
-  frc::LinearSystem<2, 2, 2> plant =
-      frc::LinearSystemId::IdentifyDrivetrainSystem(kVLinear, kALinear,
+  wpi::math::LinearSystem<2, 2, 2> plant =
+      wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVLinear, kALinear,
                                                     kVAngular, kAAngular);
   for (auto currentLeftVelocity = -4_mps; currentLeftVelocity <= 4_mps;
        currentLeftVelocity += 2_mps) {
diff --git a/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
index 5c3bfc395d..3ef46491aa 100644
--- a/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
@@ -19,24 +19,24 @@ static constexpr auto Ka = 2_V * 1_s * 1_s / 1_m;
 static constexpr auto Kg = 1_V;
 
 TEST(ElevatorFeedforwardTest, Calculate) {
-  frc::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
+  wpi::math::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
 
   EXPECT_NEAR(elevatorFF.Calculate(0_m / 1_s).value(), Kg.value(), 0.002);
   EXPECT_NEAR(elevatorFF.Calculate(2_m / 1_s).value(), 4.5, 0.002);
 
-  frc::Matrixd<1, 1> A{-Kv.value() / Ka.value()};
-  frc::Matrixd<1, 1> B{1.0 / Ka.value()};
-  constexpr units::second_t dt = 20_ms;
-  frc::LinearPlantInversionFeedforward<1, 1> plantInversion{A, B, dt};
+  wpi::math::Matrixd<1, 1> A{-Kv.value() / Ka.value()};
+  wpi::math::Matrixd<1, 1> B{1.0 / Ka.value()};
+  constexpr wpi::units::second_t dt = 20_ms;
+  wpi::math::LinearPlantInversionFeedforward<1, 1> plantInversion{A, B, dt};
 
-  frc::Vectord<1> r{2.0};
-  frc::Vectord<1> nextR{3.0};
+  wpi::math::Vectord<1> r{2.0};
+  wpi::math::Vectord<1> nextR{3.0};
   EXPECT_NEAR(plantInversion.Calculate(r, nextR)(0) + Ks.value() + Kg.value(),
               elevatorFF.Calculate(2_mps, 3_mps).value(), 0.002);
 }
 
 TEST(ElevatorFeedforwardTest, AchievableVelocity) {
-  frc::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
+  wpi::math::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
   EXPECT_NEAR(elevatorFF.MaxAchievableVelocity(11_V, 1_m / 1_s / 1_s).value(),
               5, 0.002);
   EXPECT_NEAR(elevatorFF.MinAchievableVelocity(11_V, 1_m / 1_s / 1_s).value(),
@@ -44,7 +44,7 @@ TEST(ElevatorFeedforwardTest, AchievableVelocity) {
 }
 
 TEST(ElevatorFeedforwardTest, AchievableAcceleration) {
-  frc::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
+  wpi::math::ElevatorFeedforward elevatorFF{Ks, Kg, Kv, Ka};
   EXPECT_NEAR(elevatorFF.MaxAchievableAcceleration(12_V, 2_m / 1_s).value(),
               3.75, 0.002);
   EXPECT_NEAR(elevatorFF.MaxAchievableAcceleration(12_V, -2_m / 1_s).value(),
@@ -56,7 +56,7 @@ TEST(ElevatorFeedforwardTest, AchievableAcceleration) {
 }
 
 TEST(ElevatorFeedforwardTest, NegativeGains) {
-  frc::ElevatorFeedforward elevatorFF{Ks, Kg, -Kv, -Ka};
+  wpi::math::ElevatorFeedforward elevatorFF{Ks, Kg, -Kv, -Ka};
   EXPECT_EQ(elevatorFF.GetKv().value(), 0);
   EXPECT_EQ(elevatorFF.GetKa().value(), 0);
 }
diff --git a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
index 7f43e2a80d..97472a9494 100644
--- a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
@@ -7,10 +7,10 @@
 #include "wpi/math/controller/ImplicitModelFollower.hpp"
 #include "wpi/math/system/plant/LinearSystemId.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 TEST(ImplicitModelFollowerTest, SameModel) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
@@ -54,7 +54,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
 }
 
 TEST(ImplicitModelFollowerTest, SlowerRefModel) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
@@ -106,4 +106,4 @@ TEST(ImplicitModelFollowerTest, SlowerRefModel) {
   }
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
index 406ce3c3af..2f2fa11bd6 100644
--- a/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
@@ -14,10 +14,10 @@
 #include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
-static constexpr units::meter_t kTolerance{1 / 12.0};
-static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
+static constexpr wpi::units::meter_t kTolerance{1 / 12.0};
+static constexpr wpi::units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
                                                    180.0};
 
 /**
@@ -45,14 +45,14 @@ static constexpr auto kLinearV = 3.02_V / 1_mps;
 static constexpr auto kLinearA = 0.642_V / 1_mps_sq;
 static constexpr auto kAngularV = 1.382_V / 1_mps;
 static constexpr auto kAngularA = 0.08495_V / 1_mps_sq;
-static auto plant = frc::LinearSystemId::IdentifyDrivetrainSystem(
+static auto plant = wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
     kLinearV, kLinearA, kAngularV, kAngularA);
 static constexpr auto kTrackwidth = 0.9_m;
 
-frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
+wpi::math::Vectord<5> Dynamics(const wpi::math::Vectord<5>& x, const wpi::math::Vectord<2>& u) {
   double v = (x(State::kLeftVelocity) + x(State::kRightVelocity)) / 2.0;
 
-  frc::Vectord<5> xdot;
+  wpi::math::Vectord<5> xdot;
   xdot(0) = v * std::cos(x(State::kHeading));
   xdot(1) = v * std::sin(x(State::kHeading));
   xdot(2) = ((x(State::kRightVelocity) - x(State::kLeftVelocity)) / kTrackwidth)
@@ -62,18 +62,18 @@ frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
 }
 
 TEST(LTVDifferentialDriveControllerTest, ReachesReference) {
-  constexpr units::second_t kDt = 20_ms;
+  constexpr wpi::units::second_t kDt = 20_ms;
 
-  frc::LTVDifferentialDriveController controller{
+  wpi::math::LTVDifferentialDriveController controller{
       plant, kTrackwidth, {0.0625, 0.125, 2.5, 0.95, 0.95}, {12.0, 12.0}, kDt};
-  frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
+  wpi::math::Pose2d robotPose{2.7_m, 23_m, 0_deg};
 
-  auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
-                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+  auto waypoints = std::vector{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               wpi::math::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
-  frc::Vectord<5> x = frc::Vectord<5>::Zero();
+  wpi::math::Vectord<5> x = wpi::math::Vectord<5>::Zero();
   x(State::kX) = robotPose.X().value();
   x(State::kY) = robotPose.Y().value();
   x(State::kHeading) = robotPose.Rotation().Radians().value();
@@ -82,21 +82,21 @@ TEST(LTVDifferentialDriveControllerTest, ReachesReference) {
   for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
     auto state = trajectory.Sample(kDt * i);
     robotPose =
-        frc::Pose2d{units::meter_t{x(State::kX)}, units::meter_t{x(State::kY)},
-                    units::radian_t{x(State::kHeading)}};
+        wpi::math::Pose2d{wpi::units::meter_t{x(State::kX)}, wpi::units::meter_t{x(State::kY)},
+                    wpi::units::radian_t{x(State::kHeading)}};
     auto [leftVoltage, rightVoltage] = controller.Calculate(
-        robotPose, units::meters_per_second_t{x(State::kLeftVelocity)},
-        units::meters_per_second_t{x(State::kRightVelocity)}, state);
+        robotPose, wpi::units::meters_per_second_t{x(State::kLeftVelocity)},
+        wpi::units::meters_per_second_t{x(State::kRightVelocity)}, state);
 
-    x = frc::RKDP(&Dynamics, x,
-                  frc::Vectord<2>{leftVoltage.value(), rightVoltage.value()},
+    x = wpi::math::RKDP(&Dynamics, x,
+                  wpi::math::Vectord<2>{leftVoltage.value(), rightVoltage.value()},
                   kDt);
   }
 
   auto& endPose = trajectory.States().back().pose;
   EXPECT_NEAR_UNITS(endPose.X(), robotPose.X(), kTolerance);
   EXPECT_NEAR_UNITS(endPose.Y(), robotPose.Y(), kTolerance);
-  EXPECT_NEAR_UNITS(frc::AngleModulus(endPose.Rotation().Radians() -
+  EXPECT_NEAR_UNITS(wpi::math::AngleModulus(endPose.Rotation().Radians() -
                                       robotPose.Rotation().Radians()),
                     0_rad, kAngularTolerance);
 }
diff --git a/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
index db2482137d..ae92929172 100644
--- a/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
@@ -10,21 +10,21 @@
 #include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
-static constexpr units::meter_t kTolerance{1 / 12.0};
-static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
+static constexpr wpi::units::meter_t kTolerance{1 / 12.0};
+static constexpr wpi::units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
                                                    180.0};
 
 TEST(LTVUnicycleControllerTest, ReachesReference) {
-  constexpr units::second_t kDt = 20_ms;
+  constexpr wpi::units::second_t kDt = 20_ms;
 
-  frc::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
-  frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
+  wpi::math::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
+  wpi::math::Pose2d robotPose{2.7_m, 23_m, 0_deg};
 
-  auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
-                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+  auto waypoints = std::vector{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               wpi::math::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
   auto totalTime = trajectory.TotalTime();
@@ -33,13 +33,13 @@ TEST(LTVUnicycleControllerTest, ReachesReference) {
     auto [vx, vy, omega] = controller.Calculate(robotPose, state);
     static_cast<void>(vy);
 
-    robotPose = robotPose + frc::Twist2d{vx * kDt, 0_m, omega * kDt}.Exp();
+    robotPose = robotPose + wpi::math::Twist2d{vx * kDt, 0_m, omega * kDt}.Exp();
   }
 
   auto& endPose = trajectory.States().back().pose;
   EXPECT_NEAR_UNITS(endPose.X(), robotPose.X(), kTolerance);
   EXPECT_NEAR_UNITS(endPose.Y(), robotPose.Y(), kTolerance);
-  EXPECT_NEAR_UNITS(frc::AngleModulus(endPose.Rotation().Radians() -
+  EXPECT_NEAR_UNITS(wpi::math::AngleModulus(endPose.Rotation().Radians() -
                                       robotPose.Rotation().Radians()),
                     0_rad, kAngularTolerance);
 }
diff --git a/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
index eadce768de..e5f877e974 100644
--- a/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
@@ -10,13 +10,13 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 TEST(LinearPlantInversionFeedforwardTest, Calculate) {
   Matrixd<2, 2> A{{1, 0}, {0, 1}};
   Matrixd<2, 1> B{0, 1};
 
-  frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B, 20_ms};
+  wpi::math::LinearPlantInversionFeedforward<2, 1> feedforward{A, B, 20_ms};
 
   Vectord<2> r{2, 2};
   Vectord<2> nextR{3, 3};
@@ -24,4 +24,4 @@ TEST(LinearPlantInversionFeedforwardTest, Calculate) {
   EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
index f4f8440229..aa9372faba 100644
--- a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/math/system/plant/LinearSystemId.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
   LinearSystem<2, 1, 1> plant = [] {
@@ -28,7 +28,7 @@ TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
     // Gear ratio
     constexpr double G = 40.0 / 40.0;
 
-    return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
+    return wpi::math::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
   Matrixd<1, 2> K =
       LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5_ms}.K();
@@ -50,7 +50,7 @@ TEST(LinearQuadraticRegulatorTest, ArmGains) {
     // Gear ratio
     constexpr double G = 100.0;
 
-    return frc::LinearSystemId::SingleJointedArmSystem(motors,
+    return wpi::math::LinearSystemId::SingleJointedArmSystem(motors,
                                                        1.0 / 3.0 * m * r * r, G)
         .Slice(0);
   }();
@@ -76,7 +76,7 @@ TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {
     // Gear ratio
     constexpr double G = 14.67;
 
-    return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
+    return wpi::math::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
   Matrixd<1, 2> K =
       LinearQuadraticRegulator<2, 1>{plant, {0.1, 0.2}, {12.0}, 20_ms}.K();
@@ -103,7 +103,7 @@ template <int States, int Inputs>
 Matrixd<Inputs, States> GetImplicitModelFollowingK(
     const Matrixd<States, States>& A, const Matrixd<States, Inputs>& B,
     const Matrixd<States, States>& Q, const Matrixd<Inputs, Inputs>& R,
-    const Matrixd<States, States>& Aref, units::second_t dt) {
+    const Matrixd<States, States>& Aref, wpi::units::second_t dt) {
   // Discretize real dynamics
   Matrixd<States, States> discA;
   Matrixd<States, Inputs> discB;
@@ -178,7 +178,7 @@ TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {
     // Gear ratio
     constexpr double G = 14.67;
 
-    return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
+    return wpi::math::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
   LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 20_ms};
 
@@ -188,4 +188,4 @@ TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {
   EXPECT_NEAR(0.07904881, controller.K(0, 1), 1e-3);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
index c91bcc9a6c..aa0fb9a227 100644
--- a/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/controller/PIDController.hpp"
 
 TEST(PIDInputOutputTest, ContinuousInput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetP(1);
   controller.EnableContinuousInput(-180, 180);
@@ -18,7 +18,7 @@ TEST(PIDInputOutputTest, ContinuousInput) {
 }
 
 TEST(PIDInputOutputTest, ProportionalGainOutput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetP(4);
 
@@ -26,7 +26,7 @@ TEST(PIDInputOutputTest, ProportionalGainOutput) {
 }
 
 TEST(PIDInputOutputTest, IntegralGainOutput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetI(4);
 
@@ -40,7 +40,7 @@ TEST(PIDInputOutputTest, IntegralGainOutput) {
 }
 
 TEST(PIDInputOutputTest, DerivativeGainOutput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetD(4);
 
@@ -51,7 +51,7 @@ TEST(PIDInputOutputTest, DerivativeGainOutput) {
 }
 
 TEST(PIDInputOutputTest, IZoneNoOutput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetI(1);
   controller.SetIZone(1);
@@ -62,7 +62,7 @@ TEST(PIDInputOutputTest, IZoneNoOutput) {
 }
 
 TEST(PIDInputOutputTest, IZoneOutput) {
-  frc::PIDController controller{0.0, 0.0, 0.0};
+  wpi::math::PIDController controller{0.0, 0.0, 0.0};
 
   controller.SetI(1);
   controller.SetIZone(1);
diff --git a/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp b/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
index 5b13d5e6ef..dc46cc5e88 100644
--- a/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
@@ -11,14 +11,14 @@ static constexpr double kRange = 200;
 static constexpr double kTolerance = 10.0;
 
 TEST(PIDToleranceTest, InitialTolerance) {
-  frc::PIDController controller{0.5, 0.0, 0.0};
+  wpi::math::PIDController controller{0.5, 0.0, 0.0};
   controller.EnableContinuousInput(-kRange / 2, kRange / 2);
 
   EXPECT_FALSE(controller.AtSetpoint());
 }
 
 TEST(PIDToleranceTest, AbsoluteTolerance) {
-  frc::PIDController controller{0.5, 0.0, 0.0};
+  wpi::math::PIDController controller{0.5, 0.0, 0.0};
   controller.EnableContinuousInput(-kRange / 2, kRange / 2);
 
   EXPECT_FALSE(controller.AtSetpoint());
diff --git a/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
index 23e9940e1f..77b943ccac 100644
--- a/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
@@ -12,86 +12,86 @@
 #include "wpi/units/angular_velocity.hpp"
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput1) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetP(1);
   controller.EnableContinuousInput(-180_deg, 180_deg);
 
-  static constexpr units::degree_t kSetpoint{-179.0};
-  static constexpr units::degree_t kMeasurement{-179.0};
-  static constexpr units::degree_t kGoal{179.0};
+  static constexpr wpi::units::degree_t kSetpoint{-179.0};
+  static constexpr wpi::units::degree_t kMeasurement{-179.0};
+  static constexpr wpi::units::degree_t kGoal{179.0};
 
   controller.Reset(kSetpoint);
   EXPECT_LT(controller.Calculate(kMeasurement, kGoal), 0.0);
 
   // Error must be less than half the input range at all times
-  EXPECT_LT(units::math::abs(controller.GetSetpoint().position - kMeasurement),
+  EXPECT_LT(wpi::units::math::abs(controller.GetSetpoint().position - kMeasurement),
             180_deg);
 }
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput2) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetP(1);
-  controller.EnableContinuousInput(-units::radian_t{std::numbers::pi},
-                                   units::radian_t{std::numbers::pi});
+  controller.EnableContinuousInput(-wpi::units::radian_t{std::numbers::pi},
+                                   wpi::units::radian_t{std::numbers::pi});
 
-  static constexpr units::radian_t kSetpoint{-3.4826633343199735};
-  static constexpr units::radian_t kMeasurement{-3.1352207333939606};
-  static constexpr units::radian_t kGoal{-3.534162788601621};
+  static constexpr wpi::units::radian_t kSetpoint{-3.4826633343199735};
+  static constexpr wpi::units::radian_t kMeasurement{-3.1352207333939606};
+  static constexpr wpi::units::radian_t kGoal{-3.534162788601621};
 
   controller.Reset(kSetpoint);
   EXPECT_LT(controller.Calculate(kMeasurement, kGoal), 0.0);
 
   // Error must be less than half the input range at all times
-  EXPECT_LT(units::math::abs(controller.GetSetpoint().position - kMeasurement),
-            units::radian_t{std::numbers::pi});
+  EXPECT_LT(wpi::units::math::abs(controller.GetSetpoint().position - kMeasurement),
+            wpi::units::radian_t{std::numbers::pi});
 }
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput3) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetP(1);
-  controller.EnableContinuousInput(-units::radian_t{std::numbers::pi},
-                                   units::radian_t{std::numbers::pi});
+  controller.EnableContinuousInput(-wpi::units::radian_t{std::numbers::pi},
+                                   wpi::units::radian_t{std::numbers::pi});
 
-  static constexpr units::radian_t kSetpoint{-3.5176604690006377};
-  static constexpr units::radian_t kMeasurement{3.1191729343822456};
-  static constexpr units::radian_t kGoal{2.709680418117445};
+  static constexpr wpi::units::radian_t kSetpoint{-3.5176604690006377};
+  static constexpr wpi::units::radian_t kMeasurement{3.1191729343822456};
+  static constexpr wpi::units::radian_t kGoal{2.709680418117445};
 
   controller.Reset(kSetpoint);
   EXPECT_LT(controller.Calculate(kMeasurement, kGoal), 0.0);
 
   // Error must be less than half the input range at all times
-  EXPECT_LT(units::math::abs(controller.GetSetpoint().position - kMeasurement),
-            units::radian_t{std::numbers::pi});
+  EXPECT_LT(wpi::units::math::abs(controller.GetSetpoint().position - kMeasurement),
+            wpi::units::radian_t{std::numbers::pi});
 }
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput4) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetP(1);
   controller.EnableContinuousInput(0_rad,
-                                   units::radian_t{2.0 * std::numbers::pi});
+                                   wpi::units::radian_t{2.0 * std::numbers::pi});
 
-  static constexpr units::radian_t kSetpoint{2.78};
-  static constexpr units::radian_t kMeasurement{3.12};
-  static constexpr units::radian_t kGoal{2.71};
+  static constexpr wpi::units::radian_t kSetpoint{2.78};
+  static constexpr wpi::units::radian_t kMeasurement{3.12};
+  static constexpr wpi::units::radian_t kGoal{2.71};
 
   controller.Reset(kSetpoint);
   EXPECT_LT(controller.Calculate(kMeasurement, kGoal), 0.0);
 
   // Error must be less than half the input range at all times
-  EXPECT_LT(units::math::abs(controller.GetSetpoint().position - kMeasurement),
-            units::radian_t{std::numbers::pi});
+  EXPECT_LT(wpi::units::math::abs(controller.GetSetpoint().position - kMeasurement),
+            wpi::units::radian_t{std::numbers::pi});
 }
 
 TEST(ProfiledPIDInputOutputTest, ProportionalGainOutput) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetP(4);
@@ -100,7 +100,7 @@ TEST(ProfiledPIDInputOutputTest, ProportionalGainOutput) {
 }
 
 TEST(ProfiledPIDInputOutputTest, IntegralGainOutput) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetI(4);
@@ -115,7 +115,7 @@ TEST(ProfiledPIDInputOutputTest, IntegralGainOutput) {
 }
 
 TEST(ProfiledPIDInputOutputTest, DerivativeGainOutput) {
-  frc::ProfiledPIDController<units::degree> controller{
+  wpi::math::ProfiledPIDController<wpi::units::degree> controller{
       0.0, 0.0, 0.0, {360_deg_per_s, 180_deg_per_s_sq}};
 
   controller.SetD(4);
diff --git a/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
index 8545e663ca..8531adc129 100644
--- a/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
@@ -14,19 +14,19 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/velocity.hpp"
 
-namespace frc {
+namespace wpi::math {
 
 TEST(SimpleMotorFeedforwardTest, Calculate) {
   constexpr auto Ks = 0.5_V;
   constexpr auto Kv = 3_V / 1_mps;
   constexpr auto Ka = 0.6_V / 1_mps_sq;
-  constexpr units::second_t dt = 20_ms;
+  constexpr wpi::units::second_t dt = 20_ms;
 
   constexpr Matrixd<1, 1> A{{-Kv.value() / Ka.value()}};
   constexpr Matrixd<1, 1> B{{1.0 / Ka.value()}};
 
-  frc::LinearPlantInversionFeedforward<1, 1> plantInversion{A, B, dt};
-  frc::SimpleMotorFeedforward<units::meter> simpleMotor{Ks, Kv, Ka};
+  wpi::math::LinearPlantInversionFeedforward<1, 1> plantInversion{A, B, dt};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> simpleMotor{Ks, Kv, Ka};
 
   constexpr Vectord<1> r{{2.0}};
   constexpr Vectord<1> nextR{{3.0}};
@@ -46,11 +46,11 @@ TEST(SimpleMotorFeedforwardTest, NegativeGains) {
   constexpr auto Ks = 0.5_V;
   constexpr auto Kv = -3_V / 1_mps;
   constexpr auto Ka = -0.6_V / 1_mps_sq;
-  constexpr units::second_t dt = 0_ms;
-  frc::SimpleMotorFeedforward<units::meter> simpleMotor{Ks, Kv, Ka, dt};
+  constexpr wpi::units::second_t dt = 0_ms;
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> simpleMotor{Ks, Kv, Ka, dt};
   EXPECT_EQ(simpleMotor.GetKv().value(), 0);
   EXPECT_EQ(simpleMotor.GetKa().value(), 0);
   EXPECT_EQ(simpleMotor.GetDt().value(), 0.02);
 }
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
index 7e7f1d1e90..aa73850915 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/controller/ArmFeedforward.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -19,8 +19,8 @@ const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
 }  // namespace
 
 TEST(ArmFeedforwardProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
index ded81ce33c..e171790b3c 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "../../ProtoTestBase.hpp"
 #include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct DifferentialDriveFeedforwardProtoTestData {
   using Type = DifferentialDriveFeedforward;
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
index 0aba8c90e1..f79cfbd40a 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
@@ -7,19 +7,19 @@
 #include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using ProtoType = wpi::Protobuf<frc::DifferentialDriveWheelVoltages>;
+using ProtoType = wpi::util::Protobuf<wpi::math::DifferentialDriveWheelVoltages>;
 
 const DifferentialDriveWheelVoltages kExpectedData =
     DifferentialDriveWheelVoltages{0.174_V, 0.191_V};
 }  // namespace
 
 TEST(DifferentialDriveWheelVoltagesProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
index 483d9986cc..c48c93c8e7 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/controller/ElevatorFeedforward.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -20,8 +20,8 @@ constexpr ElevatorFeedforward kExpectedData{Ks, Kg, Kv, Ka};
 }  // namespace
 
 TEST(ElevatorFeedforwardProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
index 627f0ba25e..8babb9fad9 100644
--- a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
@@ -10,15 +10,15 @@
 #include "wpi/units/acceleration.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 template <typename T>
 struct SimpleMotorFeedforwardProtoTestData {
   using Type = SimpleMotorFeedforward<T>;
 
   inline static const Type kTestData = {
-      units::volt_t{0.4}, units::volt_t{4.0} / (units::unit_t<T>{1} / 1_s),
-      units::volt_t{0.7} / (units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
+      wpi::units::volt_t{0.4}, wpi::units::volt_t{4.0} / (wpi::units::unit_t<T>{1} / 1_s),
+      wpi::units::volt_t{0.7} / (wpi::units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetKs().value(), data.GetKs().value());
@@ -30,10 +30,10 @@ struct SimpleMotorFeedforwardProtoTestData {
 
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardMeters, ProtoTest,
-    SimpleMotorFeedforwardProtoTestData<units::meters>);
+    SimpleMotorFeedforwardProtoTestData<wpi::units::meters>);
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardFeet, ProtoTest,
-    SimpleMotorFeedforwardProtoTestData<units::feet>);
+    SimpleMotorFeedforwardProtoTestData<wpi::units::feet>);
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardRadians, ProtoTest,
-    SimpleMotorFeedforwardProtoTestData<units::radians>);
+    SimpleMotorFeedforwardProtoTestData<wpi::units::radians>);
diff --git a/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
index 5106c5e4cf..db91eab691 100644
--- a/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/controller/ArmFeedforward.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::ArmFeedforward>;
+using StructType = wpi::util::Struct<wpi::math::ArmFeedforward>;
 
 static constexpr auto Ks = 1.91_V;
 static constexpr auto Kg = 2.29_V;
diff --git a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
index c702a35040..cda91bc46d 100644
--- a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
@@ -7,7 +7,7 @@
 #include "../../StructTestBase.hpp"
 #include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct DifferentialDriveFeedforwardStructTestData {
   using Type = DifferentialDriveFeedforward;
diff --git a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
index 13679b84b7..bc0b762540 100644
--- a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelVoltages>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelVoltages>;
 const DifferentialDriveWheelVoltages kExpectedData{
     DifferentialDriveWheelVoltages{0.174_V, 0.191_V}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
index b324271c6c..49686726e2 100644
--- a/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/controller/ElevatorFeedforward.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::ElevatorFeedforward>;
+using StructType = wpi::util::Struct<wpi::math::ElevatorFeedforward>;
 
 static constexpr auto Ks = 1.91_V;
 static constexpr auto Kg = 2.29_V;
diff --git a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
index ede414fc04..2eeb8152fd 100644
--- a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
@@ -10,15 +10,15 @@
 #include "wpi/units/acceleration.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 template <typename T>
 struct SimpleMotorFeedforwardStructTestData {
   using Type = SimpleMotorFeedforward<T>;
 
   inline static const Type kTestData = {
-      units::volt_t{0.4}, units::volt_t{4.0} / (units::unit_t<T>{1} / 1_s),
-      units::volt_t{0.7} / (units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
+      wpi::units::volt_t{0.4}, wpi::units::volt_t{4.0} / (wpi::units::unit_t<T>{1} / 1_s),
+      wpi::units::volt_t{0.7} / (wpi::units::unit_t<T>{1} / 1_s / 1_s), 25_ms};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetKs().value(), data.GetKs().value());
@@ -30,10 +30,10 @@ struct SimpleMotorFeedforwardStructTestData {
 
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardMeters, StructTest,
-    SimpleMotorFeedforwardStructTestData<units::meters>);
+    SimpleMotorFeedforwardStructTestData<wpi::units::meters>);
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardFeet, StructTest,
-    SimpleMotorFeedforwardStructTestData<units::feet>);
+    SimpleMotorFeedforwardStructTestData<wpi::units::feet>);
 INSTANTIATE_TYPED_TEST_SUITE_P(
     SimpleMotorFeedforwardRadians, StructTest,
-    SimpleMotorFeedforwardStructTestData<units::radians>);
+    SimpleMotorFeedforwardStructTestData<wpi::units::radians>);
diff --git a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
index 5d9d8773d2..eee38e77d8 100644
--- a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 
 TEST(AngleStatisticsTest, Mean) {
-  frc::Matrixd<3, 3> sigmas{
+  wpi::math::Matrixd<3, 3> sigmas{
       {1, 1.2, 0},
       {359 * std::numbers::pi / 180, 3 * std::numbers::pi / 180, 0},
       {1, 2, 0}};
@@ -19,7 +19,7 @@ TEST(AngleStatisticsTest, Mean) {
   weights.fill(1.0 / sigmas.cols());
 
   EXPECT_TRUE(Eigen::Vector3d(0.7333333, 0.01163323, 1)
-                  .isApprox(frc::AngleMean<3, 3>(sigmas, weights, 1), 1e-3));
+                  .isApprox(wpi::math::AngleMean<3, 3>(sigmas, weights, 1), 1e-3));
 }
 
 TEST(AngleStatisticsTest, Mean_DynamicSize) {
@@ -32,7 +32,7 @@ TEST(AngleStatisticsTest, Mean_DynamicSize) {
   weights.fill(1.0 / sigmas.cols());
 
   EXPECT_TRUE(Eigen::Vector3d(0.7333333, 0.01163323, 1)
-                  .isApprox(frc::AngleMean<Eigen::Dynamic, Eigen::Dynamic>(
+                  .isApprox(wpi::math::AngleMean<Eigen::Dynamic, Eigen::Dynamic>(
                                 sigmas, weights, 1),
                             1e-3));
 }
@@ -41,7 +41,7 @@ TEST(AngleStatisticsTest, Residual) {
   Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
   Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
 
-  EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
+  EXPECT_TRUE(wpi::math::AngleResidual<3>(a, b, 1).isApprox(
       Eigen::Vector3d{0, 2 * std::numbers::pi / 180, 1}));
 }
 
@@ -49,7 +49,7 @@ TEST(AngleStatisticsTest, Residual_DynamicSize) {
   Eigen::VectorXd a{{1, 1 * std::numbers::pi / 180, 2}};
   Eigen::VectorXd b{{1, 359 * std::numbers::pi / 180, 1}};
 
-  EXPECT_TRUE(frc::AngleResidual<Eigen::Dynamic>(a, b, 1).isApprox(
+  EXPECT_TRUE(wpi::math::AngleResidual<Eigen::Dynamic>(a, b, 1).isApprox(
       Eigen::VectorXd{{0, 2 * std::numbers::pi / 180, 1}}));
 }
 
@@ -57,13 +57,13 @@ TEST(AngleStatisticsTest, Add) {
   Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
   Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
 
-  EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d{2, 0, 3}));
+  EXPECT_TRUE(wpi::math::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d{2, 0, 3}));
 }
 
 TEST(AngleStatisticsTest, Add_DynamicSize) {
   Eigen::VectorXd a{{1, 1 * std::numbers::pi / 180, 2}};
   Eigen::VectorXd b{{1, 359 * std::numbers::pi / 180, 1}};
 
-  EXPECT_TRUE(frc::AngleAdd<Eigen::Dynamic>(a, b, 1).isApprox(
+  EXPECT_TRUE(wpi::math::AngleAdd<Eigen::Dynamic>(a, b, 1).isApprox(
       Eigen::VectorXd{{2, 0, 3}}));
 }
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
index 34112b4502..43ce31e41c 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
@@ -22,43 +22,43 @@
 #include "wpi/util/print.hpp"
 
 void testFollowTrajectory(
-    const frc::DifferentialDriveKinematics& kinematics,
-    frc::DifferentialDrivePoseEstimator3d& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::DifferentialDriveKinematics& kinematics,
+    wpi::math::DifferentialDrivePoseEstimator3d& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  units::meter_t leftDistance = 0_m;
-  units::meter_t rightDistance = 0_m;
+  wpi::units::meter_t leftDistance = 0_m;
+  wpi::units::meter_t rightDistance = 0_m;
 
-  estimator.ResetPosition(frc::Rotation3d{}, leftDistance, rightDistance,
-                          frc::Pose3d{startingPose});
+  estimator.ResetPosition(wpi::math::Rotation3d{}, leftDistance, rightDistance,
+                          wpi::math::Pose3d{startingPose});
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print(
+    wpi::util::print(
         "time, est_x, est_y, est_theta, true_x, true_y, true_theta, left, "
         "right\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -66,9 +66,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -77,7 +77,7 @@ void testFollowTrajectory(
     if (!visionPoses.empty() &&
         visionPoses.front().first + kVisionUpdateDelay < t) {
       auto visionEntry = visionPoses.front();
-      estimator.AddVisionMeasurement(frc::Pose3d{visionEntry.second},
+      estimator.AddVisionMeasurement(wpi::math::Pose3d{visionEntry.second},
                                      visionEntry.first);
       visionPoses.erase(visionPoses.begin());
       visionLog.push_back({t, visionEntry.first, visionEntry.second});
@@ -92,13 +92,13 @@ void testFollowTrajectory(
 
     auto xhat = estimator.UpdateWithTime(
         t,
-        frc::Rotation3d{groundTruthState.pose.Rotation() +
-                        frc::Rotation2d{distribution(generator) * 0.05_rad} -
+        wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
+                        wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
                         trajectory.InitialPose().Rotation()},
         leftDistance, rightDistance);
 
     if (debug) {
-      wpi::print(
+      wpi::util::print(
           "{}, {}, {}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
           xhat.Y().value(), xhat.Rotation().ToRotation2d().Radians().value(),
           groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
@@ -119,14 +119,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -153,73 +153,73 @@ void testFollowTrajectory(
 }
 
 TEST(DifferentialDrivePoseEstimator3dTest, Accuracy) {
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator3d estimator{kinematics,
-                                                  frc::Rotation3d{},
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{kinematics,
+                                                  wpi::math::Rotation3d{},
                                                   0_m,
                                                   0_m,
-                                                  frc::Pose3d{},
+                                                  wpi::math::Pose3d{},
                                                   {0.02, 0.02, 0.02, 0.01},
                                                   {0.1, 0.1, 0.1, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      trajectory.InitialPose(), {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms,
       100_ms, 250_ms, true, false);
 }
 
 TEST(DifferentialDrivePoseEstimator3dTest, BadInitialPose) {
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator3d estimator{kinematics,
-                                                  frc::Rotation3d{},
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{kinematics,
+                                                  wpi::math::Rotation3d{},
                                                   0_m,
                                                   0_m,
-                                                  frc::Pose3d{},
+                                                  wpi::math::Pose3d{},
                                                   {0.02, 0.02, 0.02, 0.01},
                                                   {0.1, 0.1, 0.1, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -231,33 +231,33 @@ TEST(DifferentialDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator3d estimator{
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
+      wpi::math::Rotation3d{},
       0_m,
       0_m,
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 270_deg}},
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 270_deg}},
       {0.02, 0.02, 0.02, 0.01},
       {0.1, 0.1, 0.1, 0.1}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation3d{}, 0_m, 0_m);
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation3d{}, 0_m, 0_m);
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose3d{0_m, 0_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
+        wpi::math::Pose3d{0_m, 0_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{3_m, 1_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
+        wpi::math::Pose3d{3_m, 1_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{2_m, 4_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 180_deg}},
+        wpi::math::Pose3d{2_m, 4_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}},
         0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         0_deg);
 
@@ -265,9 +265,9 @@ TEST(DifferentialDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         90_deg);
 
@@ -275,9 +275,9 @@ TEST(DifferentialDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         180_deg);
 
@@ -286,22 +286,22 @@ TEST(DifferentialDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(DifferentialDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
 
-  frc::DifferentialDrivePoseEstimator3d estimator{
-      kinematics,           frc::Rotation3d{},       0_m, 0_m, frc::Pose3d{},
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{
+      kinematics,           wpi::math::Rotation3d{},       0_m, 0_m, wpi::math::Pose3d{},
       {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation3d{}, 0_m, 0_m);
+    estimator.UpdateWithTime(time, wpi::math::Rotation3d{}, 0_m, 0_m);
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose3d{10_m, 10_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
+      wpi::math::Pose3d{10_m, 10_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
       {0.1, 0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -319,9 +319,9 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(DifferentialDrivePoseEstimator3dTest, TestSampleAt) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
-  frc::DifferentialDrivePoseEstimator3d estimator{
-      kinematics,           frc::Rotation3d{},   0_m, 0_m, frc::Pose3d{},
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{
+      kinematics,           wpi::math::Rotation3d{},   0_m, 0_m, wpi::math::Pose3d{},
       {1.0, 1.0, 1.0, 1.0}, {1.0, 1.0, 1.0, 1.0}};
 
   // Returns empty when null
@@ -331,60 +331,60 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation3d{},
-                             units::meter_t{time}, units::meter_t{time});
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation3d{},
+                             wpi::units::meter_t{time}, wpi::units::meter_t{time});
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
   estimator.AddVisionMeasurement(
-      frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
+      wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
   estimator.AddVisionMeasurement(
-      frc::Pose3d{1_m, 0.2_m, 0_m, frc::Rotation3d{}}, 0.9_s);
+      wpi::math::Pose3d{1_m, 0.2_m, 0_m, wpi::math::Rotation3d{}}, 0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
-  frc::DifferentialDrivePoseEstimator3d estimator{
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
+      wpi::math::Rotation3d{},
       0_m,
       0_m,
-      frc::Pose3d{-1_m, -1_m, -1_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}},
+      wpi::math::Pose3d{-1_m, -1_m, -1_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}},
       {1.0, 1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0, 1.0}};
 
@@ -397,8 +397,8 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset position
-  estimator.ResetPosition(frc::Rotation3d{}, 1_m, 1_m,
-                          frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}});
+  estimator.ResetPosition(wpi::math::Rotation3d{}, 1_m, 1_m,
+                          wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}});
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -408,7 +408,7 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test orientation and wheel positions
-  estimator.Update(frc::Rotation3d{}, 2_m, 2_m);
+  estimator.Update(wpi::math::Rotation3d{}, 2_m, 2_m);
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -418,7 +418,7 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg});
+  estimator.ResetRotation(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -429,7 +429,7 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test orientation
-  estimator.Update(frc::Rotation3d{}, 3_m, 3_m);
+  estimator.Update(wpi::math::Rotation3d{}, 3_m, 3_m);
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
@@ -440,7 +440,7 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation3d{-1_m, -1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -451,7 +451,7 @@ TEST(DifferentialDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose3d{});
+  estimator.ResetPose(wpi::math::Pose3d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
index 121b26dcba..988a0c88b2 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
@@ -23,43 +23,43 @@
 #include "wpi/util/print.hpp"
 
 void testFollowTrajectory(
-    const frc::DifferentialDriveKinematics& kinematics,
-    frc::DifferentialDrivePoseEstimator& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::DifferentialDriveKinematics& kinematics,
+    wpi::math::DifferentialDrivePoseEstimator& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  units::meter_t leftDistance = 0_m;
-  units::meter_t rightDistance = 0_m;
+  wpi::units::meter_t leftDistance = 0_m;
+  wpi::units::meter_t rightDistance = 0_m;
 
-  estimator.ResetPosition(frc::Rotation2d{}, leftDistance, rightDistance,
+  estimator.ResetPosition(wpi::math::Rotation2d{}, leftDistance, rightDistance,
                           startingPose);
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print(
+    wpi::util::print(
         "time, est_x, est_y, est_theta, true_x, true_y, true_theta, left, "
         "right\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -67,9 +67,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -93,12 +93,12 @@ void testFollowTrajectory(
     auto xhat = estimator.UpdateWithTime(
         t,
         groundTruthState.pose.Rotation() +
-            frc::Rotation2d{distribution(generator) * 0.05_rad} -
+            wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
             trajectory.InitialPose().Rotation(),
         leftDistance, rightDistance);
 
     if (debug) {
-      wpi::print(
+      wpi::util::print(
           "{}, {}, {}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
           xhat.Y().value(), xhat.Rotation().Radians().value(),
           groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
@@ -119,14 +119,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -149,65 +149,65 @@ void testFollowTrajectory(
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator estimator{
-      kinematics,         frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{},
+  wpi::math::DifferentialDrivePoseEstimator estimator{
+      kinematics,         wpi::math::Rotation2d{}, 0_m, 0_m, wpi::math::Pose2d{},
       {0.02, 0.02, 0.01}, {0.1, 0.1, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      trajectory.InitialPose(), {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms,
       100_ms, 250_ms, true, false);
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator estimator{
-      kinematics,         frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{},
+  wpi::math::DifferentialDrivePoseEstimator estimator{
+      kinematics,         wpi::math::Rotation2d{}, 0_m, 0_m, wpi::math::Pose2d{},
       {0.02, 0.02, 0.01}, {0.1, 0.1, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -219,50 +219,50 @@ TEST(DifferentialDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::DifferentialDriveKinematics kinematics{1.0_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1.0_m};
 
-  frc::DifferentialDrivePoseEstimator estimator{
+  wpi::math::DifferentialDrivePoseEstimator estimator{
       kinematics,
-      frc::Rotation2d{},
+      wpi::math::Rotation2d{},
       0_m,
       0_m,
-      frc::Pose2d{1_m, 2_m, frc::Rotation2d{270_deg}},
+      wpi::math::Pose2d{1_m, 2_m, wpi::math::Rotation2d{270_deg}},
       {0.02, 0.02, 0.01},
       {0.1, 0.1, 0.1}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation2d{}, 0_m, 0_m);
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation2d{}, 0_m, 0_m);
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose2d{0_m, 0_m, frc::Rotation2d{0_deg}}, 0_s);
+        wpi::math::Pose2d{0_m, 0_m, wpi::math::Rotation2d{0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{3_m, 1_m, frc::Rotation2d{90_deg}}, 0_s);
+        wpi::math::Pose2d{3_m, 1_m, wpi::math::Rotation2d{90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{2_m, 4_m, frc::Rotation2d{180_deg}}, 0_s);
+        wpi::math::Pose2d{2_m, 4_m, wpi::math::Rotation2d{180_deg}}, 0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 0_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 90_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 180_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
@@ -270,22 +270,22 @@ TEST(DifferentialDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
 
-  frc::DifferentialDrivePoseEstimator estimator{
-      kinematics,      frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{},
+  wpi::math::DifferentialDrivePoseEstimator estimator{
+      kinematics,      wpi::math::Rotation2d{}, 0_m, 0_m, wpi::math::Pose2d{},
       {0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation2d{}, 0_m, 0_m);
+    estimator.UpdateWithTime(time, wpi::math::Rotation2d{}, 0_m, 0_m);
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose2d{frc::Translation2d{10_m, 10_m}, frc::Rotation2d{0.1_rad}},
+      wpi::math::Pose2d{wpi::math::Translation2d{10_m, 10_m}, wpi::math::Rotation2d{0.1_rad}},
       1_s, {0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -298,9 +298,9 @@ TEST(DifferentialDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, TestSampleAt) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
-  frc::DifferentialDrivePoseEstimator estimator{
-      kinematics,      frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{},
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDrivePoseEstimator estimator{
+      kinematics,      wpi::math::Rotation2d{}, 0_m, 0_m, wpi::math::Pose2d{},
       {1.0, 1.0, 1.0}, {1.0, 1.0, 1.0}};
 
   // Returns empty when null
@@ -310,60 +310,60 @@ TEST(DifferentialDrivePoseEstimatorTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation2d{},
-                             units::meter_t{time}, units::meter_t{time});
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation2d{},
+                             wpi::units::meter_t{time}, wpi::units::meter_t{time});
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
-  estimator.AddVisionMeasurement(frc::Pose2d{2_m, 0_m, frc::Rotation2d{1_rad}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{1_rad}},
                                  2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
-  estimator.AddVisionMeasurement(frc::Pose2d{1_m, 0.2_m, frc::Rotation2d{}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{1_m, 0.2_m, wpi::math::Rotation2d{}},
                                  0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
-  frc::DifferentialDriveKinematics kinematics{1_m};
-  frc::DifferentialDrivePoseEstimator estimator{
+  wpi::math::DifferentialDriveKinematics kinematics{1_m};
+  wpi::math::DifferentialDrivePoseEstimator estimator{
       kinematics,
-      frc::Rotation2d{},
+      wpi::math::Rotation2d{},
       0_m,
       0_m,
-      frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
+      wpi::math::Pose2d{-1_m, -1_m, wpi::math::Rotation2d{1_rad}},
       {1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0}};
 
@@ -374,8 +374,8 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       1, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset position
-  estimator.ResetPosition(frc::Rotation2d{}, 1_m, 1_m,
-                          frc::Pose2d{1_m, 0_m, frc::Rotation2d{}});
+  estimator.ResetPosition(wpi::math::Rotation2d{}, 1_m, 1_m,
+                          wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}});
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -383,7 +383,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test orientation and wheel positions
-  estimator.Update(frc::Rotation2d{}, 2_m, 2_m);
+  estimator.Update(wpi::math::Rotation2d{}, 2_m, 2_m);
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -391,7 +391,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation2d{90_deg});
+  estimator.ResetRotation(wpi::math::Rotation2d{90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -400,7 +400,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test orientation
-  estimator.Update(frc::Rotation2d{}, 3_m, 3_m);
+  estimator.Update(wpi::math::Rotation2d{}, 3_m, 3_m);
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
@@ -409,7 +409,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation2d{-1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation2d{-1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -418,7 +418,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose2d{});
+  estimator.ResetPose(wpi::math::Pose2d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
index d3dd4ccd27..9af0aedb81 100644
--- a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
@@ -18,8 +18,8 @@
 
 namespace {
 
-frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
-  auto motors = frc::DCMotor::CIM(2);
+wpi::math::Vectord<5> Dynamics(const wpi::math::Vectord<5>& x, const wpi::math::Vectord<2>& u) {
+  auto motors = wpi::math::DCMotor::CIM(2);
 
   // constexpr double Glow = 15.32;       // Low gear ratio
   constexpr double Ghigh = 7.08;       // High gear ratio
@@ -29,18 +29,18 @@ frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
   constexpr auto J = 5.6_kg_sq_m;      // Robot moment of inertia
 
   auto C1 = -std::pow(Ghigh, 2) * motors.Kt /
-            (motors.Kv * motors.R * units::math::pow<2>(r));
+            (motors.Kv * motors.R * wpi::units::math::pow<2>(r));
   auto C2 = Ghigh * motors.Kt / (motors.R * r);
-  auto k1 = (1 / m + units::math::pow<2>(rb) / J);
-  auto k2 = (1 / m - units::math::pow<2>(rb) / J);
+  auto k1 = (1 / m + wpi::units::math::pow<2>(rb) / J);
+  auto k2 = (1 / m - wpi::units::math::pow<2>(rb) / J);
 
-  units::meters_per_second_t vl{x(3)};
-  units::meters_per_second_t vr{x(4)};
-  units::volt_t Vl{u(0)};
-  units::volt_t Vr{u(1)};
+  wpi::units::meters_per_second_t vl{x(3)};
+  wpi::units::meters_per_second_t vr{x(4)};
+  wpi::units::volt_t Vl{u(0)};
+  wpi::units::volt_t Vr{u(1)};
 
   auto v = 0.5 * (vl + vr);
-  return frc::Vectord<5>{
+  return wpi::math::Vectord<5>{
       v.value() * std::cos(x(2)), v.value() * std::sin(x(2)),
       ((vr - vl) / (2.0 * rb)).value(),
       k1.value() * ((C1 * vl).value() + (C2 * Vl).value()) +
@@ -49,59 +49,59 @@ frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
           k1.value() * ((C1 * vr).value() + (C2 * Vr).value())};
 }
 
-frc::Vectord<3> LocalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<3>{x(2), x(3), x(4)};
+wpi::math::Vectord<3> LocalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<3>{x(2), x(3), x(4)};
 }
 
-frc::Vectord<5> GlobalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
+wpi::math::Vectord<5> GlobalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
 }
 }  // namespace
 
 TEST(ExtendedKalmanFilterTest, Init) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
-  frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
+  wpi::math::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
                                               LocalMeasurementModel,
                                               {0.5, 0.5, 10.0, 1.0, 1.0},
                                               {0.0001, 0.01, 0.01},
                                               dt};
-  frc::Vectord<2> u{12.0, 12.0};
+  wpi::math::Vectord<2> u{12.0, 12.0};
   observer.Predict(u, dt);
 
   auto localY = LocalMeasurementModel(observer.Xhat(), u);
   observer.Correct(u, localY);
 
   auto globalY = GlobalMeasurementModel(observer.Xhat(), u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
   observer.Correct<5>(u, globalY, GlobalMeasurementModel, R);
 }
 
 TEST(ExtendedKalmanFilterTest, Convergence) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
   constexpr auto rb = 0.8382_m / 2.0;  // Robot radius
 
-  frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
+  wpi::math::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
                                               LocalMeasurementModel,
                                               {0.5, 0.5, 10.0, 1.0, 1.0},
                                               {0.0001, 0.5, 0.5},
                                               dt};
 
   auto waypoints =
-      std::vector<frc::Pose2d>{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
-                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      std::vector<wpi::math::Pose2d>{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               wpi::math::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
-  frc::Vectord<5> r = frc::Vectord<5>::Zero();
-  frc::Vectord<2> u = frc::Vectord<2>::Zero();
+  wpi::math::Vectord<5> r = wpi::math::Vectord<5>::Zero();
+  wpi::math::Vectord<2> u = wpi::math::Vectord<2>::Zero();
 
-  auto B = frc::NumericalJacobianU<5, 5, 2>(Dynamics, frc::Vectord<5>::Zero(),
-                                            frc::Vectord<2>::Zero());
+  auto B = wpi::math::NumericalJacobianU<5, 5, 2>(Dynamics, wpi::math::Vectord<5>::Zero(),
+                                            wpi::math::Vectord<2>::Zero());
 
-  observer.SetXhat(frc::Vectord<5>{
+  observer.SetXhat(wpi::math::Vectord<5>{
       trajectory.InitialPose().Translation().X().value(),
       trajectory.InitialPose().Translation().Y().value(),
       trajectory.InitialPose().Rotation().Radians().value(), 0.0, 0.0});
@@ -109,20 +109,20 @@ TEST(ExtendedKalmanFilterTest, Convergence) {
   auto totalTime = trajectory.TotalTime();
   for (size_t i = 0; i < (totalTime / dt).value(); ++i) {
     auto ref = trajectory.Sample(dt * i);
-    units::meters_per_second_t vl =
+    wpi::units::meters_per_second_t vl =
         ref.velocity * (1 - (ref.curvature * rb).value());
-    units::meters_per_second_t vr =
+    wpi::units::meters_per_second_t vr =
         ref.velocity * (1 + (ref.curvature * rb).value());
 
-    frc::Vectord<5> nextR{
+    wpi::math::Vectord<5> nextR{
         ref.pose.Translation().X().value(), ref.pose.Translation().Y().value(),
         ref.pose.Rotation().Radians().value(), vl.value(), vr.value()};
 
-    auto localY = LocalMeasurementModel(nextR, frc::Vectord<2>::Zero());
-    observer.Correct(u, localY + frc::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
+    auto localY = LocalMeasurementModel(nextR, wpi::math::Vectord<2>::Zero());
+    observer.Correct(u, localY + wpi::math::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
 
-    frc::Vectord<5> rdot = (nextR - r) / dt.value();
-    u = B.householderQr().solve(rdot - Dynamics(r, frc::Vectord<2>::Zero()));
+    wpi::math::Vectord<5> rdot = (nextR - r) / dt.value();
+    u = B.householderQr().solve(rdot - Dynamics(r, wpi::math::Vectord<2>::Zero()));
 
     observer.Predict(u, dt);
 
@@ -133,7 +133,7 @@ TEST(ExtendedKalmanFilterTest, Convergence) {
   observer.Correct(u, localY);
 
   auto globalY = GlobalMeasurementModel(observer.Xhat(), u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
   observer.Correct<5>(u, globalY, GlobalMeasurementModel, R);
 
   auto finalPosition = trajectory.Sample(trajectory.TotalTime());
diff --git a/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
index 4e0444ce97..9fabc5479d 100644
--- a/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
@@ -15,7 +15,7 @@
 #include "wpi/units/time.hpp"
 
 TEST(KalmanFilterTest, Flywheel) {
-  auto motor = frc::DCMotor::NEO();
-  auto flywheel = frc::LinearSystemId::FlywheelSystem(motor, 1_kg_sq_m, 1.0);
-  frc::KalmanFilter<1, 1, 1> kf{flywheel, {1}, {1}, 5_ms};
+  auto motor = wpi::math::DCMotor::NEO();
+  auto flywheel = wpi::math::LinearSystemId::FlywheelSystem(motor, 1_kg_sq_m, 1.0);
+  wpi::math::KalmanFilter<1, 1, 1> kf{flywheel, {1}, {1}, 5_ms};
 }
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
index d0097cffe0..5dbd7eff32 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
@@ -16,40 +16,40 @@
 #include "wpi/util/print.hpp"
 
 void testFollowTrajectory(
-    const frc::MecanumDriveKinematics& kinematics,
-    frc::MecanumDrivePoseEstimator3d& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::MecanumDriveKinematics& kinematics,
+    wpi::math::MecanumDrivePoseEstimator3d& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  frc::MecanumDriveWheelPositions wheelPositions{};
+  wpi::math::MecanumDriveWheelPositions wheelPositions{};
 
-  estimator.ResetPosition(frc::Rotation3d{}, wheelPositions,
-                          frc::Pose3d{startingPose});
+  estimator.ResetPosition(wpi::math::Rotation3d{}, wheelPositions,
+                          wpi::math::Pose3d{startingPose});
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
+    wpi::util::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -57,9 +57,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -68,7 +68,7 @@ void testFollowTrajectory(
     if (!visionPoses.empty() &&
         visionPoses.front().first + kVisionUpdateDelay < t) {
       auto visionEntry = visionPoses.front();
-      estimator.AddVisionMeasurement(frc::Pose3d{visionEntry.second},
+      estimator.AddVisionMeasurement(wpi::math::Pose3d{visionEntry.second},
                                      visionEntry.first);
       visionPoses.erase(visionPoses.begin());
       visionLog.push_back({t, visionEntry.first, visionEntry.second});
@@ -85,13 +85,13 @@ void testFollowTrajectory(
 
     auto xhat = estimator.UpdateWithTime(
         t,
-        frc::Rotation3d{groundTruthState.pose.Rotation() +
-                        frc::Rotation2d{distribution(generator) * 0.05_rad} -
+        wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
+                        wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
                         trajectory.InitialPose().Rotation()},
         wheelPositions);
 
     if (debug) {
-      wpi::print(
+      wpi::util::print(
           "{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
           xhat.Y().value(), xhat.Rotation().ToRotation2d().Radians().value(),
           groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
@@ -111,14 +111,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -145,73 +145,73 @@ void testFollowTrajectory(
 }
 
 TEST(MecanumDrivePoseEstimator3dTest, AccuracyFacingTrajectory) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator3d estimator{
-      kinematics,    frc::Rotation3d{},    wheelPositions,
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
+      kinematics,    wpi::math::Rotation3d{},    wheelPositions,
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      trajectory.InitialPose(), {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms,
       100_ms, 250_ms, true, false);
 }
 
 TEST(MecanumDrivePoseEstimator3dTest, BadInitialPose) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator3d estimator{
-      kinematics,    frc::Rotation3d{},    wheelPositions,
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.1}};
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
+      kinematics,    wpi::math::Rotation3d{},    wheelPositions,
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -223,36 +223,36 @@ TEST(MecanumDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator3d estimator{
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
+      wpi::math::Rotation3d{},
       wheelPositions,
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 270_deg}},
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 270_deg}},
       {0.1, 0.1, 0.1, 0.1},
       {0.45, 0.45, 0.45, 0.1}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation3d{}, wheelPositions);
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation3d{}, wheelPositions);
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose3d{0_m, 0_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
+        wpi::math::Pose3d{0_m, 0_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{3_m, 1_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
+        wpi::math::Pose3d{3_m, 1_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{2_m, 4_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 180_deg}},
+        wpi::math::Pose3d{2_m, 4_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}},
         0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         0_deg);
 
@@ -260,9 +260,9 @@ TEST(MecanumDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         90_deg);
 
@@ -270,9 +270,9 @@ TEST(MecanumDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         180_deg);
 
@@ -281,25 +281,25 @@ TEST(MecanumDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(MecanumDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDrivePoseEstimator3d estimator{
-      kinematics,    frc::Rotation3d{},    frc::MecanumDriveWheelPositions{},
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
+      kinematics,    wpi::math::Rotation3d{},    wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation3d{},
-                             frc::MecanumDriveWheelPositions{});
+    estimator.UpdateWithTime(time, wpi::math::Rotation3d{},
+                             wpi::math::MecanumDriveWheelPositions{});
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose3d{10_m, 10_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
+      wpi::math::Pose3d{10_m, 10_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
       {0.1, 0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -317,12 +317,12 @@ TEST(MecanumDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(MecanumDrivePoseEstimator3dTest, TestSampleAt) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::MecanumDrivePoseEstimator3d estimator{
-      kinematics,    frc::Rotation3d{},    frc::MecanumDriveWheelPositions{},
-      frc::Pose3d{}, {1.0, 1.0, 1.0, 1.0}, {1.0, 1.0, 1.0, 1.0}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
+      kinematics,    wpi::math::Rotation3d{},    wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose3d{}, {1.0, 1.0, 1.0, 1.0}, {1.0, 1.0, 1.0, 1.0}};
 
   // Returns empty when null
   EXPECT_EQ(std::nullopt, estimator.SampleAt(1_s));
@@ -331,64 +331,64 @@ TEST(MecanumDrivePoseEstimator3dTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    frc::MecanumDriveWheelPositions wheelPositions{
-        units::meter_t{time}, units::meter_t{time}, units::meter_t{time},
-        units::meter_t{time}};
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation3d{},
+    wpi::math::MecanumDriveWheelPositions wheelPositions{
+        wpi::units::meter_t{time}, wpi::units::meter_t{time}, wpi::units::meter_t{time},
+        wpi::units::meter_t{time}};
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation3d{},
                              wheelPositions);
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
   estimator.AddVisionMeasurement(
-      frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
+      wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
   estimator.AddVisionMeasurement(
-      frc::Pose3d{1_m, 0.2_m, 0_m, frc::Rotation3d{}}, 0.9_s);
+      wpi::math::Pose3d{1_m, 0.2_m, 0_m, wpi::math::Rotation3d{}}, 0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::MecanumDrivePoseEstimator3d estimator{
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
-      frc::MecanumDriveWheelPositions{},
-      frc::Pose3d{-1_m, -1_m, -1_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}},
+      wpi::math::Rotation3d{},
+      wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose3d{-1_m, -1_m, -1_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}},
       {1.0, 1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0, 1.0}};
 
@@ -401,8 +401,8 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset position
-  estimator.ResetPosition(frc::Rotation3d{}, {1_m, 1_m, 1_m, 1_m},
-                          frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}});
+  estimator.ResetPosition(wpi::math::Rotation3d{}, {1_m, 1_m, 1_m, 1_m},
+                          wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}});
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -412,7 +412,7 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test orientation and wheel positions
-  estimator.Update(frc::Rotation3d{}, {2_m, 2_m, 2_m, 2_m});
+  estimator.Update(wpi::math::Rotation3d{}, {2_m, 2_m, 2_m, 2_m});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -422,7 +422,7 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg});
+  estimator.ResetRotation(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -433,7 +433,7 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test orientation
-  estimator.Update(frc::Rotation3d{}, {3_m, 3_m, 3_m, 3_m});
+  estimator.Update(wpi::math::Rotation3d{}, {3_m, 3_m, 3_m, 3_m});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
@@ -444,7 +444,7 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation3d{-1_m, -1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -455,7 +455,7 @@ TEST(MecanumDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose3d{});
+  estimator.ResetPose(wpi::math::Pose3d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
index 99fc0763a0..a305bc0bd2 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
@@ -17,39 +17,39 @@
 #include "wpi/util/print.hpp"
 
 void testFollowTrajectory(
-    const frc::MecanumDriveKinematics& kinematics,
-    frc::MecanumDrivePoseEstimator& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::MecanumDriveKinematics& kinematics,
+    wpi::math::MecanumDrivePoseEstimator& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  frc::MecanumDriveWheelPositions wheelPositions{};
+  wpi::math::MecanumDriveWheelPositions wheelPositions{};
 
-  estimator.ResetPosition(frc::Rotation2d{}, wheelPositions, startingPose);
+  estimator.ResetPosition(wpi::math::Rotation2d{}, wheelPositions, startingPose);
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
+    wpi::util::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -57,9 +57,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -85,12 +85,12 @@ void testFollowTrajectory(
     auto xhat = estimator.UpdateWithTime(
         t,
         groundTruthState.pose.Rotation() +
-            frc::Rotation2d{distribution(generator) * 0.05_rad} -
+            wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
             trajectory.InitialPose().Rotation(),
         wheelPositions);
 
     if (debug) {
-      wpi::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
+      wpi::util::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
                  xhat.Y().value(), xhat.Rotation().Radians().value(),
                  groundTruthState.pose.X().value(),
                  groundTruthState.pose.Y().value(),
@@ -110,14 +110,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -140,73 +140,73 @@ void testFollowTrajectory(
 }
 
 TEST(MecanumDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator estimator{kinematics,      frc::Rotation2d{},
-                                           wheelPositions,  frc::Pose2d{},
+  wpi::math::MecanumDrivePoseEstimator estimator{kinematics,      wpi::math::Rotation2d{},
+                                           wheelPositions,  wpi::math::Pose2d{},
                                            {0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      trajectory.InitialPose(), {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms,
       100_ms, 250_ms, true, false);
 }
 
 TEST(MecanumDrivePoseEstimatorTest, BadInitialPose) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator estimator{kinematics,      frc::Rotation2d{},
-                                           wheelPositions,  frc::Pose2d{},
+  wpi::math::MecanumDrivePoseEstimator estimator{kinematics,      wpi::math::Rotation2d{},
+                                           wheelPositions,  wpi::math::Pose2d{},
                                            {0.1, 0.1, 0.1}, {0.45, 0.45, 0.1}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2.0_mps, 2.0_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -218,50 +218,50 @@ TEST(MecanumDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDrivePoseEstimator estimator{
-      kinematics,      frc::Rotation2d{},
-      wheelPositions,  frc::Pose2d{1_m, 2_m, frc::Rotation2d{270_deg}},
+  wpi::math::MecanumDrivePoseEstimator estimator{
+      kinematics,      wpi::math::Rotation2d{},
+      wheelPositions,  wpi::math::Pose2d{1_m, 2_m, wpi::math::Rotation2d{270_deg}},
       {0.1, 0.1, 0.1}, {0.45, 0.45, 0.1}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation2d{}, wheelPositions);
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation2d{}, wheelPositions);
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose2d{0_m, 0_m, frc::Rotation2d{0_deg}}, 0_s);
+        wpi::math::Pose2d{0_m, 0_m, wpi::math::Rotation2d{0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{3_m, 1_m, frc::Rotation2d{90_deg}}, 0_s);
+        wpi::math::Pose2d{3_m, 1_m, wpi::math::Rotation2d{90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{2_m, 4_m, frc::Rotation2d{180_deg}}, 0_s);
+        wpi::math::Pose2d{2_m, 4_m, wpi::math::Rotation2d{180_deg}}, 0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 0_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 90_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 180_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
@@ -269,25 +269,25 @@ TEST(MecanumDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(MecanumDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDrivePoseEstimator estimator{
-      kinematics,    frc::Rotation2d{}, frc::MecanumDriveWheelPositions{},
-      frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
+  wpi::math::MecanumDrivePoseEstimator estimator{
+      kinematics,    wpi::math::Rotation2d{}, wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation2d{},
-                             frc::MecanumDriveWheelPositions{});
+    estimator.UpdateWithTime(time, wpi::math::Rotation2d{},
+                             wpi::math::MecanumDriveWheelPositions{});
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose2d{frc::Translation2d{10_m, 10_m}, frc::Rotation2d{0.1_rad}},
+      wpi::math::Pose2d{wpi::math::Translation2d{10_m, 10_m}, wpi::math::Rotation2d{0.1_rad}},
       1_s, {0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -300,12 +300,12 @@ TEST(MecanumDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(MecanumDrivePoseEstimatorTest, TestSampleAt) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::MecanumDrivePoseEstimator estimator{
-      kinematics,    frc::Rotation2d{}, frc::MecanumDriveWheelPositions{},
-      frc::Pose2d{}, {1.0, 1.0, 1.0},   {1.0, 1.0, 1.0}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDrivePoseEstimator estimator{
+      kinematics,    wpi::math::Rotation2d{}, wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose2d{}, {1.0, 1.0, 1.0},   {1.0, 1.0, 1.0}};
 
   // Returns empty when null
   EXPECT_EQ(std::nullopt, estimator.SampleAt(1_s));
@@ -314,64 +314,64 @@ TEST(MecanumDrivePoseEstimatorTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    frc::MecanumDriveWheelPositions wheelPositions{
-        units::meter_t{time}, units::meter_t{time}, units::meter_t{time},
-        units::meter_t{time}};
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation2d{},
+    wpi::math::MecanumDriveWheelPositions wheelPositions{
+        wpi::units::meter_t{time}, wpi::units::meter_t{time}, wpi::units::meter_t{time},
+        wpi::units::meter_t{time}};
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation2d{},
                              wheelPositions);
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
-  estimator.AddVisionMeasurement(frc::Pose2d{2_m, 0_m, frc::Rotation2d{1_rad}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{1_rad}},
                                  2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
-  estimator.AddVisionMeasurement(frc::Pose2d{1_m, 0.2_m, frc::Rotation2d{}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{1_m, 0.2_m, wpi::math::Rotation2d{}},
                                  0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(MecanumDrivePoseEstimatorTest, TestReset) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::MecanumDrivePoseEstimator estimator{
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDrivePoseEstimator estimator{
       kinematics,
-      frc::Rotation2d{},
-      frc::MecanumDriveWheelPositions{},
-      frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
+      wpi::math::Rotation2d{},
+      wpi::math::MecanumDriveWheelPositions{},
+      wpi::math::Pose2d{-1_m, -1_m, wpi::math::Rotation2d{1_rad}},
       {1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0}};
 
@@ -382,8 +382,8 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       1, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset position
-  estimator.ResetPosition(frc::Rotation2d{}, {1_m, 1_m, 1_m, 1_m},
-                          frc::Pose2d{1_m, 0_m, frc::Rotation2d{}});
+  estimator.ResetPosition(wpi::math::Rotation2d{}, {1_m, 1_m, 1_m, 1_m},
+                          wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}});
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -391,7 +391,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test orientation and wheel positions
-  estimator.Update(frc::Rotation2d{}, {2_m, 2_m, 2_m, 2_m});
+  estimator.Update(wpi::math::Rotation2d{}, {2_m, 2_m, 2_m, 2_m});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -399,7 +399,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation2d{90_deg});
+  estimator.ResetRotation(wpi::math::Rotation2d{90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -408,7 +408,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test orientation
-  estimator.Update(frc::Rotation2d{}, {3_m, 3_m, 3_m, 3_m});
+  estimator.Update(wpi::math::Rotation2d{}, {3_m, 3_m, 3_m, 3_m});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
@@ -417,7 +417,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation2d{-1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation2d{-1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -426,7 +426,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose2d{});
+  estimator.ResetPose(wpi::math::Pose2d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp b/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
index ec9b1d551c..ef3ed99e6e 100644
--- a/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
@@ -7,24 +7,24 @@
 #include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
 
 TEST(MerweScaledSigmaPointsTest, ZeroMean) {
-  frc::MerweScaledSigmaPoints<2> sigmaPoints;
+  wpi::math::MerweScaledSigmaPoints<2> sigmaPoints;
   auto points = sigmaPoints.SquareRootSigmaPoints(
-      frc::Vectord<2>{0.0, 0.0}, frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}});
+      wpi::math::Vectord<2>{0.0, 0.0}, wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}});
 
   EXPECT_TRUE(
-      (points - frc::Matrixd<2, 5>{{0.0, 0.00173205, 0.0, -0.00173205, 0.0},
+      (points - wpi::math::Matrixd<2, 5>{{0.0, 0.00173205, 0.0, -0.00173205, 0.0},
                                    {0.0, 0.0, 0.00173205, 0.0, -0.00173205}})
           .norm() < 1e-3);
 }
 
 TEST(MerweScaledSigmaPointsTest, NonzeroMean) {
-  frc::MerweScaledSigmaPoints<2> sigmaPoints;
+  wpi::math::MerweScaledSigmaPoints<2> sigmaPoints;
   auto points = sigmaPoints.SquareRootSigmaPoints(
-      frc::Vectord<2>{1.0, 2.0},
-      frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, std::sqrt(10.0)}});
+      wpi::math::Vectord<2>{1.0, 2.0},
+      wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, std::sqrt(10.0)}});
 
   EXPECT_TRUE(
-      (points - frc::Matrixd<2, 5>{{1.0, 1.00173205, 1.0, 0.998268, 1.0},
+      (points - wpi::math::Matrixd<2, 5>{{1.0, 1.00173205, 1.0, 0.998268, 1.0},
                                    {2.0, 2.0, 2.00548, 2.0, 1.99452}})
           .norm() < 1e-3);
 }
diff --git a/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp b/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
index 1467163f64..7c8239ade0 100644
--- a/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
@@ -25,9 +25,9 @@
 namespace {
 
 // First test system, differential drive
-frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
-                              const frc::Vectord<2>& u) {
-  auto motors = frc::DCMotor::CIM(2);
+wpi::math::Vectord<5> DriveDynamics(const wpi::math::Vectord<5>& x,
+                              const wpi::math::Vectord<2>& u) {
+  auto motors = wpi::math::DCMotor::CIM(2);
 
   // constexpr double Glow = 15.32;    // Low gear ratio
   constexpr double Ghigh = 7.08;       // High gear ratio
@@ -37,18 +37,18 @@ frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
   constexpr auto J = 5.6_kg_sq_m;      // Robot moment of inertia
 
   auto C1 = -std::pow(Ghigh, 2) * motors.Kt /
-            (motors.Kv * motors.R * units::math::pow<2>(r));
+            (motors.Kv * motors.R * wpi::units::math::pow<2>(r));
   auto C2 = Ghigh * motors.Kt / (motors.R * r);
-  auto k1 = (1 / m + units::math::pow<2>(rb) / J);
-  auto k2 = (1 / m - units::math::pow<2>(rb) / J);
+  auto k1 = (1 / m + wpi::units::math::pow<2>(rb) / J);
+  auto k2 = (1 / m - wpi::units::math::pow<2>(rb) / J);
 
-  units::meters_per_second_t vl{x(3)};
-  units::meters_per_second_t vr{x(4)};
-  units::volt_t Vl{u(0)};
-  units::volt_t Vr{u(1)};
+  wpi::units::meters_per_second_t vl{x(3)};
+  wpi::units::meters_per_second_t vr{x(4)};
+  wpi::units::volt_t Vl{u(0)};
+  wpi::units::volt_t Vr{u(1)};
 
   auto v = 0.5 * (vl + vr);
-  return frc::Vectord<5>{
+  return wpi::math::Vectord<5>{
       v.value() * std::cos(x(2)), v.value() * std::sin(x(2)),
       ((vr - vl) / (2.0 * rb)).value(),
       k1.value() * ((C1 * vl).value() + (C2 * Vl).value()) +
@@ -57,70 +57,70 @@ frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
           k1.value() * ((C1 * vr).value() + (C2 * Vr).value())};
 }
 
-frc::Vectord<3> DriveLocalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<3>{x(2), x(3), x(4)};
+wpi::math::Vectord<3> DriveLocalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<3>{x(2), x(3), x(4)};
 }
 
-frc::Vectord<5> DriveGlobalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
+wpi::math::Vectord<5> DriveGlobalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
 }
 
 TEST(MerweUKFTest, DriveInit) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
-  frc::MerweUKF<5, 2, 3> observer{DriveDynamics,
+  wpi::math::MerweUKF<5, 2, 3> observer{DriveDynamics,
                                   DriveLocalMeasurementModel,
                                   {0.5, 0.5, 10.0, 1.0, 1.0},
                                   {0.0001, 0.01, 0.01},
-                                  frc::AngleMean<5, 2 * 5 + 1>(2),
-                                  frc::AngleMean<3, 2 * 5 + 1>(0),
-                                  frc::AngleResidual<5>(2),
-                                  frc::AngleResidual<3>(0),
-                                  frc::AngleAdd<5>(2),
+                                  wpi::math::AngleMean<5, 2 * 5 + 1>(2),
+                                  wpi::math::AngleMean<3, 2 * 5 + 1>(0),
+                                  wpi::math::AngleResidual<5>(2),
+                                  wpi::math::AngleResidual<3>(0),
+                                  wpi::math::AngleAdd<5>(2),
                                   dt};
-  frc::Vectord<2> u{12.0, 12.0};
+  wpi::math::Vectord<2> u{12.0, 12.0};
   observer.Predict(u, dt);
 
   auto localY = DriveLocalMeasurementModel(observer.Xhat(), u);
   observer.Correct(u, localY);
 
   auto globalY = DriveGlobalMeasurementModel(observer.Xhat(), u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
   observer.Correct<5>(u, globalY, DriveGlobalMeasurementModel, R,
-                      frc::AngleMean<5, 2 * 5 + 1>(2), frc::AngleResidual<5>(2),
-                      frc::AngleResidual<5>(2), frc::AngleAdd<5>(2));
+                      wpi::math::AngleMean<5, 2 * 5 + 1>(2), wpi::math::AngleResidual<5>(2),
+                      wpi::math::AngleResidual<5>(2), wpi::math::AngleAdd<5>(2));
 }
 
 TEST(MerweUKFTest, DriveConvergence) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
   constexpr auto rb = 0.8382_m / 2.0;  // Robot radius
 
-  frc::MerweUKF<5, 2, 3> observer{DriveDynamics,
+  wpi::math::MerweUKF<5, 2, 3> observer{DriveDynamics,
                                   DriveLocalMeasurementModel,
                                   {0.5, 0.5, 10.0, 1.0, 1.0},
                                   {0.0001, 0.5, 0.5},
-                                  frc::AngleMean<5, 2 * 5 + 1>(2),
-                                  frc::AngleMean<3, 2 * 5 + 1>(0),
-                                  frc::AngleResidual<5>(2),
-                                  frc::AngleResidual<3>(0),
-                                  frc::AngleAdd<5>(2),
+                                  wpi::math::AngleMean<5, 2 * 5 + 1>(2),
+                                  wpi::math::AngleMean<3, 2 * 5 + 1>(0),
+                                  wpi::math::AngleResidual<5>(2),
+                                  wpi::math::AngleResidual<3>(0),
+                                  wpi::math::AngleAdd<5>(2),
                                   dt};
 
   auto waypoints =
-      std::vector<frc::Pose2d>{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
-                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      std::vector<wpi::math::Pose2d>{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               wpi::math::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
-  frc::Vectord<5> r = frc::Vectord<5>::Zero();
-  frc::Vectord<2> u = frc::Vectord<2>::Zero();
+  wpi::math::Vectord<5> r = wpi::math::Vectord<5>::Zero();
+  wpi::math::Vectord<2> u = wpi::math::Vectord<2>::Zero();
 
-  auto B = frc::NumericalJacobianU<5, 5, 2>(
-      DriveDynamics, frc::Vectord<5>::Zero(), frc::Vectord<2>::Zero());
+  auto B = wpi::math::NumericalJacobianU<5, 5, 2>(
+      DriveDynamics, wpi::math::Vectord<5>::Zero(), wpi::math::Vectord<2>::Zero());
 
-  observer.SetXhat(frc::Vectord<5>{
+  observer.SetXhat(wpi::math::Vectord<5>{
       trajectory.InitialPose().Translation().X().value(),
       trajectory.InitialPose().Translation().Y().value(),
       trajectory.InitialPose().Rotation().Radians().value(), 0.0, 0.0});
@@ -130,36 +130,36 @@ TEST(MerweUKFTest, DriveConvergence) {
   auto totalTime = trajectory.TotalTime();
   for (size_t i = 0; i < (totalTime / dt).value(); ++i) {
     auto ref = trajectory.Sample(dt * i);
-    units::meters_per_second_t vl =
+    wpi::units::meters_per_second_t vl =
         ref.velocity * (1 - (ref.curvature * rb).value());
-    units::meters_per_second_t vr =
+    wpi::units::meters_per_second_t vr =
         ref.velocity * (1 + (ref.curvature * rb).value());
 
-    frc::Vectord<5> nextR{
+    wpi::math::Vectord<5> nextR{
         ref.pose.Translation().X().value(), ref.pose.Translation().Y().value(),
         ref.pose.Rotation().Radians().value(), vl.value(), vr.value()};
 
-    auto localY = DriveLocalMeasurementModel(trueXhat, frc::Vectord<2>::Zero());
-    observer.Correct(u, localY + frc::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
+    auto localY = DriveLocalMeasurementModel(trueXhat, wpi::math::Vectord<2>::Zero());
+    observer.Correct(u, localY + wpi::math::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
 
-    frc::Vectord<5> rdot = (nextR - r) / dt.value();
+    wpi::math::Vectord<5> rdot = (nextR - r) / dt.value();
     u = B.householderQr().solve(rdot -
-                                DriveDynamics(r, frc::Vectord<2>::Zero()));
+                                DriveDynamics(r, wpi::math::Vectord<2>::Zero()));
 
     observer.Predict(u, dt);
 
     r = nextR;
-    trueXhat = frc::RK4(DriveDynamics, trueXhat, u, dt);
+    trueXhat = wpi::math::RK4(DriveDynamics, trueXhat, u, dt);
   }
 
   auto localY = DriveLocalMeasurementModel(trueXhat, u);
   observer.Correct(u, localY);
 
   auto globalY = DriveGlobalMeasurementModel(trueXhat, u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
   observer.Correct<5>(u, globalY, DriveGlobalMeasurementModel, R,
-                      frc::AngleMean<5, 2 * 5 + 1>(2), frc::AngleResidual<5>(2),
-                      frc::AngleResidual<5>(2), frc::AngleAdd<5>(2)
+                      wpi::math::AngleMean<5, 2 * 5 + 1>(2), wpi::math::AngleResidual<5>(2),
+                      wpi::math::AngleResidual<5>(2), wpi::math::AngleAdd<5>(2)
 
   );
 
@@ -175,26 +175,26 @@ TEST(MerweUKFTest, DriveConvergence) {
 }
 
 TEST(MerweUKFTest, LinearUKF) {
-  constexpr units::second_t dt = 20_ms;
-  auto plant = frc::LinearSystemId::IdentifyVelocitySystem<units::meters>(
+  constexpr wpi::units::second_t dt = 20_ms;
+  auto plant = wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
       0.02_V / 1_mps, 0.006_V / 1_mps_sq);
-  frc::MerweUKF<1, 1, 1> observer{
-      [&](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
+  wpi::math::MerweUKF<1, 1, 1> observer{
+      [&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
         return plant.A() * x + plant.B() * u;
       },
-      [&](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
+      [&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
         return plant.CalculateY(x, u);
       },
       {0.05},
       {1.0},
       dt};
 
-  frc::Matrixd<1, 1> discA;
-  frc::Matrixd<1, 1> discB;
-  frc::DiscretizeAB<1, 1>(plant.A(), plant.B(), dt, &discA, &discB);
+  wpi::math::Matrixd<1, 1> discA;
+  wpi::math::Matrixd<1, 1> discB;
+  wpi::math::DiscretizeAB<1, 1>(plant.A(), plant.B(), dt, &discA, &discB);
 
-  frc::Vectord<1> ref{100.0};
-  frc::Vectord<1> u{0.0};
+  wpi::math::Vectord<1> ref{100.0};
+  wpi::math::Vectord<1> u{0.0};
 
   for (int i = 0; i < 2.0 / dt.value(); ++i) {
     observer.Predict(u, dt);
@@ -206,24 +206,24 @@ TEST(MerweUKFTest, LinearUKF) {
 }
 
 TEST(MerweUKFTest, RoundTripP) {
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
-  frc::MerweUKF<2, 2, 2> observer{
-      [](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },
-      [](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },
+  wpi::math::MerweUKF<2, 2, 2> observer{
+      [](const wpi::math::Vectord<2>& x, const wpi::math::Vectord<2>& u) { return x; },
+      [](const wpi::math::Vectord<2>& x, const wpi::math::Vectord<2>& u) { return x; },
       {0.0, 0.0},
       {0.0, 0.0},
       dt};
 
-  frc::Matrixd<2, 2> P({{2, 1}, {1, 2}});
+  wpi::math::Matrixd<2, 2> P({{2, 1}, {1, 2}});
   observer.SetP(P);
 
   ASSERT_TRUE(observer.P().isApprox(P));
 }
 
 // Second system, single motor feedforward estimator
-frc::Vectord<4> MotorDynamics(const frc::Vectord<4>& x,
-                              const frc::Vectord<1>& u) {
+wpi::math::Vectord<4> MotorDynamics(const wpi::math::Vectord<4>& x,
+                              const wpi::math::Vectord<1>& u) {
   double v = x(1);
   double kV = x(2);
   double kA = x(3);
@@ -231,11 +231,11 @@ frc::Vectord<4> MotorDynamics(const frc::Vectord<4>& x,
   double V = u(0);
 
   double a = -kV / kA * v + 1.0 / kA * V;
-  return frc::Vectord<4>{v, a, 0.0, 0.0};
+  return wpi::math::Vectord<4>{v, a, 0.0, 0.0};
 }
 
-frc::Vectord<3> MotorMeasurementModel(const frc::Vectord<4>& x,
-                                      const frc::Vectord<1>& u) {
+wpi::math::Vectord<3> MotorMeasurementModel(const wpi::math::Vectord<4>& x,
+                                      const wpi::math::Vectord<1>& u) {
   double p = x(0);
   double v = x(1);
   double kV = x(2);
@@ -244,11 +244,11 @@ frc::Vectord<3> MotorMeasurementModel(const frc::Vectord<4>& x,
   double V = u(0);
 
   double a = -kV / kA * v + 1.0 / kA * V;
-  return frc::Vectord<3>{p, v, a};
+  return wpi::math::Vectord<3>{p, v, a};
 }
 
-frc::Vectord<1> MotorControlInput(double t) {
-  return frc::Vectord<1>{
+wpi::math::Vectord<1> MotorControlInput(double t) {
+  return wpi::math::Vectord<1>{
       std::clamp(8 * std::sin(std::numbers::pi * std::sqrt(2.0) * t) +
                      6 * std::sin(std::numbers::pi * std::sqrt(3.0) * t) +
                      4 * std::sin(std::numbers::pi * std::sqrt(5.0) * t),
@@ -256,7 +256,7 @@ frc::Vectord<1> MotorControlInput(double t) {
 }
 
 TEST(MerweUKFTest, MotorConvergence) {
-  constexpr units::second_t dt = 10_ms;
+  constexpr wpi::units::second_t dt = 10_ms;
   constexpr int steps = 500;
   constexpr double true_kV = 3;
   constexpr double true_kA = 0.2;
@@ -265,36 +265,36 @@ TEST(MerweUKFTest, MotorConvergence) {
   constexpr double vel_stddev = 0.1;
   constexpr double accel_stddev = 0.1;
 
-  std::vector<frc::Vectord<4>> states(steps + 1);
-  std::vector<frc::Vectord<1>> inputs(steps);
-  std::vector<frc::Vectord<3>> measurements(steps);
-  states[0] = frc::Vectord<4>{{0.0}, {0.0}, {true_kV}, {true_kA}};
+  std::vector<wpi::math::Vectord<4>> states(steps + 1);
+  std::vector<wpi::math::Vectord<1>> inputs(steps);
+  std::vector<wpi::math::Vectord<3>> measurements(steps);
+  states[0] = wpi::math::Vectord<4>{{0.0}, {0.0}, {true_kV}, {true_kA}};
 
-  constexpr frc::Matrixd<4, 4> A{{0.0, 1.0, 0.0, 0.0},
+  constexpr wpi::math::Matrixd<4, 4> A{{0.0, 1.0, 0.0, 0.0},
                                  {0.0, -true_kV / true_kA, 0.0, 0.0},
                                  {0.0, 0.0, 0.0, 0.0},
                                  {0.0, 0.0, 0.0, 0.0}};
-  constexpr frc::Matrixd<4, 1> B{{0.0}, {1.0 / true_kA}, {0.0}, {0.0}};
+  constexpr wpi::math::Matrixd<4, 1> B{{0.0}, {1.0 / true_kA}, {0.0}, {0.0}};
 
-  frc::Matrixd<4, 4> discA;
-  frc::Matrixd<4, 1> discB;
-  frc::DiscretizeAB(A, B, dt, &discA, &discB);
+  wpi::math::Matrixd<4, 4> discA;
+  wpi::math::Matrixd<4, 1> discB;
+  wpi::math::DiscretizeAB(A, B, dt, &discA, &discB);
 
   for (int i = 0; i < steps; ++i) {
     inputs[i] = MotorControlInput(i * dt.value());
     states[i + 1] = discA * states[i] + discB * inputs[i];
     measurements[i] =
         MotorMeasurementModel(states[i + 1], inputs[i]) +
-        frc::MakeWhiteNoiseVector(pos_stddev, vel_stddev, accel_stddev);
+        wpi::math::MakeWhiteNoiseVector(pos_stddev, vel_stddev, accel_stddev);
   }
 
-  frc::Vectord<4> P0{0.001, 0.001, 10, 10};
+  wpi::math::Vectord<4> P0{0.001, 0.001, 10, 10};
 
-  frc::MerweUKF<4, 1, 3> observer{
-      MotorDynamics, MotorMeasurementModel, wpi::array{0.1, 1.0, 1e-10, 1e-10},
-      wpi::array{pos_stddev, vel_stddev, accel_stddev}, dt};
+  wpi::math::MerweUKF<4, 1, 3> observer{
+      MotorDynamics, MotorMeasurementModel, wpi::util::array{0.1, 1.0, 1e-10, 1e-10},
+      wpi::util::array{pos_stddev, vel_stddev, accel_stddev}, dt};
 
-  observer.SetXhat(frc::Vectord<4>{0.0, 0.0, 2.0, 2.0});
+  observer.SetXhat(wpi::math::Vectord<4>{0.0, 0.0, 2.0, 2.0});
   observer.SetP(P0.asDiagonal());
 
   for (int i = 0; i < steps; ++i) {
diff --git a/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp b/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
index f8857a70ef..f2cb0380f7 100644
--- a/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
@@ -11,9 +11,9 @@ TEST(S3SigmaPointsTest, Simplex) {
   constexpr double beta = 2;
   constexpr size_t N = 2;
 
-  frc::S3SigmaPoints<N> sigmaPoints{alpha, beta};
+  wpi::math::S3SigmaPoints<N> sigmaPoints{alpha, beta};
   auto points = sigmaPoints.SquareRootSigmaPoints(
-      frc::Vectord<N>::Zero(), frc::Matrixd<N, N>::Identity());
+      wpi::math::Vectord<N>::Zero(), wpi::math::Matrixd<N, N>::Identity());
 
   auto v1 = points.template block<2, 1>(0, 1);
   auto v2 = points.template block<2, 1>(0, 2);
@@ -27,24 +27,24 @@ TEST(S3SigmaPointsTest, Simplex) {
 }
 
 TEST(S3SigmaPointsTest, ZeroMean) {
-  frc::S3SigmaPoints<2> sigmaPoints;
+  wpi::math::S3SigmaPoints<2> sigmaPoints;
   auto points = sigmaPoints.SquareRootSigmaPoints(
-      frc::Vectord<2>{0.0, 0.0}, frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}});
+      wpi::math::Vectord<2>{0.0, 0.0}, wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}});
 
   EXPECT_TRUE(
-      (points - frc::Matrixd<2, 4>{{0.0, -0.00122474, 0.00122474, 0.0},
+      (points - wpi::math::Matrixd<2, 4>{{0.0, -0.00122474, 0.00122474, 0.0},
                                    {0.0, -0.00070711, -0.00070711, 0.00141421}})
           .norm() < 1e-7);
 }
 
 TEST(S3SigmaPointsTest, NonzeroMean) {
-  frc::S3SigmaPoints<2> sigmaPoints;
+  wpi::math::S3SigmaPoints<2> sigmaPoints;
   auto points = sigmaPoints.SquareRootSigmaPoints(
-      frc::Vectord<2>{1.0, 2.0},
-      frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, std::sqrt(10.0)}});
+      wpi::math::Vectord<2>{1.0, 2.0},
+      wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, std::sqrt(10.0)}});
 
   EXPECT_TRUE(
-      (points - frc::Matrixd<2, 4>{{1.0, 0.99877526, 1.00122474, 1.0},
+      (points - wpi::math::Matrixd<2, 4>{{1.0, 0.99877526, 1.00122474, 1.0},
                                    {2.0, 1.99776393, 1.99776393, 2.00447214}})
           .norm() < 1e-7);
 }
diff --git a/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp b/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
index 018755b6a3..226b4d366d 100644
--- a/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
@@ -25,9 +25,9 @@
 namespace {
 
 // First test system, differential drive
-frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
-                              const frc::Vectord<2>& u) {
-  auto motors = frc::DCMotor::CIM(2);
+wpi::math::Vectord<5> DriveDynamics(const wpi::math::Vectord<5>& x,
+                              const wpi::math::Vectord<2>& u) {
+  auto motors = wpi::math::DCMotor::CIM(2);
 
   // constexpr double Glow = 15.32;    // Low gear ratio
   constexpr double Ghigh = 7.08;       // High gear ratio
@@ -37,18 +37,18 @@ frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
   constexpr auto J = 5.6_kg_sq_m;      // Robot moment of inertia
 
   auto C1 = -std::pow(Ghigh, 2) * motors.Kt /
-            (motors.Kv * motors.R * units::math::pow<2>(r));
+            (motors.Kv * motors.R * wpi::units::math::pow<2>(r));
   auto C2 = Ghigh * motors.Kt / (motors.R * r);
-  auto k1 = (1 / m + units::math::pow<2>(rb) / J);
-  auto k2 = (1 / m - units::math::pow<2>(rb) / J);
+  auto k1 = (1 / m + wpi::units::math::pow<2>(rb) / J);
+  auto k2 = (1 / m - wpi::units::math::pow<2>(rb) / J);
 
-  units::meters_per_second_t vl{x(3)};
-  units::meters_per_second_t vr{x(4)};
-  units::volt_t Vl{u(0)};
-  units::volt_t Vr{u(1)};
+  wpi::units::meters_per_second_t vl{x(3)};
+  wpi::units::meters_per_second_t vr{x(4)};
+  wpi::units::volt_t Vl{u(0)};
+  wpi::units::volt_t Vr{u(1)};
 
   auto v = 0.5 * (vl + vr);
-  return frc::Vectord<5>{
+  return wpi::math::Vectord<5>{
       v.value() * std::cos(x(2)), v.value() * std::sin(x(2)),
       ((vr - vl) / (2.0 * rb)).value(),
       k1.value() * ((C1 * vl).value() + (C2 * Vl).value()) +
@@ -57,70 +57,70 @@ frc::Vectord<5> DriveDynamics(const frc::Vectord<5>& x,
           k1.value() * ((C1 * vr).value() + (C2 * Vr).value())};
 }
 
-frc::Vectord<3> DriveLocalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<3>{x(2), x(3), x(4)};
+wpi::math::Vectord<3> DriveLocalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<3>{x(2), x(3), x(4)};
 }
 
-frc::Vectord<5> DriveGlobalMeasurementModel(
-    const frc::Vectord<5>& x, [[maybe_unused]] const frc::Vectord<2>& u) {
-  return frc::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
+wpi::math::Vectord<5> DriveGlobalMeasurementModel(
+    const wpi::math::Vectord<5>& x, [[maybe_unused]] const wpi::math::Vectord<2>& u) {
+  return wpi::math::Vectord<5>{x(0), x(1), x(2), x(3), x(4)};
 }
 
 TEST(S3UKFTest, DriveInit) {
   constexpr auto dt = 5_ms;
 
-  frc::S3UKF<5, 2, 3> observer{DriveDynamics,
+  wpi::math::S3UKF<5, 2, 3> observer{DriveDynamics,
                                DriveLocalMeasurementModel,
                                {0.5, 0.5, 10.0, 1.0, 1.0},
                                {0.0001, 0.01, 0.01},
-                               frc::AngleMean<5, 5 + 2>(2),
-                               frc::AngleMean<3, 5 + 2>(0),
-                               frc::AngleResidual<5>(2),
-                               frc::AngleResidual<3>(0),
-                               frc::AngleAdd<5>(2),
+                               wpi::math::AngleMean<5, 5 + 2>(2),
+                               wpi::math::AngleMean<3, 5 + 2>(0),
+                               wpi::math::AngleResidual<5>(2),
+                               wpi::math::AngleResidual<3>(0),
+                               wpi::math::AngleAdd<5>(2),
                                dt};
-  frc::Vectord<2> u{12.0, 12.0};
+  wpi::math::Vectord<2> u{12.0, 12.0};
   observer.Predict(u, dt);
 
   auto localY = DriveLocalMeasurementModel(observer.Xhat(), u);
   observer.Correct(u, localY);
 
   auto globalY = DriveGlobalMeasurementModel(observer.Xhat(), u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.01, 0.01);
   observer.Correct<5>(u, globalY, DriveGlobalMeasurementModel, R,
-                      frc::AngleMean<5, 5 + 2>(2), frc::AngleResidual<5>(2),
-                      frc::AngleResidual<5>(2), frc::AngleAdd<5>(2));
+                      wpi::math::AngleMean<5, 5 + 2>(2), wpi::math::AngleResidual<5>(2),
+                      wpi::math::AngleResidual<5>(2), wpi::math::AngleAdd<5>(2));
 }
 
 TEST(S3UKFTest, DriveConvergence) {
   constexpr auto dt = 5_ms;
   constexpr auto rb = 0.8382_m / 2.0;  // Robot radius
 
-  frc::S3UKF<5, 2, 3> observer{DriveDynamics,
+  wpi::math::S3UKF<5, 2, 3> observer{DriveDynamics,
                                DriveLocalMeasurementModel,
                                {0.5, 0.5, 10.0, 1.0, 1.0},
                                {0.0001, 0.5, 0.5},
-                               frc::AngleMean<5, 5 + 2>(2),
-                               frc::AngleMean<3, 5 + 2>(0),
-                               frc::AngleResidual<5>(2),
-                               frc::AngleResidual<3>(0),
-                               frc::AngleAdd<5>(2),
+                               wpi::math::AngleMean<5, 5 + 2>(2),
+                               wpi::math::AngleMean<3, 5 + 2>(0),
+                               wpi::math::AngleResidual<5>(2),
+                               wpi::math::AngleResidual<3>(0),
+                               wpi::math::AngleAdd<5>(2),
                                dt};
 
   auto waypoints =
-      std::vector<frc::Pose2d>{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
-                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      std::vector<wpi::math::Pose2d>{wpi::math::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               wpi::math::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
-  frc::Vectord<5> r = frc::Vectord<5>::Zero();
-  frc::Vectord<2> u = frc::Vectord<2>::Zero();
+  wpi::math::Vectord<5> r = wpi::math::Vectord<5>::Zero();
+  wpi::math::Vectord<2> u = wpi::math::Vectord<2>::Zero();
 
-  auto B = frc::NumericalJacobianU<5, 5, 2>(
-      DriveDynamics, frc::Vectord<5>::Zero(), frc::Vectord<2>::Zero());
+  auto B = wpi::math::NumericalJacobianU<5, 5, 2>(
+      DriveDynamics, wpi::math::Vectord<5>::Zero(), wpi::math::Vectord<2>::Zero());
 
-  observer.SetXhat(frc::Vectord<5>{
+  observer.SetXhat(wpi::math::Vectord<5>{
       trajectory.InitialPose().Translation().X().value(),
       trajectory.InitialPose().Translation().Y().value(),
       trajectory.InitialPose().Rotation().Radians().value(), 0.0, 0.0});
@@ -130,36 +130,36 @@ TEST(S3UKFTest, DriveConvergence) {
   auto totalTime = trajectory.TotalTime();
   for (size_t i = 0; i < (totalTime / dt).value(); ++i) {
     auto ref = trajectory.Sample(dt * i);
-    units::meters_per_second_t vl =
+    wpi::units::meters_per_second_t vl =
         ref.velocity * (1 - (ref.curvature * rb).value());
-    units::meters_per_second_t vr =
+    wpi::units::meters_per_second_t vr =
         ref.velocity * (1 + (ref.curvature * rb).value());
 
-    frc::Vectord<5> nextR{
+    wpi::math::Vectord<5> nextR{
         ref.pose.Translation().X().value(), ref.pose.Translation().Y().value(),
         ref.pose.Rotation().Radians().value(), vl.value(), vr.value()};
 
-    auto localY = DriveLocalMeasurementModel(trueXhat, frc::Vectord<2>::Zero());
-    observer.Correct(u, localY + frc::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
+    auto localY = DriveLocalMeasurementModel(trueXhat, wpi::math::Vectord<2>::Zero());
+    observer.Correct(u, localY + wpi::math::MakeWhiteNoiseVector(0.0001, 0.5, 0.5));
 
-    frc::Vectord<5> rdot = (nextR - r) / dt.value();
+    wpi::math::Vectord<5> rdot = (nextR - r) / dt.value();
     u = B.householderQr().solve(rdot -
-                                DriveDynamics(r, frc::Vectord<2>::Zero()));
+                                DriveDynamics(r, wpi::math::Vectord<2>::Zero()));
 
     observer.Predict(u, dt);
 
     r = nextR;
-    trueXhat = frc::RK4(DriveDynamics, trueXhat, u, dt);
+    trueXhat = wpi::math::RK4(DriveDynamics, trueXhat, u, dt);
   }
 
   auto localY = DriveLocalMeasurementModel(trueXhat, u);
   observer.Correct(u, localY);
 
   auto globalY = DriveGlobalMeasurementModel(trueXhat, u);
-  auto R = frc::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
+  auto R = wpi::math::MakeCovMatrix(0.01, 0.01, 0.0001, 0.5, 0.5);
   observer.Correct<5>(u, globalY, DriveGlobalMeasurementModel, R,
-                      frc::AngleMean<5, 5 + 2>(2), frc::AngleResidual<5>(2),
-                      frc::AngleResidual<5>(2), frc::AngleAdd<5>(2)
+                      wpi::math::AngleMean<5, 5 + 2>(2), wpi::math::AngleResidual<5>(2),
+                      wpi::math::AngleResidual<5>(2), wpi::math::AngleAdd<5>(2)
 
   );
 
@@ -175,26 +175,26 @@ TEST(S3UKFTest, DriveConvergence) {
 }
 
 TEST(S3UKFTest, LinearUKF) {
-  constexpr units::second_t dt = 20_ms;
-  auto plant = frc::LinearSystemId::IdentifyVelocitySystem<units::meters>(
+  constexpr wpi::units::second_t dt = 20_ms;
+  auto plant = wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meters>(
       0.02_V / 1_mps, 0.006_V / 1_mps_sq);
-  frc::S3UKF<1, 1, 1> observer{
-      [&](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
+  wpi::math::S3UKF<1, 1, 1> observer{
+      [&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
         return plant.A() * x + plant.B() * u;
       },
-      [&](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
+      [&](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
         return plant.CalculateY(x, u);
       },
       {0.05},
       {1.0},
       dt};
 
-  frc::Matrixd<1, 1> discA;
-  frc::Matrixd<1, 1> discB;
-  frc::DiscretizeAB<1, 1>(plant.A(), plant.B(), dt, &discA, &discB);
+  wpi::math::Matrixd<1, 1> discA;
+  wpi::math::Matrixd<1, 1> discB;
+  wpi::math::DiscretizeAB<1, 1>(plant.A(), plant.B(), dt, &discA, &discB);
 
-  frc::Vectord<1> ref{100.0};
-  frc::Vectord<1> u{0.0};
+  wpi::math::Vectord<1> ref{100.0};
+  wpi::math::Vectord<1> u{0.0};
 
   for (int i = 0; i < 2.0 / dt.value(); ++i) {
     observer.Predict(u, dt);
@@ -208,22 +208,22 @@ TEST(S3UKFTest, LinearUKF) {
 TEST(S3UKFTest, RoundTripP) {
   constexpr auto dt = 5_ms;
 
-  frc::S3UKF<2, 2, 2> observer{
-      [](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },
-      [](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },
+  wpi::math::S3UKF<2, 2, 2> observer{
+      [](const wpi::math::Vectord<2>& x, const wpi::math::Vectord<2>& u) { return x; },
+      [](const wpi::math::Vectord<2>& x, const wpi::math::Vectord<2>& u) { return x; },
       {0.0, 0.0},
       {0.0, 0.0},
       dt};
 
-  frc::Matrixd<2, 2> P({{2, 1}, {1, 2}});
+  wpi::math::Matrixd<2, 2> P({{2, 1}, {1, 2}});
   observer.SetP(P);
 
   ASSERT_TRUE(observer.P().isApprox(P));
 }
 
 // Second system, single motor feedforward estimator
-frc::Vectord<4> MotorDynamics(const frc::Vectord<4>& x,
-                              const frc::Vectord<1>& u) {
+wpi::math::Vectord<4> MotorDynamics(const wpi::math::Vectord<4>& x,
+                              const wpi::math::Vectord<1>& u) {
   double v = x(1);
   double kV = x(2);
   double kA = x(3);
@@ -231,11 +231,11 @@ frc::Vectord<4> MotorDynamics(const frc::Vectord<4>& x,
   double V = u(0);
 
   double a = -kV / kA * v + 1.0 / kA * V;
-  return frc::Vectord<4>{v, a, 0.0, 0.0};
+  return wpi::math::Vectord<4>{v, a, 0.0, 0.0};
 }
 
-frc::Vectord<3> MotorMeasurementModel(const frc::Vectord<4>& x,
-                                      const frc::Vectord<1>& u) {
+wpi::math::Vectord<3> MotorMeasurementModel(const wpi::math::Vectord<4>& x,
+                                      const wpi::math::Vectord<1>& u) {
   double p = x(0);
   double v = x(1);
   double kV = x(2);
@@ -244,11 +244,11 @@ frc::Vectord<3> MotorMeasurementModel(const frc::Vectord<4>& x,
   double V = u(0);
 
   double a = -kV / kA * v + 1.0 / kA * V;
-  return frc::Vectord<3>{p, v, a};
+  return wpi::math::Vectord<3>{p, v, a};
 }
 
-frc::Vectord<1> MotorControlInput(double t) {
-  return frc::Vectord<1>{
+wpi::math::Vectord<1> MotorControlInput(double t) {
+  return wpi::math::Vectord<1>{
       std::clamp(8 * std::sin(std::numbers::pi * std::sqrt(2.0) * t) +
                      6 * std::sin(std::numbers::pi * std::sqrt(3.0) * t) +
                      4 * std::sin(std::numbers::pi * std::sqrt(5.0) * t),
@@ -256,7 +256,7 @@ frc::Vectord<1> MotorControlInput(double t) {
 }
 
 TEST(S3UKFTest, MotorConvergence) {
-  constexpr units::second_t dt = 10_ms;
+  constexpr wpi::units::second_t dt = 10_ms;
   constexpr int steps = 500;
   constexpr double true_kV = 3;
   constexpr double true_kA = 0.2;
@@ -265,36 +265,36 @@ TEST(S3UKFTest, MotorConvergence) {
   constexpr double vel_stddev = 0.1;
   constexpr double accel_stddev = 0.1;
 
-  std::vector<frc::Vectord<4>> states(steps + 1);
-  std::vector<frc::Vectord<1>> inputs(steps);
-  std::vector<frc::Vectord<3>> measurements(steps);
-  states[0] = frc::Vectord<4>{{0.0}, {0.0}, {true_kV}, {true_kA}};
+  std::vector<wpi::math::Vectord<4>> states(steps + 1);
+  std::vector<wpi::math::Vectord<1>> inputs(steps);
+  std::vector<wpi::math::Vectord<3>> measurements(steps);
+  states[0] = wpi::math::Vectord<4>{{0.0}, {0.0}, {true_kV}, {true_kA}};
 
-  constexpr frc::Matrixd<4, 4> A{{0.0, 1.0, 0.0, 0.0},
+  constexpr wpi::math::Matrixd<4, 4> A{{0.0, 1.0, 0.0, 0.0},
                                  {0.0, -true_kV / true_kA, 0.0, 0.0},
                                  {0.0, 0.0, 0.0, 0.0},
                                  {0.0, 0.0, 0.0, 0.0}};
-  constexpr frc::Matrixd<4, 1> B{{0.0}, {1.0 / true_kA}, {0.0}, {0.0}};
+  constexpr wpi::math::Matrixd<4, 1> B{{0.0}, {1.0 / true_kA}, {0.0}, {0.0}};
 
-  frc::Matrixd<4, 4> discA;
-  frc::Matrixd<4, 1> discB;
-  frc::DiscretizeAB(A, B, dt, &discA, &discB);
+  wpi::math::Matrixd<4, 4> discA;
+  wpi::math::Matrixd<4, 1> discB;
+  wpi::math::DiscretizeAB(A, B, dt, &discA, &discB);
 
   for (int i = 0; i < steps; ++i) {
     inputs[i] = MotorControlInput(i * dt.value());
     states[i + 1] = discA * states[i] + discB * inputs[i];
     measurements[i] =
         MotorMeasurementModel(states[i + 1], inputs[i]) +
-        frc::MakeWhiteNoiseVector(pos_stddev, vel_stddev, accel_stddev);
+        wpi::math::MakeWhiteNoiseVector(pos_stddev, vel_stddev, accel_stddev);
   }
 
-  frc::Vectord<4> P0{0.001, 0.001, 10, 10};
+  wpi::math::Vectord<4> P0{0.001, 0.001, 10, 10};
 
-  frc::S3UKF<4, 1, 3> observer{
-      MotorDynamics, MotorMeasurementModel, wpi::array{0.1, 1.0, 1e-10, 1e-10},
-      wpi::array{pos_stddev, vel_stddev, accel_stddev}, dt};
+  wpi::math::S3UKF<4, 1, 3> observer{
+      MotorDynamics, MotorMeasurementModel, wpi::util::array{0.1, 1.0, 1e-10, 1e-10},
+      wpi::util::array{pos_stddev, vel_stddev, accel_stddev}, dt};
 
-  observer.SetXhat(frc::Vectord<4>{0.0, 0.0, 2.0, 2.0});
+  observer.SetXhat(wpi::math::Vectord<4>{0.0, 0.0, 2.0, 2.0});
   observer.SetP(P0.asDiagonal());
 
   for (int i = 0; i < steps; ++i) {
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
index 2fedcf7813..c9d4de2219 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
@@ -18,40 +18,40 @@
 #include "wpi/util/timestamp.h"
 
 void testFollowTrajectory(
-    const frc::SwerveDriveKinematics<4>& kinematics,
-    frc::SwerveDrivePoseEstimator3d<4>& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::SwerveDriveKinematics<4>& kinematics,
+    wpi::math::SwerveDrivePoseEstimator3d<4>& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  wpi::array<frc::SwerveModulePosition, 4> positions{wpi::empty_array};
+  wpi::util::array<wpi::math::SwerveModulePosition, 4> positions{wpi::util::empty_array};
 
-  estimator.ResetPosition(frc::Rotation3d{}, positions,
-                          frc::Pose3d{startingPose});
+  estimator.ResetPosition(wpi::math::Rotation3d{}, positions,
+                          wpi::math::Pose3d{startingPose});
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
+    wpi::util::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -59,9 +59,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -70,7 +70,7 @@ void testFollowTrajectory(
     if (!visionPoses.empty() &&
         visionPoses.front().first + kVisionUpdateDelay < t) {
       auto visionEntry = visionPoses.front();
-      estimator.AddVisionMeasurement(frc::Pose3d{visionEntry.second},
+      estimator.AddVisionMeasurement(wpi::math::Pose3d{visionEntry.second},
                                      visionEntry.first);
       visionPoses.erase(visionPoses.begin());
       visionLog.push_back({t, visionEntry.first, visionEntry.second});
@@ -87,13 +87,13 @@ void testFollowTrajectory(
 
     auto xhat = estimator.UpdateWithTime(
         t,
-        frc::Rotation3d{groundTruthState.pose.Rotation() +
-                        frc::Rotation2d{distribution(generator) * 0.05_rad} -
+        wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
+                        wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
                         trajectory.InitialPose().Rotation()},
         positions);
 
     if (debug) {
-      wpi::print(
+      wpi::util::print(
           "{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
           xhat.Y().value(), xhat.Rotation().ToRotation2d().Radians().value(),
           groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
@@ -113,14 +113,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -147,79 +147,79 @@ void testFollowTrajectory(
 }
 
 TEST(SwerveDrivePoseEstimator3dTest, AccuracyFacingTrajectory) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator3d<4> estimator{
-      kinematics,    frc::Rotation3d{},    {fl, fr, bl, br},
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
+  wpi::math::SwerveDrivePoseEstimator3d<4> estimator{
+      kinematics,    wpi::math::Rotation3d{},    {fl, fr, bl, br},
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2.0_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      {0_m, 0_m, frc::Rotation2d{45_deg}}, {0_m, 0_m, frc::Rotation2d{45_deg}},
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, {0_m, 0_m, wpi::math::Rotation2d{45_deg}},
       20_ms, 100_ms, 250_ms, true, false);
 }
 
 TEST(SwerveDrivePoseEstimator3dTest, BadInitialPose) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator3d<4> estimator{
-      kinematics,    frc::Rotation3d{},    {fl, fr, bl, br},
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.9, 0.9, 0.9, 0.9}};
+  wpi::math::SwerveDrivePoseEstimator3d<4> estimator{
+      kinematics,    wpi::math::Rotation3d{},    {fl, fr, bl, br},
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.9, 0.9, 0.9, 0.9}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2.0_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -231,39 +231,39 @@ TEST(SwerveDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator3d<4> estimator{
+  wpi::math::SwerveDrivePoseEstimator3d<4> estimator{
       kinematics,
-      frc::Rotation3d{},
+      wpi::math::Rotation3d{},
       {fl, fr, bl, br},
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 270_deg}},
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 270_deg}},
       {0.1, 0.1, 0.1, 0.1},
       {0.45, 0.45, 0.45, 0.45}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation3d{}, {fl, fr, bl, br});
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation3d{}, {fl, fr, bl, br});
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose3d{0_m, 0_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
+        wpi::math::Pose3d{0_m, 0_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{3_m, 1_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
+        wpi::math::Pose3d{3_m, 1_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose3d{2_m, 4_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 180_deg}},
+        wpi::math::Pose3d{2_m, 4_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}},
         0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         0_deg);
 
@@ -271,9 +271,9 @@ TEST(SwerveDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         90_deg);
 
@@ -281,9 +281,9 @@ TEST(SwerveDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().ToRotation2d().Radians() -
         180_deg);
 
@@ -292,29 +292,29 @@ TEST(SwerveDrivePoseEstimator3dTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(SwerveDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator3d<4> estimator{
-      kinematics,    frc::Rotation3d{},    {fl, fr, bl, br},
-      frc::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
+  wpi::math::SwerveDrivePoseEstimator3d<4> estimator{
+      kinematics,    wpi::math::Rotation3d{},    {fl, fr, bl, br},
+      wpi::math::Pose3d{}, {0.1, 0.1, 0.1, 0.1}, {0.45, 0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation3d{}, {fl, fr, bl, br});
+    estimator.UpdateWithTime(time, wpi::math::Rotation3d{}, {fl, fr, bl, br});
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose3d{10_m, 10_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
+      wpi::math::Pose3d{10_m, 10_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 0.1_rad}}, 1_s,
       {0.1, 0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -332,15 +332,15 @@ TEST(SwerveDrivePoseEstimator3dTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(SwerveDrivePoseEstimator3dTest, TestSampleAt) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::SwerveDrivePoseEstimator3d estimator{
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
-      {frc::SwerveModulePosition{}, frc::SwerveModulePosition{},
-       frc::SwerveModulePosition{}, frc::SwerveModulePosition{}},
-      frc::Pose3d{},
+      wpi::math::Rotation3d{},
+      {wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{},
+       wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{}},
+      wpi::math::Pose3d{},
       {1.0, 1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0, 1.0}};
 
@@ -351,67 +351,67 @@ TEST(SwerveDrivePoseEstimator3dTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    wpi::array<frc::SwerveModulePosition, 4> wheelPositions{
-        {frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}}}};
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation3d{},
+    wpi::util::array<wpi::math::SwerveModulePosition, 4> wheelPositions{
+        {wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}}}};
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation3d{},
                              wheelPositions);
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
   estimator.AddVisionMeasurement(
-      frc::Pose3d{2_m, 0_m, 0_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
+      wpi::math::Pose3d{2_m, 0_m, 0_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}}, 2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
   estimator.AddVisionMeasurement(
-      frc::Pose3d{1_m, 0.2_m, 0_m, frc::Rotation3d{}}, 0.9_s);
+      wpi::math::Pose3d{1_m, 0.2_m, 0_m, wpi::math::Rotation3d{}}, 0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose3d{1.02_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.02_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1.01_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1.01_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{1_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{1_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose3d{2_m, 0.1_m, 0_m, frc::Rotation3d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose3d{2_m, 0.1_m, 0_m, wpi::math::Rotation3d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::SwerveDrivePoseEstimator3d estimator{
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDrivePoseEstimator3d estimator{
       kinematics,
-      frc::Rotation3d{},
-      {frc::SwerveModulePosition{}, frc::SwerveModulePosition{},
-       frc::SwerveModulePosition{}, frc::SwerveModulePosition{}},
-      frc::Pose3d{-1_m, -1_m, -1_m, frc::Rotation3d{0_rad, 0_rad, 1_rad}},
+      wpi::math::Rotation3d{},
+      {wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{},
+       wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{}},
+      wpi::math::Pose3d{-1_m, -1_m, -1_m, wpi::math::Rotation3d{0_rad, 0_rad, 1_rad}},
       {1.0, 1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0, 1.0}};
 
@@ -425,11 +425,11 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
 
   // Test reset position
   {
-    frc::SwerveModulePosition modulePosition{1_m, frc::Rotation2d{}};
+    wpi::math::SwerveModulePosition modulePosition{1_m, wpi::math::Rotation2d{}};
     estimator.ResetPosition(
-        frc::Rotation3d{},
+        wpi::math::Rotation3d{},
         {modulePosition, modulePosition, modulePosition, modulePosition},
-        frc::Pose3d{1_m, 0_m, 0_m, frc::Rotation3d{}});
+        wpi::math::Pose3d{1_m, 0_m, 0_m, wpi::math::Rotation3d{}});
   }
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
@@ -441,8 +441,8 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
 
   // Test orientation and wheel positions
   {
-    frc::SwerveModulePosition modulePosition{2_m, frc::Rotation2d{}};
-    estimator.Update(frc::Rotation3d{}, {modulePosition, modulePosition,
+    wpi::math::SwerveModulePosition modulePosition{2_m, wpi::math::Rotation2d{}};
+    estimator.Update(wpi::math::Rotation3d{}, {modulePosition, modulePosition,
                                          modulePosition, modulePosition});
   }
 
@@ -454,7 +454,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg});
+  estimator.ResetRotation(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -466,8 +466,8 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
 
   // Test orientation
   {
-    frc::SwerveModulePosition modulePosition{3_m, frc::Rotation2d{}};
-    estimator.Update(frc::Rotation3d{}, {modulePosition, modulePosition,
+    wpi::math::SwerveModulePosition modulePosition{3_m, wpi::math::Rotation2d{}};
+    estimator.Update(wpi::math::Rotation3d{}, {modulePosition, modulePosition,
                                          modulePosition, modulePosition});
   }
 
@@ -480,7 +480,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation3d{-1_m, -1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -491,7 +491,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose3d{});
+  estimator.ResetPose(wpi::math::Pose3d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
index 53d24a06fa..c6f0cbf56e 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
@@ -19,39 +19,39 @@
 #include "wpi/util/timestamp.h"
 
 void testFollowTrajectory(
-    const frc::SwerveDriveKinematics<4>& kinematics,
-    frc::SwerveDrivePoseEstimator<4>& estimator,
-    const frc::Trajectory& trajectory,
-    std::function<frc::ChassisSpeeds(frc::Trajectory::State&)>
+    const wpi::math::SwerveDriveKinematics<4>& kinematics,
+    wpi::math::SwerveDrivePoseEstimator<4>& estimator,
+    const wpi::math::Trajectory& trajectory,
+    std::function<wpi::math::ChassisSpeeds(wpi::math::Trajectory::State&)>
         chassisSpeedsGenerator,
-    std::function<frc::Pose2d(frc::Trajectory::State&)>
+    std::function<wpi::math::Pose2d(wpi::math::Trajectory::State&)>
         visionMeasurementGenerator,
-    const frc::Pose2d& startingPose, const frc::Pose2d& endingPose,
-    const units::second_t dt, const units::second_t kVisionUpdateRate,
-    const units::second_t kVisionUpdateDelay, const bool checkError,
+    const wpi::math::Pose2d& startingPose, const wpi::math::Pose2d& endingPose,
+    const wpi::units::second_t dt, const wpi::units::second_t kVisionUpdateRate,
+    const wpi::units::second_t kVisionUpdateDelay, const bool checkError,
     const bool debug) {
-  wpi::array<frc::SwerveModulePosition, 4> positions{wpi::empty_array};
+  wpi::util::array<wpi::math::SwerveModulePosition, 4> positions{wpi::util::empty_array};
 
-  estimator.ResetPosition(frc::Rotation2d{}, positions, startingPose);
+  estimator.ResetPosition(wpi::math::Rotation2d{}, positions, startingPose);
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t t = 0_s;
+  wpi::units::second_t t = 0_s;
 
-  std::vector<std::pair<units::second_t, frc::Pose2d>> visionPoses;
-  std::vector<std::tuple<units::second_t, units::second_t, frc::Pose2d>>
+  std::vector<std::pair<wpi::units::second_t, wpi::math::Pose2d>> visionPoses;
+  std::vector<std::tuple<wpi::units::second_t, wpi::units::second_t, wpi::math::Pose2d>>
       visionLog;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   if (debug) {
-    wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
+    wpi::util::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
   }
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     // We are due for a new vision measurement if it's been `visionUpdateRate`
     // seconds since the last vision measurement
@@ -59,9 +59,9 @@ void testFollowTrajectory(
         visionPoses.back().first + kVisionUpdateRate < t) {
       auto visionPose =
           visionMeasurementGenerator(groundTruthState) +
-          frc::Transform2d{frc::Translation2d{distribution(generator) * 0.1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{distribution(generator) * 0.1_m,
                                               distribution(generator) * 0.1_m},
-                           frc::Rotation2d{distribution(generator) * 0.05_rad}};
+                           wpi::math::Rotation2d{distribution(generator) * 0.05_rad}};
       visionPoses.push_back({t, visionPose});
     }
 
@@ -87,12 +87,12 @@ void testFollowTrajectory(
     auto xhat = estimator.UpdateWithTime(
         t,
         groundTruthState.pose.Rotation() +
-            frc::Rotation2d{distribution(generator) * 0.05_rad} -
+            wpi::math::Rotation2d{distribution(generator) * 0.05_rad} -
             trajectory.InitialPose().Rotation(),
         positions);
 
     if (debug) {
-      wpi::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
+      wpi::util::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
                  xhat.Y().value(), xhat.Rotation().Radians().value(),
                  groundTruthState.pose.X().value(),
                  groundTruthState.pose.Y().value(),
@@ -112,14 +112,14 @@ void testFollowTrajectory(
   }
 
   if (debug) {
-    wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
+    wpi::util::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
 
-    units::second_t apply_time;
-    units::second_t measure_time;
-    frc::Pose2d vision_pose;
+    wpi::units::second_t apply_time;
+    wpi::units::second_t measure_time;
+    wpi::math::Pose2d vision_pose;
     for (auto record : visionLog) {
       std::tie(apply_time, measure_time, vision_pose) = record;
-      wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
+      wpi::util::print("{}, {}, {}, {}, {}\n", apply_time.value(),
                  measure_time.value(), vision_pose.X().value(),
                  vision_pose.Y().value(),
                  vision_pose.Rotation().Radians().value());
@@ -142,79 +142,79 @@ void testFollowTrajectory(
 }
 
 TEST(SwerveDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator<4> estimator{
-      kinematics,    frc::Rotation2d{}, {fl, fr, bl, br},
-      frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
+  wpi::math::SwerveDrivePoseEstimator<4> estimator{
+      kinematics,    wpi::math::Rotation2d{}, {fl, fr, bl, br},
+      wpi::math::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2.0_mps_sq));
 
   testFollowTrajectory(
       kinematics, estimator, trajectory,
-      [&](frc::Trajectory::State& state) {
-        return frc::ChassisSpeeds{state.velocity, 0_mps,
+      [&](wpi::math::Trajectory::State& state) {
+        return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                   state.velocity * state.curvature};
       },
-      [&](frc::Trajectory::State& state) { return state.pose; },
-      {0_m, 0_m, frc::Rotation2d{45_deg}}, {0_m, 0_m, frc::Rotation2d{45_deg}},
+      [&](wpi::math::Trajectory::State& state) { return state.pose; },
+      {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, {0_m, 0_m, wpi::math::Rotation2d{45_deg}},
       20_ms, 100_ms, 250_ms, true, false);
 }
 
 TEST(SwerveDrivePoseEstimatorTest, BadInitialPose) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator<4> estimator{
-      kinematics,    frc::Rotation2d{}, {fl, fr, bl, br},
-      frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.9, 0.9, 0.9}};
+  wpi::math::SwerveDrivePoseEstimator<4> estimator{
+      kinematics,    wpi::math::Rotation2d{}, {fl, fr, bl, br},
+      wpi::math::Pose2d{}, {0.1, 0.1, 0.1},   {0.9, 0.9, 0.9}};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(2_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(2_mps, 2.0_mps_sq));
 
-  for (units::degree_t offset_direction_degs = 0_deg;
+  for (wpi::units::degree_t offset_direction_degs = 0_deg;
        offset_direction_degs < 360_deg; offset_direction_degs += 45_deg) {
-    for (units::degree_t offset_heading_degs = 0_deg;
+    for (wpi::units::degree_t offset_heading_degs = 0_deg;
          offset_heading_degs < 360_deg; offset_heading_degs += 45_deg) {
-      auto pose_offset = frc::Rotation2d{offset_direction_degs};
-      auto heading_offset = frc::Rotation2d{offset_heading_degs};
+      auto pose_offset = wpi::math::Rotation2d{offset_direction_degs};
+      auto heading_offset = wpi::math::Rotation2d{offset_heading_degs};
 
       auto initial_pose =
           trajectory.InitialPose() +
-          frc::Transform2d{frc::Translation2d{pose_offset.Cos() * 1_m,
+          wpi::math::Transform2d{wpi::math::Translation2d{pose_offset.Cos() * 1_m,
                                               pose_offset.Sin() * 1_m},
                            heading_offset};
 
       testFollowTrajectory(
           kinematics, estimator, trajectory,
-          [&](frc::Trajectory::State& state) {
-            return frc::ChassisSpeeds{state.velocity, 0_mps,
+          [&](wpi::math::Trajectory::State& state) {
+            return wpi::math::ChassisSpeeds{state.velocity, 0_mps,
                                       state.velocity * state.curvature};
           },
-          [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          [&](wpi::math::Trajectory::State& state) { return state.pose; },
+          initial_pose, {0_m, 0_m, wpi::math::Rotation2d{45_deg}}, 20_ms, 100_ms,
           250_ms, false, false);
     }
   }
@@ -226,53 +226,53 @@ TEST(SwerveDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
   // pose would converge to that measurement.
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator<4> estimator{
-      kinematics,       frc::Rotation2d{},
-      {fl, fr, bl, br}, frc::Pose2d{1_m, 2_m, frc::Rotation2d{270_deg}},
+  wpi::math::SwerveDrivePoseEstimator<4> estimator{
+      kinematics,       wpi::math::Rotation2d{},
+      {fl, fr, bl, br}, wpi::math::Pose2d{1_m, 2_m, wpi::math::Rotation2d{270_deg}},
       {0.1, 0.1, 0.1},  {0.45, 0.45, 0.45}};
 
-  estimator.UpdateWithTime(0_s, frc::Rotation2d{}, {fl, fr, bl, br});
+  estimator.UpdateWithTime(0_s, wpi::math::Rotation2d{}, {fl, fr, bl, br});
 
   for (int i = 0; i < 1000; i++) {
     estimator.AddVisionMeasurement(
-        frc::Pose2d{0_m, 0_m, frc::Rotation2d{0_deg}}, 0_s);
+        wpi::math::Pose2d{0_m, 0_m, wpi::math::Rotation2d{0_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{3_m, 1_m, frc::Rotation2d{90_deg}}, 0_s);
+        wpi::math::Pose2d{3_m, 1_m, wpi::math::Rotation2d{90_deg}}, 0_s);
     estimator.AddVisionMeasurement(
-        frc::Pose2d{2_m, 4_m, frc::Rotation2d{180_deg}}, 0_s);
+        wpi::math::Pose2d{2_m, 4_m, wpi::math::Rotation2d{180_deg}}, 0_s);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 0_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 0_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 0_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 3_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 1_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 90_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
   }
 
   {
-    auto dx = units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
-    auto dy = units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
-    auto dtheta = units::math::abs(
+    auto dx = wpi::units::math::abs(estimator.GetEstimatedPosition().X() - 2_m);
+    auto dy = wpi::units::math::abs(estimator.GetEstimatedPosition().Y() - 4_m);
+    auto dtheta = wpi::units::math::abs(
         estimator.GetEstimatedPosition().Rotation().Radians() - 180_deg);
 
     EXPECT_TRUE(dx > 0.08_m || dy > 0.08_m || dtheta > 0.08_rad);
@@ -280,29 +280,29 @@ TEST(SwerveDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
 }
 
 TEST(SwerveDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::SwerveModulePosition fl;
-  frc::SwerveModulePosition fr;
-  frc::SwerveModulePosition bl;
-  frc::SwerveModulePosition br;
+  wpi::math::SwerveModulePosition fl;
+  wpi::math::SwerveModulePosition fr;
+  wpi::math::SwerveModulePosition bl;
+  wpi::math::SwerveModulePosition br;
 
-  frc::SwerveDrivePoseEstimator<4> estimator{
-      kinematics,    frc::Rotation2d{}, {fl, fr, bl, br},
-      frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
+  wpi::math::SwerveDrivePoseEstimator<4> estimator{
+      kinematics,    wpi::math::Rotation2d{}, {fl, fr, bl, br},
+      wpi::math::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
   for (auto time = 0_s; time < 4_s; time += 20_ms) {
-    estimator.UpdateWithTime(time, frc::Rotation2d{}, {fl, fr, bl, br});
+    estimator.UpdateWithTime(time, wpi::math::Rotation2d{}, {fl, fr, bl, br});
   }
 
   auto odometryPose = estimator.GetEstimatedPosition();
 
   // Apply a vision measurement from 3 seconds ago
   estimator.AddVisionMeasurement(
-      frc::Pose2d{frc::Translation2d{10_m, 10_m}, frc::Rotation2d{0.1_rad}},
+      wpi::math::Pose2d{wpi::math::Translation2d{10_m, 10_m}, wpi::math::Rotation2d{0.1_rad}},
       1_s, {0.1, 0.1, 0.1});
 
   EXPECT_NEAR(odometryPose.X().value(),
@@ -315,15 +315,15 @@ TEST(SwerveDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
 }
 
 TEST(SwerveDrivePoseEstimatorTest, TestSampleAt) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::SwerveDrivePoseEstimator estimator{
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDrivePoseEstimator estimator{
       kinematics,
-      frc::Rotation2d{},
-      {frc::SwerveModulePosition{}, frc::SwerveModulePosition{},
-       frc::SwerveModulePosition{}, frc::SwerveModulePosition{}},
-      frc::Pose2d{},
+      wpi::math::Rotation2d{},
+      {wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{},
+       wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{}},
+      wpi::math::Pose2d{},
       {1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0}};
 
@@ -334,67 +334,67 @@ TEST(SwerveDrivePoseEstimatorTest, TestSampleAt) {
   // Add a tiny tolerance for the upper bound because of floating point rounding
   // error
   for (double time = 1; time <= 2 + 1e-9; time += 0.02) {
-    wpi::array<frc::SwerveModulePosition, 4> wheelPositions{
-        {frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}},
-         frc::SwerveModulePosition{units::meter_t{time}, frc::Rotation2d{}}}};
-    estimator.UpdateWithTime(units::second_t{time}, frc::Rotation2d{},
+    wpi::util::array<wpi::math::SwerveModulePosition, 4> wheelPositions{
+        {wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}},
+         wpi::math::SwerveModulePosition{wpi::units::meter_t{time}, wpi::math::Rotation2d{}}}};
+    estimator.UpdateWithTime(wpi::units::second_t{time}, wpi::math::Rotation2d{},
                              wheelPositions);
   }
 
   // Sample at an added time
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
   // Sample between updates (test interpolation)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
   // Sampling before the oldest value returns the oldest value
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
   // Sampling after the newest value returns the newest value
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 
   // Add a vision measurement after the odometry measurements (while keeping all
   // of the old odometry measurements)
-  estimator.AddVisionMeasurement(frc::Pose2d{2_m, 0_m, frc::Rotation2d{1_rad}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{2_m, 0_m, wpi::math::Rotation2d{1_rad}},
                                  2.2_s);
 
   // Make sure nothing changed (except the newest value)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
 
   // Add a vision measurement before the odometry measurements that's still in
   // the buffer
-  estimator.AddVisionMeasurement(frc::Pose2d{1_m, 0.2_m, frc::Rotation2d{}},
+  estimator.AddVisionMeasurement(wpi::math::Pose2d{1_m, 0.2_m, wpi::math::Rotation2d{}},
                                  0.9_s);
 
   // Everything should be the same except Y is 0.1 (halfway between 0 and 0.2)
-  EXPECT_EQ(std::optional(frc::Pose2d{1.02_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.02_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.02_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1.01_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1.01_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(1.01_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{1_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{1_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(0.5_s));
-  EXPECT_EQ(std::optional(frc::Pose2d{2_m, 0.1_m, frc::Rotation2d{}}),
+  EXPECT_EQ(std::optional(wpi::math::Pose2d{2_m, 0.1_m, wpi::math::Rotation2d{}}),
             estimator.SampleAt(2.5_s));
 }
 
 TEST(SwerveDrivePoseEstimatorTest, TestReset) {
-  frc::SwerveDriveKinematics<4> kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
-  frc::SwerveDrivePoseEstimator estimator{
+  wpi::math::SwerveDriveKinematics<4> kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
+  wpi::math::SwerveDrivePoseEstimator estimator{
       kinematics,
-      frc::Rotation2d{},
-      {frc::SwerveModulePosition{}, frc::SwerveModulePosition{},
-       frc::SwerveModulePosition{}, frc::SwerveModulePosition{}},
-      frc::Pose2d{-1_m, -1_m, frc::Rotation2d{1_rad}},
+      wpi::math::Rotation2d{},
+      {wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{},
+       wpi::math::SwerveModulePosition{}, wpi::math::SwerveModulePosition{}},
+      wpi::math::Pose2d{-1_m, -1_m, wpi::math::Rotation2d{1_rad}},
       {1.0, 1.0, 1.0},
       {1.0, 1.0, 1.0}};
 
@@ -406,11 +406,11 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
 
   // Test reset position
   {
-    frc::SwerveModulePosition modulePosition{1_m, frc::Rotation2d{}};
+    wpi::math::SwerveModulePosition modulePosition{1_m, wpi::math::Rotation2d{}};
     estimator.ResetPosition(
-        frc::Rotation2d{},
+        wpi::math::Rotation2d{},
         {modulePosition, modulePosition, modulePosition, modulePosition},
-        frc::Pose2d{1_m, 0_m, frc::Rotation2d{}});
+        wpi::math::Pose2d{1_m, 0_m, wpi::math::Rotation2d{}});
   }
 
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().X().value());
@@ -420,8 +420,8 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
 
   // Test orientation and wheel positions
   {
-    frc::SwerveModulePosition modulePosition{2_m, frc::Rotation2d{}};
-    estimator.Update(frc::Rotation2d{}, {modulePosition, modulePosition,
+    wpi::math::SwerveModulePosition modulePosition{2_m, wpi::math::Rotation2d{}};
+    estimator.Update(wpi::math::Rotation2d{}, {modulePosition, modulePosition,
                                          modulePosition, modulePosition});
   }
 
@@ -431,7 +431,7 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset rotation
-  estimator.ResetRotation(frc::Rotation2d{90_deg});
+  estimator.ResetRotation(wpi::math::Rotation2d{90_deg});
 
   EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
@@ -441,8 +441,8 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
 
   // Test orientation
   {
-    frc::SwerveModulePosition modulePosition{3_m, frc::Rotation2d{}};
-    estimator.Update(frc::Rotation2d{}, {modulePosition, modulePosition,
+    wpi::math::SwerveModulePosition modulePosition{3_m, wpi::math::Rotation2d{}};
+    estimator.Update(wpi::math::Rotation2d{}, {modulePosition, modulePosition,
                                          modulePosition, modulePosition});
   }
 
@@ -453,7 +453,7 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset translation
-  estimator.ResetTranslation(frc::Translation2d{-1_m, -1_m});
+  estimator.ResetTranslation(wpi::math::Translation2d{-1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
@@ -462,7 +462,7 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset pose
-  estimator.ResetPose(frc::Pose2d{});
+  estimator.ResetPose(wpi::math::Pose2d{});
 
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
diff --git a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
index fe6dbfdd85..29e5403b99 100644
--- a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
@@ -8,19 +8,19 @@
 #include "wpi/units/time.hpp"
 #include "wpi/util/timestamp.h"
 
-static units::second_t now = 0_s;
+static wpi::units::second_t now = 0_s;
 
 class DebouncerTest : public ::testing::Test {
  protected:
   void SetUp() override {
-    WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+    WPI_SetNowImpl([] { return wpi::units::microsecond_t{now}.to<uint64_t>(); });
   }
 
   void TearDown() override { WPI_SetNowImpl(nullptr); }
 };
 
 TEST_F(DebouncerTest, DebounceRising) {
-  frc::Debouncer debouncer{20_ms};
+  wpi::math::Debouncer debouncer{20_ms};
 
   debouncer.Calculate(false);
   EXPECT_FALSE(debouncer.Calculate(true));
@@ -31,7 +31,7 @@ TEST_F(DebouncerTest, DebounceRising) {
 }
 
 TEST_F(DebouncerTest, DebounceFalling) {
-  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kFalling};
+  wpi::math::Debouncer debouncer{20_ms, wpi::math::Debouncer::DebounceType::kFalling};
 
   debouncer.Calculate(true);
   EXPECT_TRUE(debouncer.Calculate(false));
@@ -42,7 +42,7 @@ TEST_F(DebouncerTest, DebounceFalling) {
 }
 
 TEST_F(DebouncerTest, DebounceBoth) {
-  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
+  wpi::math::Debouncer debouncer{20_ms, wpi::math::Debouncer::DebounceType::kBoth};
 
   debouncer.Calculate(false);
   EXPECT_FALSE(debouncer.Calculate(true));
@@ -58,20 +58,20 @@ TEST_F(DebouncerTest, DebounceBoth) {
 }
 
 TEST_F(DebouncerTest, DebounceParams) {
-  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
+  wpi::math::Debouncer debouncer{20_ms, wpi::math::Debouncer::DebounceType::kBoth};
 
   EXPECT_TRUE(debouncer.GetDebounceTime() == 20_ms);
   EXPECT_TRUE(debouncer.GetDebounceType() ==
-              frc::Debouncer::DebounceType::kBoth);
+              wpi::math::Debouncer::DebounceType::kBoth);
 
   debouncer.SetDebounceTime(100_ms);
 
   EXPECT_TRUE(debouncer.GetDebounceTime() == 100_ms);
 
-  debouncer.SetDebounceType(frc::Debouncer::DebounceType::kFalling);
+  debouncer.SetDebounceType(wpi::math::Debouncer::DebounceType::kFalling);
 
   EXPECT_TRUE(debouncer.GetDebounceType() ==
-              frc::Debouncer::DebounceType::kFalling);
+              wpi::math::Debouncer::DebounceType::kFalling);
 
   EXPECT_TRUE(debouncer.Calculate(false));
 }
diff --git a/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp b/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
index aaf250edc0..192d62f01d 100644
--- a/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
@@ -27,14 +27,14 @@ static double GetData(double t) {
 class LinearFilterNoiseTest
     : public testing::TestWithParam<LinearFilterNoiseTestType> {
  protected:
-  frc::LinearFilter<double> m_filter = [=] {
+  wpi::math::LinearFilter<double> m_filter = [=] {
     switch (GetParam()) {
       case kTestSinglePoleIIR:
-        return frc::LinearFilter<double>::SinglePoleIIR(
+        return wpi::math::LinearFilter<double>::SinglePoleIIR(
             kSinglePoleIIRTimeConstant, kFilterStep);
         break;
       default:
-        return frc::LinearFilter<double>::MovingAverage(kMovAvgTaps);
+        return wpi::math::LinearFilter<double>::MovingAverage(kMovAvgTaps);
         break;
     }
   }();
diff --git a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
index 13cd3890f2..32e0cc4f9f 100644
--- a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
@@ -51,21 +51,21 @@ static double GetPulseData(double t) {
 class LinearFilterOutputTest
     : public testing::TestWithParam<LinearFilterOutputTestType> {
  protected:
-  frc::LinearFilter<double> m_filter = [=] {
+  wpi::math::LinearFilter<double> m_filter = [=] {
     switch (GetParam()) {
       case kTestSinglePoleIIR:
-        return frc::LinearFilter<double>::SinglePoleIIR(
+        return wpi::math::LinearFilter<double>::SinglePoleIIR(
             kSinglePoleIIRTimeConstant, kFilterStep);
         break;
       case kTestHighPass:
-        return frc::LinearFilter<double>::HighPass(kHighPassTimeConstant,
+        return wpi::math::LinearFilter<double>::HighPass(kHighPassTimeConstant,
                                                    kFilterStep);
         break;
       case kTestMovAvg:
-        return frc::LinearFilter<double>::MovingAverage(kMovAvgTaps);
+        return wpi::math::LinearFilter<double>::MovingAverage(kMovAvgTaps);
         break;
       default:
-        return frc::LinearFilter<double>::MovingAverage(kMovAvgTaps);
+        return wpi::math::LinearFilter<double>::MovingAverage(kMovAvgTaps);
         break;
     }
   }();
@@ -121,18 +121,18 @@ INSTANTIATE_TEST_SUITE_P(Tests, LinearFilterOutputTest,
                                          kTestMovAvg, kTestPulse));
 
 template <int Derivative, int Samples, typename F, typename DfDx>
-void AssertCentralResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
+void AssertCentralResults(F&& f, DfDx&& dfdx, wpi::units::second_t h, double min,
                           double max) {
   static_assert(Samples % 2 != 0, "Number of samples must be odd.");
 
   // Generate stencil points from -(samples - 1)/2 to (samples - 1)/2
-  wpi::array<int, Samples> stencil{wpi::empty_array};
+  wpi::util::array<int, Samples> stencil{wpi::util::empty_array};
   for (int i = 0; i < Samples; ++i) {
     stencil[i] = -(Samples - 1) / 2 + i;
   }
 
   auto filter =
-      frc::LinearFilter<double>::FiniteDifference<Derivative, Samples>(stencil,
+      wpi::math::LinearFilter<double>::FiniteDifference<Derivative, Samples>(stencil,
                                                                        h);
 
   for (int i = min / h.value(); i < max / h.value(); ++i) {
@@ -153,10 +153,10 @@ void AssertCentralResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
 }
 
 template <int Derivative, int Samples, typename F, typename DfDx>
-void AssertBackwardResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
+void AssertBackwardResults(F&& f, DfDx&& dfdx, wpi::units::second_t h, double min,
                            double max) {
   auto filter =
-      frc::LinearFilter<double>::BackwardFiniteDifference<Derivative, Samples>(
+      wpi::math::LinearFilter<double>::BackwardFiniteDifference<Derivative, Samples>(
           h);
 
   for (int i = min / h.value(); i < max / h.value(); ++i) {
diff --git a/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp b/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
index c341d8b8b1..6718e76429 100644
--- a/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/filter/MedianFilter.hpp"
 
 TEST(MedianFilterTest, MedianFilterNotFullTestEven) {
-  frc::MedianFilter<double> filter{10};
+  wpi::math::MedianFilter<double> filter{10};
 
   filter.Calculate(3);
   filter.Calculate(0);
@@ -17,7 +17,7 @@ TEST(MedianFilterTest, MedianFilterNotFullTestEven) {
 }
 
 TEST(MedianFilterTest, MedianFilterNotFullTestOdd) {
-  frc::MedianFilter<double> filter{10};
+  wpi::math::MedianFilter<double> filter{10};
 
   filter.Calculate(3);
   filter.Calculate(0);
@@ -28,7 +28,7 @@ TEST(MedianFilterTest, MedianFilterNotFullTestOdd) {
 }
 
 TEST(MedianFilterTest, MedianFilterFullTestEven) {
-  frc::MedianFilter<double> filter{6};
+  wpi::math::MedianFilter<double> filter{6};
 
   filter.Calculate(3);
   filter.Calculate(0);
@@ -41,7 +41,7 @@ TEST(MedianFilterTest, MedianFilterFullTestEven) {
 }
 
 TEST(MedianFilterTest, MedianFilterFullTestOdd) {
-  frc::MedianFilter<double> filter{5};
+  wpi::math::MedianFilter<double> filter{5};
 
   filter.Calculate(3);
   filter.Calculate(0);
diff --git a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
index 7220855f4f..9c94fbb720 100644
--- a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
@@ -10,21 +10,21 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/util/timestamp.h"
 
-static units::second_t now = 0_s;
+static wpi::units::second_t now = 0_s;
 
 class SlewRateLimiterTest : public ::testing::Test {
  protected:
   void SetUp() override {
-    WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+    WPI_SetNowImpl([] { return wpi::units::microsecond_t{now}.to<uint64_t>(); });
   }
 
   void TearDown() override { WPI_SetNowImpl(nullptr); }
 };
 
 TEST_F(SlewRateLimiterTest, SlewRateLimit) {
-  WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+  WPI_SetNowImpl([] { return wpi::units::microsecond_t{now}.to<uint64_t>(); });
 
-  frc::SlewRateLimiter<units::meters> limiter(1_mps);
+  wpi::math::SlewRateLimiter<wpi::units::meters> limiter(1_mps);
 
   now += 1_s;
 
@@ -32,7 +32,7 @@ TEST_F(SlewRateLimiterTest, SlewRateLimit) {
 }
 
 TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
-  frc::SlewRateLimiter<units::meters> limiter(1_mps);
+  wpi::math::SlewRateLimiter<wpi::units::meters> limiter(1_mps);
 
   now += 1_s;
 
@@ -40,7 +40,7 @@ TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
 }
 
 TEST_F(SlewRateLimiterTest, SlewRatePositiveNegativeLimit) {
-  frc::SlewRateLimiter<units::meters> limiter(1_mps, -0.5_mps);
+  wpi::math::SlewRateLimiter<wpi::units::meters> limiter(1_mps, -0.5_mps);
 
   now += 1_s;
 
diff --git a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
index e326f50de8..13aaf8a4e2 100644
--- a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Transform3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 void CheckPose3dConvert(const Pose3d& poseFrom, const Pose3d& poseTo,
                         const CoordinateSystem& coordFrom,
diff --git a/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
index bda14d8623..57db84452f 100644
--- a/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
@@ -7,32 +7,32 @@
 #include "wpi/math/geometry/Ellipse2d.hpp"
 
 TEST(Ellipse2dTest, FocalPoints) {
-  constexpr frc::Pose2d center{1_m, 2_m, 0_deg};
-  constexpr frc::Ellipse2d ellipse{center, 5_m, 4_m};
+  constexpr wpi::math::Pose2d center{1_m, 2_m, 0_deg};
+  constexpr wpi::math::Ellipse2d ellipse{center, 5_m, 4_m};
 
   const auto [a, b] = ellipse.FocalPoints();
 
-  EXPECT_EQ(frc::Translation2d(-2_m, 2_m), a);
-  EXPECT_EQ(frc::Translation2d(4_m, 2_m), b);
+  EXPECT_EQ(wpi::math::Translation2d(-2_m, 2_m), a);
+  EXPECT_EQ(wpi::math::Translation2d(4_m, 2_m), b);
 }
 
 TEST(Ellipse2dTest, Intersects) {
-  constexpr frc::Pose2d center{1_m, 2_m, 0_deg};
-  constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
+  constexpr wpi::math::Pose2d center{1_m, 2_m, 0_deg};
+  constexpr wpi::math::Ellipse2d ellipse{center, 2_m, 1_m};
 
-  constexpr frc::Translation2d pointA{1_m, 3_m};
-  constexpr frc::Translation2d pointB{0_m, 3_m};
+  constexpr wpi::math::Translation2d pointA{1_m, 3_m};
+  constexpr wpi::math::Translation2d pointB{0_m, 3_m};
 
   EXPECT_TRUE(ellipse.Intersects(pointA));
   EXPECT_FALSE(ellipse.Intersects(pointB));
 }
 
 TEST(Ellipse2dTest, Contains) {
-  constexpr frc::Pose2d center{-1_m, -2_m, 45_deg};
-  constexpr frc::Ellipse2d ellipse{center, 2_m, 1_m};
+  constexpr wpi::math::Pose2d center{-1_m, -2_m, 45_deg};
+  constexpr wpi::math::Ellipse2d ellipse{center, 2_m, 1_m};
 
-  constexpr frc::Translation2d pointA{0_m, -1_m};
-  constexpr frc::Translation2d pointB{0.5_m, -2_m};
+  constexpr wpi::math::Translation2d pointA{0_m, -1_m};
+  constexpr wpi::math::Translation2d pointB{0.5_m, -2_m};
 
   EXPECT_TRUE(ellipse.Contains(pointA));
   EXPECT_FALSE(ellipse.Contains(pointB));
@@ -41,58 +41,58 @@ TEST(Ellipse2dTest, Contains) {
 TEST(Ellipse2dTest, Distance) {
   constexpr double kEpsilon = 1E-9;
 
-  constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
-  constexpr frc::Ellipse2d ellipse{center, 1_m, 2_m};
+  constexpr wpi::math::Pose2d center{1_m, 2_m, 270_deg};
+  constexpr wpi::math::Ellipse2d ellipse{center, 1_m, 2_m};
 
-  constexpr frc::Translation2d point1{2.5_m, 2_m};
+  constexpr wpi::math::Translation2d point1{2.5_m, 2_m};
   EXPECT_NEAR(0, ellipse.Distance(point1).value(), kEpsilon);
 
-  constexpr frc::Translation2d point2{1_m, 2_m};
+  constexpr wpi::math::Translation2d point2{1_m, 2_m};
   EXPECT_NEAR(0, ellipse.Distance(point2).value(), kEpsilon);
 
-  constexpr frc::Translation2d point3{1_m, 1_m};
+  constexpr wpi::math::Translation2d point3{1_m, 1_m};
   EXPECT_NEAR(0, ellipse.Distance(point3).value(), kEpsilon);
 
-  constexpr frc::Translation2d point4{-1_m, 2.5_m};
+  constexpr wpi::math::Translation2d point4{-1_m, 2.5_m};
   EXPECT_NEAR(0.19210128384806818, ellipse.Distance(point4).value(), kEpsilon);
 }
 
 TEST(Ellipse2dTest, Nearest) {
   constexpr double kEpsilon = 1E-9;
 
-  constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
-  constexpr frc::Ellipse2d ellipse{center, 1_m, 2_m};
+  constexpr wpi::math::Pose2d center{1_m, 2_m, 270_deg};
+  constexpr wpi::math::Ellipse2d ellipse{center, 1_m, 2_m};
 
-  constexpr frc::Translation2d point1{2.5_m, 2_m};
+  constexpr wpi::math::Translation2d point1{2.5_m, 2_m};
   auto nearestPoint1 = ellipse.Nearest(point1);
   EXPECT_NEAR(2.5, nearestPoint1.X().value(), kEpsilon);
   EXPECT_NEAR(2.0, nearestPoint1.Y().value(), kEpsilon);
 
-  constexpr frc::Translation2d point2{1_m, 2_m};
+  constexpr wpi::math::Translation2d point2{1_m, 2_m};
   auto nearestPoint2 = ellipse.Nearest(point2);
   EXPECT_NEAR(1.0, nearestPoint2.X().value(), kEpsilon);
   EXPECT_NEAR(2.0, nearestPoint2.Y().value(), kEpsilon);
 
-  constexpr frc::Translation2d point3{1_m, 1_m};
+  constexpr wpi::math::Translation2d point3{1_m, 1_m};
   auto nearestPoint3 = ellipse.Nearest(point3);
   EXPECT_NEAR(1.0, nearestPoint3.X().value(), kEpsilon);
   EXPECT_NEAR(1.0, nearestPoint3.Y().value(), kEpsilon);
 
-  constexpr frc::Translation2d point4{-1_m, 2.5_m};
+  constexpr wpi::math::Translation2d point4{-1_m, 2.5_m};
   auto nearestPoint4 = ellipse.Nearest(point4);
   EXPECT_NEAR(-0.8512799937611617, nearestPoint4.X().value(), kEpsilon);
   EXPECT_NEAR(2.378405333174535, nearestPoint4.Y().value(), kEpsilon);
 }
 
 TEST(Ellipse2dTest, Equals) {
-  constexpr frc::Pose2d center1{1_m, 2_m, 90_deg};
-  constexpr frc::Ellipse2d ellipse1{center1, 2_m, 3_m};
+  constexpr wpi::math::Pose2d center1{1_m, 2_m, 90_deg};
+  constexpr wpi::math::Ellipse2d ellipse1{center1, 2_m, 3_m};
 
-  constexpr frc::Pose2d center2{1_m, 2_m, 90_deg};
-  constexpr frc::Ellipse2d ellipse2{center2, 2_m, 3_m};
+  constexpr wpi::math::Pose2d center2{1_m, 2_m, 90_deg};
+  constexpr wpi::math::Ellipse2d ellipse2{center2, 2_m, 3_m};
 
-  constexpr frc::Pose2d center3{1_m, 2_m, 90_deg};
-  constexpr frc::Ellipse2d ellipse3{center3, 3_m, 2_m};
+  constexpr wpi::math::Pose2d center3{1_m, 2_m, 90_deg};
+  constexpr wpi::math::Ellipse2d ellipse3{center3, 3_m, 2_m};
 
   EXPECT_EQ(ellipse1, ellipse2);
   EXPECT_NE(ellipse1, ellipse3);
diff --git a/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
index e7402d9c1e..da60baa3b0 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
@@ -9,7 +9,7 @@
 
 #include "wpi/math/geometry/Pose2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Pose2dTest, RotateBy) {
   constexpr auto x = 1_m;
diff --git a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
index 01ddbd456b..13bb08e3f9 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
@@ -9,14 +9,14 @@
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/array.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Pose3dTest, RotateBy) {
   constexpr auto x = 1_m;
   constexpr auto y = 2_m;
   const Pose3d initial{x, y, 0_m, Rotation3d{0_deg, 0_deg, 45_deg}};
 
-  constexpr units::radian_t yaw = 5_deg;
+  constexpr wpi::units::radian_t yaw = 5_deg;
   const Rotation3d rotation{0_deg, 0_deg, yaw};
   const auto rotated = initial.RotateBy(rotation);
 
@@ -67,7 +67,7 @@ TEST(Pose3dTest, TransformBy) {
   EXPECT_DOUBLE_EQ(1.0 + 5.0 / std::sqrt(2.0), transformed.X().value());
   EXPECT_DOUBLE_EQ(2.0 + 5.0 / std::sqrt(2.0), transformed.Y().value());
   EXPECT_DOUBLE_EQ(transformed.Rotation().Z().value(),
-                   units::radian_t{50_deg}.value());
+                   wpi::units::radian_t{50_deg}.value());
 }
 
 TEST(Pose3dTest, RelativeTo) {
@@ -92,7 +92,7 @@ TEST(Pose3dTest, RotateAround) {
 
   EXPECT_NEAR(-5.0, rotated.X().value(), 1e-9);
   EXPECT_NEAR(0.0, rotated.Y().value(), 1e-9);
-  EXPECT_NEAR(units::radian_t{180_deg}.value(), rotated.Rotation().Z().value(),
+  EXPECT_NEAR(wpi::units::radian_t{180_deg}.value(), rotated.Rotation().Z().value(),
               1e-9);
 }
 
@@ -140,7 +140,7 @@ TEST(Pose3dTest, ToPose2d) {
 }
 
 TEST(Pose3dTest, ComplexTwists) {
-  wpi::array<Pose3d, 5> initial_poses{
+  wpi::util::array<Pose3d, 5> initial_poses{
       Pose3d{0.698303_m, -0.959096_m, 0.271076_m,
              Rotation3d{Quaternion{0.86403, -0.076866, 0.147234, 0.475254}}},
       Pose3d{0.634892_m, -0.765209_m, 0.117543_m,
@@ -153,7 +153,7 @@ TEST(Pose3dTest, ComplexTwists) {
              Rotation3d{Quaternion{0.807886, 0.029298, 0.257788, 0.529157}}},
   };
 
-  wpi::array<Pose3d, 5> final_poses{
+  wpi::util::array<Pose3d, 5> final_poses{
       Pose3d{-0.230448_m, -0.511957_m, 0.198406_m,
              Rotation3d{Quaternion{0.753984, 0.347016, 0.409105, 0.379106}}},
       Pose3d{-0.088932_m, -0.343253_m, 0.095018_m,
@@ -190,7 +190,7 @@ TEST(Pose3dTest, ComplexTwists) {
 }
 
 TEST(Pose3dTest, TwistNaN) {
-  wpi::array<Pose3d, 2> initial_poses{
+  wpi::util::array<Pose3d, 2> initial_poses{
       Pose3d{6.32_m, 4.12_m, 0.00_m,
              Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
                                    1.9208309264993548E-8}}},
@@ -199,7 +199,7 @@ TEST(Pose3dTest, TwistNaN) {
                                    2.0352360299846772E-7}}},
   };
 
-  wpi::array<Pose3d, 2> final_poses{
+  wpi::util::array<Pose3d, 2> final_poses{
       Pose3d{6.33_m, 4.15_m, 0.00_m,
              Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
                                    2.416890209039172E-8}}},
diff --git a/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp b/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
index 0291407bf2..491b61758c 100644
--- a/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/math.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(QuaternionTest, Init) {
   // Identity
@@ -94,8 +94,8 @@ TEST(QuaternionTest, ScalarDivision) {
 
 TEST(QuaternionTest, Multiply) {
   // 90° CCW rotations around each axis
-  double c = units::math::cos(90_deg / 2.0);
-  double s = units::math::sin(90_deg / 2.0);
+  double c = wpi::units::math::cos(90_deg / 2.0);
+  double s = wpi::units::math::sin(90_deg / 2.0);
   Quaternion xRot{c, s, 0.0, 0.0};
   Quaternion yRot{c, 0.0, s, 0.0};
   Quaternion zRot{c, 0.0, 0.0, s};
diff --git a/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
index af15a23f94..e74ce4fa48 100644
--- a/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
@@ -7,10 +7,10 @@
 #include "wpi/math/geometry/Rectangle2d.hpp"
 
 TEST(Rectangle2dTest, NewWithCorners) {
-  constexpr frc::Translation2d cornerA{1_m, 2_m};
-  constexpr frc::Translation2d cornerB{4_m, 6_m};
+  constexpr wpi::math::Translation2d cornerA{1_m, 2_m};
+  constexpr wpi::math::Translation2d cornerB{4_m, 6_m};
 
-  frc::Rectangle2d rect{cornerA, cornerB};
+  wpi::math::Rectangle2d rect{cornerA, cornerB};
 
   EXPECT_EQ(3.0, rect.XWidth().value());
   EXPECT_EQ(4.0, rect.YWidth().value());
@@ -19,69 +19,69 @@ TEST(Rectangle2dTest, NewWithCorners) {
 }
 
 TEST(Rectangle2dTest, Intersects) {
-  constexpr frc::Pose2d center{4_m, 3_m, 90_deg};
-  constexpr frc::Rectangle2d rect{center, 2_m, 3_m};
+  constexpr wpi::math::Pose2d center{4_m, 3_m, 90_deg};
+  constexpr wpi::math::Rectangle2d rect{center, 2_m, 3_m};
 
-  EXPECT_TRUE(rect.Intersects(frc::Translation2d{5.5_m, 4_m}));
-  EXPECT_TRUE(rect.Intersects(frc::Translation2d{3_m, 2_m}));
-  EXPECT_FALSE(rect.Intersects(frc::Translation2d{4_m, 1.5_m}));
-  EXPECT_FALSE(rect.Intersects(frc::Translation2d{4_m, 3.5_m}));
+  EXPECT_TRUE(rect.Intersects(wpi::math::Translation2d{5.5_m, 4_m}));
+  EXPECT_TRUE(rect.Intersects(wpi::math::Translation2d{3_m, 2_m}));
+  EXPECT_FALSE(rect.Intersects(wpi::math::Translation2d{4_m, 1.5_m}));
+  EXPECT_FALSE(rect.Intersects(wpi::math::Translation2d{4_m, 3.5_m}));
 }
 
 TEST(Rectangle2dTest, Contains) {
-  constexpr frc::Pose2d center{2_m, 3_m, 45_deg};
-  constexpr frc::Rectangle2d rect{center, 3_m, 1_m};
+  constexpr wpi::math::Pose2d center{2_m, 3_m, 45_deg};
+  constexpr wpi::math::Rectangle2d rect{center, 3_m, 1_m};
 
-  EXPECT_TRUE(rect.Contains(frc::Translation2d{2_m, 3_m}));
-  EXPECT_TRUE(rect.Contains(frc::Translation2d{3_m, 4_m}));
-  EXPECT_FALSE(rect.Contains(frc::Translation2d{3_m, 3_m}));
+  EXPECT_TRUE(rect.Contains(wpi::math::Translation2d{2_m, 3_m}));
+  EXPECT_TRUE(rect.Contains(wpi::math::Translation2d{3_m, 4_m}));
+  EXPECT_FALSE(rect.Contains(wpi::math::Translation2d{3_m, 3_m}));
 }
 
 TEST(Rectangle2dTest, Distance) {
   constexpr double kEpsilon = 1E-9;
 
-  constexpr frc::Pose2d center{1_m, 2_m, 270_deg};
-  constexpr frc::Rectangle2d rect{center, 1_m, 2_m};
+  constexpr wpi::math::Pose2d center{1_m, 2_m, 270_deg};
+  constexpr wpi::math::Rectangle2d rect{center, 1_m, 2_m};
 
-  constexpr frc::Translation2d point1{2.5_m, 2_m};
+  constexpr wpi::math::Translation2d point1{2.5_m, 2_m};
   EXPECT_NEAR(0.5, rect.Distance(point1).value(), kEpsilon);
 
-  constexpr frc::Translation2d point2{1_m, 2_m};
+  constexpr wpi::math::Translation2d point2{1_m, 2_m};
   EXPECT_NEAR(0, rect.Distance(point2).value(), kEpsilon);
 
-  constexpr frc::Translation2d point3{1_m, 1_m};
+  constexpr wpi::math::Translation2d point3{1_m, 1_m};
   EXPECT_NEAR(0.5, rect.Distance(point3).value(), kEpsilon);
 
-  constexpr frc::Translation2d point4{-1_m, 2.5_m};
+  constexpr wpi::math::Translation2d point4{-1_m, 2.5_m};
   EXPECT_NEAR(1, rect.Distance(point4).value(), kEpsilon);
 }
 
 TEST(Rectangle2dTest, Nearest) {
   constexpr double kEpsilon = 1E-9;
 
-  constexpr frc::Pose2d center{1_m, 1_m, 90_deg};
-  constexpr frc::Rectangle2d rect{center, 3_m, 4_m};
+  constexpr wpi::math::Pose2d center{1_m, 1_m, 90_deg};
+  constexpr wpi::math::Rectangle2d rect{center, 3_m, 4_m};
 
-  constexpr frc::Translation2d point1{1_m, 3_m};
+  constexpr wpi::math::Translation2d point1{1_m, 3_m};
   auto nearestPoint1 = rect.Nearest(point1);
   EXPECT_NEAR(1.0, nearestPoint1.X().value(), kEpsilon);
   EXPECT_NEAR(2.5, nearestPoint1.Y().value(), kEpsilon);
 
-  constexpr frc::Translation2d point2{0_m, 0_m};
+  constexpr wpi::math::Translation2d point2{0_m, 0_m};
   auto nearestPoint2 = rect.Nearest(point2);
   EXPECT_NEAR(0.0, nearestPoint2.X().value(), kEpsilon);
   EXPECT_NEAR(0.0, nearestPoint2.Y().value(), kEpsilon);
 }
 
 TEST(Rectangle2dTest, Equals) {
-  constexpr frc::Pose2d center1{2_m, 3_m, 0_deg};
-  constexpr frc::Rectangle2d rect1{center1, 5_m, 3_m};
+  constexpr wpi::math::Pose2d center1{2_m, 3_m, 0_deg};
+  constexpr wpi::math::Rectangle2d rect1{center1, 5_m, 3_m};
 
-  constexpr frc::Pose2d center2{2_m, 3_m, 0_deg};
-  constexpr frc::Rectangle2d rect2{center2, 5_m, 3_m};
+  constexpr wpi::math::Pose2d center2{2_m, 3_m, 0_deg};
+  constexpr wpi::math::Rectangle2d rect2{center2, 5_m, 3_m};
 
-  constexpr frc::Pose2d center3{2_m, 3_m, 0_deg};
-  constexpr frc::Rectangle2d rect3{center3, 3_m, 3_m};
+  constexpr wpi::math::Pose2d center3{2_m, 3_m, 0_deg};
+  constexpr wpi::math::Rectangle2d rect3{center3, 3_m, 3_m};
 
   EXPECT_EQ(rect1, rect2);
   EXPECT_NE(rect2, rect3);
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
index a3c6bb5dfe..133f76ea41 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -9,11 +9,11 @@
 
 #include "wpi/math/geometry/Rotation2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Rotation2dTest, RadiansToDegrees) {
-  const Rotation2d rot1{units::radian_t{std::numbers::pi / 3.0}};
-  const Rotation2d rot2{units::radian_t{std::numbers::pi / 4.0}};
+  const Rotation2d rot1{wpi::units::radian_t{std::numbers::pi / 3.0}};
+  const Rotation2d rot2{wpi::units::radian_t{std::numbers::pi / 4.0}};
 
   EXPECT_DOUBLE_EQ(60.0, rot1.Degrees().value());
   EXPECT_DOUBLE_EQ(45.0, rot2.Degrees().value());
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
index a8802b4794..d9b4551b1b 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
@@ -11,38 +11,38 @@
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/util/MathExtras.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Rotation3dTest, GimbalLockAccuracy) {
-  auto rot1 = Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi / 2}};
-  auto rot2 = Rotation3d{units::radian_t{std::numbers::pi}, 0_rad, 0_rad};
-  auto rot3 = Rotation3d{-units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
+  auto rot1 = Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi / 2}};
+  auto rot2 = Rotation3d{wpi::units::radian_t{std::numbers::pi}, 0_rad, 0_rad};
+  auto rot3 = Rotation3d{-wpi::units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
   const auto result1 = rot1 + rot2 + rot3;
   const auto expected1 =
-      Rotation3d{0_rad, -units::radian_t{std::numbers::pi / 2},
-                 units::radian_t{std::numbers::pi / 2}};
+      Rotation3d{0_rad, -wpi::units::radian_t{std::numbers::pi / 2},
+                 wpi::units::radian_t{std::numbers::pi / 2}};
   EXPECT_EQ(expected1, result1);
   EXPECT_DOUBLE_EQ(std::numbers::pi / 2, (result1.X() + result1.Z()).value());
   EXPECT_NEAR(-std::numbers::pi / 2, result1.Y().value(), 1e-7);
 
-  rot1 = Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi / 2}};
-  rot2 = Rotation3d{units::radian_t{-std::numbers::pi}, 0_rad, 0_rad};
-  rot3 = Rotation3d{units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
+  rot1 = Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi / 2}};
+  rot2 = Rotation3d{wpi::units::radian_t{-std::numbers::pi}, 0_rad, 0_rad};
+  rot3 = Rotation3d{wpi::units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
   const auto result2 = rot1 + rot2 + rot3;
   const auto expected2 =
-      Rotation3d{0_rad, units::radian_t{std::numbers::pi / 2},
-                 units::radian_t{std::numbers::pi / 2}};
+      Rotation3d{0_rad, wpi::units::radian_t{std::numbers::pi / 2},
+                 wpi::units::radian_t{std::numbers::pi / 2}};
   EXPECT_EQ(expected2, result2);
   EXPECT_DOUBLE_EQ(std::numbers::pi / 2, (result2.Z() - result2.X()).value());
   EXPECT_NEAR(std::numbers::pi / 2, result2.Y().value(), 1e-7);
 
-  rot1 = Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi / 2}};
-  rot2 = Rotation3d{0_rad, units::radian_t{std::numbers::pi / 3}, 0_rad};
-  rot3 = Rotation3d{-units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
+  rot1 = Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi / 2}};
+  rot2 = Rotation3d{0_rad, wpi::units::radian_t{std::numbers::pi / 3}, 0_rad};
+  rot3 = Rotation3d{-wpi::units::radian_t{std::numbers::pi / 2}, 0_rad, 0_rad};
   const auto result3 = rot1 + rot2 + rot3;
   const auto expected3 =
-      Rotation3d{0_rad, units::radian_t{std::numbers::pi / 2},
-                 units::radian_t{std::numbers::pi / 6}};
+      Rotation3d{0_rad, wpi::units::radian_t{std::numbers::pi / 2},
+                 wpi::units::radian_t{std::numbers::pi / 6}};
   EXPECT_EQ(expected3, result3);
   EXPECT_DOUBLE_EQ(std::numbers::pi / 6, (result3.Z() - result3.X()).value());
   EXPECT_DOUBLE_EQ(std::numbers::pi / 2, result3.Y().value());
@@ -50,22 +50,22 @@ TEST(Rotation3dTest, GimbalLockAccuracy) {
 
 TEST(Rotation3dTest, InitAxisAngleAndRollPitchYaw) {
   const Eigen::Vector3d xAxis{1.0, 0.0, 0.0};
-  const Rotation3d rot1{xAxis, units::radian_t{std::numbers::pi / 3}};
-  const Rotation3d rot2{units::radian_t{std::numbers::pi / 3}, 0_rad, 0_rad};
+  const Rotation3d rot1{xAxis, wpi::units::radian_t{std::numbers::pi / 3}};
+  const Rotation3d rot2{wpi::units::radian_t{std::numbers::pi / 3}, 0_rad, 0_rad};
   const Rotation3d rvec1{Eigen::Vector3d{xAxis * std::numbers::pi / 3}};
   EXPECT_EQ(rot1, rot2);
   EXPECT_EQ(rot1, rvec1);
 
   const Eigen::Vector3d yAxis{0.0, 1.0, 0.0};
-  const Rotation3d rot3{yAxis, units::radian_t{std::numbers::pi / 3}};
-  const Rotation3d rot4{0_rad, units::radian_t{std::numbers::pi / 3}, 0_rad};
+  const Rotation3d rot3{yAxis, wpi::units::radian_t{std::numbers::pi / 3}};
+  const Rotation3d rot4{0_rad, wpi::units::radian_t{std::numbers::pi / 3}, 0_rad};
   const Rotation3d rvec2{Eigen::Vector3d{yAxis * std::numbers::pi / 3}};
   EXPECT_EQ(rot3, rot4);
   EXPECT_EQ(rot3, rvec2);
 
   const Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
-  const Rotation3d rot5{zAxis, units::radian_t{std::numbers::pi / 3}};
-  const Rotation3d rot6{0_rad, 0_rad, units::radian_t{std::numbers::pi / 3}};
+  const Rotation3d rot5{zAxis, wpi::units::radian_t{std::numbers::pi / 3}};
+  const Rotation3d rot6{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi / 3}};
   const Rotation3d rvec3{Eigen::Vector3d{zAxis * std::numbers::pi / 3}};
   EXPECT_EQ(rot5, rot6);
   EXPECT_EQ(rot5, rvec3);
@@ -102,12 +102,12 @@ TEST(Rotation3dTest, InitTwoVector) {
 
   // 90 degree CW rotation around y-axis
   const Rotation3d rot1{xAxis, zAxis};
-  const Rotation3d expected1{yAxis, units::radian_t{-std::numbers::pi / 2.0}};
+  const Rotation3d expected1{yAxis, wpi::units::radian_t{-std::numbers::pi / 2.0}};
   EXPECT_EQ(expected1, rot1);
 
   // 45 degree CCW rotation around z-axis
   const Rotation3d rot2{xAxis, Eigen::Vector3d{1.0, 1.0, 0.0}};
-  const Rotation3d expected2{zAxis, units::radian_t{std::numbers::pi / 4.0}};
+  const Rotation3d expected2{zAxis, wpi::units::radian_t{std::numbers::pi / 4.0}};
   EXPECT_EQ(expected2, rot2);
 
   // 0 degree rotation of x-axes
@@ -148,15 +148,15 @@ TEST(Rotation3dTest, InitTwoVector) {
 TEST(Rotation3dTest, RadiansToDegrees) {
   const Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
 
-  const Rotation3d rot1{zAxis, units::radian_t{std::numbers::pi / 3}};
+  const Rotation3d rot1{zAxis, wpi::units::radian_t{std::numbers::pi / 3}};
   EXPECT_DOUBLE_EQ(0.0, rot1.X().value());
   EXPECT_DOUBLE_EQ(0.0, rot1.Y().value());
-  EXPECT_DOUBLE_EQ(units::radian_t{60_deg}.value(), rot1.Z().value());
+  EXPECT_DOUBLE_EQ(wpi::units::radian_t{60_deg}.value(), rot1.Z().value());
 
-  const Rotation3d rot2{zAxis, units::radian_t{std::numbers::pi / 4}};
+  const Rotation3d rot2{zAxis, wpi::units::radian_t{std::numbers::pi / 4}};
   EXPECT_DOUBLE_EQ(0.0, rot2.X().value());
   EXPECT_DOUBLE_EQ(0.0, rot2.Y().value());
-  EXPECT_DOUBLE_EQ(units::radian_t{45_deg}.value(), rot2.Z().value());
+  EXPECT_DOUBLE_EQ(wpi::units::radian_t{45_deg}.value(), rot2.Z().value());
 }
 
 TEST(Rotation3dTest, DegreesToRadians) {
@@ -259,7 +259,7 @@ TEST(Rotation3dTest, Minus) {
   const auto rot1 = Rotation3d{zAxis, 70_deg};
   const auto rot2 = Rotation3d{zAxis, 30_deg};
 
-  EXPECT_DOUBLE_EQ(40.0, units::degree_t{(rot1 - rot2).Z()}.value());
+  EXPECT_DOUBLE_EQ(40.0, wpi::units::degree_t{(rot1 - rot2).Z()}.value());
 }
 
 TEST(Rotation3dTest, AxisAngle) {
@@ -327,48 +327,48 @@ TEST(Rotation3dTest, Interpolate) {
   // 50 + (70 - 50) * 0.5 = 60
   auto rot1 = Rotation3d{xAxis, 50_deg};
   auto rot2 = Rotation3d{xAxis, 70_deg};
-  auto interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(60.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Z()}.value());
+  auto interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(60.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Z()}.value());
 
   // -160 minus half distance between 170 and -160 (15) = -175
   rot1 = Rotation3d{xAxis, 170_deg};
   rot2 = Rotation3d{xAxis, -160_deg};
-  interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(-175.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Z()}.value());
+  interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(-175.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Z()}.value());
 
   // 50 + (70 - 50) * 0.5 = 60
   rot1 = Rotation3d{yAxis, 50_deg};
   rot2 = Rotation3d{yAxis, 70_deg};
-  interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(60.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Z()}.value());
+  interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(60.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Z()}.value());
 
   // -160 plus half distance between 170 and -160 (165) = 5
   rot1 = Rotation3d{yAxis, 170_deg};
   rot2 = Rotation3d{yAxis, -160_deg};
-  interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(180.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(-5.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(180.0, units::degree_t{interpolated.Z()}.value());
+  interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(180.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(-5.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(180.0, wpi::units::degree_t{interpolated.Z()}.value());
 
   // 50 + (70 - 50) * 0.5 = 60
   rot1 = Rotation3d{zAxis, 50_deg};
   rot2 = Rotation3d{zAxis, 70_deg};
-  interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(60.0, units::degree_t{interpolated.Z()}.value());
+  interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(60.0, wpi::units::degree_t{interpolated.Z()}.value());
 
   // -160 minus half distance between 170 and -160 (15) = -175
   rot1 = Rotation3d{zAxis, 170_deg};
   rot2 = Rotation3d{zAxis, -160_deg};
-  interpolated = wpi::Lerp(rot1, rot2, 0.5);
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.X()}.value());
-  EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Y()}.value());
-  EXPECT_DOUBLE_EQ(-175.0, units::degree_t{interpolated.Z()}.value());
+  interpolated = wpi::util::Lerp(rot1, rot2, 0.5);
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.X()}.value());
+  EXPECT_DOUBLE_EQ(0.0, wpi::units::degree_t{interpolated.Y()}.value());
+  EXPECT_DOUBLE_EQ(-175.0, wpi::units::degree_t{interpolated.Z()}.value());
 }
diff --git a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
index fb7efd1665..2c2e79a311 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Transform2dTest, ToMatrix) {
   Transform2d before{1_m, 2_m, 20_deg};
diff --git a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
index 94c9ce9936..ce6e0d66c4 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
@@ -11,7 +11,7 @@
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Transform3dTest, ToMatrix) {
   Transform3d before{1_m, 2_m, 3_m, Rotation3d{10_deg, 20_deg, 30_deg}};
diff --git a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
index f946168364..60814600c6 100644
--- a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/math/geometry/Translation2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Translation2dTest, Sum) {
   const Translation2d one{1_m, 3_m};
diff --git a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
index b7e0a93a6e..76913ac2a1 100644
--- a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/math/geometry/Translation3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 static constexpr double kEpsilon = 1E-9;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
index 8068f2a8da..80bc855b95 100644
--- a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
@@ -9,7 +9,7 @@
 
 #include "wpi/math/geometry/Pose2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Twist2dTest, Straight) {
   const Twist2d straight{5_m, 0_m, 0_rad};
@@ -22,7 +22,7 @@ TEST(Twist2dTest, Straight) {
 
 TEST(Twist2dTest, QuarterCircle) {
   const Twist2d quarterCircle{5_m / 2.0 * std::numbers::pi, 0_m,
-                              units::radian_t{std::numbers::pi / 2.0}};
+                              wpi::units::radian_t{std::numbers::pi / 2.0}};
   const auto quarterCirclePose = quarterCircle.Exp();
 
   EXPECT_DOUBLE_EQ(5.0, quarterCirclePose.X().value());
@@ -57,8 +57,8 @@ TEST(Twist2dTest, Pose2dLog) {
 
   const auto twist = (end - start).Log();
 
-  Twist2d expected{units::meter_t{5.0 / 2.0 * std::numbers::pi}, 0_m,
-                   units::radian_t{std::numbers::pi / 2.0}};
+  Twist2d expected{wpi::units::meter_t{5.0 / 2.0 * std::numbers::pi}, 0_m,
+                   wpi::units::radian_t{std::numbers::pi / 2.0}};
   EXPECT_EQ(expected, twist);
 
   // Make sure computed twist gives back original end pose
diff --git a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
index d890287552..f67a3ba80e 100644
--- a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
@@ -9,7 +9,7 @@
 
 #include "wpi/math/geometry/Pose3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(Twist3dTest, StraightX) {
   const Twist3d straight{5_m, 0_m, 0_m, 0_rad, 0_rad, 0_rad};
@@ -40,7 +40,7 @@ TEST(Twist3dTest, QuarterCircle) {
 
   const Twist3d quarterCircle{
       5_m / 2.0 * std::numbers::pi,           0_m, 0_m, 0_rad, 0_rad,
-      units::radian_t{std::numbers::pi / 2.0}};
+      wpi::units::radian_t{std::numbers::pi / 2.0}};
   const auto quarterCirclePose = quarterCircle.Exp();
 
   Transform3d expected{5_m, 5_m, 0_m, Rotation3d{zAxis, 90_deg}};
@@ -73,7 +73,7 @@ TEST(Twist3dTest, Pose3dLogX) {
 
   const auto twist = (end - start).Log();
 
-  Twist3d expected{0_m,   units::meter_t{5.0 / 2.0 * std::numbers::pi},
+  Twist3d expected{0_m,   wpi::units::meter_t{5.0 / 2.0 * std::numbers::pi},
                    0_m,   90_deg,
                    0_deg, 0_deg};
   EXPECT_EQ(expected, twist);
@@ -89,7 +89,7 @@ TEST(Twist3dTest, Pose3dLogY) {
 
   const auto twist = (end - start).Log();
 
-  Twist3d expected{0_m,   0_m,    units::meter_t{5.0 / 2.0 * std::numbers::pi},
+  Twist3d expected{0_m,   0_m,    wpi::units::meter_t{5.0 / 2.0 * std::numbers::pi},
                    0_deg, 90_deg, 0_deg};
   EXPECT_EQ(expected, twist);
 
@@ -104,7 +104,7 @@ TEST(Twist3dTest, Pose3dLogZ) {
 
   const auto twist = (end - start).Log();
 
-  Twist3d expected{units::meter_t{5.0 / 2.0 * std::numbers::pi},
+  Twist3d expected{wpi::units::meter_t{5.0 / 2.0 * std::numbers::pi},
                    0_m,
                    0_m,
                    0_deg,
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
index 81f16779da..6416474871 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Ellipse2d kExpectedData{
 }  // namespace
 
 TEST(Ellipse2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
index f99a6b3bf3..17239259c0 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Pose2d kExpectedData =
 }  // namespace
 
 TEST(Pose2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
index 2c7a0d94a6..96cd69cbe6 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -17,8 +17,8 @@ const Pose3d kExpectedData =
 }  // namespace
 
 TEST(Pose3dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
index fc0b972e05..11a802f1f7 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -15,8 +15,8 @@ const Quaternion kExpectedData = Quaternion{1.1, 0.191, 35.04, 19.1};
 }  // namespace
 
 TEST(QuaternionProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
index 45e111dadc..c8062ca043 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Rectangle2d kExpectedData{
 }  // namespace
 
 TEST(Rectangle2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
index 5cfb826238..7853936b0d 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -15,8 +15,8 @@ const Rotation2d kExpectedData = Rotation2d{1.91_rad};
 }  // namespace
 
 TEST(Rotation2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
index 3ad8ab0d2a..cc47ee3b09 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Rotation3d kExpectedData =
 }  // namespace
 
 TEST(Rotation3dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
index c6bedb2d7f..de2fa5d96e 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Transform2d kExpectedData =
 }  // namespace
 
 TEST(Transform2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
index 56af438c87..e21a9f8e03 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -17,8 +17,8 @@ const Transform3d kExpectedData =
 }  // namespace
 
 TEST(Transform3dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
index b53076b605..8d8bba431b 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -15,8 +15,8 @@ const Translation2d kExpectedData = Translation2d{3.504_m, 22.9_m};
 }  // namespace
 
 TEST(Translation2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
index 12b5d54517..95b3611318 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -15,8 +15,8 @@ const Translation3d kExpectedData = Translation3d{35.04_m, 22.9_m, 3.504_m};
 }  // namespace
 
 TEST(Translation3dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
index 04bda40d36..ef8130d11d 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -15,8 +15,8 @@ const Twist2d kExpectedData = Twist2d{2.29_m, 35.04_m, 35.04_rad};
 }  // namespace
 
 TEST(Twist2dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
index c1db34038a..eb22e2f5db 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/geometry/Twist3d.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const Twist3d kExpectedData =
 }  // namespace
 
 TEST(Twist3dProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
index 831e5c5c0e..bdd9a170d6 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Ellipse2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Ellipse2d>;
+using StructType = wpi::util::Struct<wpi::math::Ellipse2d>;
 const Ellipse2d kExpectedData{
     Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}, 1.2_m, 2.3_m};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
index f01d4aa3b9..e8828fe9cf 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Pose2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Pose2d>;
+using StructType = wpi::util::Struct<wpi::math::Pose2d>;
 const Pose2d kExpectedData{
     Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
index 268a13f92a..7a5e2cea2f 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Pose3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Pose3d>;
+using StructType = wpi::util::Struct<wpi::math::Pose3d>;
 const Pose3d kExpectedData{
     Pose3d{Translation3d{1.1_m, 2.2_m, 1.1_m},
            Rotation3d{Quaternion{1.91, 0.3504, 3.3, 1.74}}}};
diff --git a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
index 1264dfecee..3c8a4dbf9c 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Quaternion.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Quaternion>;
+using StructType = wpi::util::Struct<wpi::math::Quaternion>;
 const Quaternion kExpectedData{Quaternion{1.1, 0.191, 35.04, 19.1}};
 }  // namespace
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
index 3605ebac34..32ac737717 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Rectangle2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Rectangle2d>;
+using StructType = wpi::util::Struct<wpi::math::Rectangle2d>;
 const Rectangle2d kExpectedData{
     Pose2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{22.9_rad}}, 1.2_m, 2.3_m};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
index 672fdf5b9c..0b8642578a 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Rotation2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Rotation2d>;
+using StructType = wpi::util::Struct<wpi::math::Rotation2d>;
 const Rotation2d kExpectedData{Rotation2d{1.91_rad}};
 }  // namespace
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
index fd1bc84208..bf6c42957d 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Rotation3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Rotation3d>;
+using StructType = wpi::util::Struct<wpi::math::Rotation3d>;
 const Rotation3d kExpectedData{
     Rotation3d{Quaternion{2.29, 0.191, 0.191, 17.4}}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
index e820d6e252..ef3c919381 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Transform2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Transform2d>;
+using StructType = wpi::util::Struct<wpi::math::Transform2d>;
 const Transform2d kExpectedData{
     Transform2d{Translation2d{0.191_m, 2.2_m}, Rotation2d{4.4_rad}}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
index 328d8d8bd2..22eb6544aa 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Transform3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Transform3d>;
+using StructType = wpi::util::Struct<wpi::math::Transform3d>;
 const Transform3d kExpectedData{
     Transform3d{Translation3d{0.3504_m, 22.9_m, 3.504_m},
                 Rotation3d{Quaternion{0.3504, 35.04, 2.29, 0.3504}}}};
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
index c75c28cb7e..2d02864795 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Translation2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Translation2d>;
+using StructType = wpi::util::Struct<wpi::math::Translation2d>;
 const Translation2d kExpectedData{Translation2d{3.504_m, 22.9_m}};
 }  // namespace
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
index e4f68c9cf2..a160775d77 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Translation3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Translation3d>;
+using StructType = wpi::util::Struct<wpi::math::Translation3d>;
 const Translation3d kExpectedData{Translation3d{35.04_m, 22.9_m, 3.504_m}};
 }  // namespace
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
index dd1a082fdf..0f34f6b4f2 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Twist2d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Twist2d>;
+using StructType = wpi::util::Struct<wpi::math::Twist2d>;
 const Twist2d kExpectedData{Twist2d{2.29_m, 35.04_m, 35.04_rad}};
 }  // namespace
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
index 4b5aac4ff6..cc8291919b 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/geometry/Twist3d.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::Twist3d>;
+using StructType = wpi::util::Struct<wpi::math::Twist3d>;
 const Twist3d kExpectedData{
     Twist3d{1.1_m, 2.29_m, 35.04_m, 0.174_rad, 19.1_rad, 4.4_rad}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp b/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
index 6c3550e209..0419229c9e 100644
--- a/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
+++ b/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/units/time.hpp"
 
 TEST(TimeInterpolatableBufferTest, AddSample) {
-  frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
+  wpi::math::TimeInterpolatableBuffer<wpi::math::Rotation2d> buffer{10_s};
 
   // No entries
   buffer.AddSample(1_s, 0_rad);
@@ -32,7 +32,7 @@ TEST(TimeInterpolatableBufferTest, AddSample) {
 }
 
 TEST(TimeInterpolatableBufferTest, Interpolation) {
-  frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
+  wpi::math::TimeInterpolatableBuffer<wpi::math::Rotation2d> buffer{10_s};
 
   buffer.AddSample(0_s, 0_rad);
   EXPECT_TRUE(buffer.Sample(0_s).value() == 0_rad);
@@ -47,12 +47,12 @@ TEST(TimeInterpolatableBufferTest, Interpolation) {
 }
 
 TEST(TimeInterpolatableBufferTest, Pose2d) {
-  frc::TimeInterpolatableBuffer<frc::Pose2d> buffer{10_s};
+  wpi::math::TimeInterpolatableBuffer<wpi::math::Pose2d> buffer{10_s};
 
   // We expect to be at (1 - 1/std::sqrt(2), 1/std::sqrt(2), 45deg) at t=0.5
-  buffer.AddSample(0_s, frc::Pose2d{0_m, 0_m, 90_deg});
-  buffer.AddSample(1_s, frc::Pose2d{1_m, 1_m, 0_deg});
-  frc::Pose2d sample = buffer.Sample(0.5_s).value();
+  buffer.AddSample(0_s, wpi::math::Pose2d{0_m, 0_m, 90_deg});
+  buffer.AddSample(1_s, wpi::math::Pose2d{1_m, 1_m, 0_deg});
+  wpi::math::Pose2d sample = buffer.Sample(0.5_s).value();
 
   EXPECT_TRUE(std::abs(sample.X().value() - (1.0 - 1.0 / std::sqrt(2.0))) <
               0.01);
diff --git a/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
index e07018d559..ae4ebf0d54 100644
--- a/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
@@ -11,15 +11,15 @@
 static constexpr double kEpsilon = 1E-9;
 
 TEST(ChassisSpeedsTest, Discretize) {
-  constexpr frc::ChassisSpeeds target{1_mps, 0_mps, 0.5_rad_per_s};
-  constexpr units::second_t duration = 1_s;
-  constexpr units::second_t dt = 10_ms;
+  constexpr wpi::math::ChassisSpeeds target{1_mps, 0_mps, 0.5_rad_per_s};
+  constexpr wpi::units::second_t duration = 1_s;
+  constexpr wpi::units::second_t dt = 10_ms;
 
   const auto speeds = target.Discretize(duration);
-  const frc::Twist2d twist{speeds.vx * dt, speeds.vy * dt, speeds.omega * dt};
+  const wpi::math::Twist2d twist{speeds.vx * dt, speeds.vy * dt, speeds.omega * dt};
 
-  frc::Pose2d pose;
-  for (units::second_t time = 0_s; time < duration; time += dt) {
+  wpi::math::Pose2d pose;
+  for (wpi::units::second_t time = 0_s; time < duration; time += dt) {
     pose = pose + twist.Exp();
   }
 
@@ -31,7 +31,7 @@ TEST(ChassisSpeedsTest, Discretize) {
 
 TEST(ChassisSpeedsTest, ToRobotRelative) {
   const auto chassisSpeeds =
-      frc::ChassisSpeeds{1_mps, 0_mps, 0.5_rad_per_s}.ToRobotRelative(
+      wpi::math::ChassisSpeeds{1_mps, 0_mps, 0.5_rad_per_s}.ToRobotRelative(
           -90.0_deg);
 
   EXPECT_NEAR(0.0, chassisSpeeds.vx.value(), kEpsilon);
@@ -41,7 +41,7 @@ TEST(ChassisSpeedsTest, ToRobotRelative) {
 
 TEST(ChassisSpeedsTest, ToFieldRelative) {
   const auto chassisSpeeds =
-      frc::ChassisSpeeds{1_mps, 0_mps, 0.5_rad_per_s}.ToFieldRelative(45.0_deg);
+      wpi::math::ChassisSpeeds{1_mps, 0_mps, 0.5_rad_per_s}.ToFieldRelative(45.0_deg);
 
   EXPECT_NEAR(1.0 / std::sqrt(2.0), chassisSpeeds.vx.value(), kEpsilon);
   EXPECT_NEAR(1.0 / std::sqrt(2.0), chassisSpeeds.vy.value(), kEpsilon);
@@ -49,10 +49,10 @@ TEST(ChassisSpeedsTest, ToFieldRelative) {
 }
 
 TEST(ChassisSpeedsTest, Plus) {
-  const frc::ChassisSpeeds left{1.0_mps, 0.5_mps, 0.75_rad_per_s};
-  const frc::ChassisSpeeds right{2.0_mps, 1.5_mps, 0.25_rad_per_s};
+  const wpi::math::ChassisSpeeds left{1.0_mps, 0.5_mps, 0.75_rad_per_s};
+  const wpi::math::ChassisSpeeds right{2.0_mps, 1.5_mps, 0.25_rad_per_s};
 
-  const frc::ChassisSpeeds result = left + right;
+  const wpi::math::ChassisSpeeds result = left + right;
 
   EXPECT_NEAR(3.0, result.vx.value(), kEpsilon);
   EXPECT_NEAR(2.0, result.vy.value(), kEpsilon);
@@ -60,10 +60,10 @@ TEST(ChassisSpeedsTest, Plus) {
 }
 
 TEST(ChassisSpeedsTest, Minus) {
-  const frc::ChassisSpeeds left{1.0_mps, 0.5_mps, 0.75_rad_per_s};
-  const frc::ChassisSpeeds right{2.0_mps, 0.5_mps, 0.25_rad_per_s};
+  const wpi::math::ChassisSpeeds left{1.0_mps, 0.5_mps, 0.75_rad_per_s};
+  const wpi::math::ChassisSpeeds right{2.0_mps, 0.5_mps, 0.25_rad_per_s};
 
-  const frc::ChassisSpeeds result = left - right;
+  const wpi::math::ChassisSpeeds result = left - right;
 
   EXPECT_NEAR(-1.0, result.vx.value(), kEpsilon);
   EXPECT_NEAR(0, result.vy.value(), kEpsilon);
@@ -71,9 +71,9 @@ TEST(ChassisSpeedsTest, Minus) {
 }
 
 TEST(ChassisSpeedsTest, UnaryMinus) {
-  const frc::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
+  const wpi::math::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
 
-  const frc::ChassisSpeeds result = -speeds;
+  const wpi::math::ChassisSpeeds result = -speeds;
 
   EXPECT_NEAR(-1.0, result.vx.value(), kEpsilon);
   EXPECT_NEAR(-0.5, result.vy.value(), kEpsilon);
@@ -81,9 +81,9 @@ TEST(ChassisSpeedsTest, UnaryMinus) {
 }
 
 TEST(ChassisSpeedsTest, Multiplication) {
-  const frc::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
+  const wpi::math::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
 
-  const frc::ChassisSpeeds result = speeds * 2;
+  const wpi::math::ChassisSpeeds result = speeds * 2;
 
   EXPECT_NEAR(2.0, result.vx.value(), kEpsilon);
   EXPECT_NEAR(1.0, result.vy.value(), kEpsilon);
@@ -91,9 +91,9 @@ TEST(ChassisSpeedsTest, Multiplication) {
 }
 
 TEST(ChassisSpeedsTest, Division) {
-  const frc::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
+  const wpi::math::ChassisSpeeds speeds{1.0_mps, 0.5_mps, 0.75_rad_per_s};
 
-  const frc::ChassisSpeeds result = speeds / 2;
+  const wpi::math::ChassisSpeeds result = speeds / 2;
 
   EXPECT_NEAR(0.5, result.vx.value(), kEpsilon);
   EXPECT_NEAR(0.25, result.vy.value(), kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
index 7e5e9897fe..a945fefe99 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 static constexpr double kEpsilon = 1E-9;
 
@@ -57,7 +57,7 @@ TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForStraightLine) {
 TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
   const DifferentialDriveKinematics kinematics{0.381_m * 2};
   const ChassisSpeeds chassisSpeeds{
-      0.0_mps, 0.0_mps, units::radians_per_second_t{std::numbers::pi}};
+      0.0_mps, 0.0_mps, wpi::units::radians_per_second_t{std::numbers::pi}};
   const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
 
   EXPECT_NEAR(wheelSpeeds.left.value(), -0.381 * std::numbers::pi, kEpsilon);
@@ -67,8 +67,8 @@ TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
 TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
   const DifferentialDriveKinematics kinematics{0.381_m * 2};
   const DifferentialDriveWheelSpeeds wheelSpeeds{
-      units::meters_per_second_t{+0.381 * std::numbers::pi},
-      units::meters_per_second_t{-0.381 * std::numbers::pi}};
+      wpi::units::meters_per_second_t{+0.381 * std::numbers::pi},
+      wpi::units::meters_per_second_t{-0.381 * std::numbers::pi}};
   const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
 
   EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
index e5f8fd3ab1..299bebb02f 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
@@ -11,14 +11,14 @@
 
 static constexpr double kEpsilon = 1E-9;
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(DifferentialDriveOdometry3dTest, Initialize) {
   DifferentialDriveOdometry3d odometry{
-      frc::Rotation3d{0_deg, 0_deg, 90_deg}, 0_m, 0_m,
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 45_deg}}};
+      wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, 0_m, 0_m,
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
 
-  const frc::Pose3d& pose = odometry.GetPose();
+  const wpi::math::Pose3d& pose = odometry.GetPose();
 
   EXPECT_NEAR(pose.X().value(), 1, kEpsilon);
   EXPECT_NEAR(pose.Y().value(), 2, kEpsilon);
@@ -27,11 +27,11 @@ TEST(DifferentialDriveOdometry3dTest, Initialize) {
 }
 
 TEST(DifferentialDriveOdometry3dTest, EncoderDistances) {
-  DifferentialDriveOdometry3d odometry{frc::Rotation3d{0_deg, 0_deg, 45_deg},
+  DifferentialDriveOdometry3d odometry{wpi::math::Rotation3d{0_deg, 0_deg, 45_deg},
                                        0_m, 0_m};
 
-  const auto& pose = odometry.Update(frc::Rotation3d{0_deg, 0_deg, 135_deg},
-                                     0_m, units::meter_t{5 * std::numbers::pi});
+  const auto& pose = odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 135_deg},
+                                     0_m, wpi::units::meter_t{5 * std::numbers::pi});
 
   EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
   EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
index a9289d53f9..cb9f3cd434 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
@@ -11,13 +11,13 @@
 
 static constexpr double kEpsilon = 1E-9;
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(DifferentialDriveOdometryTest, EncoderDistances) {
   DifferentialDriveOdometry odometry{45_deg, 0_m, 0_m};
 
   const auto& pose =
-      odometry.Update(135_deg, 0_m, units::meter_t{5 * std::numbers::pi});
+      odometry.Update(135_deg, 0_m, wpi::units::meter_t{5 * std::numbers::pi});
 
   EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
   EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
index dcf68acff7..76aaaf70ed 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
@@ -7,47 +7,47 @@
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
 TEST(DifferentialDriveWheelSpeedsTest, Plus) {
-  const frc::DifferentialDriveWheelSpeeds left{1.0_mps, 0.5_mps};
-  const frc::DifferentialDriveWheelSpeeds right{2.0_mps, 1.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds left{1.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds right{2.0_mps, 1.5_mps};
 
-  const frc::DifferentialDriveWheelSpeeds result = left + right;
+  const wpi::math::DifferentialDriveWheelSpeeds result = left + right;
 
   EXPECT_EQ(3.0, result.left.value());
   EXPECT_EQ(2.0, result.right.value());
 }
 
 TEST(DifferentialDriveWheelSpeedsTest, Minus) {
-  const frc::DifferentialDriveWheelSpeeds left{1.0_mps, 0.5_mps};
-  const frc::DifferentialDriveWheelSpeeds right{2.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds left{1.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds right{2.0_mps, 0.5_mps};
 
-  const frc::DifferentialDriveWheelSpeeds result = left - right;
+  const wpi::math::DifferentialDriveWheelSpeeds result = left - right;
 
   EXPECT_EQ(-1.0, result.left.value());
   EXPECT_EQ(0, result.right.value());
 }
 
 TEST(DifferentialDriveWheelSpeedsTest, UnaryMinus) {
-  const frc::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
 
-  const frc::DifferentialDriveWheelSpeeds result = -speeds;
+  const wpi::math::DifferentialDriveWheelSpeeds result = -speeds;
 
   EXPECT_EQ(-1.0, result.left.value());
   EXPECT_EQ(-0.5, result.right.value());
 }
 
 TEST(DifferentialDriveWheelSpeedsTest, Multiplication) {
-  const frc::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
 
-  const frc::DifferentialDriveWheelSpeeds result = speeds * 2;
+  const wpi::math::DifferentialDriveWheelSpeeds result = speeds * 2;
 
   EXPECT_EQ(2.0, result.left.value());
   EXPECT_EQ(1.0, result.right.value());
 }
 
 TEST(DifferentialDriveWheelSpeedsTest, Division) {
-  const frc::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
+  const wpi::math::DifferentialDriveWheelSpeeds speeds{1.0_mps, 0.5_mps};
 
-  const frc::DifferentialDriveWheelSpeeds result = speeds / 2;
+  const wpi::math::DifferentialDriveWheelSpeeds result = speeds / 2;
 
   EXPECT_EQ(0.5, result.left.value());
   EXPECT_EQ(0.25, result.right.value());
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
index 7587986bb3..93fd2d2925 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 class MecanumDriveKinematicsTest : public ::testing::Test {
  protected:
@@ -80,7 +80,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematicsWithDeltas) {
 
 TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t{2 * std::numbers::pi}};
+                       wpi::units::radians_per_second_t{2 * std::numbers::pi}};
   auto moduleStates = kinematics.ToWheelSpeeds(speeds);
 
   EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.value(), 0.1);
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
index 5f0785112a..82924a8e3f 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 class MecanumDriveOdometry3dTest : public ::testing::Test {
  protected:
@@ -22,15 +22,15 @@ class MecanumDriveOdometry3dTest : public ::testing::Test {
   MecanumDriveWheelPositions zero;
 
   MecanumDriveKinematics kinematics{m_fl, m_fr, m_bl, m_br};
-  MecanumDriveOdometry3d odometry{kinematics, frc::Rotation3d{}, zero};
+  MecanumDriveOdometry3d odometry{kinematics, wpi::math::Rotation3d{}, zero};
 };
 
 TEST_F(MecanumDriveOdometry3dTest, Initialize) {
   MecanumDriveOdometry3d odometry{
-      kinematics, frc::Rotation3d{}, zero,
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 45_deg}}};
+      kinematics, wpi::math::Rotation3d{}, zero,
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
 
-  const frc::Pose3d& pose = odometry.GetPose();
+  const wpi::math::Pose3d& pose = odometry.GetPose();
 
   EXPECT_NEAR(pose.X().value(), 1, 1e-9);
   EXPECT_NEAR(pose.Y().value(), 2, 1e-9);
@@ -41,10 +41,10 @@ TEST_F(MecanumDriveOdometry3dTest, Initialize) {
 TEST_F(MecanumDriveOdometry3dTest, MultipleConsecutiveUpdates) {
   MecanumDriveWheelPositions wheelDeltas{3.536_m, 3.536_m, 3.536_m, 3.536_m};
 
-  odometry.ResetPosition(frc::Rotation3d{}, wheelDeltas, Pose3d{});
+  odometry.ResetPosition(wpi::math::Rotation3d{}, wheelDeltas, Pose3d{});
 
-  odometry.Update(frc::Rotation3d{}, wheelDeltas);
-  auto secondPose = odometry.Update(frc::Rotation3d{}, wheelDeltas);
+  odometry.Update(wpi::math::Rotation3d{}, wheelDeltas);
+  auto secondPose = odometry.Update(wpi::math::Rotation3d{}, wheelDeltas);
 
   EXPECT_NEAR(secondPose.X().value(), 0.0, 0.01);
   EXPECT_NEAR(secondPose.Y().value(), 0.0, 0.01);
@@ -54,12 +54,12 @@ TEST_F(MecanumDriveOdometry3dTest, MultipleConsecutiveUpdates) {
 }
 
 TEST_F(MecanumDriveOdometry3dTest, TwoIterations) {
-  odometry.ResetPosition(frc::Rotation3d{}, zero, Pose3d{});
+  odometry.ResetPosition(wpi::math::Rotation3d{}, zero, Pose3d{});
   MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
                                          0.3536_m};
 
-  odometry.Update(frc::Rotation3d{}, MecanumDriveWheelPositions{});
-  auto pose = odometry.Update(frc::Rotation3d{}, wheelDeltas);
+  odometry.Update(wpi::math::Rotation3d{}, MecanumDriveWheelPositions{});
+  auto pose = odometry.Update(wpi::math::Rotation3d{}, wheelDeltas);
 
   EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
   EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);
@@ -68,12 +68,12 @@ TEST_F(MecanumDriveOdometry3dTest, TwoIterations) {
 }
 
 TEST_F(MecanumDriveOdometry3dTest, 90DegreeTurn) {
-  odometry.ResetPosition(frc::Rotation3d{}, zero, Pose3d{});
+  odometry.ResetPosition(wpi::math::Rotation3d{}, zero, Pose3d{});
   MecanumDriveWheelPositions wheelDeltas{-13.328_m, 39.986_m, -13.329_m,
                                          39.986_m};
-  odometry.Update(frc::Rotation3d{}, MecanumDriveWheelPositions{});
+  odometry.Update(wpi::math::Rotation3d{}, MecanumDriveWheelPositions{});
   auto pose =
-      odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg}, wheelDeltas);
+      odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, wheelDeltas);
 
   EXPECT_NEAR(pose.X().value(), 8.4855, 0.01);
   EXPECT_NEAR(pose.Y().value(), 8.4855, 0.01);
@@ -82,13 +82,13 @@ TEST_F(MecanumDriveOdometry3dTest, 90DegreeTurn) {
 }
 
 TEST_F(MecanumDriveOdometry3dTest, GyroAngleReset) {
-  odometry.ResetPosition(frc::Rotation3d{0_deg, 0_deg, 90_deg}, zero, Pose3d{});
+  odometry.ResetPosition(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, zero, Pose3d{});
 
   MecanumDriveWheelPositions wheelDeltas{0.3536_m, 0.3536_m, 0.3536_m,
                                          0.3536_m};
 
   auto pose =
-      odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg}, wheelDeltas);
+      odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg}, wheelDeltas);
 
   EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
   EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);
@@ -97,33 +97,33 @@ TEST_F(MecanumDriveOdometry3dTest, GyroAngleReset) {
 }
 
 TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingTrajectory) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDriveOdometry3d odometry{kinematics, frc::Rotation3d{},
+  wpi::math::MecanumDriveOdometry3d odometry{kinematics, wpi::math::Rotation3d{},
                                        wheelPositions};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     auto wheelSpeeds = kinematics.ToWheelSpeeds(
         {groundTruthState.velocity, 0_mps,
@@ -140,8 +140,8 @@ TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingTrajectory) {
     wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
     auto xhat = odometry.Update(
-        frc::Rotation3d{groundTruthState.pose.Rotation() +
-                        frc::Rotation2d{distribution(generator) * 0.05_rad}},
+        wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
+                        wpi::math::Rotation2d{distribution(generator) * 0.05_rad}},
         wheelPositions);
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation().ToTranslation2d())
@@ -160,33 +160,33 @@ TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingTrajectory) {
 }
 
 TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingXAxis) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDriveOdometry3d odometry{kinematics, frc::Rotation3d{},
+  wpi::math::MecanumDriveOdometry3d odometry{kinematics, wpi::math::Rotation3d{},
                                        wheelPositions};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     auto wheelSpeeds = kinematics.ToWheelSpeeds(
         {groundTruthState.velocity * groundTruthState.pose.Rotation().Cos(),
@@ -204,7 +204,7 @@ TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingXAxis) {
     wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
     auto xhat = odometry.Update(
-        frc::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
+        wpi::math::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
         wheelPositions);
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation().ToTranslation2d())
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
index 3b796c0888..b4b68a98cf 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 class MecanumDriveOdometryTest : public ::testing::Test {
  protected:
@@ -78,33 +78,33 @@ TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
 }
 
 TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
+  wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
                                      wheelPositions};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     auto wheelSpeeds = kinematics.ToWheelSpeeds(
         {groundTruthState.velocity, 0_mps,
@@ -122,7 +122,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
 
     auto xhat =
         odometry.Update(groundTruthState.pose.Rotation() +
-                            frc::Rotation2d{distribution(generator) * 0.05_rad},
+                            wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
                         wheelPositions);
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation())
@@ -141,33 +141,33 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
 }
 
 TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
-  frc::MecanumDriveKinematics kinematics{
-      frc::Translation2d{1_m, 1_m}, frc::Translation2d{1_m, -1_m},
-      frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
+  wpi::math::MecanumDriveKinematics kinematics{
+      wpi::math::Translation2d{1_m, 1_m}, wpi::math::Translation2d{1_m, -1_m},
+      wpi::math::Translation2d{-1_m, -1_m}, wpi::math::Translation2d{-1_m, 1_m}};
 
-  frc::MecanumDriveWheelPositions wheelPositions;
+  wpi::math::MecanumDriveWheelPositions wheelPositions;
 
-  frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
+  wpi::math::MecanumDriveOdometry odometry{kinematics, wpi::math::Rotation2d{},
                                      wheelPositions};
 
-  frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 135_deg},
-                  frc::Pose2d{-3_m, 0_m, -90_deg},
-                  frc::Pose2d{0_m, 0_m, 45_deg}},
-      frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
+  wpi::math::Trajectory trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      std::vector{wpi::math::Pose2d{0_m, 0_m, 45_deg}, wpi::math::Pose2d{3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 135_deg},
+                  wpi::math::Pose2d{-3_m, 0_m, -90_deg},
+                  wpi::math::Pose2d{0_m, 0_m, 45_deg}},
+      wpi::math::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
 
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
 
   while (t < trajectory.TotalTime()) {
-    frc::Trajectory::State groundTruthState = trajectory.Sample(t);
+    wpi::math::Trajectory::State groundTruthState = trajectory.Sample(t);
 
     auto wheelSpeeds = kinematics.ToWheelSpeeds(
         {groundTruthState.velocity * groundTruthState.pose.Rotation().Cos(),
@@ -185,7 +185,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
     wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
     auto xhat = odometry.Update(
-        frc::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
+        wpi::math::Rotation2d{distribution(generator) * 0.05_rad}, wheelPositions);
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation())
                        .value();
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
index 70ff02a545..30a81dd65b 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
@@ -7,10 +7,10 @@
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
 TEST(MecanumDriveWheelSpeedsTest, Plus) {
-  const frc::MecanumDriveWheelSpeeds left{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
-  const frc::MecanumDriveWheelSpeeds right{2.0_mps, 1.5_mps, 0.5_mps, 1.0_mps};
+  const wpi::math::MecanumDriveWheelSpeeds left{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
+  const wpi::math::MecanumDriveWheelSpeeds right{2.0_mps, 1.5_mps, 0.5_mps, 1.0_mps};
 
-  const frc::MecanumDriveWheelSpeeds result = left + right;
+  const wpi::math::MecanumDriveWheelSpeeds result = left + right;
 
   EXPECT_EQ(3.0, result.frontLeft.value());
   EXPECT_EQ(2.0, result.frontRight.value());
@@ -19,10 +19,10 @@ TEST(MecanumDriveWheelSpeedsTest, Plus) {
 }
 
 TEST(MecanumDriveWheelSpeedsTest, Minus) {
-  const frc::MecanumDriveWheelSpeeds left{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
-  const frc::MecanumDriveWheelSpeeds right{2.0_mps, 1.5_mps, 0.5_mps, 1.0_mps};
+  const wpi::math::MecanumDriveWheelSpeeds left{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
+  const wpi::math::MecanumDriveWheelSpeeds right{2.0_mps, 1.5_mps, 0.5_mps, 1.0_mps};
 
-  const frc::MecanumDriveWheelSpeeds result = left - right;
+  const wpi::math::MecanumDriveWheelSpeeds result = left - right;
 
   EXPECT_EQ(-1.0, result.frontLeft.value());
   EXPECT_EQ(-1.0, result.frontRight.value());
@@ -31,9 +31,9 @@ TEST(MecanumDriveWheelSpeedsTest, Minus) {
 }
 
 TEST(MecanumDriveWheelSpeedsTest, UnaryMinus) {
-  const frc::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
+  const wpi::math::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
 
-  const frc::MecanumDriveWheelSpeeds result = -speeds;
+  const wpi::math::MecanumDriveWheelSpeeds result = -speeds;
 
   EXPECT_EQ(-1.0, result.frontLeft.value());
   EXPECT_EQ(-0.5, result.frontRight.value());
@@ -42,9 +42,9 @@ TEST(MecanumDriveWheelSpeedsTest, UnaryMinus) {
 }
 
 TEST(MecanumDriveWheelSpeedsTest, Multiplication) {
-  const frc::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
+  const wpi::math::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
 
-  const frc::MecanumDriveWheelSpeeds result = speeds * 2;
+  const wpi::math::MecanumDriveWheelSpeeds result = speeds * 2;
 
   EXPECT_EQ(2.0, result.frontLeft.value());
   EXPECT_EQ(1.0, result.frontRight.value());
@@ -53,9 +53,9 @@ TEST(MecanumDriveWheelSpeedsTest, Multiplication) {
 }
 
 TEST(MecanumDriveWheelSpeedsTest, Division) {
-  const frc::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
+  const wpi::math::MecanumDriveWheelSpeeds speeds{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
 
-  const frc::MecanumDriveWheelSpeeds result = speeds / 2;
+  const wpi::math::MecanumDriveWheelSpeeds result = speeds / 2;
 
   EXPECT_EQ(0.5, result.frontLeft.value());
   EXPECT_EQ(0.25, result.frontRight.value());
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
index 647754b8b6..713fbdb855 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -10,7 +10,7 @@
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 static constexpr double kEpsilon = 0.1;
 
@@ -96,7 +96,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematicsWithDeltas) {
 
 TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t{2 * std::numbers::pi}};
+                       wpi::units::radians_per_second_t{2 * std::numbers::pi}};
   auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
 
   EXPECT_NEAR(fl.speed.value(), 106.63, kEpsilon);
@@ -112,7 +112,7 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
 
 TEST_F(SwerveDriveKinematicsTest, ConserveWheelAngle) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t{2 * std::numbers::pi}};
+                       wpi::units::radians_per_second_t{2 * std::numbers::pi}};
   m_kinematics.ToSwerveModuleStates(speeds);
   auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(ChassisSpeeds{});
 
@@ -174,7 +174,7 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematicsWithDeltas) {
 
 TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t{2 * std::numbers::pi}};
+                       wpi::units::radians_per_second_t{2 * std::numbers::pi}};
   auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
 
   EXPECT_NEAR(fl.speed.value(), 0.0, kEpsilon);
@@ -266,7 +266,7 @@ TEST_F(SwerveDriveKinematicsTest, Desaturate) {
   SwerveModuleState state3{4.0_mps, 0_deg};
   SwerveModuleState state4{7.0_mps, 0_deg};
 
-  wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
+  wpi::util::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
   SwerveDriveKinematics<4>::DesaturateWheelSpeeds(&arr, 5.5_mps);
 
   double kFactor = 5.5 / 7.0;
@@ -283,7 +283,7 @@ TEST_F(SwerveDriveKinematicsTest, DesaturateSmooth) {
   SwerveModuleState state3{4.0_mps, 0_deg};
   SwerveModuleState state4{7.0_mps, 0_deg};
 
-  wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
+  wpi::util::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
   SwerveDriveKinematics<4>::DesaturateWheelSpeeds(
       &arr, m_kinematics.ToChassisSpeeds(arr), 5.5_mps, 5.5_mps, 3.5_rad_per_s);
 
@@ -301,7 +301,7 @@ TEST_F(SwerveDriveKinematicsTest, DesaturateNegativeSpeed) {
   SwerveModuleState state3{-2.0_mps, 0_deg};
   SwerveModuleState state4{-2.0_mps, 0_deg};
 
-  wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
+  wpi::util::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
   SwerveDriveKinematics<4>::DesaturateWheelSpeeds(&arr, 1.0_mps);
 
   EXPECT_NEAR(arr[0].speed.value(), 0.5, kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
index 6f61d74890..844f4434a5 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/math/trajectory/TrajectoryConfig.hpp"
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 static constexpr double kEpsilon = 0.01;
 
@@ -27,17 +27,17 @@ class SwerveDriveOdometry3dTest : public ::testing::Test {
   SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
   SwerveModulePosition zero;
   SwerveDriveOdometry3d<4> m_odometry{
-      m_kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
+      m_kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
 };
 
 TEST_F(SwerveDriveOdometry3dTest, Initialize) {
   SwerveDriveOdometry3d odometry{
       m_kinematics,
-      frc::Rotation3d{},
+      wpi::math::Rotation3d{},
       {zero, zero, zero, zero},
-      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 45_deg}}};
+      wpi::math::Pose3d{1_m, 2_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 45_deg}}};
 
-  const frc::Pose3d& pose = odometry.GetPose();
+  const wpi::math::Pose3d& pose = odometry.GetPose();
 
   EXPECT_NEAR(pose.X().value(), 1, kEpsilon);
   EXPECT_NEAR(pose.Y().value(), 2, kEpsilon);
@@ -48,12 +48,12 @@ TEST_F(SwerveDriveOdometry3dTest, Initialize) {
 TEST_F(SwerveDriveOdometry3dTest, TwoIterations) {
   SwerveModulePosition position{0.5_m, 0_deg};
 
-  m_odometry.ResetPosition(frc::Rotation3d{}, {zero, zero, zero, zero},
+  m_odometry.ResetPosition(wpi::math::Rotation3d{}, {zero, zero, zero, zero},
                            Pose3d{});
 
-  m_odometry.Update(frc::Rotation3d{}, {zero, zero, zero, zero});
+  m_odometry.Update(wpi::math::Rotation3d{}, {zero, zero, zero, zero});
 
-  auto pose = m_odometry.Update(frc::Rotation3d{},
+  auto pose = m_odometry.Update(wpi::math::Rotation3d{},
                                 {position, position, position, position});
 
   EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
@@ -68,9 +68,9 @@ TEST_F(SwerveDriveOdometry3dTest, 90DegreeTurn) {
   SwerveModulePosition bl{18.85_m, -90_deg};
   SwerveModulePosition br{42.15_m, -26.565_deg};
 
-  m_odometry.ResetPosition(frc::Rotation3d{}, {zero, zero, zero, zero},
+  m_odometry.ResetPosition(wpi::math::Rotation3d{}, {zero, zero, zero, zero},
                            Pose3d{});
-  auto pose = m_odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg},
+  auto pose = m_odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
                                 {fl, fr, bl, br});
 
   EXPECT_NEAR(12.0, pose.X().value(), kEpsilon);
@@ -80,12 +80,12 @@ TEST_F(SwerveDriveOdometry3dTest, 90DegreeTurn) {
 }
 
 TEST_F(SwerveDriveOdometry3dTest, GyroAngleReset) {
-  m_odometry.ResetPosition(frc::Rotation3d{0_deg, 0_deg, 90_deg},
+  m_odometry.ResetPosition(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
                            {zero, zero, zero, zero}, Pose3d{});
 
   SwerveModulePosition position{0.5_m, 0_deg};
 
-  auto pose = m_odometry.Update(frc::Rotation3d{0_deg, 0_deg, 90_deg},
+  auto pose = m_odometry.Update(wpi::math::Rotation3d{0_deg, 0_deg, 90_deg},
                                 {position, position, position, position});
 
   EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
@@ -100,7 +100,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
       Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
 
   SwerveDriveOdometry3d<4> odometry{
-      kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
+      kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
 
   SwerveModulePosition fl;
   SwerveModulePosition fr;
@@ -116,8 +116,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
@@ -140,8 +140,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingTrajectory) {
     br.angle = moduleStates[3].angle;
 
     auto xhat = odometry.Update(
-        frc::Rotation3d{groundTruthState.pose.Rotation() +
-                        frc::Rotation2d{distribution(generator) * 0.05_rad}},
+        wpi::math::Rotation3d{groundTruthState.pose.Rotation() +
+                        wpi::math::Rotation2d{distribution(generator) * 0.05_rad}},
         {fl, fr, bl, br});
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation().ToTranslation2d())
@@ -165,7 +165,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
       Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
 
   SwerveDriveOdometry3d<4> odometry{
-      kinematics, frc::Rotation3d{}, {zero, zero, zero, zero}};
+      kinematics, wpi::math::Rotation3d{}, {zero, zero, zero, zero}};
 
   SwerveModulePosition fl;
   SwerveModulePosition fr;
@@ -181,8 +181,8 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
@@ -205,7 +205,7 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) {
     br.angle = groundTruthState.pose.Rotation();
 
     auto xhat = odometry.Update(
-        frc::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
+        wpi::math::Rotation3d{0_rad, 0_rad, distribution(generator) * 0.05_rad},
         {fl, fr, bl, br});
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation().ToTranslation2d())
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
index 8e88f22b9d..d5a16720fd 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/math/trajectory/TrajectoryConfig.hpp"
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 static constexpr double kEpsilon = 0.01;
 
@@ -78,7 +78,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingTrajectory) {
       Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
 
   SwerveDriveOdometry<4> odometry{
-      kinematics, frc::Rotation2d{}, {zero, zero, zero, zero}};
+      kinematics, wpi::math::Rotation2d{}, {zero, zero, zero, zero}};
 
   SwerveModulePosition fl;
   SwerveModulePosition fr;
@@ -94,8 +94,8 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingTrajectory) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
@@ -119,7 +119,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingTrajectory) {
 
     auto xhat =
         odometry.Update(groundTruthState.pose.Rotation() +
-                            frc::Rotation2d{distribution(generator) * 0.05_rad},
+                            wpi::math::Rotation2d{distribution(generator) * 0.05_rad},
                         {fl, fr, bl, br});
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation())
@@ -143,7 +143,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingXAxis) {
       Translation2d{-1_m, -1_m}, Translation2d{-1_m, 1_m}};
 
   SwerveDriveOdometry<4> odometry{
-      kinematics, frc::Rotation2d{}, {zero, zero, zero, zero}};
+      kinematics, wpi::math::Rotation2d{}, {zero, zero, zero, zero}};
 
   SwerveModulePosition fl;
   SwerveModulePosition fr;
@@ -159,8 +159,8 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingXAxis) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 20_ms;
-  units::second_t t = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
   double errorSum = 0;
@@ -183,7 +183,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingXAxis) {
     br.angle = groundTruthState.pose.Rotation();
 
     auto xhat = odometry.Update(
-        frc::Rotation2d{distribution(generator) * 0.05_rad}, {fl, fr, bl, br});
+        wpi::math::Rotation2d{distribution(generator) * 0.05_rad}, {fl, fr, bl, br});
     double error = groundTruthState.pose.Translation()
                        .Distance(xhat.Translation())
                        .value();
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
index 9baf909d38..58c5783c35 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
@@ -8,16 +8,16 @@
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
 TEST(SwerveModulePositionTest, Equality) {
-  frc::SwerveModulePosition position1{2_m, 90_deg};
-  frc::SwerveModulePosition position2{2_m, 90_deg};
+  wpi::math::SwerveModulePosition position1{2_m, 90_deg};
+  wpi::math::SwerveModulePosition position2{2_m, 90_deg};
 
   EXPECT_EQ(position1, position2);
 }
 
 TEST(SwerveModulePositionTest, Inequality) {
-  frc::SwerveModulePosition position1{1_m, 90_deg};
-  frc::SwerveModulePosition position2{2_m, 90_deg};
-  frc::SwerveModulePosition position3{1_m, 89_deg};
+  wpi::math::SwerveModulePosition position1{1_m, 90_deg};
+  wpi::math::SwerveModulePosition position2{2_m, 90_deg};
+  wpi::math::SwerveModulePosition position3{1_m, 89_deg};
 
   EXPECT_NE(position1, position2);
   EXPECT_NE(position1, position3);
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
index 63a8f03ab7..c1ebe1dd47 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
@@ -10,15 +10,15 @@
 static constexpr double kEpsilon = 1E-9;
 
 TEST(SwerveModuleStateTest, Optimize) {
-  frc::Rotation2d angleA{45_deg};
-  frc::SwerveModuleState refA{-2_mps, 180_deg};
+  wpi::math::Rotation2d angleA{45_deg};
+  wpi::math::SwerveModuleState refA{-2_mps, 180_deg};
   refA.Optimize(angleA);
 
   EXPECT_NEAR(refA.speed.value(), 2.0, kEpsilon);
   EXPECT_NEAR(refA.angle.Degrees().value(), 0.0, kEpsilon);
 
-  frc::Rotation2d angleB{-50_deg};
-  frc::SwerveModuleState refB{4.7_mps, 41_deg};
+  wpi::math::Rotation2d angleB{-50_deg};
+  wpi::math::SwerveModuleState refB{4.7_mps, 41_deg};
   refB.Optimize(angleB);
 
   EXPECT_NEAR(refB.speed.value(), -4.7, kEpsilon);
@@ -26,15 +26,15 @@ TEST(SwerveModuleStateTest, Optimize) {
 }
 
 TEST(SwerveModuleStateTest, NoOptimize) {
-  frc::Rotation2d angleA{0_deg};
-  frc::SwerveModuleState refA{2_mps, 89_deg};
+  wpi::math::Rotation2d angleA{0_deg};
+  wpi::math::SwerveModuleState refA{2_mps, 89_deg};
   refA.Optimize(angleA);
 
   EXPECT_NEAR(refA.speed.value(), 2.0, kEpsilon);
   EXPECT_NEAR(refA.angle.Degrees().value(), 89.0, kEpsilon);
 
-  frc::Rotation2d angleB{0_deg};
-  frc::SwerveModuleState refB{-2_mps, -2_deg};
+  wpi::math::Rotation2d angleB{0_deg};
+  wpi::math::SwerveModuleState refB{-2_mps, -2_deg};
   refB.Optimize(angleB);
 
   EXPECT_NEAR(refB.speed.value(), -2.0, kEpsilon);
@@ -42,85 +42,85 @@ TEST(SwerveModuleStateTest, NoOptimize) {
 }
 
 TEST(SwerveModuleStateTest, CosineScaling) {
-  frc::Rotation2d angleA{0_deg};
-  frc::SwerveModuleState refA{2_mps, 45_deg};
+  wpi::math::Rotation2d angleA{0_deg};
+  wpi::math::SwerveModuleState refA{2_mps, 45_deg};
   refA.CosineScale(angleA);
 
   EXPECT_NEAR(refA.speed.value(), std::sqrt(2.0), kEpsilon);
   EXPECT_NEAR(refA.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleB{45_deg};
-  frc::SwerveModuleState refB{2_mps, 45_deg};
+  wpi::math::Rotation2d angleB{45_deg};
+  wpi::math::SwerveModuleState refB{2_mps, 45_deg};
   refB.CosineScale(angleB);
 
   EXPECT_NEAR(refB.speed.value(), 2.0, kEpsilon);
   EXPECT_NEAR(refB.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleC{-45_deg};
-  frc::SwerveModuleState refC{2_mps, 45_deg};
+  wpi::math::Rotation2d angleC{-45_deg};
+  wpi::math::SwerveModuleState refC{2_mps, 45_deg};
   refC.CosineScale(angleC);
 
   EXPECT_NEAR(refC.speed.value(), 0.0, kEpsilon);
   EXPECT_NEAR(refC.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleD{135_deg};
-  frc::SwerveModuleState refD{2_mps, 45_deg};
+  wpi::math::Rotation2d angleD{135_deg};
+  wpi::math::SwerveModuleState refD{2_mps, 45_deg};
   refD.CosineScale(angleD);
 
   EXPECT_NEAR(refD.speed.value(), 0.0, kEpsilon);
   EXPECT_NEAR(refD.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleE{-135_deg};
-  frc::SwerveModuleState refE{2_mps, 45_deg};
+  wpi::math::Rotation2d angleE{-135_deg};
+  wpi::math::SwerveModuleState refE{2_mps, 45_deg};
   refE.CosineScale(angleE);
 
   EXPECT_NEAR(refE.speed.value(), -2.0, kEpsilon);
   EXPECT_NEAR(refE.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleF{180_deg};
-  frc::SwerveModuleState refF{2_mps, 45_deg};
+  wpi::math::Rotation2d angleF{180_deg};
+  wpi::math::SwerveModuleState refF{2_mps, 45_deg};
   refF.CosineScale(angleF);
 
   EXPECT_NEAR(refF.speed.value(), -std::sqrt(2.0), kEpsilon);
   EXPECT_NEAR(refF.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleG{0_deg};
-  frc::SwerveModuleState refG{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleG{0_deg};
+  wpi::math::SwerveModuleState refG{-2_mps, 45_deg};
   refG.CosineScale(angleG);
 
   EXPECT_NEAR(refG.speed.value(), -std::sqrt(2.0), kEpsilon);
   EXPECT_NEAR(refG.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleH{45_deg};
-  frc::SwerveModuleState refH{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleH{45_deg};
+  wpi::math::SwerveModuleState refH{-2_mps, 45_deg};
   refH.CosineScale(angleH);
 
   EXPECT_NEAR(refH.speed.value(), -2.0, kEpsilon);
   EXPECT_NEAR(refH.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleI{-45_deg};
-  frc::SwerveModuleState refI{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleI{-45_deg};
+  wpi::math::SwerveModuleState refI{-2_mps, 45_deg};
   refI.CosineScale(angleI);
 
   EXPECT_NEAR(refI.speed.value(), 0.0, kEpsilon);
   EXPECT_NEAR(refI.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleJ{135_deg};
-  frc::SwerveModuleState refJ{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleJ{135_deg};
+  wpi::math::SwerveModuleState refJ{-2_mps, 45_deg};
   refJ.CosineScale(angleJ);
 
   EXPECT_NEAR(refJ.speed.value(), 0.0, kEpsilon);
   EXPECT_NEAR(refJ.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleK{-135_deg};
-  frc::SwerveModuleState refK{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleK{-135_deg};
+  wpi::math::SwerveModuleState refK{-2_mps, 45_deg};
   refK.CosineScale(angleK);
 
   EXPECT_NEAR(refK.speed.value(), 2.0, kEpsilon);
   EXPECT_NEAR(refK.angle.Degrees().value(), 45.0, kEpsilon);
 
-  frc::Rotation2d angleL{180_deg};
-  frc::SwerveModuleState refL{-2_mps, 45_deg};
+  wpi::math::Rotation2d angleL{180_deg};
+  wpi::math::SwerveModuleState refL{-2_mps, 45_deg};
   refL.CosineScale(angleL);
 
   EXPECT_NEAR(refL.speed.value(), std::sqrt(2.0), kEpsilon);
@@ -128,16 +128,16 @@ TEST(SwerveModuleStateTest, CosineScaling) {
 }
 
 TEST(SwerveModuleStateTest, Equality) {
-  frc::SwerveModuleState state1{2_mps, 90_deg};
-  frc::SwerveModuleState state2{2_mps, 90_deg};
+  wpi::math::SwerveModuleState state1{2_mps, 90_deg};
+  wpi::math::SwerveModuleState state2{2_mps, 90_deg};
 
   EXPECT_EQ(state1, state2);
 }
 
 TEST(SwerveModuleStateTest, Inequality) {
-  frc::SwerveModuleState state1{1_mps, 90_deg};
-  frc::SwerveModuleState state2{2_mps, 90_deg};
-  frc::SwerveModuleState state3{1_mps, 89_deg};
+  wpi::math::SwerveModuleState state1{1_mps, 90_deg};
+  wpi::math::SwerveModuleState state2{2_mps, 90_deg};
+  wpi::math::SwerveModuleState state3{1_mps, 89_deg};
 
   EXPECT_NE(state1, state2);
   EXPECT_NE(state1, state3);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
index 682d197915..245ec01e60 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const ChassisSpeeds kExpectedData =
 }  // namespace
 
 TEST(ChassisSpeedsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
index 7e74b05484..17b0e5a252 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const DifferentialDriveKinematics kExpectedData =
 }  // namespace
 
 TEST(DifferentialDriveKinematicsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
index 21d3ad6b3e..9406369c32 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const DifferentialDriveWheelSpeeds kExpectedData =
 }  // namespace
 
 TEST(DifferentialDriveWheelSpeedsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
index 03ac227596..49fe8daeed 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -17,8 +17,8 @@ const MecanumDriveKinematics kExpectedData = MecanumDriveKinematics{
 }  // namespace
 
 TEST(MecanumDriveKinematicsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
index 82ca0605ff..4fe5547a52 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const MecanumDriveWheelPositions kExpectedData =
 }  // namespace
 
 TEST(MecanumDriveWheelPositionsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
index 9981b67e4e..711140f524 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const MecanumDriveWheelSpeeds kExpectedData =
 }  // namespace
 
 TEST(MecanumDriveWheelSpeedsProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
index bc6de1a0df..b8475b1bf0 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
@@ -8,14 +8,14 @@
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct SwerveDriveKinematicsProtoTestData {
   using Type = SwerveDriveKinematics<4>;
 
   inline static const Type kTestData{
-      frc::Translation2d{1.0_m, 0.9_m}, frc::Translation2d{1.1_m, -0.8_m},
-      frc::Translation2d{-1.2_m, 0.7_m}, frc::Translation2d{-1.3_m, -0.6_m}};
+      wpi::math::Translation2d{1.0_m, 0.9_m}, wpi::math::Translation2d{1.1_m, -0.8_m},
+      wpi::math::Translation2d{-1.2_m, 0.7_m}, wpi::math::Translation2d{-1.3_m, -0.6_m}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetModules(), data.GetModules());
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
index c3d7d480df..095810f03e 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const SwerveModulePosition kExpectedData =
 }  // namespace
 
 TEST(SwerveModulePositionProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
index 670ff10584..b0b871b82e 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
@@ -16,8 +16,8 @@ const SwerveModuleState kExpectedData =
 }  // namespace
 
 TEST(SwerveModuleStateProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
index a22de755e6..6a31491b75 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::ChassisSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::ChassisSpeeds>;
 const ChassisSpeeds kExpectedData{
     ChassisSpeeds{2.29_mps, 2.2_mps, 0.3504_rad_per_s}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
index a0e6cf693f..b74dfb27de 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveKinematics>;
 const DifferentialDriveKinematics kExpectedData{
     DifferentialDriveKinematics{1.74_m}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
index 75b83e4f59..7aa770a8e4 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelPositions>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions>;
 const DifferentialDriveWheelPositions kExpectedData{
     DifferentialDriveWheelPositions{1.74_m, 35.04_m}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
index 9d68fc9e7a..c35a55c3a5 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::DifferentialDriveWheelSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::DifferentialDriveWheelSpeeds>;
 const DifferentialDriveWheelSpeeds kExpectedData{
     DifferentialDriveWheelSpeeds{1.74_mps, 35.04_mps}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
index 492ba94fae..82ed1ddc63 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveKinematics>;
 const MecanumDriveKinematics kExpectedData{MecanumDriveKinematics{
     Translation2d{19.1_m, 2.2_m}, Translation2d{35.04_m, 1.91_m},
     Translation2d{1.74_m, 3.504_m}, Translation2d{3.504_m, 1.91_m}}};
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
index c9ba803810..d39f515eff 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::MecanumDriveWheelPositions>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelPositions>;
 const MecanumDriveWheelPositions kExpectedData{
     MecanumDriveWheelPositions{17.4_m, 2.29_m, 22.9_m, 1.74_m}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
index 42122c192b..b8604754ee 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::MecanumDriveWheelSpeeds>;
+using StructType = wpi::util::Struct<wpi::math::MecanumDriveWheelSpeeds>;
 const MecanumDriveWheelSpeeds kExpectedData{
     MecanumDriveWheelSpeeds{2.29_mps, 17.4_mps, 4.4_mps, 0.229_mps}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
index 6261ec16b2..eeeb01f67f 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
@@ -8,14 +8,14 @@
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct SwerveDriveKinematicsStructTestData {
   using Type = SwerveDriveKinematics<4>;
 
   inline static const Type kTestData{
-      frc::Translation2d{1.0_m, 0.9_m}, frc::Translation2d{1.1_m, -0.8_m},
-      frc::Translation2d{-1.2_m, 0.7_m}, frc::Translation2d{-1.3_m, -0.6_m}};
+      wpi::math::Translation2d{1.0_m, 0.9_m}, wpi::math::Translation2d{1.1_m, -0.8_m},
+      wpi::math::Translation2d{-1.2_m, 0.7_m}, wpi::math::Translation2d{-1.3_m, -0.6_m}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetModules(), data.GetModules());
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
index 6bd9ebd3e7..5ae0277d2b 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::SwerveModulePosition>;
+using StructType = wpi::util::Struct<wpi::math::SwerveModulePosition>;
 const SwerveModulePosition kExpectedData{
     SwerveModulePosition{3.504_m, Rotation2d{17.4_rad}}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
index 752d28d8a2..9bfd335844 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
@@ -6,11 +6,11 @@
 
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using StructType = wpi::Struct<frc::SwerveModuleState>;
+using StructType = wpi::util::Struct<wpi::math::SwerveModuleState>;
 const SwerveModuleState kExpectedData{
     SwerveModuleState{22.9_mps, Rotation2d{3.3_rad}}};
 }  // namespace
diff --git a/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp b/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
index 56ccc88338..b59fe8725e 100644
--- a/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
+++ b/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
@@ -21,7 +21,7 @@ TEST(SimulatedAnnealingTest, DoubleFunctionOptimizationHeartBeat) {
   std::mt19937 gen{rd()};
   std::uniform_real_distribution<> distr{0.0, 1.0};
 
-  frc::SimulatedAnnealing<double> simulatedAnnealing{
+  wpi::math::SimulatedAnnealing<double> simulatedAnnealing{
       2.0,
       [&](const double& x) {
         return std::clamp(x + (distr(gen) - 0.5) * stepSize, -3.0, 3.0);
@@ -44,7 +44,7 @@ TEST(SimulatedAnnealingTest, DoubleFunctionOptimizationMultimodal) {
   std::mt19937 gen{rd()};
   std::uniform_real_distribution<> distr{0.0, 1.0};
 
-  frc::SimulatedAnnealing<double> simulatedAnnealing{
+  wpi::math::SimulatedAnnealing<double> simulatedAnnealing{
       2.0,
       [&](const double& x) {
         return std::clamp(x + (distr(gen) - 0.5) * stepSize, 0.0, 7.0);
diff --git a/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp b/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
index c180506628..679d9dab3e 100644
--- a/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
+++ b/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
@@ -21,12 +21,12 @@
  * @param expected The expected cycle.
  * @param actual The actual cycle.
  */
-bool IsMatchingCycle(std::span<const frc::Pose2d> expected,
-                     std::span<const frc::Pose2d> actual) {
+bool IsMatchingCycle(std::span<const wpi::math::Pose2d> expected,
+                     std::span<const wpi::math::Pose2d> actual) {
   assert(expected.size() == actual.size());
 
   // Check actual has expected cycle (forward)
-  wpi::circular_buffer<frc::Pose2d> actualBufferForward{expected.size()};
+  wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferForward{expected.size()};
   for (size_t i = 0; i < actual.size(); ++i) {
     actualBufferForward.push_back(actual[i % actual.size()]);
   }
@@ -36,7 +36,7 @@ bool IsMatchingCycle(std::span<const frc::Pose2d> expected,
   }
 
   // Check actual has expected cycle (reverse)
-  wpi::circular_buffer<frc::Pose2d> actualBufferReverse{expected.size()};
+  wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferReverse{expected.size()};
   for (size_t i = 0; i < actual.size(); ++i) {
     actualBufferReverse.push_front(actual[(1 + i) % actual.size()]);
   }
@@ -56,15 +56,15 @@ TEST(TravelingSalesmanTest, FiveLengthStaticPathWithDistanceCost) {
   // ...................
   // ....3.....1........
   // ...................
-  wpi::array<frc::Pose2d, 5> poses{
-      frc::Pose2d{3_m, 3_m, 0_rad}, frc::Pose2d{11_m, 5_m, 0_rad},
-      frc::Pose2d{9_m, 2_m, 0_rad}, frc::Pose2d{5_m, 5_m, 0_rad},
-      frc::Pose2d{14_m, 3_m, 0_rad}};
+  wpi::util::array<wpi::math::Pose2d, 5> poses{
+      wpi::math::Pose2d{3_m, 3_m, 0_rad}, wpi::math::Pose2d{11_m, 5_m, 0_rad},
+      wpi::math::Pose2d{9_m, 2_m, 0_rad}, wpi::math::Pose2d{5_m, 5_m, 0_rad},
+      wpi::math::Pose2d{14_m, 3_m, 0_rad}};
 
-  frc::TravelingSalesman traveler;
-  wpi::array<frc::Pose2d, 5> solution = traveler.Solve(poses, 500);
+  wpi::math::TravelingSalesman traveler;
+  wpi::util::array<wpi::math::Pose2d, 5> solution = traveler.Solve(poses, 500);
 
-  wpi::array<frc::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
+  wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
                                       poses[3]};
 
   EXPECT_TRUE(IsMatchingCycle(expected, solution));
@@ -77,17 +77,17 @@ TEST(TravelingSalesmanTest, FiveLengthDynamicPathWithDistanceCost) {
   // ...................
   // ....3.....1........
   // ...................
-  wpi::array<frc::Pose2d, 5> poses{
-      frc::Pose2d{3_m, 3_m, 0_rad}, frc::Pose2d{11_m, 5_m, 0_rad},
-      frc::Pose2d{9_m, 2_m, 0_rad}, frc::Pose2d{5_m, 5_m, 0_rad},
-      frc::Pose2d{14_m, 3_m, 0_rad}};
+  wpi::util::array<wpi::math::Pose2d, 5> poses{
+      wpi::math::Pose2d{3_m, 3_m, 0_rad}, wpi::math::Pose2d{11_m, 5_m, 0_rad},
+      wpi::math::Pose2d{9_m, 2_m, 0_rad}, wpi::math::Pose2d{5_m, 5_m, 0_rad},
+      wpi::math::Pose2d{14_m, 3_m, 0_rad}};
 
-  frc::TravelingSalesman traveler;
-  std::vector<frc::Pose2d> solution =
-      traveler.Solve(std::span<const frc::Pose2d>{poses}, 500);
+  wpi::math::TravelingSalesman traveler;
+  std::vector<wpi::math::Pose2d> solution =
+      traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
 
   ASSERT_EQ(5u, solution.size());
-  wpi::array<frc::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
+  wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
                                       poses[3]};
 
   EXPECT_TRUE(IsMatchingCycle(expected, solution));
@@ -100,17 +100,17 @@ TEST(TravelingSalesmanTest, TenLengthStaticPathWithDistanceCost) {
   // .0.................
   // .....7..5...8......
   // ...................
-  wpi::array<frc::Pose2d, 10> poses{
-      frc::Pose2d{2_m, 4_m, 0_rad},  frc::Pose2d{10_m, 1_m, 0_rad},
-      frc::Pose2d{12_m, 1_m, 0_rad}, frc::Pose2d{7_m, 1_m, 0_rad},
-      frc::Pose2d{3_m, 2_m, 0_rad},  frc::Pose2d{9_m, 5_m, 0_rad},
-      frc::Pose2d{5_m, 1_m, 0_rad},  frc::Pose2d{6_m, 5_m, 0_rad},
-      frc::Pose2d{13_m, 5_m, 0_rad}, frc::Pose2d{14_m, 3_m, 0_rad}};
+  wpi::util::array<wpi::math::Pose2d, 10> poses{
+      wpi::math::Pose2d{2_m, 4_m, 0_rad},  wpi::math::Pose2d{10_m, 1_m, 0_rad},
+      wpi::math::Pose2d{12_m, 1_m, 0_rad}, wpi::math::Pose2d{7_m, 1_m, 0_rad},
+      wpi::math::Pose2d{3_m, 2_m, 0_rad},  wpi::math::Pose2d{9_m, 5_m, 0_rad},
+      wpi::math::Pose2d{5_m, 1_m, 0_rad},  wpi::math::Pose2d{6_m, 5_m, 0_rad},
+      wpi::math::Pose2d{13_m, 5_m, 0_rad}, wpi::math::Pose2d{14_m, 3_m, 0_rad}};
 
-  frc::TravelingSalesman traveler;
-  wpi::array<frc::Pose2d, 10> solution = traveler.Solve(poses, 500);
+  wpi::math::TravelingSalesman traveler;
+  wpi::util::array<wpi::math::Pose2d, 10> solution = traveler.Solve(poses, 500);
 
-  wpi::array<frc::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
+  wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
                                        poses[1], poses[2], poses[9], poses[8],
                                        poses[5], poses[7]};
 
@@ -124,19 +124,19 @@ TEST(TravelingSalesmanTest, TenLengthDynamicPathWithDistanceCost) {
   // .0.................
   // .....7..5...8......
   // ...................
-  wpi::array<frc::Pose2d, 10> poses{
-      frc::Pose2d{2_m, 4_m, 0_rad},  frc::Pose2d{10_m, 1_m, 0_rad},
-      frc::Pose2d{12_m, 1_m, 0_rad}, frc::Pose2d{7_m, 1_m, 0_rad},
-      frc::Pose2d{3_m, 2_m, 0_rad},  frc::Pose2d{9_m, 5_m, 0_rad},
-      frc::Pose2d{5_m, 1_m, 0_rad},  frc::Pose2d{6_m, 5_m, 0_rad},
-      frc::Pose2d{13_m, 5_m, 0_rad}, frc::Pose2d{14_m, 3_m, 0_rad}};
+  wpi::util::array<wpi::math::Pose2d, 10> poses{
+      wpi::math::Pose2d{2_m, 4_m, 0_rad},  wpi::math::Pose2d{10_m, 1_m, 0_rad},
+      wpi::math::Pose2d{12_m, 1_m, 0_rad}, wpi::math::Pose2d{7_m, 1_m, 0_rad},
+      wpi::math::Pose2d{3_m, 2_m, 0_rad},  wpi::math::Pose2d{9_m, 5_m, 0_rad},
+      wpi::math::Pose2d{5_m, 1_m, 0_rad},  wpi::math::Pose2d{6_m, 5_m, 0_rad},
+      wpi::math::Pose2d{13_m, 5_m, 0_rad}, wpi::math::Pose2d{14_m, 3_m, 0_rad}};
 
-  frc::TravelingSalesman traveler;
-  std::vector<frc::Pose2d> solution =
-      traveler.Solve(std::span<const frc::Pose2d>{poses}, 500);
+  wpi::math::TravelingSalesman traveler;
+  std::vector<wpi::math::Pose2d> solution =
+      traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
 
   ASSERT_EQ(10u, solution.size());
-  wpi::array<frc::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
+  wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
                                        poses[1], poses[2], poses[9], poses[8],
                                        poses[5], poses[7]};
 
diff --git a/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp b/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
index 0023afae8b..3112b0e411 100644
--- a/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/linalg/proto/MatrixProto.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct MatrixProtoTestData {
   using Type = Matrixd<2, 3>;
diff --git a/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp b/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
index 5b0881230f..ecd25273d0 100644
--- a/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/linalg/proto/VectorProto.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct VectorProtoTestData {
   using Type = Vectord<2>;
diff --git a/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp b/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
index d66a2717f2..6e44e1b724 100644
--- a/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -14,9 +14,9 @@
 #include "wpi/math/spline/SplineParameterizer.hpp"
 #include "wpi/units/length.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-namespace frc {
+namespace wpi::math {
 class CubicHermiteSplineTest : public ::testing::Test {
  protected:
   static void Run(const Pose2d& a, const std::vector<Translation2d>& waypoints,
@@ -79,7 +79,7 @@ class CubicHermiteSplineTest : public ::testing::Test {
                 b.Rotation().Radians().value(), 1E-9);
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 TEST_F(CubicHermiteSplineTest, StraightLine) {
   Run(Pose2d{}, std::vector<Translation2d>(), Pose2d{3_m, 0_m, 0_deg});
diff --git a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
index 556edef50c..9fb801b2e0 100644
--- a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -14,9 +14,9 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/length.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-namespace frc {
+namespace wpi::math {
 class QuinticHermiteSplineTest : public ::testing::Test {
  protected:
   static void Run(const Pose2d& a, const Pose2d& b) {
@@ -51,7 +51,7 @@ class QuinticHermiteSplineTest : public ::testing::Test {
                 b.Rotation().Radians().value(), 1E-9);
   }
 };
-}  // namespace frc
+}  // namespace wpi::math
 
 TEST_F(QuinticHermiteSplineTest, StraightLine) {
   Run(Pose2d{}, Pose2d{3_m, 0_m, 0_deg});
diff --git a/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp b/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
index 1f2eb5626f..40dba6251e 100644
--- a/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
@@ -7,14 +7,14 @@
 #include "../../ProtoTestBase.hpp"
 #include "wpi/math/spline/CubicHermiteSpline.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct CubicHermiteSplineProtoTestData {
   using Type = CubicHermiteSpline;
 
   inline static const Type kTestData{
-      wpi::array<double, 2>{{0.1, 0.2}}, wpi::array<double, 2>{{0.3, 0.4}},
-      wpi::array<double, 2>{{0.5, 0.6}}, wpi::array<double, 2>{{0.7, 0.8}}};
+      wpi::util::array<double, 2>{{0.1, 0.2}}, wpi::util::array<double, 2>{{0.3, 0.4}},
+      wpi::util::array<double, 2>{{0.5, 0.6}}, wpi::util::array<double, 2>{{0.7, 0.8}}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetInitialControlVector().x,
diff --git a/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp b/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
index 6efc580e17..aff66d39bf 100644
--- a/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
@@ -7,15 +7,15 @@
 #include "../../ProtoTestBase.hpp"
 #include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct QuinticHermiteSplineProtoTestData {
   using Type = QuinticHermiteSpline;
 
-  inline static const Type kTestData{wpi::array<double, 3>{{0.01, 0.02, 0.03}},
-                                     wpi::array<double, 3>{{0.04, 0.05, 0.06}},
-                                     wpi::array<double, 3>{{0.07, 0.08, 0.09}},
-                                     wpi::array<double, 3>{{0.10, 0.11, 0.11}}};
+  inline static const Type kTestData{wpi::util::array<double, 3>{{0.01, 0.02, 0.03}},
+                                     wpi::util::array<double, 3>{{0.04, 0.05, 0.06}},
+                                     wpi::util::array<double, 3>{{0.07, 0.08, 0.09}},
+                                     wpi::util::array<double, 3>{{0.10, 0.11, 0.11}}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetInitialControlVector().x,
diff --git a/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp b/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
index 3f269a1731..d315abb91c 100644
--- a/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
@@ -7,14 +7,14 @@
 #include "../../StructTestBase.hpp"
 #include "wpi/math/spline/CubicHermiteSpline.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct CubicHermiteSplineStructTestData {
   using Type = CubicHermiteSpline;
 
   inline static const Type kTestData{
-      wpi::array<double, 2>{{0.1, 0.2}}, wpi::array<double, 2>{{0.3, 0.4}},
-      wpi::array<double, 2>{{0.5, 0.6}}, wpi::array<double, 2>{{0.7, 0.8}}};
+      wpi::util::array<double, 2>{{0.1, 0.2}}, wpi::util::array<double, 2>{{0.3, 0.4}},
+      wpi::util::array<double, 2>{{0.5, 0.6}}, wpi::util::array<double, 2>{{0.7, 0.8}}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetInitialControlVector().x,
diff --git a/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp b/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
index 2deb6dee37..1fc254581e 100644
--- a/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
@@ -7,15 +7,15 @@
 #include "../../StructTestBase.hpp"
 #include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct QuinticHermiteSplineStructTestData {
   using Type = QuinticHermiteSpline;
 
-  inline static const Type kTestData{wpi::array<double, 3>{{0.01, 0.02, 0.03}},
-                                     wpi::array<double, 3>{{0.04, 0.05, 0.06}},
-                                     wpi::array<double, 3>{{0.07, 0.08, 0.09}},
-                                     wpi::array<double, 3>{{0.10, 0.11, 0.11}}};
+  inline static const Type kTestData{wpi::util::array<double, 3>{{0.01, 0.02, 0.03}},
+                                     wpi::util::array<double, 3>{{0.04, 0.05, 0.06}},
+                                     wpi::util::array<double, 3>{{0.07, 0.08, 0.09}},
+                                     wpi::util::array<double, 3>{{0.10, 0.11, 0.11}}};
 
   static void CheckEq(const Type& testData, const Type& data) {
     EXPECT_EQ(testData.GetInitialControlVector().x,
diff --git a/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp b/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
index 6faf3600f4..645f9a3082 100644
--- a/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
+++ b/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/linalg/struct/StructProto.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct MatrixStructTestData {
   using Type = Matrixd<2, 3>;
diff --git a/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp b/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
index 29ab7779b1..b6bb87f118 100644
--- a/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
+++ b/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/linalg/struct/VectorStruct.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct VectorStructTestData {
   using Type = Vectord<2>;
diff --git a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
index f0eccfa6a9..a5ade643a6 100644
--- a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
@@ -14,16 +14,16 @@
 // Check that for a simple second-order system that we can easily analyze
 // analytically,
 TEST(DiscretizationTest, DiscretizeA) {
-  frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
+  wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
 
-  frc::Vectord<2> x0{1, 1};
-  frc::Matrixd<2, 2> discA;
+  wpi::math::Vectord<2> x0{1, 1};
+  wpi::math::Matrixd<2, 2> discA;
 
-  frc::DiscretizeA<2>(contA, 1_s, &discA);
-  frc::Vectord<2> x1Discrete = discA * x0;
+  wpi::math::DiscretizeA<2>(contA, 1_s, &discA);
+  wpi::math::Vectord<2> x1Discrete = discA * x0;
 
   // We now have pos = vel = 1 and accel = 0, which should give us:
-  frc::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1), 0.0 * x0(0) + 1.0 * x0(1)};
+  wpi::math::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1), 0.0 * x0(0) + 1.0 * x0(1)};
 
   EXPECT_EQ(x1Truth, x1Discrete);
 }
@@ -31,19 +31,19 @@ TEST(DiscretizationTest, DiscretizeA) {
 // Check that for a simple second-order system that we can easily analyze
 // analytically,
 TEST(DiscretizationTest, DiscretizeAB) {
-  frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
-  frc::Matrixd<2, 1> contB{0, 1};
+  wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
+  wpi::math::Matrixd<2, 1> contB{0, 1};
 
-  frc::Vectord<2> x0{1, 1};
-  frc::Vectord<1> u{1};
-  frc::Matrixd<2, 2> discA;
-  frc::Matrixd<2, 1> discB;
+  wpi::math::Vectord<2> x0{1, 1};
+  wpi::math::Vectord<1> u{1};
+  wpi::math::Matrixd<2, 2> discA;
+  wpi::math::Matrixd<2, 1> discB;
 
-  frc::DiscretizeAB<2, 1>(contA, contB, 1_s, &discA, &discB);
-  frc::Vectord<2> x1Discrete = discA * x0 + discB * u;
+  wpi::math::DiscretizeAB<2, 1>(contA, contB, 1_s, &discA, &discB);
+  wpi::math::Vectord<2> x1Discrete = discA * x0 + discB * u;
 
   // We now have pos = vel = accel = 1, which should give us:
-  frc::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1) + 0.5 * u(0),
+  wpi::math::Vectord<2> x1Truth{1.0 * x0(0) + 1.0 * x0(1) + 0.5 * u(0),
                           0.0 * x0(0) + 1.0 * x0(1) + 1.0 * u(0)};
 
   EXPECT_EQ(x1Truth, x1Discrete);
@@ -53,27 +53,27 @@ TEST(DiscretizationTest, DiscretizeAB) {
 // Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
 //                                               0
 TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
-  frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
-  frc::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
+  wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
+  wpi::math::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
 
-  constexpr units::second_t dt = 1_s;
+  constexpr wpi::units::second_t dt = 1_s;
 
   //       T
   // Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
   //       0
-  frc::Matrixd<2, 2> discQIntegrated =
-      frc::RKDP<std::function<frc::Matrixd<2, 2>(units::second_t,
-                                                 const frc::Matrixd<2, 2>&)>,
-                frc::Matrixd<2, 2>>(
-          [&](units::second_t t, const frc::Matrixd<2, 2>&) {
-            return frc::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
+  wpi::math::Matrixd<2, 2> discQIntegrated =
+      wpi::math::RKDP<std::function<wpi::math::Matrixd<2, 2>(wpi::units::second_t,
+                                                 const wpi::math::Matrixd<2, 2>&)>,
+                wpi::math::Matrixd<2, 2>>(
+          [&](wpi::units::second_t t, const wpi::math::Matrixd<2, 2>&) {
+            return wpi::math::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
                                       (contA.transpose() * t.value()).exp());
           },
-          0_s, frc::Matrixd<2, 2>::Zero(), dt);
+          0_s, wpi::math::Matrixd<2, 2>::Zero(), dt);
 
-  frc::Matrixd<2, 2> discA;
-  frc::Matrixd<2, 2> discQ;
-  frc::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
+  wpi::math::Matrixd<2, 2> discA;
+  wpi::math::Matrixd<2, 2> discQ;
+  wpi::math::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
 
   EXPECT_LT((discQIntegrated - discQ).norm(), 1e-10)
       << "Expected these to be nearly equal:\ndiscQ:\n"
@@ -85,27 +85,27 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
 // Test that the discrete approximation of Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
 //                                               0
 TEST(DiscretizationTest, DiscretizeFastModelAQ) {
-  frc::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
-  frc::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
+  wpi::math::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
+  wpi::math::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
 
-  constexpr units::second_t dt = 5_ms;
+  constexpr wpi::units::second_t dt = 5_ms;
 
   //       T
   // Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ
   //       0
-  frc::Matrixd<2, 2> discQIntegrated =
-      frc::RKDP<std::function<frc::Matrixd<2, 2>(units::second_t,
-                                                 const frc::Matrixd<2, 2>&)>,
-                frc::Matrixd<2, 2>>(
-          [&](units::second_t t, const frc::Matrixd<2, 2>&) {
-            return frc::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
+  wpi::math::Matrixd<2, 2> discQIntegrated =
+      wpi::math::RKDP<std::function<wpi::math::Matrixd<2, 2>(wpi::units::second_t,
+                                                 const wpi::math::Matrixd<2, 2>&)>,
+                wpi::math::Matrixd<2, 2>>(
+          [&](wpi::units::second_t t, const wpi::math::Matrixd<2, 2>&) {
+            return wpi::math::Matrixd<2, 2>((contA * t.value()).exp() * contQ *
                                       (contA.transpose() * t.value()).exp());
           },
-          0_s, frc::Matrixd<2, 2>::Zero(), dt);
+          0_s, wpi::math::Matrixd<2, 2>::Zero(), dt);
 
-  frc::Matrixd<2, 2> discA;
-  frc::Matrixd<2, 2> discQ;
-  frc::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
+  wpi::math::Matrixd<2, 2> discA;
+  wpi::math::Matrixd<2, 2> discQ;
+  wpi::math::DiscretizeAQ<2>(contA, contQ, dt, &discA, &discQ);
 
   EXPECT_LT((discQIntegrated - discQ).norm(), 1e-3)
       << "Expected these to be nearly equal:\ndiscQ:\n"
@@ -115,10 +115,10 @@ TEST(DiscretizationTest, DiscretizeFastModelAQ) {
 
 // Test that DiscretizeR() works
 TEST(DiscretizationTest, DiscretizeR) {
-  frc::Matrixd<2, 2> contR{{2.0, 0.0}, {0.0, 1.0}};
-  frc::Matrixd<2, 2> discRTruth{{4.0, 0.0}, {0.0, 2.0}};
+  wpi::math::Matrixd<2, 2> contR{{2.0, 0.0}, {0.0, 1.0}};
+  wpi::math::Matrixd<2, 2> discRTruth{{4.0, 0.0}, {0.0, 2.0}};
 
-  frc::Matrixd<2, 2> discR = frc::DiscretizeR<2>(contR, 500_ms);
+  wpi::math::Matrixd<2, 2> discR = wpi::math::DiscretizeR<2>(contR, 500_ms);
 
   EXPECT_LT((discRTruth - discR).norm(), 1e-10)
       << "Expected these to be nearly equal:\ndiscR:\n"
diff --git a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
index b9ca8e452b..23cd484db0 100644
--- a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
+++ b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
@@ -12,64 +12,64 @@
 
 TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
 #if __GNUC__ <= 11
-  auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
-      frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
+  auto model = wpi::math::LinearSystemId::DrivetrainVelocitySystem(
+      wpi::math::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
 #else
-  constexpr auto model = frc::LinearSystemId::DrivetrainVelocitySystem(
-      frc::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
+  constexpr auto model = wpi::math::LinearSystemId::DrivetrainVelocitySystem(
+      wpi::math::DCMotor::NEO(4), 70_kg, 0.05_m, 0.4_m, 6.0_kg_sq_m, 6.0);
 #endif
 
   ASSERT_TRUE(model.A().isApprox(
-      frc::Matrixd<2, 2>{{-10.14132, 3.06598}, {3.06598, -10.14132}}, 0.001));
+      wpi::math::Matrixd<2, 2>{{-10.14132, 3.06598}, {3.06598, -10.14132}}, 0.001));
   ASSERT_TRUE(model.B().isApprox(
-      frc::Matrixd<2, 2>{{4.2590, -1.28762}, {-1.2876, 4.2590}}, 0.001));
+      wpi::math::Matrixd<2, 2>{{4.2590, -1.28762}, {-1.2876, 4.2590}}, 0.001));
   ASSERT_TRUE(
-      model.C().isApprox(frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
+      model.C().isApprox(wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
   ASSERT_TRUE(
-      model.D().isApprox(frc::Matrixd<2, 2>{{0.0, 0.0}, {0.0, 0.0}}, 0.001));
+      model.D().isApprox(wpi::math::Matrixd<2, 2>{{0.0, 0.0}, {0.0, 0.0}}, 0.001));
 }
 
 TEST(LinearSystemIDTest, ElevatorSystem) {
-  auto model = frc::LinearSystemId::ElevatorSystem(frc::DCMotor::NEO(2), 5_kg,
+  auto model = wpi::math::LinearSystemId::ElevatorSystem(wpi::math::DCMotor::NEO(2), 5_kg,
                                                    0.05_m, 12)
                    .Slice(0);
   ASSERT_TRUE(model.A().isApprox(
-      frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -99.05473}}, 0.001));
-  ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0.0, 20.8}, 0.001));
-  ASSERT_TRUE(model.C().isApprox(frc::Matrixd<1, 2>{1.0, 0.0}, 0.001));
-  ASSERT_TRUE(model.D().isApprox(frc::Matrixd<1, 1>{0.0}, 0.001));
+      wpi::math::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -99.05473}}, 0.001));
+  ASSERT_TRUE(model.B().isApprox(wpi::math::Matrixd<2, 1>{0.0, 20.8}, 0.001));
+  ASSERT_TRUE(model.C().isApprox(wpi::math::Matrixd<1, 2>{1.0, 0.0}, 0.001));
+  ASSERT_TRUE(model.D().isApprox(wpi::math::Matrixd<1, 1>{0.0}, 0.001));
 }
 
 TEST(LinearSystemIDTest, FlywheelSystem) {
 #if __GNUC__ <= 11
-  auto model = frc::LinearSystemId::FlywheelSystem(frc::DCMotor::NEO(2),
+  auto model = wpi::math::LinearSystemId::FlywheelSystem(wpi::math::DCMotor::NEO(2),
                                                    0.00032_kg_sq_m, 1.0);
 #else
-  constexpr auto model = frc::LinearSystemId::FlywheelSystem(
-      frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
+  constexpr auto model = wpi::math::LinearSystemId::FlywheelSystem(
+      wpi::math::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
 #endif
 
-  ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-26.87032}, 0.001));
-  ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1354.166667}, 0.001));
-  ASSERT_TRUE(model.C().isApprox(frc::Matrixd<1, 1>{1.0}, 0.001));
-  ASSERT_TRUE(model.D().isApprox(frc::Matrixd<1, 1>{0.0}, 0.001));
+  ASSERT_TRUE(model.A().isApprox(wpi::math::Matrixd<1, 1>{-26.87032}, 0.001));
+  ASSERT_TRUE(model.B().isApprox(wpi::math::Matrixd<1, 1>{1354.166667}, 0.001));
+  ASSERT_TRUE(model.C().isApprox(wpi::math::Matrixd<1, 1>{1.0}, 0.001));
+  ASSERT_TRUE(model.D().isApprox(wpi::math::Matrixd<1, 1>{0.0}, 0.001));
 }
 
 TEST(LinearSystemIDTest, DCMotorSystem) {
 #if __GNUC__ <= 11
-  auto model = frc::LinearSystemId::DCMotorSystem(frc::DCMotor::NEO(2),
+  auto model = wpi::math::LinearSystemId::DCMotorSystem(wpi::math::DCMotor::NEO(2),
                                                   0.00032_kg_sq_m, 1.0);
 #else
-  constexpr auto model = frc::LinearSystemId::DCMotorSystem(
-      frc::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
+  constexpr auto model = wpi::math::LinearSystemId::DCMotorSystem(
+      wpi::math::DCMotor::NEO(2), 0.00032_kg_sq_m, 1.0);
 #endif
 
   ASSERT_TRUE(
-      model.A().isApprox(frc::Matrixd<2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
-  ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0, 1354.166667}, 0.001));
+      model.A().isApprox(wpi::math::Matrixd<2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
+  ASSERT_TRUE(model.B().isApprox(wpi::math::Matrixd<2, 1>{0, 1354.166667}, 0.001));
   ASSERT_TRUE(
-      model.C().isApprox(frc::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
-  ASSERT_TRUE(model.D().isApprox(frc::Matrixd<2, 1>{0.0, 0.0}, 0.001));
+      model.C().isApprox(wpi::math::Matrixd<2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
+  ASSERT_TRUE(model.D().isApprox(wpi::math::Matrixd<2, 1>{0.0, 0.0}, 0.001));
 }
 
 TEST(LinearSystemIDTest, IdentifyPositionSystem) {
@@ -79,17 +79,17 @@ TEST(LinearSystemIDTest, IdentifyPositionSystem) {
   constexpr double ka = 0.5;
 
 #if __GNUC__ <= 11
-  auto model = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
+  auto model = wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(
       kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
 #else
   constexpr auto model =
-      frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
+      wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(
           kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
 #endif
 
   ASSERT_TRUE(model.A().isApprox(
-      frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -kv / ka}}, 0.001));
-  ASSERT_TRUE(model.B().isApprox(frc::Matrixd<2, 1>{0.0, 1.0 / ka}, 0.001));
+      wpi::math::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -kv / ka}}, 0.001));
+  ASSERT_TRUE(model.B().isApprox(wpi::math::Matrixd<2, 1>{0.0, 1.0 / ka}, 0.001));
 }
 
 TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
@@ -100,14 +100,14 @@ TEST(LinearSystemIDTest, IdentifyVelocitySystem) {
   constexpr double ka = 0.5;
 
 #if __GNUC__ <= 11
-  auto model = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
+  auto model = wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(
       kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
 #else
   constexpr auto model =
-      frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
+      wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(
           kv * 1_V / 1_mps, ka * 1_V / 1_mps_sq);
 #endif
 
-  ASSERT_TRUE(model.A().isApprox(frc::Matrixd<1, 1>{-kv / ka}, 0.001));
-  ASSERT_TRUE(model.B().isApprox(frc::Matrixd<1, 1>{1.0 / ka}, 0.001));
+  ASSERT_TRUE(model.A().isApprox(wpi::math::Matrixd<1, 1>{-kv / ka}, 0.001));
+  ASSERT_TRUE(model.B().isApprox(wpi::math::Matrixd<1, 1>{1.0 / ka}, 0.001));
 }
diff --git a/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp b/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
index f384bd2cb0..2e38e56f26 100644
--- a/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
@@ -11,23 +11,23 @@
 
 // Test that integrating dx/dt = eˣ works
 TEST(NumericalIntegrationTest, Exponential) {
-  frc::Vectord<1> y0{0.0};
+  wpi::math::Vectord<1> y0{0.0};
 
-  frc::Vectord<1> y1 = frc::RK4(
-      [](const frc::Vectord<1>& x) { return frc::Vectord<1>{std::exp(x(0))}; },
+  wpi::math::Vectord<1> y1 = wpi::math::RK4(
+      [](const wpi::math::Vectord<1>& x) { return wpi::math::Vectord<1>{std::exp(x(0))}; },
       y0, 0.1_s);
   EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
 }
 
 // Test that integrating dx/dt = eˣ works when we provide a u
 TEST(NumericalIntegrationTest, ExponentialWithU) {
-  frc::Vectord<1> y0{0.0};
+  wpi::math::Vectord<1> y0{0.0};
 
-  frc::Vectord<1> y1 = frc::RK4(
-      [](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
-        return frc::Vectord<1>{std::exp(u(0) * x(0))};
+  wpi::math::Vectord<1> y1 = wpi::math::RK4(
+      [](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
+        return wpi::math::Vectord<1>{std::exp(u(0) * x(0))};
       },
-      y0, frc::Vectord<1>{1.0}, 0.1_s);
+      y0, wpi::math::Vectord<1>{1.0}, 0.1_s);
   EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
 }
 
@@ -40,11 +40,11 @@ TEST(NumericalIntegrationTest, ExponentialWithU) {
 //
 //   x(t) = 12eᵗ/(eᵗ + 1)²
 TEST(NumericalIntegrationTest, RK4TimeVarying) {
-  frc::Vectord<1> y0{12.0 * std::exp(5.0) / std::pow(std::exp(5.0) + 1.0, 2.0)};
+  wpi::math::Vectord<1> y0{12.0 * std::exp(5.0) / std::pow(std::exp(5.0) + 1.0, 2.0)};
 
-  frc::Vectord<1> y1 = frc::RK4(
-      [](units::second_t t, const frc::Vectord<1>& x) {
-        return frc::Vectord<1>{x(0) *
+  wpi::math::Vectord<1> y1 = wpi::math::RK4(
+      [](wpi::units::second_t t, const wpi::math::Vectord<1>& x) {
+        return wpi::math::Vectord<1>{x(0) *
                                (2.0 / (std::exp(t.value()) + 1.0) - 1.0)};
       },
       5_s, y0, 1_s);
@@ -54,23 +54,23 @@ TEST(NumericalIntegrationTest, RK4TimeVarying) {
 
 // Tests that integrating dx/dt = 0 works with RKDP
 TEST(NumericalIntegrationTest, ZeroRKDP) {
-  frc::Vectord<1> y1 = frc::RKDP(
-      [](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
-        return frc::Vectord<1>::Zero();
+  wpi::math::Vectord<1> y1 = wpi::math::RKDP(
+      [](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
+        return wpi::math::Vectord<1>::Zero();
       },
-      frc::Vectord<1>{0.0}, frc::Vectord<1>{0.0}, 0.1_s);
+      wpi::math::Vectord<1>{0.0}, wpi::math::Vectord<1>{0.0}, 0.1_s);
   EXPECT_NEAR(y1(0), 0.0, 1e-3);
 }
 
 // Tests that integrating dx/dt = eˣ works with RKDP
 TEST(NumericalIntegrationTest, ExponentialRKDP) {
-  frc::Vectord<1> y0{0.0};
+  wpi::math::Vectord<1> y0{0.0};
 
-  frc::Vectord<1> y1 = frc::RKDP(
-      [](const frc::Vectord<1>& x, const frc::Vectord<1>& u) {
-        return frc::Vectord<1>{std::exp(x(0))};
+  wpi::math::Vectord<1> y1 = wpi::math::RKDP(
+      [](const wpi::math::Vectord<1>& x, const wpi::math::Vectord<1>& u) {
+        return wpi::math::Vectord<1>{std::exp(x(0))};
       },
-      y0, frc::Vectord<1>{0.0}, 0.1_s);
+      y0, wpi::math::Vectord<1>{0.0}, 0.1_s);
   EXPECT_NEAR(y1(0), std::exp(0.1) - std::exp(0), 1e-3);
 }
 
@@ -83,11 +83,11 @@ TEST(NumericalIntegrationTest, ExponentialRKDP) {
 //
 //   x(t) = 12eᵗ/(eᵗ + 1)²
 TEST(NumericalIntegrationTest, RKDPTimeVarying) {
-  frc::Vectord<1> y0{12.0 * std::exp(5.0) / std::pow(std::exp(5.0) + 1.0, 2.0)};
+  wpi::math::Vectord<1> y0{12.0 * std::exp(5.0) / std::pow(std::exp(5.0) + 1.0, 2.0)};
 
-  frc::Vectord<1> y1 = frc::RKDP(
-      [](units::second_t t, const frc::Vectord<1>& x) {
-        return frc::Vectord<1>{x(0) *
+  wpi::math::Vectord<1> y1 = wpi::math::RKDP(
+      [](wpi::units::second_t t, const wpi::math::Vectord<1>& x) {
+        return wpi::math::Vectord<1>{x(0) *
                                (2.0 / (std::exp(t.value()) + 1.0) - 1.0)};
       },
       5_s, y0, 1_s, 1e-12);
diff --git a/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp b/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
index db5325feb4..a691fbb6f3 100644
--- a/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
+++ b/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
@@ -6,25 +6,25 @@
 
 #include "wpi/math/system/NumericalJacobian.hpp"
 
-frc::Matrixd<4, 4> A{{1, 2, 4, 1}, {5, 2, 3, 4}, {5, 1, 3, 2}, {1, 1, 3, 7}};
-frc::Matrixd<4, 2> B{{1, 1}, {2, 1}, {3, 2}, {3, 7}};
+wpi::math::Matrixd<4, 4> A{{1, 2, 4, 1}, {5, 2, 3, 4}, {5, 1, 3, 2}, {1, 1, 3, 7}};
+wpi::math::Matrixd<4, 2> B{{1, 1}, {2, 1}, {3, 2}, {3, 7}};
 
 // Function from which to recover A and B
-frc::Vectord<4> AxBuFn(const frc::Vectord<4>& x, const frc::Vectord<2>& u) {
+wpi::math::Vectord<4> AxBuFn(const wpi::math::Vectord<4>& x, const wpi::math::Vectord<2>& u) {
   return A * x + B * u;
 }
 
 // Test that we can recover A from AxBuFn() pretty accurately
 TEST(NumericalJacobianTest, Ax) {
-  frc::Matrixd<4, 4> newA = frc::NumericalJacobianX<4, 4, 2>(
-      AxBuFn, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  wpi::math::Matrixd<4, 4> newA = wpi::math::NumericalJacobianX<4, 4, 2>(
+      AxBuFn, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newA.isApprox(A));
 }
 
 // Test that we can recover B from AxBuFn() pretty accurately
 TEST(NumericalJacobianTest, Bu) {
-  frc::Matrixd<4, 2> newB = frc::NumericalJacobianU<4, 4, 2>(
-      AxBuFn, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  wpi::math::Matrixd<4, 2> newB = wpi::math::NumericalJacobianU<4, 4, 2>(
+      AxBuFn, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newB.isApprox(B));
 }
 
@@ -35,37 +35,37 @@ Eigen::VectorXd AxBuFn_DynamicSize(const Eigen::VectorXd& x,
 
 // Test that we can recover A from AxBuFn() pretty accurately
 TEST(NumericalJacobianTest, Ax_DynamicSize) {
-  Eigen::MatrixXd newA = frc::NumericalJacobianX(
-      AxBuFn_DynamicSize, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  Eigen::MatrixXd newA = wpi::math::NumericalJacobianX(
+      AxBuFn_DynamicSize, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newA.isApprox(A));
 }
 
 // Test that we can recover B from AxBuFn() pretty accurately
 TEST(NumericalJacobianTest, Bu_DynamicSize) {
-  Eigen::MatrixXd newB = frc::NumericalJacobianU(
-      AxBuFn_DynamicSize, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  Eigen::MatrixXd newB = wpi::math::NumericalJacobianU(
+      AxBuFn_DynamicSize, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newB.isApprox(B));
 }
 
-frc::Matrixd<3, 4> C{{1, 2, 4, 1}, {5, 2, 3, 4}, {5, 1, 3, 2}};
-frc::Matrixd<3, 2> D{{1, 1}, {2, 1}, {3, 2}};
+wpi::math::Matrixd<3, 4> C{{1, 2, 4, 1}, {5, 2, 3, 4}, {5, 1, 3, 2}};
+wpi::math::Matrixd<3, 2> D{{1, 1}, {2, 1}, {3, 2}};
 
 // Function from which to recover C and D
-frc::Vectord<3> CxDuFn(const frc::Vectord<4>& x, const frc::Vectord<2>& u) {
+wpi::math::Vectord<3> CxDuFn(const wpi::math::Vectord<4>& x, const wpi::math::Vectord<2>& u) {
   return C * x + D * u;
 }
 
 // Test that we can recover C from CxDuFn() pretty accurately
 TEST(NumericalJacobianTest, Cx) {
-  frc::Matrixd<3, 4> newC = frc::NumericalJacobianX<3, 4, 2>(
-      CxDuFn, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  wpi::math::Matrixd<3, 4> newC = wpi::math::NumericalJacobianX<3, 4, 2>(
+      CxDuFn, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newC.isApprox(C));
 }
 
 // Test that we can recover D from CxDuFn() pretty accurately
 TEST(NumericalJacobianTest, Du) {
-  frc::Matrixd<3, 2> newD = frc::NumericalJacobianU<3, 4, 2>(
-      CxDuFn, frc::Vectord<4>::Zero(), frc::Vectord<2>::Zero());
+  wpi::math::Matrixd<3, 2> newD = wpi::math::NumericalJacobianU<3, 4, 2>(
+      CxDuFn, wpi::math::Vectord<4>::Zero(), wpi::math::Vectord<2>::Zero());
   EXPECT_TRUE(newD.isApprox(D));
 }
 
@@ -75,13 +75,13 @@ Eigen::VectorXd CxDuFn_DynamicSize(const Eigen::VectorXd& x,
 }
 
 TEST(NumericalJacobianTest, Cx_DynamicSize) {
-  Eigen::MatrixXd newC = frc::NumericalJacobianX(
+  Eigen::MatrixXd newC = wpi::math::NumericalJacobianX(
       CxDuFn_DynamicSize, Eigen::VectorXd::Zero(4), Eigen::VectorXd::Zero(2));
   EXPECT_TRUE(newC.isApprox(C));
 }
 
 TEST(NumericalJacobianTest, Du_DynamicSize) {
-  Eigen::MatrixXd newD = frc::NumericalJacobianU(
+  Eigen::MatrixXd newD = wpi::math::NumericalJacobianU(
       CxDuFn_DynamicSize, Eigen::VectorXd::Zero(4), Eigen::VectorXd::Zero(2));
   EXPECT_TRUE(newD.isApprox(D));
 }
diff --git a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
index 5013167455..ce65cced7a 100644
--- a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
@@ -7,16 +7,16 @@
 #include "wpi/math/system/plant/DCMotor.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-using ProtoType = wpi::Protobuf<frc::DCMotor>;
+using ProtoType = wpi::util::Protobuf<wpi::math::DCMotor>;
 
 inline constexpr DCMotor kExpectedData =
     DCMotor{1.91_V, 19.1_Nm, 1.74_A, 2.29_A, 2.2_rad_per_s, 2};
 
 TEST(DCMotorProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp b/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
index 8be94a9e7f..ac66b326cf 100644
--- a/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
@@ -6,9 +6,9 @@
 
 #include "wpi/math/system/plant/DCMotor.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
-using StructType = wpi::Struct<frc::DCMotor>;
+using StructType = wpi::util::Struct<wpi::math::DCMotor>;
 
 inline constexpr DCMotor kExpectedData =
     DCMotor{1.91_V, 19.1_Nm, 1.74_A, 2.29_A, 2.2_rad_per_s, 2};
diff --git a/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp b/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
index 9cf93ee8c9..f9c98982aa 100644
--- a/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/math/system/proto/LinearSystemProto.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct LinearSystemProtoTestData {
   using Type = LinearSystem<2, 3, 4>;
diff --git a/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp b/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
index fbe57dbfc7..21590e8ccf 100644
--- a/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
+++ b/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
@@ -8,7 +8,7 @@
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/math/system/struct/LinearSystemStruct.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 struct LinearSystemStructTestData {
   using Type = LinearSystem<2, 3, 4>;
diff --git a/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
index 1678cfdd47..c6934911d3 100644
--- a/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
@@ -15,7 +15,7 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(CentripetalAccelerationConstraintTest, Constraint) {
   const auto maxCentripetalAcceleration = 7_fps_sq;
@@ -26,16 +26,16 @@ TEST(CentripetalAccelerationConstraintTest, Constraint) {
 
   auto trajectory = TestTrajectory::GetTrajectory(config);
 
-  units::second_t time = 0_s;
-  units::second_t dt = 20_ms;
-  units::second_t duration = trajectory.TotalTime();
+  wpi::units::second_t time = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t duration = trajectory.TotalTime();
 
   while (time < duration) {
     const Trajectory::State point = trajectory.Sample(time);
     time += dt;
 
     auto centripetalAcceleration =
-        units::math::pow<2>(point.velocity) * point.curvature / 1_rad;
+        wpi::units::math::pow<2>(point.velocity) * point.curvature / 1_rad;
 
     EXPECT_TRUE(centripetalAcceleration <
                 maxCentripetalAcceleration + 0.05_mps_sq);
diff --git a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
index 53ce0410f4..9c5e4d52fa 100644
--- a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
 #include "wpi/units/time.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(DifferentialDriveKinematicsConstraintTest, Constraint) {
   const auto maxVelocity = 12_fps;
@@ -24,9 +24,9 @@ TEST(DifferentialDriveKinematicsConstraintTest, Constraint) {
 
   auto trajectory = TestTrajectory::GetTrajectory(config);
 
-  units::second_t time = 0_s;
-  units::second_t dt = 20_ms;
-  units::second_t duration = trajectory.TotalTime();
+  wpi::units::second_t time = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t duration = trajectory.TotalTime();
 
   while (time < duration) {
     const Trajectory::State point = trajectory.Sample(time);
diff --git a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
index 8c85895132..23ea8c64a6 100644
--- a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
@@ -18,11 +18,11 @@
 #include "wpi/units/velocity.hpp"
 #include "wpi/units/voltage.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(DifferentialDriveVoltageConstraintTest, Constraint) {
   // Pick an unreasonably large kA to ensure the constraint has to do some work
-  SimpleMotorFeedforward<units::meter> feedforward{1_V, 1_V / 1_mps,
+  SimpleMotorFeedforward<wpi::units::meter> feedforward{1_V, 1_V / 1_mps,
                                                    3_V / 1_mps_sq};
   const DifferentialDriveKinematics kinematics{0.5_m};
   const auto maxVoltage = 10_V;
@@ -33,9 +33,9 @@ TEST(DifferentialDriveVoltageConstraintTest, Constraint) {
 
   auto trajectory = TestTrajectory::GetTrajectory(config);
 
-  units::second_t time = 0_s;
-  units::second_t dt = 20_ms;
-  units::second_t duration = trajectory.TotalTime();
+  wpi::units::second_t time = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t duration = trajectory.TotalTime();
 
   while (time < duration) {
     const Trajectory::State point = trajectory.Sample(time);
@@ -63,7 +63,7 @@ TEST(DifferentialDriveVoltageConstraintTest, Constraint) {
 }
 
 TEST(DifferentialDriveVoltageConstraintTest, HighCurvature) {
-  SimpleMotorFeedforward<units::meter> feedforward{1_V, 1_V / 1_mps,
+  SimpleMotorFeedforward<wpi::units::meter> feedforward{1_V, 1_V / 1_mps,
                                                    3_V / 1_mps_sq};
   // Large trackwidth - need to test with radius of curvature less than half of
   // trackwidth
diff --git a/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
index d4986142f3..2ce3e96c09 100644
--- a/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
@@ -12,11 +12,11 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(EllipticalRegionConstraintTest, Constraint) {
   constexpr auto maxVelocity = 2_fps;
-  constexpr frc::Ellipse2d ellipse{{5_ft, 2.5_ft, 180_deg}, 5_ft, 2.5_ft};
+  constexpr wpi::math::Ellipse2d ellipse{{5_ft, 2.5_ft, 180_deg}, 5_ft, 2.5_ft};
 
   auto config = TrajectoryConfig(13_fps, 13_fps_sq);
   config.AddConstraint(
@@ -26,8 +26,8 @@ TEST(EllipticalRegionConstraintTest, Constraint) {
   bool exceededConstraintOutsideRegion = false;
   for (auto& point : trajectory.States()) {
     if (ellipse.Contains(point.pose.Translation())) {
-      EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
-    } else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
+      EXPECT_TRUE(wpi::units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
+    } else if (wpi::units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
       exceededConstraintOutsideRegion = true;
     }
   }
diff --git a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
index 2b2e57cddf..6cdcdb1601 100644
--- a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
@@ -24,7 +24,7 @@ static constexpr auto kV = 2.5629_V / 1_mps;
 static constexpr auto kA = 0.43277_V / 1_mps_sq;
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
 #define EXPECT_LT_OR_NEAR_UNITS(val1, val2, eps) \
   if (val1 <= val2) {                            \
@@ -33,29 +33,29 @@ static constexpr auto kA = 0.43277_V / 1_mps_sq;
     EXPECT_NEAR_UNITS(val1, val2, eps);          \
   }
 
-frc::ExponentialProfile<units::meter, units::volts>::State CheckDynamics(
-    frc::ExponentialProfile<units::meter, units::volts> profile,
-    frc::ExponentialProfile<units::meter, units::volts>::Constraints
+wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State CheckDynamics(
+    wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile,
+    wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints
         constraints,
-    frc::SimpleMotorFeedforward<units::meter> feedforward,
-    frc::ExponentialProfile<units::meter, units::volts>::State current,
-    frc::ExponentialProfile<units::meter, units::volts>::State goal) {
+    wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward,
+    wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State current,
+    wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal) {
   auto next = profile.Calculate(kDt, current, goal);
   auto signal = feedforward.Calculate(current.velocity, next.velocity);
 
-  EXPECT_LE(units::math::abs(signal), (constraints.maxInput + 1e-9_V));
+  EXPECT_LE(wpi::units::math::abs(signal), (constraints.maxInput + 1e-9_V));
 
   return next;
 }
 
 TEST(ExponentialProfileTest, ReachesGoal) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{10_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{10_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   for (int i = 0; i < 450; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -66,19 +66,19 @@ TEST(ExponentialProfileTest, ReachesGoal) {
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
 TEST(ExponentialProfileTest, PosContinuousUnderVelChange) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{10_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{10_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   for (int i = 0; i < 300; ++i) {
     if (i == 150) {
       constraints.maxInput = 9_V;
       profile =
-          frc::ExponentialProfile<units::meter, units::volts>{constraints};
+          wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>{constraints};
     }
 
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -89,19 +89,19 @@ TEST(ExponentialProfileTest, PosContinuousUnderVelChange) {
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
 TEST(ExponentialProfileTest, PosContinuousUnderVelChangeBackward) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-10_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-10_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   for (int i = 0; i < 300; ++i) {
     if (i == 150) {
       constraints.maxInput = 9_V;
       profile =
-          frc::ExponentialProfile<units::meter, units::volts>{constraints};
+          wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>{constraints};
     }
 
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -111,13 +111,13 @@ TEST(ExponentialProfileTest, PosContinuousUnderVelChangeBackward) {
 
 // There is some somewhat tricky code for dealing with going backwards
 TEST(ExponentialProfileTest, Backwards) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-10_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state;
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-10_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state;
 
   for (int i = 0; i < 400; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -126,13 +126,13 @@ TEST(ExponentialProfileTest, Backwards) {
 }
 
 TEST(ExponentialProfileTest, SwitchGoalInMiddle) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-10_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-10_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   for (int i = 0; i < 50; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -148,19 +148,19 @@ TEST(ExponentialProfileTest, SwitchGoalInMiddle) {
 
 // Checks to make sure that it hits top speed on long trajectories
 TEST(ExponentialProfileTest, TopSpeed) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{40_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state;
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{40_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state;
 
-  units::meters_per_second_t maxSpeed = 0_mps;
+  wpi::units::meters_per_second_t maxSpeed = 0_mps;
 
   for (int i = 0; i < 900; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
-    maxSpeed = units::math::max(state.velocity, maxSpeed);
+    maxSpeed = wpi::units::math::max(state.velocity, maxSpeed);
   }
 
   EXPECT_NEAR_UNITS(constraints.MaxVelocity(), maxSpeed, 1e-5_mps);
@@ -169,19 +169,19 @@ TEST(ExponentialProfileTest, TopSpeed) {
 
 // Checks to make sure that it hits top speed on long trajectories
 TEST(ExponentialProfileTest, TopSpeedBackward) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-40_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state;
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-40_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state;
 
-  units::meters_per_second_t maxSpeed = 0_mps;
+  wpi::units::meters_per_second_t maxSpeed = 0_mps;
 
   for (int i = 0; i < 900; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
-    maxSpeed = units::math::min(state.velocity, maxSpeed);
+    maxSpeed = wpi::units::math::min(state.velocity, maxSpeed);
   }
 
   EXPECT_NEAR_UNITS(-constraints.MaxVelocity(), maxSpeed, 1e-5_mps);
@@ -190,13 +190,13 @@ TEST(ExponentialProfileTest, TopSpeedBackward) {
 
 // Checks to make sure that it hits top speed on long trajectories
 TEST(ExponentialProfileTest, HighInitialSpeed) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{40_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 8_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{40_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 8_mps};
 
   for (int i = 0; i < 900; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -207,13 +207,13 @@ TEST(ExponentialProfileTest, HighInitialSpeed) {
 
 // Checks to make sure that it hits top speed on long trajectories
 TEST(ExponentialProfileTest, HighInitialSpeedBackward) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-40_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, -8_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-40_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, -8_mps};
 
   for (int i = 0; i < 900; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -223,13 +223,13 @@ TEST(ExponentialProfileTest, HighInitialSpeedBackward) {
 }
 
 TEST(ExponentialProfileTest, TestHeuristic) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
   std::vector<std::tuple<
-      frc::ExponentialProfile<units::meter, units::volts>::State,  // initial
-      frc::ExponentialProfile<units::meter, units::volts>::State,  // goal
-      frc::ExponentialProfile<units::meter, units::volts>::State>  // inflection
+      wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State,  // initial
+      wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State,  // goal
+      wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State>  // inflection
                                                                    // point
               >
       testCases{
@@ -275,13 +275,13 @@ TEST(ExponentialProfileTest, TestHeuristic) {
 }
 
 TEST(ExponentialProfileTest, TimingToCurrent) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{2_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{2_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   for (int i = 0; i < 900; ++i) {
     state = CheckDynamics(profile, constraints, feedforward, state, goal);
@@ -292,13 +292,13 @@ TEST(ExponentialProfileTest, TimingToCurrent) {
 }
 
 TEST(ExponentialProfileTest, TimingToGoal) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{2_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{2_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   auto prediction = profile.TimeLeftUntil(state, goal);
   auto reachedGoal = false;
@@ -315,13 +315,13 @@ TEST(ExponentialProfileTest, TimingToGoal) {
 }
 
 TEST(ExponentialProfileTest, TimingToNegativeGoal) {
-  frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
-  frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
-  frc::SimpleMotorFeedforward<units::meter> feedforward{
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts> profile{constraints};
+  wpi::math::SimpleMotorFeedforward<wpi::units::meter> feedforward{
       0_V, 2.5629_V / 1_mps, 0.43277_V / 1_mps_sq, kDt};
-  frc::ExponentialProfile<units::meter, units::volts>::State goal{-2_m, 0_mps};
-  frc::ExponentialProfile<units::meter, units::volts>::State state{0_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State goal{-2_m, 0_mps};
+  wpi::math::ExponentialProfile<wpi::units::meter, wpi::units::volts>::State state{0_m, 0_mps};
 
   auto prediction = profile.TimeLeftUntil(state, goal);
   auto reachedGoal = false;
diff --git a/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
index cdd9f4ef12..309731179f 100644
--- a/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
@@ -12,11 +12,11 @@
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(RectangularRegionConstraintTest, Constraint) {
   constexpr auto maxVelocity = 2_fps;
-  constexpr frc::Rectangle2d rectangle{{1_ft, 1_ft}, {5_ft, 27_ft}};
+  constexpr wpi::math::Rectangle2d rectangle{{1_ft, 1_ft}, {5_ft, 27_ft}};
 
   auto config = TrajectoryConfig(13_fps, 13_fps_sq);
   config.AddConstraint(RectangularRegionConstraint{
@@ -26,8 +26,8 @@ TEST(RectangularRegionConstraintTest, Constraint) {
   bool exceededConstraintOutsideRegion = false;
   for (auto& point : trajectory.States()) {
     if (rectangle.Contains(point.pose.Translation())) {
-      EXPECT_TRUE(units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
-    } else if (units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
+      EXPECT_TRUE(wpi::units::math::abs(point.velocity) < maxVelocity + 0.05_mps);
+    } else if (wpi::units::math::abs(point.velocity) >= maxVelocity + 0.05_mps) {
       exceededConstraintOutsideRegion = true;
     }
   }
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
index 5d191c1334..c7daf8b8a6 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
@@ -8,9 +8,9 @@
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 TEST(TrajectoryConcatenateTest, States) {
-  auto t1 = frc::TrajectoryGenerator::GenerateTrajectory(
+  auto t1 = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       {}, {}, {1_m, 1_m, 0_deg}, {2_mps, 2_mps_sq});
-  auto t2 = frc::TrajectoryGenerator::GenerateTrajectory(
+  auto t2 = wpi::math::TrajectoryGenerator::GenerateTrajectory(
       {1_m, 1_m, 0_deg}, {}, {2_m, 2_m, 45_deg}, {2_mps, 2_mps_sq});
 
   auto t = t1 + t2;
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
index 054dcd65e0..c82941ed25 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
@@ -13,22 +13,22 @@
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/units/math.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 TEST(TrajectoryGenerationTest, ObeysConstraints) {
   TrajectoryConfig config{12_fps, 12_fps_sq};
   auto trajectory = TestTrajectory::GetTrajectory(config);
 
-  units::second_t time = 0_s;
-  units::second_t dt = 20_ms;
-  units::second_t duration = trajectory.TotalTime();
+  wpi::units::second_t time = 0_s;
+  wpi::units::second_t dt = 20_ms;
+  wpi::units::second_t duration = trajectory.TotalTime();
 
   while (time < duration) {
     const Trajectory::State point = trajectory.Sample(time);
     time += dt;
 
-    EXPECT_TRUE(units::math::abs(point.velocity) <= 12_fps + 0.01_fps);
-    EXPECT_TRUE(units::math::abs(point.acceleration) <=
+    EXPECT_TRUE(wpi::units::math::abs(point.velocity) <= 12_fps + 0.01_fps);
+    EXPECT_TRUE(wpi::units::math::abs(point.acceleration) <=
                 12_fps_sq + 0.01_fps_sq);
   }
 }
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
index ec5234cf59..ffd2782c08 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
@@ -10,8 +10,8 @@
 #include "wpi/math/trajectory/TrajectoryConfig.hpp"
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-void TestSameShapedTrajectory(std::vector<frc::Trajectory::State> statesA,
-                              std::vector<frc::Trajectory::State> statesB) {
+void TestSameShapedTrajectory(std::vector<wpi::math::Trajectory::State> statesA,
+                              std::vector<wpi::math::Trajectory::State> statesB) {
   for (unsigned int i = 0; i < statesA.size() - 1; i++) {
     auto a1 = statesA[i].pose;
     auto a2 = statesA[i + 1].pose;
@@ -30,9 +30,9 @@ void TestSameShapedTrajectory(std::vector<frc::Trajectory::State> statesA,
 }
 
 TEST(TrajectoryTransformsTest, TransformBy) {
-  frc::TrajectoryConfig config{3_mps, 3_mps_sq};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      frc::Pose2d{}, {}, frc::Pose2d{1_m, 1_m, 90_deg}, config);
+  wpi::math::TrajectoryConfig config{3_mps, 3_mps_sq};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      wpi::math::Pose2d{}, {}, wpi::math::Pose2d{1_m, 1_m, 90_deg}, config);
 
   auto transformedTrajectory = trajectory.TransformBy({{1_m, 2_m}, 30_deg});
 
@@ -46,9 +46,9 @@ TEST(TrajectoryTransformsTest, TransformBy) {
 }
 
 TEST(TrajectoryTransformsTest, RelativeTo) {
-  frc::TrajectoryConfig config{3_mps, 3_mps_sq};
-  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      frc::Pose2d{1_m, 2_m, 30_deg}, {}, frc::Pose2d{5_m, 7_m, 90_deg}, config);
+  wpi::math::TrajectoryConfig config{3_mps, 3_mps_sq};
+  auto trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
+      wpi::math::Pose2d{1_m, 2_m, 30_deg}, {}, wpi::math::Pose2d{5_m, 7_m, 90_deg}, config);
 
   auto transformedTrajectory = trajectory.RelativeTo({1_m, 2_m, 30_deg});
 
diff --git a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
index 38dab55968..fca98b6181 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -17,7 +17,7 @@
 static constexpr auto kDt = 10_ms;
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
-  EXPECT_LE(units::math::abs(val1 - val2), eps)
+  EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
 
 #define EXPECT_LT_OR_NEAR_UNITS(val1, val2, eps) \
   if (val1 <= val2) {                            \
@@ -27,12 +27,12 @@ static constexpr auto kDt = 10_ms;
   }
 
 TEST(TrapezoidProfileTest, ReachesGoal) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{1.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{3_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state;
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{3_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   for (int i = 0; i < 450; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
@@ -42,19 +42,19 @@ TEST(TrapezoidProfileTest, ReachesGoal) {
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
 TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{1.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{12_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{12_m, 0_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   auto state = profile.Calculate(
-      kDt, frc::TrapezoidProfile<units::meter>::State{}, goal);
+      kDt, wpi::math::TrapezoidProfile<wpi::units::meter>::State{}, goal);
 
   auto lastPos = state.position;
   for (int i = 0; i < 1600; ++i) {
     if (i == 400) {
       constraints.maxVelocity = 0.75_mps;
-      profile = frc::TrapezoidProfile<units::meter>{constraints};
+      profile = wpi::math::TrapezoidProfile<wpi::units::meter>{constraints};
     }
 
     state = profile.Calculate(kDt, state, goal);
@@ -76,12 +76,12 @@ TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) {
 
 // There is some somewhat tricky code for dealing with going backwards
 TEST(TrapezoidProfileTest, Backwards) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state;
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   for (int i = 0; i < 400; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
@@ -89,19 +89,19 @@ TEST(TrapezoidProfileTest, Backwards) {
 }
 
 TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state;
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   for (int i = 0; i < 200; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
   EXPECT_NE(state, goal);
 
   goal = {0.0_m, 0.0_mps};
-  profile = frc::TrapezoidProfile<units::meter>{constraints};
+  profile = wpi::math::TrapezoidProfile<wpi::units::meter>{constraints};
   for (int i = 0; i < 550; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
@@ -110,18 +110,18 @@ TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
 
 // Checks to make sure that it hits top speed
 TEST(TrapezoidProfileTest, TopSpeed) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{4_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state;
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{4_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   for (int i = 0; i < 200; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
   EXPECT_NEAR_UNITS(constraints.maxVelocity, state.velocity, 10e-5_mps);
 
-  profile = frc::TrapezoidProfile<units::meter>{constraints};
+  profile = wpi::math::TrapezoidProfile<wpi::units::meter>{constraints};
   for (int i = 0; i < 2000; ++i) {
     state = profile.Calculate(kDt, state, goal);
   }
@@ -129,12 +129,12 @@ TEST(TrapezoidProfileTest, TopSpeed) {
 }
 
 TEST(TrapezoidProfileTest, TimingToCurrent) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state;
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state;
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   for (int i = 0; i < 400; i++) {
     state = profile.Calculate(kDt, state, goal);
     EXPECT_NEAR_UNITS(profile.TimeLeftUntil(state.position), 0_s, 2e-2_s);
@@ -142,15 +142,15 @@ TEST(TrapezoidProfileTest, TimingToCurrent) {
 }
 
 TEST(TrapezoidProfileTest, TimingToGoal) {
-  using units::unit_cast;
+  using wpi::units::unit_cast;
 
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   auto state = profile.Calculate(kDt, goal,
-                                 frc::TrapezoidProfile<units::meter>::State{});
+                                 wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
 
   auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
   bool reachedGoal = false;
@@ -166,22 +166,22 @@ TEST(TrapezoidProfileTest, TimingToGoal) {
 }
 
 TEST(TrapezoidProfileTest, TimingBeforeGoal) {
-  using units::unit_cast;
+  using wpi::units::unit_cast;
 
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{2_m, 0_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   auto state = profile.Calculate(kDt, goal,
-                                 frc::TrapezoidProfile<units::meter>::State{});
+                                 wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
 
   auto predictedTimeLeft = profile.TimeLeftUntil(1_m);
   bool reachedGoal = false;
   for (int i = 0; i < 400; i++) {
     state = profile.Calculate(kDt, state, goal);
     if (!reachedGoal &&
-        (units::math::abs(state.velocity - 1_mps) < 10e-5_mps)) {
+        (wpi::units::math::abs(state.velocity - 1_mps) < 10e-5_mps)) {
       EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);
       reachedGoal = true;
     }
@@ -189,15 +189,15 @@ TEST(TrapezoidProfileTest, TimingBeforeGoal) {
 }
 
 TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
-  using units::unit_cast;
+  using wpi::units::unit_cast;
 
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   auto state = profile.Calculate(kDt, goal,
-                                 frc::TrapezoidProfile<units::meter>::State{});
+                                 wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
 
   auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
   bool reachedGoal = false;
@@ -213,22 +213,22 @@ TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
 }
 
 TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
-  using units::unit_cast;
+  using wpi::units::unit_cast;
 
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{-2_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{-2_m, 0_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   auto state = profile.Calculate(kDt, goal,
-                                 frc::TrapezoidProfile<units::meter>::State{});
+                                 wpi::math::TrapezoidProfile<wpi::units::meter>::State{});
 
   auto predictedTimeLeft = profile.TimeLeftUntil(-1_m);
   bool reachedGoal = false;
   for (int i = 0; i < 400; i++) {
     state = profile.Calculate(kDt, state, goal);
     if (!reachedGoal &&
-        (units::math::abs(state.velocity + 1_mps) < 10e-5_mps)) {
+        (wpi::units::math::abs(state.velocity + 1_mps) < 10e-5_mps)) {
       EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);
       reachedGoal = true;
     }
@@ -236,53 +236,53 @@ TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
 }
 
 TEST(TrapezoidProfileTest, InitalizationOfCurrentState) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{1_mps, 1_mps_sq};
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{1_mps, 1_mps_sq};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
   EXPECT_NEAR_UNITS(profile.TimeLeftUntil(0_m), 0_s, 1e-10_s);
   EXPECT_NEAR_UNITS(profile.TotalTime(), 0_s, 1e-10_s);
 }
 
 TEST(TrapezoidProfileTest, InitialVelocityConstraints) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{10_m, 0_mps};
-  frc::TrapezoidProfile<units::meter>::State state{0_m, -10_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, 0_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, -10_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
 
   for (int i = 0; i < 200; ++i) {
     state = profile.Calculate(kDt, state, goal);
-    EXPECT_LE(units::math::abs(state.velocity),
-              units::math::abs(constraints.maxVelocity));
+    EXPECT_LE(wpi::units::math::abs(state.velocity),
+              wpi::units::math::abs(constraints.maxVelocity));
   }
 }
 
 TEST(TrapezoidProfileTest, GoalVelocityConstraints) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{10_m, 5_mps};
-  frc::TrapezoidProfile<units::meter>::State state{0_m, 0.75_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, 5_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, 0.75_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
 
   for (int i = 0; i < 200; ++i) {
     state = profile.Calculate(kDt, state, goal);
-    EXPECT_LE(units::math::abs(state.velocity),
-              units::math::abs(constraints.maxVelocity));
+    EXPECT_LE(wpi::units::math::abs(state.velocity),
+              wpi::units::math::abs(constraints.maxVelocity));
   }
 }
 
 TEST(TrapezoidProfileTest, NegativeGoalVelocityConstraints) {
-  frc::TrapezoidProfile<units::meter>::Constraints constraints{0.75_mps,
+  wpi::math::TrapezoidProfile<wpi::units::meter>::Constraints constraints{0.75_mps,
                                                                0.75_mps_sq};
-  frc::TrapezoidProfile<units::meter>::State goal{10_m, -5_mps};
-  frc::TrapezoidProfile<units::meter>::State state{0_m, 0.75_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State goal{10_m, -5_mps};
+  wpi::math::TrapezoidProfile<wpi::units::meter>::State state{0_m, 0.75_mps};
 
-  frc::TrapezoidProfile<units::meter> profile{constraints};
+  wpi::math::TrapezoidProfile<wpi::units::meter> profile{constraints};
 
   for (int i = 0; i < 200; ++i) {
     state = profile.Calculate(kDt, state, goal);
-    EXPECT_LE(units::math::abs(state.velocity),
-              units::math::abs(constraints.maxVelocity));
+    EXPECT_LE(wpi::units::math::abs(state.velocity),
+              wpi::units::math::abs(constraints.maxVelocity));
   }
 }
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
index c4b87f6997..ac9c399548 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
@@ -7,27 +7,27 @@
 #include "wpi/math/trajectory/Trajectory.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using ProtoType = wpi::Protobuf<frc::Trajectory>;
+using ProtoType = wpi::util::Protobuf<wpi::math::Trajectory>;
 
-const Trajectory kExpectedData = Trajectory{std::vector<frc::Trajectory::State>{
+const Trajectory kExpectedData = Trajectory{std::vector<wpi::math::Trajectory::State>{
     Trajectory::State{1.1_s, 2.2_mps, 3.3_mps_sq,
                       Pose2d(Translation2d(1.1_m, 2.2_m), Rotation2d(2.2_rad)),
-                      units::curvature_t{6.6}},
+                      wpi::units::curvature_t{6.6}},
     Trajectory::State{2.1_s, 2.2_mps, 3.3_mps_sq,
                       Pose2d(Translation2d(2.1_m, 2.2_m), Rotation2d(2.2_rad)),
-                      units::curvature_t{6.6}},
+                      wpi::units::curvature_t{6.6}},
     Trajectory::State{3.1_s, 2.2_mps, 3.3_mps_sq,
                       Pose2d(Translation2d(3.1_m, 2.2_m), Rotation2d(2.2_rad)),
-                      units::curvature_t{6.6}}}};
+                      wpi::units::curvature_t{6.6}}}};
 }  // namespace
 
 TEST(TrajectoryProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
index 9b27dcf3c2..1fe0d4b7d3 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
@@ -7,21 +7,21 @@
 #include "wpi/math/trajectory/Trajectory.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace frc;
+using namespace wpi::math;
 
 namespace {
 
-using ProtoType = wpi::Protobuf<frc::Trajectory::State>;
+using ProtoType = wpi::util::Protobuf<wpi::math::Trajectory::State>;
 
 const Trajectory::State kExpectedData = Trajectory::State{
     1.91_s, 4.4_mps, 17.4_mps_sq,
     Pose2d{Translation2d{1.74_m, 19.1_m}, Rotation2d{22.9_rad}},
-    units::curvature_t{0.174}};
+    wpi::units::curvature_t{0.174}};
 }  // namespace
 
 TEST(TrajectoryStateProtoTest, Roundtrip) {
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp b/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
index af9f9e9b73..f25a7ef7fb 100644
--- a/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
+++ b/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
@@ -12,7 +12,7 @@
 #include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
-namespace frc {
+namespace wpi::math {
 class TestTrajectory {
  public:
   static Trajectory GetTrajectory(TrajectoryConfig& config) {
@@ -33,4 +33,4 @@ class TestTrajectory {
   }
 };
 
-}  // namespace frc
+}  // namespace wpi::math
diff --git a/wpimath/src/test/python/cpp/wpimath_test/include/module.h b/wpimath/src/test/python/cpp/wpimath_test/include/module.h
index 7d2f256f50..3e2b18876b 100644
--- a/wpimath/src/test/python/cpp/wpimath_test/include/module.h
+++ b/wpimath/src/test/python/cpp/wpimath_test/include/module.h
@@ -7,18 +7,18 @@
 struct SomeClass {
     static constexpr auto s_constant = 2_s;
     static constexpr auto ms_constant1 = 20_ms;
-    static constexpr units::second_t ms_constant2 = 50_ms;
-    static constexpr units::millisecond_t ms_constant3 = 0.20_s;
+    static constexpr wpi::units::second_t ms_constant2 = 50_ms;
+    static constexpr wpi::units::millisecond_t ms_constant3 = 0.20_s;
 
-    bool checkDefaultByName1(units::second_t period = ms_constant1);
-    bool checkDefaultByName2(units::second_t period = ms_constant2);
-    bool checkDefaultByNum1(units::second_t period = 50_ms);
-    bool checkDefaultByNum2(units::second_t period = 0.5_s);
+    bool checkDefaultByName1(wpi::units::second_t period = ms_constant1);
+    bool checkDefaultByName2(wpi::units::second_t period = ms_constant2);
+    bool checkDefaultByNum1(wpi::units::second_t period = 50_ms);
+    bool checkDefaultByNum2(wpi::units::second_t period = 0.5_s);
 
-    units::second_t ms2s(units::millisecond_t ms);
-    units::millisecond_t s2ms(units::second_t s);
+    wpi::units::second_t ms2s(wpi::units::millisecond_t ms);
+    wpi::units::millisecond_t s2ms(wpi::units::second_t s);
 
-    static constexpr units::foot_t five_ft = 5_ft;
+    static constexpr wpi::units::foot_t five_ft = 5_ft;
 
-    units::meter_t ft2m(units::foot_t f);
+    wpi::units::meter_t ft2m(wpi::units::foot_t f);
 };
\ No newline at end of file
diff --git a/wpimath/src/test/python/cpp/wpimath_test/src/module.cpp b/wpimath/src/test/python/cpp/wpimath_test/src/module.cpp
index c101790b32..129fdb402b 100644
--- a/wpimath/src/test/python/cpp/wpimath_test/src/module.cpp
+++ b/wpimath/src/test/python/cpp/wpimath_test/src/module.cpp
@@ -8,46 +8,46 @@ SEMIWRAP_PYBIND11_MODULE(m)
     initWrapper(m);
 }
 
-bool SomeClass::checkDefaultByName1(units::second_t period)
+bool SomeClass::checkDefaultByName1(wpi::units::second_t period)
 {
     if (period != SomeClass::ms_constant1) {
-        throw std::runtime_error(units::to_string(period));
+        throw std::runtime_error(wpi::units::to_string(period));
     }
     return true;
 }
 
-bool SomeClass::checkDefaultByName2(units::second_t period)
+bool SomeClass::checkDefaultByName2(wpi::units::second_t period)
 {
     if (period != SomeClass::ms_constant2) {
-        throw std::runtime_error(units::to_string(period));
+        throw std::runtime_error(wpi::units::to_string(period));
     }
     return true;
 }
 
-bool SomeClass::checkDefaultByNum1(units::second_t period)
+bool SomeClass::checkDefaultByNum1(wpi::units::second_t period)
 {
     if (period != 50_ms) {
-        throw std::runtime_error(units::to_string(period));
+        throw std::runtime_error(wpi::units::to_string(period));
     }
     return true;
 }
 
-bool SomeClass::checkDefaultByNum2(units::second_t period)
+bool SomeClass::checkDefaultByNum2(wpi::units::second_t period)
 {
     if (period != 50_ms) {
-        throw std::runtime_error(units::to_string(period));
+        throw std::runtime_error(wpi::units::to_string(period));
     }
     return true;
 }
 
-units::meter_t SomeClass::ft2m(units::foot_t f) {
+wpi::units::meter_t SomeClass::ft2m(wpi::units::foot_t f) {
     return f;
 }
 
-units::second_t SomeClass::ms2s(units::millisecond_t ms) {
+wpi::units::second_t SomeClass::ms2s(wpi::units::millisecond_t ms) {
     return ms;
 }
 
-units::millisecond_t SomeClass::s2ms(units::second_t s) {
+wpi::units::millisecond_t SomeClass::s2ms(wpi::units::second_t s) {
     return s;
 }
diff --git a/wpinet/examples/dsclient/dsclient.cpp b/wpinet/examples/dsclient/dsclient.cpp
index 3e4e03d705..713cc13452 100644
--- a/wpinet/examples/dsclient/dsclient.cpp
+++ b/wpinet/examples/dsclient/dsclient.cpp
@@ -10,7 +10,7 @@
 #include "wpi/util/Logger.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 static void logfunc(unsigned int level, const char* file, unsigned int line,
                     const char* msg) {
@@ -18,15 +18,15 @@ static void logfunc(unsigned int level, const char* file, unsigned int line,
 }
 
 int main() {
-  wpi::Logger logger{logfunc, 0};
+  wpi::util::Logger logger{logfunc, 0};
 
   // Kick off the event loop on a separate thread
-  wpi::EventLoopRunner loop;
-  std::shared_ptr<wpi::DsClient> client;
+  wpi::net::EventLoopRunner loop;
+  std::shared_ptr<wpi::net::DsClient> client;
   loop.ExecAsync([&](uv::Loop& loop) {
-    client = wpi::DsClient::Create(loop, logger);
+    client = wpi::net::DsClient::Create(loop, logger);
     client->setIp.connect(
-        [](std::string_view ip) { wpi::print("got IP: {}\n", ip); });
+        [](std::string_view ip) { wpi::util::print("got IP: {}\n", ip); });
     client->clearIp.connect([] { std::fputs("cleared IP\n", stdout); });
   });
 
diff --git a/wpinet/examples/parallelconnect/parallelconnect.cpp b/wpinet/examples/parallelconnect/parallelconnect.cpp
index 6f1c680921..81442f8bb3 100644
--- a/wpinet/examples/parallelconnect/parallelconnect.cpp
+++ b/wpinet/examples/parallelconnect/parallelconnect.cpp
@@ -11,7 +11,7 @@
 #include "wpi/net/uv/Tcp.hpp"
 #include "wpi/util/Logger.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
 static void logfunc(unsigned int level, const char* file, unsigned int line,
                     const char* msg) {
@@ -19,13 +19,13 @@ static void logfunc(unsigned int level, const char* file, unsigned int line,
 }
 
 int main() {
-  wpi::Logger logger{logfunc, 0};
+  wpi::util::Logger logger{logfunc, 0};
 
   // Kick off the event loop on a separate thread
-  wpi::EventLoopRunner loop;
-  std::shared_ptr<wpi::ParallelTcpConnector> connect;
+  wpi::net::EventLoopRunner loop;
+  std::shared_ptr<wpi::net::ParallelTcpConnector> connect;
   loop.ExecAsync([&](uv::Loop& loop) {
-    connect = wpi::ParallelTcpConnector::Create(
+    connect = wpi::net::ParallelTcpConnector::Create(
         loop, uv::Timer::Time{2000}, logger, [&](uv::Tcp& tcp) {
           std::fputs("Got connection, accepting!\n", stdout);
           tcp.StartRead();
diff --git a/wpinet/examples/webserver/webserver.cpp b/wpinet/examples/webserver/webserver.cpp
index 92483fede6..4430947a67 100644
--- a/wpinet/examples/webserver/webserver.cpp
+++ b/wpinet/examples/webserver/webserver.cpp
@@ -12,9 +12,9 @@
 #include "wpi/net/uv/Tcp.hpp"
 #include "wpi/util/print.hpp"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
-class MyHttpServerConnection : public wpi::HttpServerConnection {
+class MyHttpServerConnection : public wpi::net::HttpServerConnection {
  public:
   explicit MyHttpServerConnection(std::shared_ptr<uv::Stream> stream)
       : HttpServerConnection(stream) {}
@@ -24,9 +24,9 @@ class MyHttpServerConnection : public wpi::HttpServerConnection {
 };
 
 void MyHttpServerConnection::ProcessRequest() {
-  wpi::print(stderr, "HTTP request: '{}'\n", m_request.GetUrl());
-  wpi::UrlParser url{m_request.GetUrl(),
-                     m_request.GetMethod() == wpi::HTTP_CONNECT};
+  wpi::util::print(stderr, "HTTP request: '{}'\n", m_request.GetUrl());
+  wpi::net::UrlParser url{m_request.GetUrl(),
+                     m_request.GetMethod() == wpi::net::HTTP_CONNECT};
   if (!url.IsValid()) {
     // failed to parse URL
     SendError(400);
@@ -37,15 +37,15 @@ void MyHttpServerConnection::ProcessRequest() {
   if (url.HasPath()) {
     path = url.GetPath();
   }
-  wpi::print(stderr, "path: \"{}\"\n", path);
+  wpi::util::print(stderr, "path: \"{}\"\n", path);
 
   std::string_view query;
   if (url.HasQuery()) {
     query = url.GetQuery();
   }
-  wpi::print(stderr, "query: \"{}\"\n", query);
+  wpi::util::print(stderr, "query: \"{}\"\n", query);
 
-  const bool isGET = m_request.GetMethod() == wpi::HTTP_GET;
+  const bool isGET = m_request.GetMethod() == wpi::net::HTTP_GET;
   if (isGET && path == "/") {
     // build HTML root page
     SendResponse(200, "OK", "text/html",
@@ -59,7 +59,7 @@ void MyHttpServerConnection::ProcessRequest() {
 
 int main() {
   // Kick off the event loop on a separate thread
-  wpi::EventLoopRunner loop;
+  wpi::net::EventLoopRunner loop;
   loop.ExecAsync([](uv::Loop& loop) {
     auto tcp = uv::Tcp::Create(loop);
 
diff --git a/wpinet/src/dev/native/cpp/main.cpp b/wpinet/src/dev/native/cpp/main.cpp
index 74f17fbfea..e5b9d37af1 100644
--- a/wpinet/src/dev/native/cpp/main.cpp
+++ b/wpinet/src/dev/native/cpp/main.cpp
@@ -6,6 +6,6 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::SmallString<128> v1("Hello");
-  wpi::print("{}\n", v1.str());
+  wpi::util::SmallString<128> v1("Hello");
+  wpi::util::print("{}\n", v1.str());
 }
diff --git a/wpinet/src/main/native/cpp/DsClient.cpp b/wpinet/src/main/native/cpp/DsClient.cpp
index 6e0d2ae376..8c44ae0bf8 100644
--- a/wpinet/src/main/native/cpp/DsClient.cpp
+++ b/wpinet/src/main/native/cpp/DsClient.cpp
@@ -14,11 +14,11 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 static constexpr uv::Timer::Time kReconnectTime{500};
 
-DsClient::DsClient(wpi::uv::Loop& loop, wpi::Logger& logger,
+DsClient::DsClient(wpi::net::uv::Loop& loop, wpi::util::Logger& logger,
                    const private_init&)
     : m_logger{logger},
       m_tcp{uv::Tcp::Create(loop)},
@@ -32,7 +32,7 @@ DsClient::DsClient(wpi::uv::Loop& loop, wpi::Logger& logger,
     // try to connect again
     m_tcp->Reuse([this] { m_timer->Start(kReconnectTime); });
   });
-  m_tcp->data.connect([this](wpi::uv::Buffer buf, size_t len) {
+  m_tcp->data.connect([this](wpi::net::uv::Buffer buf, size_t len) {
     HandleIncoming({buf.base, len});
   });
   m_timer->timeout.connect([this] { Connect(); });
@@ -71,7 +71,7 @@ void DsClient::HandleIncoming(std::string_view in) {
     // if json is empty, look for the first { (and discard)
     if (m_json.empty()) {
       auto start = in.find('{');
-      in = wpi::slice(in, start, std::string_view::npos);
+      in = wpi::util::slice(in, start, std::string_view::npos);
     }
 
     // look for the terminating } (and save)
@@ -83,8 +83,8 @@ void DsClient::HandleIncoming(std::string_view in) {
 
     // have complete json message
     ++end;
-    m_json.append(wpi::slice(in, 0, end));
-    in = wpi::slice(in, end, std::string_view::npos);
+    m_json.append(wpi::util::slice(in, 0, end));
+    in = wpi::util::slice(in, end, std::string_view::npos);
     ParseJson();
     m_json.clear();
   }
@@ -94,8 +94,8 @@ void DsClient::ParseJson() {
   WPI_DEBUG4(m_logger, "DsClient JSON: {}", m_json);
   unsigned int ip = 0;
   try {
-    ip = wpi::json::parse(m_json).at("robotIP").get<unsigned int>();
-  } catch (wpi::json::exception& e) {
+    ip = wpi::util::json::parse(m_json).at("robotIP").get<unsigned int>();
+  } catch (wpi::util::json::exception& e) {
     WPI_INFO(m_logger, "DsClient JSON error: {}", e.what());
     return;
   }
diff --git a/wpinet/src/main/native/cpp/EventLoopRunner.cpp b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
index 8bff0c5afe..138b925bee 100644
--- a/wpinet/src/main/native/cpp/EventLoopRunner.cpp
+++ b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
@@ -13,9 +13,9 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
-class EventLoopRunner::Thread : public SafeThread {
+class EventLoopRunner::Thread : public wpi::util::SafeThread {
  public:
   using UvExecFunc = uv::AsyncFunction<void(LoopFunc)>;
 
@@ -75,7 +75,7 @@ void EventLoopRunner::ExecAsync(LoopFunc func) {
 }
 
 void EventLoopRunner::ExecSync(LoopFunc func) {
-  wpi::future<void> f;
+  wpi::util::future<void> f;
   if (auto thr = m_owner.GetThread()) {
     if (auto doExec = thr->m_doExec.lock()) {
       f = doExec->Call(std::move(func));
diff --git a/wpinet/src/main/native/cpp/HttpParser.cpp b/wpinet/src/main/native/cpp/HttpParser.cpp
index ab7bf0547d..056c5979f1 100644
--- a/wpinet/src/main/native/cpp/HttpParser.cpp
+++ b/wpinet/src/main/native/cpp/HttpParser.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/net/HttpParser.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 uint32_t HttpParser::GetParserVersion() {
   return static_cast<uint32_t>(http_parser_version());
diff --git a/wpinet/src/main/native/cpp/HttpServerConnection.cpp b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
index b49a9c02af..eda57693de 100644
--- a/wpinet/src/main/native/cpp/HttpServerConnection.cpp
+++ b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
@@ -14,7 +14,7 @@
 #include "wpi/util/fmt/raw_ostream.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 HttpServerConnection::HttpServerConnection(std::shared_ptr<uv::Stream> stream)
     : m_stream(*stream) {
@@ -29,8 +29,8 @@ HttpServerConnection::HttpServerConnection(std::shared_ptr<uv::Stream> stream)
   m_request.messageBegin.connect([this] { m_acceptGzip = false; });
   m_request.header.connect(
       [this](std::string_view name, std::string_view value) {
-        if (wpi::equals_lower(name, "accept-encoding") &&
-            wpi::contains(value, "gzip")) {
+        if (wpi::util::equals_lower(name, "accept-encoding") &&
+            wpi::util::contains(value, "gzip")) {
           m_acceptGzip = true;
         }
       });
@@ -53,7 +53,7 @@ HttpServerConnection::HttpServerConnection(std::shared_ptr<uv::Stream> stream)
   stream->StartRead();
 }
 
-void HttpServerConnection::BuildCommonHeaders(raw_ostream& os) {
+void HttpServerConnection::BuildCommonHeaders(wpi::util::raw_ostream& os) {
   os << "Server: WebServer/1.0\r\n"
         "Cache-Control: no-store, no-cache, must-revalidate, pre-check=0, "
         "post-check=0, max-age=0\r\n"
@@ -61,12 +61,12 @@ void HttpServerConnection::BuildCommonHeaders(raw_ostream& os) {
         "Expires: Mon, 3 Jan 2000 12:34:56 GMT\r\n";
 }
 
-void HttpServerConnection::BuildHeader(raw_ostream& os, int code,
+void HttpServerConnection::BuildHeader(wpi::util::raw_ostream& os, int code,
                                        std::string_view codeText,
                                        std::string_view contentType,
                                        uint64_t contentLength,
                                        std::string_view extra) {
-  wpi::print(os, "HTTP/{}.{} {} {}\r\n", m_request.GetMajor(),
+  wpi::util::print(os, "HTTP/{}.{} {} {}\r\n", m_request.GetMajor(),
              m_request.GetMinor(), code, codeText);
   if (contentLength == 0) {
     m_keepAlive = false;
@@ -77,7 +77,7 @@ void HttpServerConnection::BuildHeader(raw_ostream& os, int code,
   BuildCommonHeaders(os);
   os << "Content-Type: " << contentType << "\r\n";
   if (contentLength != 0) {
-    wpi::print(os, "Content-Length: {}\r\n", contentLength);
+    wpi::util::print(os, "Content-Length: {}\r\n", contentLength);
   }
   os << "Access-Control-Allow-Origin: *\r\nAccess-Control-Allow-Methods: *\r\n";
   if (!extra.empty()) {
@@ -102,7 +102,7 @@ void HttpServerConnection::SendResponse(int code, std::string_view codeText,
                                         std::string_view contentType,
                                         std::string_view content,
                                         std::string_view extraHeader) {
-  SmallVector<uv::Buffer, 4> toSend;
+  wpi::util::SmallVector<uv::Buffer, 4> toSend;
   raw_uv_ostream os{toSend, 4096};
   BuildHeader(os, code, codeText, contentType, content.size(), extraHeader);
   os << content;
@@ -120,7 +120,7 @@ void HttpServerConnection::SendStaticResponse(
     contentEncodingHeader = "Content-Encoding: gzip\r\n";
   }
 
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os{bufs, 4096};
   BuildHeader(os, code, codeText, contentType, content.size(),
               fmt::format("{}{}", extraHeader, contentEncodingHeader));
@@ -130,7 +130,7 @@ void HttpServerConnection::SendStaticResponse(
   m_stream.Write(bufs, [closeAfter = !m_keepAlive, stream = &m_stream](
                            auto bufs, uv::Error) {
     // don't deallocate the static content
-    for (auto&& buf : wpi::drop_back(bufs)) {
+    for (auto&& buf : wpi::util::drop_back(bufs)) {
       buf.Deallocate();
     }
     if (closeAfter) {
@@ -173,7 +173,7 @@ void HttpServerConnection::SendError(int code, std::string_view message) {
       baseMessage = "501: Not Implemented!";
       break;
   }
-  SmallString<256> content{baseMessage};
+  wpi::util::SmallString<256> content{baseMessage};
   content += "\r\n";
   content += message;
   SendResponse(code, codeText, "text/plain", content.str(), extra);
diff --git a/wpinet/src/main/native/cpp/HttpUtil.cpp b/wpinet/src/main/native/cpp/HttpUtil.cpp
index 3e55ce53e5..636363943b 100644
--- a/wpinet/src/main/native/cpp/HttpUtil.cpp
+++ b/wpinet/src/main/native/cpp/HttpUtil.cpp
@@ -14,9 +14,9 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
-std::string_view UnescapeURI(std::string_view str, SmallVectorImpl<char>& buf,
+std::string_view UnescapeURI(std::string_view str, wpi::util::SmallVectorImpl<char>& buf,
                              bool* error) {
   buf.clear();
   for (auto i = str.begin(), end = str.end(); i != end; ++i) {
@@ -38,12 +38,12 @@ std::string_view UnescapeURI(std::string_view str, SmallVectorImpl<char>& buf,
     }
 
     // replace %xx with the corresponding character
-    unsigned val1 = hexDigitValue(*++i);
+    unsigned val1 = wpi::util::hexDigitValue(*++i);
     if (val1 == -1U) {
       *error = true;
       return {};
     }
-    unsigned val2 = hexDigitValue(*++i);
+    unsigned val2 = wpi::util::hexDigitValue(*++i);
     if (val2 == -1U) {
       *error = true;
       return {};
@@ -55,7 +55,7 @@ std::string_view UnescapeURI(std::string_view str, SmallVectorImpl<char>& buf,
   return {buf.data(), buf.size()};
 }
 
-std::string_view EscapeURI(std::string_view str, SmallVectorImpl<char>& buf,
+std::string_view EscapeURI(std::string_view str, wpi::util::SmallVectorImpl<char>& buf,
                            bool spacePlus) {
   static const char* const hexLut = "0123456789ABCDEF";
 
@@ -82,7 +82,7 @@ std::string_view EscapeURI(std::string_view str, SmallVectorImpl<char>& buf,
   return {buf.data(), buf.size()};
 }
 
-std::string_view EscapeHTML(std::string_view str, SmallVectorImpl<char>& buf) {
+std::string_view EscapeHTML(std::string_view str, wpi::util::SmallVectorImpl<char>& buf) {
   buf.clear();
   for (auto i = str.begin(), end = str.end(); i != end; ++i) {
     if (*i == '&') {
@@ -99,11 +99,11 @@ std::string_view EscapeHTML(std::string_view str, SmallVectorImpl<char>& buf) {
 }
 
 HttpQueryMap::HttpQueryMap(std::string_view query) {
-  split(query, '&', 100, false, [&](auto elem) {
-    auto [nameEsc, valueEsc] = split(elem, '=');
-    SmallString<64> nameBuf;
+  wpi::util::split(query, '&', 100, false, [&](auto elem) {
+    auto [nameEsc, valueEsc] = wpi::util::split(elem, '=');
+    wpi::util::SmallString<64> nameBuf;
     bool err = false;
-    auto name = wpi::UnescapeURI(nameEsc, nameBuf, &err);
+    auto name = wpi::net::UnescapeURI(nameEsc, nameBuf, &err);
     // note: ignores duplicates
     if (!err) {
       m_elems.try_emplace(name, valueEsc);
@@ -112,13 +112,13 @@ HttpQueryMap::HttpQueryMap(std::string_view query) {
 }
 
 std::optional<std::string_view> HttpQueryMap::Get(
-    std::string_view name, wpi::SmallVectorImpl<char>& buf) const {
+    std::string_view name, wpi::util::SmallVectorImpl<char>& buf) const {
   auto it = m_elems.find(name);
   if (it == m_elems.end()) {
     return {};
   }
   bool err = false;
-  auto val = wpi::UnescapeURI(it->second, buf, &err);
+  auto val = wpi::net::UnescapeURI(it->second, buf, &err);
   if (err) {
     return {};
   }
@@ -131,10 +131,10 @@ HttpPath::HttpPath(std::string_view path) {
     m_pathEnds.emplace_back(0);
     return;
   }
-  split(path, '/', 100, false, [&](auto elem) {
-    SmallString<64> buf;
+  wpi::util::split(path, '/', 100, false, [&](auto elem) {
+    wpi::util::SmallString<64> buf;
     bool err = false;
-    auto val = wpi::UnescapeURI(elem, buf, &err);
+    auto val = wpi::net::UnescapeURI(elem, buf, &err);
     if (err) {
       m_pathEnds.clear();
       return;
@@ -166,8 +166,8 @@ std::string_view HttpPath::operator[](size_t n) const {
   return slice(m_pathBuf, n == 0 ? 0 : m_pathEnds[n - 1], m_pathEnds[n]);
 }
 
-bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
-                      SmallVectorImpl<char>* contentLength) {
+bool ParseHttpHeaders(wpi::util::raw_istream& is, wpi::util::SmallVectorImpl<char>* contentType,
+                      wpi::util::SmallVectorImpl<char>* contentLength) {
   if (contentType) {
     contentType->clear();
   }
@@ -177,9 +177,9 @@ bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
 
   bool inContentType = false;
   bool inContentLength = false;
-  SmallString<64> lineBuf;
+  wpi::util::SmallString<64> lineBuf;
   for (;;) {
-    std::string_view line = rtrim(is.getline(lineBuf, 1024));
+    std::string_view line = wpi::util::rtrim(is.getline(lineBuf, 1024));
     if (is.has_error()) {
       return false;
     }
@@ -192,11 +192,11 @@ bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
       inContentType = false;
       inContentLength = false;
       std::string_view field;
-      std::tie(field, line) = split(line, ':');
-      field = rtrim(field);
-      if (equals_lower(field, "content-type")) {
+      std::tie(field, line) = wpi::util::split(line, ':');
+      field = wpi::util::rtrim(field);
+      if (wpi::util::equals_lower(field, "content-type")) {
         inContentType = true;
-      } else if (equals_lower(field, "content-length")) {
+      } else if (wpi::util::equals_lower(field, "content-length")) {
         inContentLength = true;
       } else {
         continue;  // ignore other fields
@@ -204,7 +204,7 @@ bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
     }
 
     // collapse whitespace
-    line = ltrim(line);
+    line = wpi::util::ltrim(line);
 
     // save field data
     if (inContentType && contentType) {
@@ -215,9 +215,9 @@ bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
   }
 }
 
-bool FindMultipartBoundary(raw_istream& is, std::string_view boundary,
+bool FindMultipartBoundary(wpi::util::raw_istream& is, std::string_view boundary,
                            std::string* saveBuf) {
-  SmallString<64> searchBuf;
+  wpi::util::SmallString<64> searchBuf;
   searchBuf.resize(boundary.size() + 2);
   size_t searchPos = 0;
 
@@ -246,7 +246,7 @@ bool FindMultipartBoundary(raw_istream& is, std::string_view boundary,
 
     // Did we find the boundary?
     if (searchBuf[0] == '-' && searchBuf[1] == '-' &&
-        wpi::substr(searchBuf, 2) == boundary) {
+        wpi::util::substr(searchBuf, 2) == boundary) {
       return true;
     }
 
@@ -277,15 +277,15 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
 
   // scheme:
   std::string_view scheme;
-  std::tie(scheme, query) = split(query, ':');
-  if (!equals_lower(scheme, "http")) {
+  std::tie(scheme, query) = wpi::util::split(query, ':');
+  if (!wpi::util::equals_lower(scheme, "http")) {
     *errorMsg = "only supports http URLs";
     *error = true;
     return;
   }
 
   // "//"
-  if (!starts_with(query, "//")) {
+  if (!wpi::util::starts_with(query, "//")) {
     *errorMsg = "expected http://...";
     *error = true;
     return;
@@ -294,9 +294,9 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
 
   // user:password@host:port/
   std::string_view authority;
-  std::tie(authority, query) = split(query, '/');
+  std::tie(authority, query) = wpi::util::split(query, '/');
 
-  auto [userpass, hostport] = split(authority, '@');
+  auto [userpass, hostport] = wpi::util::split(authority, '@');
   // split leaves the RHS empty if the split char isn't present...
   if (hostport.empty()) {
     hostport = userpass;
@@ -304,8 +304,8 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
   }
 
   if (!userpass.empty()) {
-    auto [rawUser, rawPassword] = split(userpass, ':');
-    SmallString<64> userBuf, passBuf;
+    auto [rawUser, rawPassword] = wpi::util::split(userpass, ':');
+    wpi::util::SmallString<64> userBuf, passBuf;
     user = UnescapeURI(rawUser, userBuf, error);
     if (*error) {
       *errorMsg = fmt::format("could not unescape user \"{}\"", rawUser);
@@ -320,7 +320,7 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
   }
 
   std::string_view portStr;
-  std::tie(host, portStr) = rsplit(hostport, ':');
+  std::tie(host, portStr) = wpi::util::rsplit(hostport, ':');
   if (host.empty()) {
     *errorMsg = "host is empty";
     *error = true;
@@ -328,7 +328,7 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
   }
   if (portStr.empty()) {
     port = 80;
-  } else if (auto p = parse_integer<int>(portStr, 10)) {
+  } else if (auto p = wpi::util::parse_integer<int>(portStr, 10)) {
     port = p.value();
   } else {
     *errorMsg = fmt::format("port \"{}\" is not an integer", portStr);
@@ -337,22 +337,22 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
   }
 
   // path?query#fragment
-  std::tie(query, fragment) = split(query, '#');
-  std::tie(path, query) = split(query, '?');
+  std::tie(query, fragment) = wpi::util::split(query, '#');
+  std::tie(path, query) = wpi::util::split(query, '?');
 
   // Split query string into parameters
   while (!query.empty()) {
     // split out next param and value
     std::string_view rawParam, rawValue;
-    std::tie(rawParam, query) = split(query, '&');
+    std::tie(rawParam, query) = wpi::util::split(query, '&');
     if (rawParam.empty()) {
       continue;  // ignore "&&"
     }
-    std::tie(rawParam, rawValue) = split(rawParam, '=');
+    std::tie(rawParam, rawValue) = wpi::util::split(rawParam, '=');
 
     // unescape param
     *error = false;
-    SmallString<64> paramBuf;
+    wpi::util::SmallString<64> paramBuf;
     std::string_view param = UnescapeURI(rawParam, paramBuf, error);
     if (*error) {
       *errorMsg = fmt::format("could not unescape parameter \"{}\"", rawParam);
@@ -360,7 +360,7 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
     }
 
     // unescape value
-    SmallString<64> valueBuf;
+    wpi::util::SmallString<64> valueBuf;
     std::string_view value = UnescapeURI(rawValue, valueBuf, error);
     if (*error) {
       *errorMsg = fmt::format("could not unescape value \"{}\"", rawValue);
@@ -375,11 +375,11 @@ HttpLocation::HttpLocation(std::string_view url_, bool* error,
 
 void HttpRequest::SetAuth(const HttpLocation& loc) {
   if (!loc.user.empty()) {
-    SmallString<64> userpass;
+    wpi::util::SmallString<64> userpass;
     userpass += loc.user;
     userpass += ':';
     userpass += loc.password;
-    Base64Encode(userpass.str(), &auth);
+    wpi::util::Base64Encode(userpass.str(), &auth);
   }
 }
 
@@ -395,8 +395,8 @@ bool HttpConnection::Handshake(const HttpRequest& request,
   os.flush();
 
   // read first line of response
-  SmallString<64> lineBuf;
-  std::string_view line = rtrim(is.getline(lineBuf, 1024));
+  wpi::util::SmallString<64> lineBuf;
+  std::string_view line = wpi::util::rtrim(is.getline(lineBuf, 1024));
   if (is.has_error()) {
     *warnMsg = "disconnected before response";
     return false;
@@ -404,9 +404,9 @@ bool HttpConnection::Handshake(const HttpRequest& request,
 
   // see if we got a HTTP 200 response
   std::string_view httpver, code, codeText;
-  std::tie(httpver, line) = split(line, ' ');
-  std::tie(code, codeText) = split(line, ' ');
-  if (!starts_with(httpver, "HTTP")) {
+  std::tie(httpver, line) = wpi::util::split(line, ' ');
+  std::tie(code, codeText) = wpi::util::split(line, ' ');
+  if (!wpi::util::starts_with(httpver, "HTTP")) {
     *warnMsg = "did not receive HTTP response";
     return false;
   }
@@ -487,7 +487,7 @@ std::string_view HttpMultipartScanner::Execute(std::string_view in) {
   }
 
   if (m_state == kPadding) {
-    for (char ch : drop_front(in, pos)) {
+    for (char ch : wpi::util::drop_front(in, pos)) {
       ++pos;
       if (ch == '\n') {
         // Found the LF; return remaining input buffer (following it)
@@ -495,7 +495,7 @@ std::string_view HttpMultipartScanner::Execute(std::string_view in) {
         if (m_saveSkipped) {
           m_buf.resize(m_buf.size() - in.size() + pos);
         }
-        return drop_front(in, pos);
+        return wpi::util::drop_front(in, pos);
       }
     }
   }
@@ -504,4 +504,4 @@ std::string_view HttpMultipartScanner::Execute(std::string_view in) {
   return {};
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/MimeTypes.cpp b/wpinet/src/main/native/cpp/MimeTypes.cpp
index 0eb58cfee0..b852b8c8bf 100644
--- a/wpinet/src/main/native/cpp/MimeTypes.cpp
+++ b/wpinet/src/main/native/cpp/MimeTypes.cpp
@@ -7,13 +7,13 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/StringMap.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 // derived partially from
 // https://github.com/DEGoodmanWilson/libmime/blob/stable/0.1.2/mime/mime.cpp
 std::string_view MimeTypeFromPath(std::string_view path) {
   // https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types
-  static StringMap<const char*> mimeTypes{
+  static wpi::util::StringMap<const char*> mimeTypes{
       // text
       {"css", "text/css"},
       {"csv", "text/csv"},
@@ -54,11 +54,11 @@ std::string_view MimeTypeFromPath(std::string_view path) {
 
   auto pos = path.find_last_of("/");
   if (pos != std::string_view::npos) {
-    path = wpi::substr(path, pos + 1);
+    path = wpi::util::substr(path, pos + 1);
   }
   auto dot_pos = path.find_last_of(".");
   if (dot_pos > 0 && dot_pos != std::string_view::npos) {
-    auto type = mimeTypes.find(wpi::substr(path, dot_pos + 1));
+    auto type = mimeTypes.find(wpi::util::substr(path, dot_pos + 1));
     if (type != mimeTypes.end()) {
       return type->second;
     }
@@ -66,4 +66,4 @@ std::string_view MimeTypeFromPath(std::string_view path) {
   return defaultType;
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/MulticastHandleManager.cpp b/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
index 5d6c8ac3ea..6bba30a579 100644
--- a/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
+++ b/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
@@ -4,9 +4,9 @@
 
 #include "MulticastHandleManager.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
-MulticastHandleManager& wpi::GetMulticastManager() {
+MulticastHandleManager& wpi::net::GetMulticastManager() {
   static MulticastHandleManager manager;
   return manager;
 }
diff --git a/wpinet/src/main/native/cpp/MulticastHandleManager.hpp b/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
index d7916cc0e4..f78a98e526 100644
--- a/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
+++ b/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
@@ -11,13 +11,13 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/UidVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 struct MulticastHandleManager {
-  wpi::mutex mutex;
-  wpi::UidVector<int, 8> handleIds;
-  wpi::DenseMap<size_t, std::unique_ptr<wpi::MulticastServiceResolver>>
+  wpi::util::mutex mutex;
+  wpi::util::UidVector<int, 8> handleIds;
+  wpi::util::DenseMap<size_t, std::unique_ptr<wpi::net::MulticastServiceResolver>>
       resolvers;
-  wpi::DenseMap<size_t, std::unique_ptr<wpi::MulticastServiceAnnouncer>>
+  wpi::util::DenseMap<size_t, std::unique_ptr<wpi::net::MulticastServiceAnnouncer>>
       announcers;
 #ifdef _WIN32
   ~MulticastHandleManager();
@@ -25,4 +25,4 @@ struct MulticastHandleManager {
 };
 
 MulticastHandleManager& GetMulticastManager();
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
index 462e484748..e5aba552de 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
@@ -16,17 +16,17 @@ WPI_MulticastServiceAnnouncerHandle WPI_CreateMulticastServiceAnnouncer(
     int32_t txtCount, const char** keys, const char** values)
 
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
 
-  wpi::SmallVector<std::pair<std::string_view, std::string_view>, 8> txts;
+  wpi::util::SmallVector<std::pair<std::string_view, std::string_view>, 8> txts;
 
   for (int32_t i = 0; i < txtCount; i++) {
     txts.emplace_back(
         std::pair<std::string_view, std::string_view>{keys[i], values[i]});
   }
 
-  auto announcer = std::make_unique<wpi::MulticastServiceAnnouncer>(
+  auto announcer = std::make_unique<wpi::net::MulticastServiceAnnouncer>(
       serviceName, serviceType, port, txts);
 
   size_t index = manager.handleIds.emplace_back(3);
@@ -37,7 +37,7 @@ WPI_MulticastServiceAnnouncerHandle WPI_CreateMulticastServiceAnnouncer(
 
 void WPI_FreeMulticastServiceAnnouncer(
     WPI_MulticastServiceAnnouncerHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   manager.announcers[handle] = nullptr;
   manager.handleIds.erase(handle);
@@ -45,7 +45,7 @@ void WPI_FreeMulticastServiceAnnouncer(
 
 void WPI_StartMulticastServiceAnnouncer(
     WPI_MulticastServiceAnnouncerHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   announcer->Start();
@@ -53,7 +53,7 @@ void WPI_StartMulticastServiceAnnouncer(
 
 void WPI_StopMulticastServiceAnnouncer(
     WPI_MulticastServiceAnnouncerHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   announcer->Stop();
@@ -61,7 +61,7 @@ void WPI_StopMulticastServiceAnnouncer(
 
 int32_t WPI_GetMulticastServiceAnnouncerHasImplementation(
     WPI_MulticastServiceAnnouncerHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   return announcer->HasImplementation();
diff --git a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
index a230523460..90ebcc6164 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
@@ -16,10 +16,10 @@ WPI_MulticastServiceResolverHandle WPI_CreateMulticastServiceResolver(
     const char* serviceType)
 
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
 
-  auto resolver = std::make_unique<wpi::MulticastServiceResolver>(serviceType);
+  auto resolver = std::make_unique<wpi::net::MulticastServiceResolver>(serviceType);
 
   size_t index = manager.handleIds.emplace_back(2);
   manager.resolvers[index] = std::move(resolver);
@@ -29,7 +29,7 @@ WPI_MulticastServiceResolverHandle WPI_CreateMulticastServiceResolver(
 
 void WPI_FreeMulticastServiceResolver(
     WPI_MulticastServiceResolverHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   manager.resolvers[handle] = nullptr;
   manager.handleIds.erase(handle);
@@ -37,7 +37,7 @@ void WPI_FreeMulticastServiceResolver(
 
 void WPI_StartMulticastServiceResolver(
     WPI_MulticastServiceResolverHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   resolver->Start();
@@ -45,7 +45,7 @@ void WPI_StartMulticastServiceResolver(
 
 void WPI_StopMulticastServiceResolver(
     WPI_MulticastServiceResolverHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   resolver->Stop();
@@ -53,7 +53,7 @@ void WPI_StopMulticastServiceResolver(
 
 int32_t WPI_GetMulticastServiceResolverHasImplementation(
     WPI_MulticastServiceResolverHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   return resolver->HasImplementation();
@@ -61,7 +61,7 @@ int32_t WPI_GetMulticastServiceResolverHasImplementation(
 
 WPI_EventHandle WPI_GetMulticastServiceResolverEventHandle(
     WPI_MulticastServiceResolverHandle handle) {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   return resolver->GetEventHandle();
@@ -69,9 +69,9 @@ WPI_EventHandle WPI_GetMulticastServiceResolverEventHandle(
 
 WPI_ServiceData* WPI_GetMulticastServiceResolverData(
     WPI_MulticastServiceResolverHandle handle, int32_t* dataCount) {
-  std::vector<wpi::MulticastServiceResolver::ServiceData> allData;
+  std::vector<wpi::net::MulticastServiceResolver::ServiceData> allData;
   {
-    auto& manager = wpi::GetMulticastManager();
+    auto& manager = wpi::net::GetMulticastManager();
     std::scoped_lock lock{manager.mutex};
     auto& resolver = manager.resolvers[handle];
     allData = resolver->GetData();
@@ -99,7 +99,7 @@ WPI_ServiceData* WPI_GetMulticastServiceResolverData(
     allocSize += valuesTotalLength;
   }
 
-  uint8_t* cDataRaw = reinterpret_cast<uint8_t*>(wpi::safe_malloc(allocSize));
+  uint8_t* cDataRaw = reinterpret_cast<uint8_t*>(wpi::util::safe_malloc(allocSize));
   if (!cDataRaw) {
     return nullptr;
   }
diff --git a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
index 9d157d9c93..5339ef7ba6 100644
--- a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
+++ b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
@@ -19,11 +19,11 @@
 #include "wpi/net/uv/util.hpp"
 #include "wpi/util/Logger.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 ParallelTcpConnector::ParallelTcpConnector(
-    wpi::uv::Loop& loop, wpi::uv::Timer::Time reconnectRate,
-    wpi::Logger& logger, std::function<void(wpi::uv::Tcp& tcp)> connected,
+    wpi::net::uv::Loop& loop, wpi::net::uv::Timer::Time reconnectRate,
+    wpi::util::Logger& logger, std::function<void(wpi::net::uv::Tcp& tcp)> connected,
     bool ipv4Only, const private_init&)
     : m_loop{loop},
       m_logger{logger},
@@ -141,7 +141,7 @@ void ParallelTcpConnector::Connect() {
             auto connreq = std::make_shared<uv::TcpConnectReq>();
             connreq->connected.connect(
                 [this, tcp = tcp.get()] {
-                  if (m_logger.min_level() <= wpi::WPI_LOG_DEBUG4) {
+                  if (m_logger.min_level() <= wpi::util::WPI_LOG_DEBUG4) {
                     std::string ip;
                     unsigned int port = 0;
                     uv::AddrToName(tcp->GetPeer(), &ip, &port);
@@ -167,7 +167,7 @@ void ParallelTcpConnector::Connect() {
               }
             };
 
-            if (m_logger.min_level() <= wpi::WPI_LOG_DEBUG4) {
+            if (m_logger.min_level() <= wpi::util::WPI_LOG_DEBUG4) {
               std::string ip;
               unsigned int port = 0;
               uv::AddrToName(*reinterpret_cast<sockaddr_storage*>(ai->ai_addr),
@@ -203,7 +203,7 @@ void ParallelTcpConnector::Connect() {
   }
 }
 
-void ParallelTcpConnector::CancelAll(wpi::uv::Tcp* except) {
+void ParallelTcpConnector::CancelAll(wpi::net::uv::Tcp* except) {
   WPI_DEBUG4(m_logger, "canceling previous attempts");
   for (auto&& resolverWeak : m_resolvers) {
     if (auto resolver = resolverWeak.lock()) {
diff --git a/wpinet/src/main/native/cpp/PortForwarder.cpp b/wpinet/src/main/native/cpp/PortForwarder.cpp
index e6a2816394..b504c5cc5e 100644
--- a/wpinet/src/main/native/cpp/PortForwarder.cpp
+++ b/wpinet/src/main/native/cpp/PortForwarder.cpp
@@ -16,12 +16,12 @@
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct PortForwarder::Impl {
  public:
   EventLoopRunner runner;
-  DenseMap<unsigned int, std::weak_ptr<uv::Tcp>> servers;
+  wpi::util::DenseMap<unsigned int, std::weak_ptr<uv::Tcp>> servers;
 };
 
 PortForwarder::PortForwarder() : m_impl{new Impl} {}
@@ -54,7 +54,7 @@ void PortForwarder::Add(unsigned int port, std::string_view remoteHost,
   m_impl->runner.ExecSync([&](uv::Loop& loop) {
     auto server = uv::Tcp::Create(loop);
     if (!server) {
-      wpi::print(stderr, "PortForwarder: Creating server failed\n");
+      wpi::util::print(stderr, "PortForwarder: Creating server failed\n");
       return;
     }
 
@@ -67,7 +67,7 @@ void PortForwarder::Add(unsigned int port, std::string_view remoteHost,
       auto& loop = serverPtr->GetLoopRef();
       auto client = serverPtr->Accept();
       if (!client) {
-        wpi::print(stderr, "PortForwarder: Connecting to client failed\n");
+        wpi::util::print(stderr, "PortForwarder: Connecting to client failed\n");
         return;
       }
 
@@ -81,7 +81,7 @@ void PortForwarder::Add(unsigned int port, std::string_view remoteHost,
 
       auto remote = uv::Tcp::Create(loop);
       if (!remote) {
-        wpi::print(stderr, "PortForwarder: Creating remote failed\n");
+        wpi::util::print(stderr, "PortForwarder: Creating remote failed\n");
         client->Close();
         return;
       }
@@ -113,7 +113,7 @@ void PortForwarder::Add(unsigned int port, std::string_view remoteHost,
                 return;
               }
               *(client->GetData<bool>()) = true;
-              wpi::print("PortForwarder: Connected to remote port\n");
+              wpi::util::print("PortForwarder: Connected to remote port\n");
 
               // close both when either side closes
               client->end.connect([clientPtr = client.get(), remoteWeak] {
diff --git a/wpinet/src/main/native/cpp/SocketError.cpp b/wpinet/src/main/native/cpp/SocketError.cpp
index 27c4f43169..6e3c04de28 100644
--- a/wpinet/src/main/native/cpp/SocketError.cpp
+++ b/wpinet/src/main/native/cpp/SocketError.cpp
@@ -13,7 +13,7 @@
 #include <cstring>
 #endif
 
-namespace wpi {
+namespace wpi::net {
 
 int SocketErrno() {
 #ifdef _WIN32
@@ -36,4 +36,4 @@ std::string SocketStrerror(int code) {
 #endif
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/UDPClient.cpp b/wpinet/src/main/native/cpp/UDPClient.cpp
index ef80809f1c..dd1086f60d 100644
--- a/wpinet/src/main/native/cpp/UDPClient.cpp
+++ b/wpinet/src/main/native/cpp/UDPClient.cpp
@@ -22,11 +22,11 @@
 #include "wpi/util/Logger.hpp"
 #include "wpi/util/SmallString.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
-UDPClient::UDPClient(Logger& logger) : UDPClient("", logger) {}
+UDPClient::UDPClient(wpi::util::Logger& logger) : UDPClient("", logger) {}
 
-UDPClient::UDPClient(std::string_view address, Logger& logger)
+UDPClient::UDPClient(std::string_view address, wpi::util::Logger& logger)
     : m_lsd(0), m_port(0), m_address(address), m_logger(logger) {}
 
 UDPClient::UDPClient(UDPClient&& other)
@@ -85,7 +85,7 @@ int UDPClient::start(int port) {
   addr.sin_family = AF_INET;
   if (m_address.size() > 0) {
 #ifdef _WIN32
-    SmallString<128> addr_copy(m_address);
+    wpi::util::SmallString<128> addr_copy(m_address);
     addr_copy.push_back('\0');
     int res = InetPton(PF_INET, addr_copy.data(), &(addr.sin_addr));
 #else
@@ -143,7 +143,7 @@ int UDPClient::send(std::span<const uint8_t> data, std::string_view server,
   struct sockaddr_in addr;
   std::memset(&addr, 0, sizeof(addr));
   addr.sin_family = AF_INET;
-  SmallString<128> remoteAddr{server};
+  wpi::util::SmallString<128> remoteAddr{server};
   if (remoteAddr.empty()) {
     WPI_ERROR(m_logger, "server must be passed");
     return -1;
@@ -172,7 +172,7 @@ int UDPClient::send(std::string_view data, std::string_view server, int port) {
   struct sockaddr_in addr;
   std::memset(&addr, 0, sizeof(addr));
   addr.sin_family = AF_INET;
-  SmallString<128> remoteAddr{server};
+  wpi::util::SmallString<128> remoteAddr{server};
   if (remoteAddr.empty()) {
     WPI_ERROR(m_logger, "server must be passed");
     return -1;
@@ -203,7 +203,7 @@ int UDPClient::receive(uint8_t* data_received, int receive_len) {
 }
 
 int UDPClient::receive(uint8_t* data_received, int receive_len,
-                       SmallVectorImpl<char>* addr_received,
+                       wpi::util::SmallVectorImpl<char>* addr_received,
                        int* port_received) {
   if (m_port == 0) {
     return -1;  // return if not receiving
diff --git a/wpinet/src/main/native/cpp/WebServer.cpp b/wpinet/src/main/native/cpp/WebServer.cpp
index 738426ef0c..e019620348 100644
--- a/wpinet/src/main/native/cpp/WebServer.cpp
+++ b/wpinet/src/main/native/cpp/WebServer.cpp
@@ -33,13 +33,13 @@
 #include "wpi/net/uv/Tcp.hpp"
 #include "wpi/net/uv/Timer.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 namespace {
-class MyHttpConnection : public wpi::HttpServerConnection,
+class MyHttpConnection : public wpi::net::HttpServerConnection,
                          public std::enable_shared_from_this<MyHttpConnection> {
  public:
-  explicit MyHttpConnection(std::shared_ptr<wpi::uv::Stream> stream,
+  explicit MyHttpConnection(std::shared_ptr<wpi::net::uv::Stream> stream,
                             std::string_view path)
       : HttpServerConnection{std::move(stream)}, m_path{path} {}
 
@@ -96,7 +96,7 @@ class SendfileReq : public uv::RequestImpl<SendfileReq, uv_fs_t> {
     return err;
   }
 
-  wpi::sig::Signal<> complete;
+  wpi::util::sig::Signal<> complete;
 
  private:
   uv_file m_out;
@@ -120,7 +120,7 @@ static void Sendfile(uv::Loop& loop, uv_file out, uv_file in, int64_t inOffset,
 #endif
 
 static std::string_view GetMimeType(std::string_view ext) {
-  static const wpi::StringMap<std::string> map{
+  static const wpi::util::StringMap<std::string> map{
       {"css", "text/css"},
       {"csv", "text/csv"},
       {"gif", "image/gif"},
@@ -155,14 +155,14 @@ void MyHttpConnection::SendFileResponse(int code, std::string_view codeText,
                                         fs::path filename,
                                         std::string_view extraHeader) {
 #ifdef _WIN32
-  auto membuf = wpi::MemoryBuffer::GetFile(filename.string());
+  auto membuf = wpi::util::MemoryBuffer::GetFile(filename.string());
   if (!membuf) {
     SendError(404);
     return;
   }
 
-  wpi::SmallVector<uv::Buffer, 4> toSend;
-  wpi::raw_uv_ostream os{toSend, 4096};
+  wpi::util::SmallVector<uv::Buffer, 4> toSend;
+  wpi::net::raw_uv_ostream os{toSend, 4096};
   BuildHeader(os, code, codeText, contentType, (*membuf)->size(), extraHeader);
   SendData(os.bufs(), false);
   auto buf = (*membuf)->GetBuffer();
@@ -205,8 +205,8 @@ void MyHttpConnection::SendFileResponse(int code, std::string_view codeText,
     return;
   }
 
-  wpi::SmallVector<uv::Buffer, 4> toSend;
-  wpi::raw_uv_ostream os{toSend, 4096};
+  wpi::util::SmallVector<uv::Buffer, 4> toSend;
+  wpi::net::raw_uv_ostream os{toSend, 4096};
   BuildHeader(os, code, codeText, contentType, size, extraHeader);
   SendData(os.bufs(), false);
 
@@ -227,8 +227,8 @@ void MyHttpConnection::SendFileResponse(int code, std::string_view codeText,
 
 void MyHttpConnection::ProcessRequest() {
   // fmt::print(stderr, "HTTP request: '{}'\n", m_request.GetUrl());
-  wpi::UrlParser url{m_request.GetUrl(),
-                     m_request.GetMethod() == wpi::HTTP_CONNECT};
+  wpi::net::UrlParser url{m_request.GetUrl(),
+                     m_request.GetMethod() == wpi::net::HTTP_CONNECT};
   if (!url.IsValid()) {
     // failed to parse URL
     SendError(400);
@@ -241,7 +241,7 @@ void MyHttpConnection::ProcessRequest() {
   }
   // fmt::print(stderr, "path: \"{}\"\n", path);
 
-  wpi::SmallString<128> pathBuf;
+  wpi::util::SmallString<128> pathBuf;
   bool error;
   path = UnescapeURI(path, pathBuf, &error);
   if (error) {
@@ -256,49 +256,49 @@ void MyHttpConnection::ProcessRequest() {
   // fmt::print(stderr, "query: \"{}\"\n", query);
   HttpQueryMap qmap{query};
 
-  const bool isGET = m_request.GetMethod() == wpi::HTTP_GET;
-  if (isGET && wpi::starts_with(path, '/') && !wpi::contains(path, "..")) {
+  const bool isGET = m_request.GetMethod() == wpi::net::HTTP_GET;
+  if (isGET && wpi::util::starts_with(path, '/') && !wpi::util::contains(path, "..")) {
     fs::path fullpath = fmt::format("{}{}", m_path, path);
     std::error_code ec;
     bool isdir = fs::is_directory(fullpath, ec);
     if (isdir) {
-      if (!wpi::ends_with(path, '/')) {
+      if (!wpi::util::ends_with(path, '/')) {
         // redirect to trailing / location
         SendResponse(301, "Moved Permanently", "text/plain", "",
                      fmt::format("Location: {}/\r\n\r\n", path));
         return;
       }
       // generate directory listing
-      wpi::SmallString<64> formatBuf;
+      wpi::util::SmallString<64> formatBuf;
       fs::path indexpath = fs::path{fullpath} / "index.html";
       if (qmap.Get("format", formatBuf).value_or("") == "json") {
-        wpi::json dirs = wpi::json::array();
-        wpi::json files = wpi::json::array();
+        wpi::util::json dirs = wpi::util::json::array();
+        wpi::util::json files = wpi::util::json::array();
         for (auto&& entry : fs::directory_iterator{fullpath}) {
           bool subdir = entry.is_directory(ec);
           std::string name = entry.path().filename().string();
           if (subdir) {
-            dirs.emplace_back(wpi::json{{"name", std::move(name)}});
+            dirs.emplace_back(wpi::util::json{{"name", std::move(name)}});
           } else {
             files.emplace_back(
-                wpi::json{{"name", std::move(name)},
+                wpi::util::json{{"name", std::move(name)},
                           {"size", subdir ? 0 : entry.file_size(ec)}});
           }
         }
         SendResponse(
             200, "OK", "text/json",
-            wpi::json{{"dirs", std::move(dirs)}, {"files", std::move(files)}}
+            wpi::util::json{{"dirs", std::move(dirs)}, {"files", std::move(files)}}
                 .dump());
       } else if (fs::exists(indexpath)) {
         SendFileResponse(200, "OK", GetMimeType("html"), indexpath,
                          "Content-Disposition: filename=\"index.html\"\r\n");
       } else {
-        wpi::StringMap<std::string> dirs;
-        wpi::StringMap<std::string> files;
+        wpi::util::StringMap<std::string> dirs;
+        wpi::util::StringMap<std::string> files;
         for (auto&& entry : fs::directory_iterator{fullpath}) {
           bool subdir = entry.is_directory(ec);
           std::string name = entry.path().filename().string();
-          wpi::SmallString<128> nameUriBuf, nameHtmlBuf;
+          wpi::util::SmallString<128> nameUriBuf, nameHtmlBuf;
           if (subdir) {
             dirs.emplace(
                 name, fmt::format(
@@ -328,12 +328,12 @@ void MyHttpConnection::ProcessRequest() {
         SendResponse(200, "OK", "text/html", html);
       }
     } else {
-      wpi::SmallString<128> extraHeadersBuf;
-      wpi::raw_svector_ostream os{extraHeadersBuf};
+      wpi::util::SmallString<128> extraHeadersBuf;
+      wpi::util::raw_svector_ostream os{extraHeadersBuf};
       os << "Content-Disposition: filename=\"";
       os.write_escaped(fullpath.filename().string());
       os << "\"\r\n";
-      SendFileResponse(200, "OK", GetMimeType(wpi::rsplit(path, '.').second),
+      SendFileResponse(200, "OK", GetMimeType(wpi::util::rsplit(path, '.').second),
                        fullpath, os.str());
     }
   } else {
@@ -344,7 +344,7 @@ void MyHttpConnection::ProcessRequest() {
 struct WebServer::Impl {
  public:
   EventLoopRunner runner;
-  DenseMap<unsigned int, std::weak_ptr<uv::Tcp>> servers;
+  wpi::util::DenseMap<unsigned int, std::weak_ptr<uv::Tcp>> servers;
 };
 
 WebServer::WebServer() : m_impl{new Impl} {}
@@ -358,7 +358,7 @@ void WebServer::Start(unsigned int port, std::string_view path) {
   m_impl->runner.ExecSync([&](uv::Loop& loop) {
     auto server = uv::Tcp::Create(loop);
     if (!server) {
-      wpi::print(stderr, "WebServer: Creating server failed\n");
+      wpi::util::print(stderr, "WebServer: Creating server failed\n");
       return;
     }
 
@@ -370,7 +370,7 @@ void WebServer::Start(unsigned int port, std::string_view path) {
         [serverPtr = server.get(), path = std::string{path}] {
           auto client = serverPtr->Accept();
           if (!client) {
-            wpi::print(stderr, "WebServer: Connecting to client failed\n");
+            wpi::util::print(stderr, "WebServer: Connecting to client failed\n");
             return;
           }
 
diff --git a/wpinet/src/main/native/cpp/WebSocket.cpp b/wpinet/src/main/native/cpp/WebSocket.cpp
index bdacbbea2b..4f91ae4da4 100644
--- a/wpinet/src/main/native/cpp/WebSocket.cpp
+++ b/wpinet/src/main/native/cpp/WebSocket.cpp
@@ -25,12 +25,12 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/sha1.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 static std::string DebugBinary(std::span<const uint8_t> val) {
 #ifdef WPINET_WEBSOCKET_VERBOSE_DEBUG_CONTENT
   std::string str;
-  wpi::raw_string_ostream stros{str};
+  wpi::util::raw_string_ostream stros{str};
   size_t limited = 0;
   if (val.size() > 30) {
     limited = val.size();
@@ -122,8 +122,8 @@ class WebSocket::ClientHandshakeData {
     for (char& v : nonce) {
       v = static_cast<char>(dist(gen));
     }
-    raw_svector_ostream os(key);
-    Base64Encode(os, {nonce, 16});
+    wpi::util::raw_svector_ostream os(key);
+    wpi::util::Base64Encode(os, {nonce, 16});
   }
   ~ClientHandshakeData() {
     if (auto t = timer.lock()) {
@@ -132,8 +132,8 @@ class WebSocket::ClientHandshakeData {
     }
   }
 
-  SmallString<64> key;                       // the key sent to the server
-  SmallVector<std::string, 2> protocols;     // valid protocols
+  wpi::util::SmallString<64> key;                       // the key sent to the server
+  wpi::util::SmallVector<std::string, 2> protocols;     // valid protocols
   HttpParser parser{HttpParser::kResponse};  // server response parser
   bool hasUpgrade = false;
   bool hasConnection = false;
@@ -144,12 +144,12 @@ class WebSocket::ClientHandshakeData {
 };
 
 static std::string_view AcceptHash(std::string_view key,
-                                   SmallVectorImpl<char>& buf) {
-  SHA1 hash;
+                                   wpi::util::SmallVectorImpl<char>& buf) {
+  wpi::util::SHA1 hash;
   hash.Update(key);
   hash.Update("258EAFA5-E914-47DA-95CA-C5AB0DC85B11");
-  SmallString<64> hashBuf;
-  return Base64Encode(hash.RawFinal(hashBuf), buf);
+  wpi::util::SmallString<64> hashBuf;
+  return wpi::util::Base64Encode(hash.RawFinal(hashBuf), buf);
 }
 
 WebSocket::WebSocket(uv::Stream& stream, bool server, const private_init&)
@@ -221,7 +221,7 @@ void WebSocket::StartClient(std::string_view uri, std::string_view host,
   m_clientHandshake = std::make_unique<ClientHandshakeData>();
 
   // Build client request
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os{bufs, kWriteAllocSize};
 
   os << "GET " << uri << " HTTP/1.1\r\n";
@@ -272,34 +272,34 @@ void WebSocket::StartClient(std::string_view uri, std::string_view host,
   });
   m_clientHandshake->parser.header.connect(
       [this](std::string_view name, std::string_view value) {
-        value = trim(value);
-        if (equals_lower(name, "upgrade")) {
-          if (!equals_lower(value, "websocket")) {
+        value = wpi::util::trim(value);
+        if (wpi::util::equals_lower(name, "upgrade")) {
+          if (!wpi::util::equals_lower(value, "websocket")) {
             return Terminate(1002, "invalid upgrade response value");
           }
           m_clientHandshake->hasUpgrade = true;
-        } else if (equals_lower(name, "connection")) {
-          if (!equals_lower(value, "upgrade")) {
+        } else if (wpi::util::equals_lower(name, "connection")) {
+          if (!wpi::util::equals_lower(value, "upgrade")) {
             return Terminate(1002, "invalid connection response value");
           }
           m_clientHandshake->hasConnection = true;
-        } else if (equals_lower(name, "sec-websocket-accept")) {
+        } else if (wpi::util::equals_lower(name, "sec-websocket-accept")) {
           // Check against expected response
-          SmallString<64> acceptBuf;
-          if (!equals(value, AcceptHash(m_clientHandshake->key, acceptBuf))) {
+          wpi::util::SmallString<64> acceptBuf;
+          if (!wpi::util::equals(value, AcceptHash(m_clientHandshake->key, acceptBuf))) {
             return Terminate(1002, "invalid accept key");
           }
           m_clientHandshake->hasAccept = true;
-        } else if (equals_lower(name, "sec-websocket-extensions")) {
+        } else if (wpi::util::equals_lower(name, "sec-websocket-extensions")) {
           // No extensions are supported
           if (!value.empty()) {
             return Terminate(1010, "unsupported extension");
           }
-        } else if (equals_lower(name, "sec-websocket-protocol")) {
+        } else if (wpi::util::equals_lower(name, "sec-websocket-protocol")) {
           // Make sure it was one of the provided protocols
           bool match = false;
           for (auto&& protocol : m_clientHandshake->protocols) {
-            if (equals_lower(value, protocol)) {
+            if (wpi::util::equals_lower(value, protocol)) {
               match = true;
               break;
             }
@@ -340,7 +340,7 @@ void WebSocket::StartServer(std::string_view key, std::string_view version,
   m_protocol = protocol;
 
   // Build server response
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os{bufs, kWriteAllocSize};
 
   // Handle unsupported version
@@ -364,7 +364,7 @@ void WebSocket::StartServer(std::string_view key, std::string_view version,
   os << "Connection: Upgrade\r\n";
 
   // accept hash
-  SmallString<64> acceptBuf;
+  wpi::util::SmallString<64> acceptBuf;
   os << "Sec-WebSocket-Accept: " << AcceptHash(key, acceptBuf) << "\r\n";
 
   if (!protocol.empty()) {
@@ -387,7 +387,7 @@ void WebSocket::StartServer(std::string_view key, std::string_view version,
 }
 
 void WebSocket::SendClose(uint16_t code, std::string_view reason) {
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   if (code != 1005) {
     raw_uv_ostream os{bufs, kWriteAllocSize};
     const uint8_t codeMsb[] = {static_cast<uint8_t>((code >> 8) & 0xff),
@@ -641,7 +641,7 @@ void WebSocket::HandleIncoming(uv::Buffer& buf, size_t size) {
               code = (static_cast<uint16_t>(m_controlPayload[0]) << 8) |
                      static_cast<uint16_t>(m_controlPayload[1]);
               reason =
-                  drop_front({reinterpret_cast<char*>(m_controlPayload.data()),
+                  wpi::util::drop_front({reinterpret_cast<char*>(m_controlPayload.data()),
                               m_controlPayload.size()},
                              2);
             }
@@ -662,7 +662,7 @@ void WebSocket::HandleIncoming(uv::Buffer& buf, size_t size) {
             }
             // If the connection is open, send a Pong in response
             if (m_state == OPEN) {
-              SmallVector<uv::Buffer, 4> bufs;
+              wpi::util::SmallVector<uv::Buffer, 4> bufs;
               {
                 raw_uv_ostream os{bufs, kWriteAllocSize};
                 os << m_controlPayload;
@@ -710,35 +710,35 @@ void WebSocket::HandleIncoming(uv::Buffer& buf, size_t size) {
 static void VerboseDebug(const WebSocket::Frame& frame) {
 #ifdef WPINET_WEBSOCKET_VERBOSE_DEBUG
   if ((frame.opcode & 0x7f) == 0x01) {
-    SmallString<128> str;
+    wpi::util::SmallString<128> str;
 #ifdef WPINET_WEBSOCKET_VERBOSE_DEBUG_CONTENT
     for (auto&& d : frame.data) {
       str.append(std::string_view(d.base, d.len));
     }
 #endif
-    wpi::print("WS SendText({})\n", str.str());
+    wpi::util::print("WS SendText({})\n", str.str());
   } else if ((frame.opcode & 0x7f) == 0x02) {
-    SmallString<128> str;
+    wpi::util::SmallString<128> str;
 #ifdef WPINET_WEBSOCKET_VERBOSE_DEBUG_CONTENT
-    raw_svector_ostream stros{str};
+    wpi::util::raw_svector_ostream stros{str};
     for (auto&& d : frame.data) {
       for (auto ch : d.data()) {
         stros << fmt::format("{:02x},", static_cast<unsigned int>(ch) & 0xff);
       }
     }
 #endif
-    wpi::print("WS SendBinary({})\n", str.str());
+    wpi::util::print("WS SendBinary({})\n", str.str());
   } else {
-    SmallString<128> str;
+    wpi::util::SmallString<128> str;
 #ifdef WPINET_WEBSOCKET_VERBOSE_DEBUG_CONTENT
-    raw_svector_ostream stros{str};
+    wpi::util::raw_svector_ostream stros{str};
     for (auto&& d : frame.data) {
       for (auto ch : d.data()) {
         stros << fmt::format("{:02x},", static_cast<unsigned int>(ch) & 0xff);
       }
     }
 #endif
-    wpi::print("WS SendOp({}, {})\n", frame.opcode, str.str());
+    wpi::util::print("WS SendOp({}, {})\n", frame.opcode, str.str());
   }
 #endif
 }
@@ -855,7 +855,7 @@ void WebSocket::SendError(
   } else {
     err = UV_ESHUTDOWN;
   }
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   for (auto&& frame : frames) {
     bufs.append(frame.data.begin(), frame.data.end());
   }
diff --git a/wpinet/src/main/native/cpp/WebSocketSerializer.cpp b/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
index dc1946ba69..0a79af4f36 100644
--- a/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
+++ b/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
@@ -6,14 +6,14 @@
 
 #include <random>
 
-using namespace wpi::detail;
+using namespace wpi::net::detail;
 
 static constexpr uint8_t kFlagMasking = 0x80;
 static constexpr size_t kWriteAllocSize = 4096;
 
 static std::span<uint8_t> BuildHeader(std::span<uint8_t, 10> header,
                                       bool server,
-                                      const wpi::WebSocket::Frame& frame) {
+                                      const wpi::net::WebSocket::Frame& frame) {
   uint8_t* pHeader = header.data();
 
   // opcode (includes FIN bit)
diff --git a/wpinet/src/main/native/cpp/WebSocketSerializer.hpp b/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
index 2c8f7b1a4b..a6666d6046 100644
--- a/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
+++ b/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
@@ -14,7 +14,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/SpanExtras.hpp"
 
-namespace wpi::detail {
+namespace wpi::net::detail {
 
 class SerializedFrames {
  public:
@@ -41,8 +41,8 @@ class SerializedFrames {
     m_allocBufs.clear();
   }
 
-  SmallVector<uv::Buffer, 4> m_allocBufs;
-  SmallVector<uv::Buffer, 4> m_bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> m_allocBufs;
+  wpi::util::SmallVector<uv::Buffer, 4> m_bufs;
   size_t m_allocBufPos = 0;
 };
 
@@ -51,9 +51,9 @@ class WebSocketWriteReqBase {
   template <typename Stream, typename Req>
   int Continue(Stream& stream, std::shared_ptr<Req> req);
 
-  SmallVector<uv::Buffer, 4> m_userBufs;
+  wpi::util::SmallVector<uv::Buffer, 4> m_userBufs;
   SerializedFrames m_frames;
-  SmallVector<int, 0> m_continueFrameOffs;
+  wpi::util::SmallVector<int, 0> m_continueFrameOffs;
   size_t m_continueBufPos = 0;
   size_t m_continueFramePos = 0;
 };
@@ -94,7 +94,7 @@ int WebSocketWriteReqBase::Continue(Stream& stream, std::shared_ptr<Req> req) {
   assert(offIt != offEnd);
 
   // build a list of buffers to send as a normal write:
-  SmallVector<uv::Buffer, 4> writeBufs;
+  wpi::util::SmallVector<uv::Buffer, 4> writeBufs;
   auto bufIt = bufs.begin();
   auto bufEnd = bufs.end();
 
@@ -105,7 +105,7 @@ int WebSocketWriteReqBase::Continue(Stream& stream, std::shared_ptr<Req> req) {
   }
   if (bufIt != bufs.begin() && pos != sentBytes) {
     writeBufs.emplace_back(
-        wpi::take_back((bufIt - 1)->bytes(), pos - sentBytes));
+        wpi::util::take_back((bufIt - 1)->bytes(), pos - sentBytes));
   }
 
   // continue through the last buffer of the last partial frame
@@ -153,7 +153,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
 
     // build buffers to send
     SerializedFrames sendFrames;
-    SmallVector<int, 32> frameOffs;
+    wpi::util::SmallVector<int, 32> frameOffs;
     int numBytes = 0;
     while (frameIt != frameEnd) {
       numBytes += sendFrames.AddFrame(*frameIt++, server);
@@ -173,7 +173,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
     if (sentBytes == 0) {
       // we haven't started a frame yet; clean up any bufs that have actually
       // sent, and return unsent frames
-      SmallVector<uv::Buffer, 4> bufs;
+      wpi::util::SmallVector<uv::Buffer, 4> bufs;
       for (auto it = frames.begin(); it != frameStart; ++it) {
         bufs.append(it->data.begin(), it->data.end());
       }
@@ -187,7 +187,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
 #endif
     } else if (sentBytes < 0) {
       // error
-      SmallVector<uv::Buffer, 4> bufs;
+      wpi::util::SmallVector<uv::Buffer, 4> bufs;
       for (auto&& frame : frames) {
         bufs.append(frame.data.begin(), frame.data.end());
       }
@@ -208,7 +208,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
       if (offIt != offEnd && *offIt == sentBytes && isFin) {
         // we finished at a normal FIN frame boundary; no need for a Write()
         ++frameStart;
-        SmallVector<uv::Buffer, 4> bufs;
+        wpi::util::SmallVector<uv::Buffer, 4> bufs;
         for (auto it = frames.begin(); it != frameStart; ++it) {
           bufs.append(it->data.begin(), it->data.end());
         }
@@ -223,7 +223,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
       }
 
       // build a list of buffers to send as a normal write:
-      SmallVector<uv::Buffer, 4> writeBufs;
+      wpi::util::SmallVector<uv::Buffer, 4> writeBufs;
       auto bufIt = sendFrames.m_bufs.begin();
       auto bufEnd = sendFrames.m_bufs.end();
 
@@ -234,7 +234,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
       }
       if (bufIt != sendFrames.m_bufs.begin() && pos != sentBytes) {
         writeBufs.emplace_back(
-            wpi::take_back((bufIt - 1)->bytes(), pos - sentBytes));
+            wpi::util::take_back((bufIt - 1)->bytes(), pos - sentBytes));
       }
 
       // continue through the last buffer of the last partial frame
@@ -293,7 +293,7 @@ std::span<const WebSocket::Frame> TrySendFrames(
   }
 
   // nothing left to send
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   for (auto&& frame : frames) {
     bufs.append(frame.data.begin(), frame.data.end());
   }
@@ -301,4 +301,4 @@ std::span<const WebSocket::Frame> TrySendFrames(
   return {};
 }
 
-}  // namespace wpi::detail
+}  // namespace wpi::net::detail
diff --git a/wpinet/src/main/native/cpp/WebSocketServer.cpp b/wpinet/src/main/native/cpp/WebSocketServer.cpp
index 57dd89e856..d35c11ea7e 100644
--- a/wpinet/src/main/native/cpp/WebSocketServer.cpp
+++ b/wpinet/src/main/native/cpp/WebSocketServer.cpp
@@ -15,24 +15,24 @@
 #include "wpi/util/fmt/raw_ostream.hpp"
 #include "wpi/util/print.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 WebSocketServerHelper::WebSocketServerHelper(HttpParser& req) {
   req.header.connect([this](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "host")) {
+    if (wpi::util::equals_lower(name, "host")) {
       m_gotHost = true;
-    } else if (equals_lower(name, "upgrade")) {
-      if (equals_lower(value, "websocket")) {
+    } else if (wpi::util::equals_lower(name, "upgrade")) {
+      if (wpi::util::equals_lower(value, "websocket")) {
         m_websocket = true;
       }
-    } else if (equals_lower(name, "sec-websocket-key")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-key")) {
       m_key = value;
-    } else if (equals_lower(name, "sec-websocket-version")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-version")) {
       m_version = value;
-    } else if (equals_lower(name, "sec-websocket-protocol")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-protocol")) {
       // Protocols are comma delimited, repeated headers add to list
-      split(value, ',', -1, false, [&](auto protocol) {
-        protocol = trim(protocol);
+      wpi::util::split(value, ',', -1, false, [&](auto protocol) {
+        protocol = wpi::util::trim(protocol);
         if (!protocol.empty()) {
           m_protocols.emplace_back(protocol);
         }
@@ -85,7 +85,7 @@ WebSocketServer::WebSocketServer(uv::Stream& stream,
       m_options{std::move(options)} {
   // Header handling
   m_req.header.connect([this](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "host")) {
+    if (wpi::util::equals_lower(name, "host")) {
       if (m_options.checkHost) {
         if (!m_options.checkHost(value)) {
           Abort(401, "Unrecognized Host");
@@ -167,11 +167,11 @@ void WebSocketServer::Abort(uint16_t code, std::string_view reason) {
   m_aborted = true;
 
   // Build response
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os{bufs, 1024};
 
   // Handle unsupported version
-  wpi::print(os, "HTTP/1.1 {} {}\r\n", code, reason);
+  wpi::util::print(os, "HTTP/1.1 {} {}\r\n", code, reason);
   if (code == 426) {
     os << "Upgrade: WebSocket\r\n";
   }
diff --git a/wpinet/src/main/native/cpp/hostname.cpp b/wpinet/src/main/native/cpp/hostname.cpp
index 5483b0467b..34bf6c6c84 100644
--- a/wpinet/src/main/native/cpp/hostname.cpp
+++ b/wpinet/src/main/native/cpp/hostname.cpp
@@ -11,7 +11,7 @@
 #include "uv.h"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 std::string GetHostname() {
   std::string rv;
@@ -33,8 +33,8 @@ std::string GetHostname() {
   return rv;
 }
 
-std::string_view GetHostname(SmallVectorImpl<char>& name) {
-  // Use a tmp array to not require the SmallVector to be too large.
+std::string_view GetHostname(wpi::util::SmallVectorImpl<char>& name) {
+  // Use a tmp array to not require the wpi::util::SmallVector to be too large.
   char tmpName[256];
   size_t size = sizeof(tmpName);
 
@@ -54,4 +54,4 @@ std::string_view GetHostname(SmallVectorImpl<char>& name) {
   return {name.data(), size};
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/http_parser.cpp b/wpinet/src/main/native/cpp/http_parser.cpp
index d9e12a70da..3ca7bdeee8 100644
--- a/wpinet/src/main/native/cpp/http_parser.cpp
+++ b/wpinet/src/main/native/cpp/http_parser.cpp
@@ -172,7 +172,7 @@ do {                                                                 \
 #define KEEP_ALIVE "keep-alive"
 #define CLOSE "close"
 
-namespace wpi {
+namespace wpi::net {
 
 
 static const char *method_strings[] =
@@ -2478,4 +2478,4 @@ http_parser_version(void) {
          HTTP_PARSER_VERSION_PATCH * 0x00001;
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
index 32d16f170b..0d93f864d1 100644
--- a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
+++ b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
@@ -17,7 +17,7 @@
 #include "wpi/net/WebServer.hpp"
 #include "wpi/util/jni_util.hpp"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 static JClass serviceDataCls;
 static JGlobal<jobjectArray> serviceDataEmptyArray;
@@ -63,7 +63,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_addPortForwarder
   (JNIEnv* env, jclass, jint port, jstring remoteHost, jint remotePort)
 {
-  wpi::PortForwarder::GetInstance().Add(static_cast<unsigned int>(port),
+  wpi::net::PortForwarder::GetInstance().Add(static_cast<unsigned int>(port),
                                         JStringRef{env, remoteHost}.str(),
                                         static_cast<unsigned int>(remotePort));
 }
@@ -77,7 +77,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_removePortForwarder
   (JNIEnv* env, jclass, jint port)
 {
-  wpi::PortForwarder::GetInstance().Remove(port);
+  wpi::net::PortForwarder::GetInstance().Remove(port);
 }
 
 /*
@@ -89,7 +89,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_startWebServer
   (JNIEnv* env, jclass, jint port, jstring path)
 {
-  wpi::WebServer::GetInstance().Start(static_cast<unsigned int>(port),
+  wpi::net::WebServer::GetInstance().Start(static_cast<unsigned int>(port),
                                       JStringRef{env, path}.str());
 }
 
@@ -102,7 +102,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_stopWebServer
   (JNIEnv* env, jclass, jint port)
 {
-  wpi::WebServer::GetInstance().Stop(port);
+  wpi::net::WebServer::GetInstance().Stop(port);
 }
 
 /*
@@ -115,13 +115,13 @@ Java_org_wpilib_net_WPINetJNI_createMulticastServiceAnnouncer
   (JNIEnv* env, jclass, jstring serviceName, jstring serviceType, jint port,
    jobjectArray keys, jobjectArray values)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
 
   JStringRef serviceNameRef{env, serviceName};
   JStringRef serviceTypeRef{env, serviceType};
 
-  wpi::SmallVector<std::pair<std::string, std::string>, 8> txtVec;
+  wpi::util::SmallVector<std::pair<std::string, std::string>, 8> txtVec;
 
   if (keys != nullptr && values != nullptr) {
     size_t keysLen = env->GetArrayLength(keys);
@@ -138,7 +138,7 @@ Java_org_wpilib_net_WPINetJNI_createMulticastServiceAnnouncer
     }
   }
 
-  auto announcer = std::make_unique<wpi::MulticastServiceAnnouncer>(
+  auto announcer = std::make_unique<wpi::net::MulticastServiceAnnouncer>(
       serviceNameRef.str(), serviceTypeRef.str(), port, txtVec);
 
   size_t index = manager.handleIds.emplace_back(1);
@@ -157,7 +157,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_freeMulticastServiceAnnouncer
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   manager.announcers[handle] = nullptr;
   manager.handleIds.erase(handle);
@@ -172,7 +172,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_startMulticastServiceAnnouncer
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   announcer->Start();
@@ -187,7 +187,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_stopMulticastServiceAnnouncer
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   announcer->Stop();
@@ -202,7 +202,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_net_WPINetJNI_getMulticastServiceAnnouncerHasImplementation
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& announcer = manager.announcers[handle];
   return announcer->HasImplementation();
@@ -217,12 +217,12 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_net_WPINetJNI_createMulticastServiceResolver
   (JNIEnv* env, jclass, jstring serviceType)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   JStringRef serviceTypeRef{env, serviceType};
 
   auto resolver =
-      std::make_unique<wpi::MulticastServiceResolver>(serviceTypeRef.str());
+      std::make_unique<wpi::net::MulticastServiceResolver>(serviceTypeRef.str());
 
   size_t index = manager.handleIds.emplace_back(2);
 
@@ -240,7 +240,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_freeMulticastServiceResolver
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   manager.resolvers[handle] = nullptr;
   manager.handleIds.erase(handle);
@@ -255,7 +255,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_startMulticastServiceResolver
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   resolver->Start();
@@ -270,7 +270,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_net_WPINetJNI_stopMulticastServiceResolver
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   resolver->Stop();
@@ -285,7 +285,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_net_WPINetJNI_getMulticastServiceResolverHasImplementation
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   return resolver->HasImplementation();
@@ -300,7 +300,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_net_WPINetJNI_getMulticastServiceResolverEventHandle
   (JNIEnv* env, jclass, jint handle)
 {
-  auto& manager = wpi::GetMulticastManager();
+  auto& manager = wpi::net::GetMulticastManager();
   std::scoped_lock lock{manager.mutex};
   auto& resolver = manager.resolvers[handle];
   return resolver->GetEventHandle();
@@ -319,8 +319,8 @@ Java_org_wpilib_net_WPINetJNI_getMulticastServiceResolverData
       env->GetMethodID(serviceDataCls, "<init>",
                        "(JILjava/lang/String;Ljava/lang/String;[Ljava/lang/"
                        "String;[Ljava/lang/String;)V");
-  auto& manager = wpi::GetMulticastManager();
-  std::vector<wpi::MulticastServiceResolver::ServiceData> allData;
+  auto& manager = wpi::net::GetMulticastManager();
+  std::vector<wpi::net::MulticastServiceResolver::ServiceData> allData;
   {
     std::scoped_lock lock{manager.mutex};
     auto& resolver = manager.resolvers[handle];
@@ -337,8 +337,8 @@ Java_org_wpilib_net_WPINetJNI_getMulticastServiceResolverData
     JLocal<jstring> serviceName{env, MakeJString(env, data.serviceName)};
     JLocal<jstring> hostName{env, MakeJString(env, data.hostName)};
 
-    wpi::SmallVector<std::string_view, 8> keysRef;
-    wpi::SmallVector<std::string_view, 8> valuesRef;
+    wpi::util::SmallVector<std::string_view, 8> keysRef;
+    wpi::util::SmallVector<std::string_view, 8> valuesRef;
 
     size_t index = 0;
     for (auto&& txt : data.txt) {
diff --git a/wpinet/src/main/native/cpp/raw_socket_istream.cpp b/wpinet/src/main/native/cpp/raw_socket_istream.cpp
index e687aefcb6..3ef1290f39 100644
--- a/wpinet/src/main/native/cpp/raw_socket_istream.cpp
+++ b/wpinet/src/main/native/cpp/raw_socket_istream.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/net/NetworkStream.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 void raw_socket_istream::read_impl(void* data, size_t len) {
   char* cdata = static_cast<char*>(data);
diff --git a/wpinet/src/main/native/cpp/raw_socket_ostream.cpp b/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
index ae0fe3d2c0..53d017de27 100644
--- a/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
+++ b/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
@@ -6,7 +6,7 @@
 
 #include "wpi/net/NetworkStream.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 raw_socket_ostream::~raw_socket_ostream() {
   flush();
diff --git a/wpinet/src/main/native/cpp/raw_uv_ostream.cpp b/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
index facb9e2adb..f1e300f2f9 100644
--- a/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
+++ b/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
@@ -6,7 +6,7 @@
 
 #include <cstring>
 
-using namespace wpi;
+using namespace wpi::net;
 
 void raw_uv_ostream::write_impl(const char* data, size_t len) {
   while (len > 0) {
diff --git a/wpinet/src/main/native/cpp/uv/Async.cpp b/wpinet/src/main/native/cpp/uv/Async.cpp
index bd444bbfa1..acc2953ef0 100644
--- a/wpinet/src/main/native/cpp/uv/Async.cpp
+++ b/wpinet/src/main/native/cpp/uv/Async.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 Async<>::~Async() noexcept {
   if (auto loop = m_loop.lock()) {
@@ -35,4 +35,4 @@ std::shared_ptr<Async<>> Async<>::Create(const std::shared_ptr<Loop>& loop) {
   return h;
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Check.cpp b/wpinet/src/main/native/cpp/uv/Check.cpp
index 0a8dbf415e..ea21513d47 100644
--- a/wpinet/src/main/native/cpp/uv/Check.cpp
+++ b/wpinet/src/main/native/cpp/uv/Check.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Check> Check::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -34,4 +34,4 @@ void Check::Start() {
   });
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/FsEvent.cpp b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
index 9720a5e94b..8f6657eaeb 100644
--- a/wpinet/src/main/native/cpp/uv/FsEvent.cpp
+++ b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
@@ -11,7 +11,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<FsEvent> FsEvent::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -28,7 +28,7 @@ std::shared_ptr<FsEvent> FsEvent::Create(Loop& loop) {
 }
 
 void FsEvent::Start(std::string_view path, unsigned int flags) {
-  SmallString<128> pathBuf{path};
+  wpi::util::SmallString<128> pathBuf{path};
   Invoke(
       &uv_fs_event_start, GetRaw(),
       [](uv_fs_event_t* handle, const char* filename, int events, int status) {
@@ -65,4 +65,4 @@ std::string FsEvent::GetPath() {
   return std::string{};
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
index 002d970c44..588ab48e35 100644
--- a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
@@ -11,7 +11,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 GetAddrInfoReq::GetAddrInfoReq() {
   error = [this](Error err) { GetLoop().error(err); };
@@ -23,8 +23,8 @@ void GetAddrInfo(Loop& loop, const std::shared_ptr<GetAddrInfoReq>& req,
   if (loop.IsClosing()) {
     return;
   }
-  SmallString<128> nodeStr{node};
-  SmallString<128> serviceStr{service};
+  wpi::util::SmallString<128> nodeStr{node};
+  wpi::util::SmallString<128> serviceStr{service};
   int err = uv_getaddrinfo(
       loop.GetRaw(), req->GetRaw(),
       [](uv_getaddrinfo_t* req, int status, addrinfo* res) {
@@ -55,4 +55,4 @@ void GetAddrInfo(Loop& loop, std::function<void(const addrinfo&)> callback,
   GetAddrInfo(loop, req, node, service, hints);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
index d123e509e1..91d9998b7c 100644
--- a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
@@ -11,7 +11,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/net/uv/util.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 GetNameInfoReq::GetNameInfoReq() {
   error = [this](Error err) { GetLoop().error(err); };
@@ -98,4 +98,4 @@ void GetNameInfo6(Loop& loop,
   }
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Handle.cpp b/wpinet/src/main/native/cpp/uv/Handle.cpp
index 4b20a20819..b32b9c7612 100644
--- a/wpinet/src/main/native/cpp/uv/Handle.cpp
+++ b/wpinet/src/main/native/cpp/uv/Handle.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/net/uv/Handle.hpp"
 
-using namespace wpi::uv;
+using namespace wpi::net::uv;
 
 Handle::~Handle() noexcept {
   if (!m_closed && m_uv_handle->type != UV_UNKNOWN_HANDLE) {
diff --git a/wpinet/src/main/native/cpp/uv/Idle.cpp b/wpinet/src/main/native/cpp/uv/Idle.cpp
index 027145f0b2..3a409f090e 100644
--- a/wpinet/src/main/native/cpp/uv/Idle.cpp
+++ b/wpinet/src/main/native/cpp/uv/Idle.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Idle> Idle::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -34,4 +34,4 @@ void Idle::Start() {
   });
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Loop.cpp b/wpinet/src/main/native/cpp/uv/Loop.cpp
index 0e68e2704e..111fd40f86 100644
--- a/wpinet/src/main/native/cpp/uv/Loop.cpp
+++ b/wpinet/src/main/native/cpp/uv/Loop.cpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-using namespace wpi::uv;
+using namespace wpi::net::uv;
 
 Loop::Loop(const private_init&) noexcept {
 #ifndef _WIN32
@@ -53,12 +53,12 @@ void Loop::Close() {
   }
 }
 
-void Loop::Walk(function_ref<void(Handle&)> callback) {
+void Loop::Walk(wpi::util::function_ref<void(Handle&)> callback) {
   uv_walk(
       m_loop,
       [](uv_handle_t* handle, void* func) {
         auto& h = *static_cast<Handle*>(handle->data);
-        auto& f = *static_cast<function_ref<void(Handle&)>*>(func);
+        auto& f = *static_cast<wpi::util::function_ref<void(Handle&)>*>(func);
         f(h);
       },
       &callback);
diff --git a/wpinet/src/main/native/cpp/uv/NameToAddr.cpp b/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
index 304e3eca5e..faa0eee2f3 100644
--- a/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
+++ b/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 int NameToAddr(std::string_view ip, unsigned int port, sockaddr_in* addr) {
   if (ip.empty()) {
@@ -18,7 +18,7 @@ int NameToAddr(std::string_view ip, unsigned int port, sockaddr_in* addr) {
     addr->sin_port = htons(port);
     return 0;
   } else {
-    SmallString<128> ipBuf{ip};
+    wpi::util::SmallString<128> ipBuf{ip};
     return uv_ip4_addr(ipBuf.c_str(), port, addr);
   }
 }
@@ -31,7 +31,7 @@ int NameToAddr(std::string_view ip, unsigned int port, sockaddr_in6* addr) {
     addr->sin6_port = htons(port);
     return 0;
   } else {
-    SmallString<128> ipBuf{ip};
+    wpi::util::SmallString<128> ipBuf{ip};
     return uv_ip6_addr(ipBuf.c_str(), port, addr);
   }
 }
@@ -41,7 +41,7 @@ int NameToAddr(std::string_view ip, in_addr* addr) {
     addr->s_addr = INADDR_ANY;
     return 0;
   } else {
-    SmallString<128> ipBuf{ip};
+    wpi::util::SmallString<128> ipBuf{ip};
     return uv_inet_pton(AF_INET, ipBuf.c_str(), addr);
   }
 }
@@ -51,9 +51,9 @@ int NameToAddr(std::string_view ip, in6_addr* addr) {
     *addr = in6addr_any;
     return 0;
   } else {
-    SmallString<128> ipBuf{ip};
+    wpi::util::SmallString<128> ipBuf{ip};
     return uv_inet_pton(AF_INET6, ipBuf.c_str(), addr);
   }
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
index 1e4c217fa3..d3c989f1f1 100644
--- a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
+++ b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
@@ -7,7 +7,7 @@
 #include <functional>
 #include <utility>
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 ConnectReq::ConnectReq() {
   error = [this](Error err) { GetStream().error(err); };
@@ -33,4 +33,4 @@ void NetworkStream::Listen(std::function<void()> callback, int backlog) {
   Listen(backlog);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Pipe.cpp b/wpinet/src/main/native/cpp/uv/Pipe.cpp
index 9f809a5c4d..03f4a6a983 100644
--- a/wpinet/src/main/native/cpp/uv/Pipe.cpp
+++ b/wpinet/src/main/native/cpp/uv/Pipe.cpp
@@ -12,7 +12,7 @@
 
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Pipe> Pipe::Create(Loop& loop, bool ipc) {
   if (loop.IsClosing()) {
@@ -70,7 +70,7 @@ Pipe* Pipe::DoAccept() {
 }
 
 void Pipe::Bind(std::string_view name) {
-  SmallString<128> nameBuf{name};
+  wpi::util::SmallString<128> nameBuf{name};
   Invoke(&uv_pipe_bind, GetRaw(), nameBuf.c_str());
 }
 
@@ -79,7 +79,7 @@ void Pipe::Connect(std::string_view name,
   if (IsLoopClosing()) {
     return;
   }
-  SmallString<128> nameBuf{name};
+  wpi::util::SmallString<128> nameBuf{name};
   uv_pipe_connect(req->GetRaw(), GetRaw(), nameBuf.c_str(),
                   [](uv_connect_t* req, int status) {
                     auto& h = *static_cast<PipeConnectReq*>(req->data);
@@ -145,4 +145,4 @@ std::string Pipe::GetPeer() {
   return std::string{};
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Poll.cpp b/wpinet/src/main/native/cpp/uv/Poll.cpp
index 748fc4e434..bee073537f 100644
--- a/wpinet/src/main/native/cpp/uv/Poll.cpp
+++ b/wpinet/src/main/native/cpp/uv/Poll.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Poll> Poll::Create(Loop& loop, int fd) {
   if (loop.IsClosing()) {
@@ -105,4 +105,4 @@ void Poll::Start(int events) {
          });
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Prepare.cpp b/wpinet/src/main/native/cpp/uv/Prepare.cpp
index f1849a2bd6..91d5a98ae9 100644
--- a/wpinet/src/main/native/cpp/uv/Prepare.cpp
+++ b/wpinet/src/main/native/cpp/uv/Prepare.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Prepare> Prepare::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -34,4 +34,4 @@ void Prepare::Start() {
   });
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Process.cpp b/wpinet/src/main/native/cpp/uv/Process.cpp
index d067491885..26242a33d9 100644
--- a/wpinet/src/main/native/cpp/uv/Process.cpp
+++ b/wpinet/src/main/native/cpp/uv/Process.cpp
@@ -10,7 +10,7 @@
 #include "wpi/net/uv/Pipe.hpp"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Process> Process::SpawnArray(Loop& loop, std::string_view file,
                                              std::span<const Option> options) {
@@ -26,22 +26,22 @@ std::shared_ptr<Process> Process::SpawnArray(Loop& loop, std::string_view file,
     h.exited(status, signal);
   };
 
-  SmallString<128> fileBuf{file};
+  wpi::util::SmallString<128> fileBuf{file};
   coptions.file = fileBuf.c_str();
   coptions.cwd = nullptr;
   coptions.flags = 0;
   coptions.uid = 0;
   coptions.gid = 0;
 
-  SmallVector<char*, 4> argsBuf;
-  SmallVector<char*, 4> envBuf;
+  wpi::util::SmallVector<char*, 4> argsBuf;
+  wpi::util::SmallVector<char*, 4> envBuf;
   struct StdioContainer : public uv_stdio_container_t {
     StdioContainer() {
       flags = UV_IGNORE;
       data.fd = 0;
     }
   };
-  SmallVector<StdioContainer, 4> stdioBuf;
+  wpi::util::SmallVector<StdioContainer, 4> stdioBuf;
 
   for (auto&& o : options) {
     switch (o.m_type) {
@@ -136,4 +136,4 @@ std::shared_ptr<Process> Process::SpawnArray(Loop& loop, std::string_view file,
   return h;
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Signal.cpp b/wpinet/src/main/native/cpp/uv/Signal.cpp
index bb5fbae7a6..82b562b650 100644
--- a/wpinet/src/main/native/cpp/uv/Signal.cpp
+++ b/wpinet/src/main/native/cpp/uv/Signal.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Signal> Signal::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -37,4 +37,4 @@ void Signal::Start(int signum) {
       signum);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Stream.cpp b/wpinet/src/main/native/cpp/uv/Stream.cpp
index e018bd8afd..6f90a651a2 100644
--- a/wpinet/src/main/native/cpp/uv/Stream.cpp
+++ b/wpinet/src/main/native/cpp/uv/Stream.cpp
@@ -13,8 +13,8 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace wpi;
-using namespace wpi::uv;
+using namespace wpi::net;
+using namespace wpi::net::uv;
 
 namespace {
 class CallbackWriteReq : public WriteReq {
@@ -27,11 +27,11 @@ class CallbackWriteReq : public WriteReq {
   }
 
  private:
-  SmallVector<Buffer, 4> m_bufs;
+  wpi::util::SmallVector<Buffer, 4> m_bufs;
 };
 }  // namespace
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 ShutdownReq::ShutdownReq() {
   error = [this](Error err) { GetStream().error(err); };
@@ -95,7 +95,7 @@ void Stream::StartRead() {
 
 static std::string BufsToString(std::span<const Buffer> bufs) {
   std::string str;
-  wpi::raw_string_ostream stros{str};
+  wpi::util::raw_string_ostream stros{str};
   size_t count = 0;
   for (auto buf : bufs) {
     for (auto ch : buf.bytes()) {
@@ -177,4 +177,4 @@ int Stream::TryWrite2(std::span<const Buffer> bufs, Stream& send) {
   return val;
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Tcp.cpp b/wpinet/src/main/native/cpp/uv/Tcp.cpp
index 1f13080247..9c2ce8acc6 100644
--- a/wpinet/src/main/native/cpp/uv/Tcp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tcp.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/net/uv/util.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Tcp> Tcp::Create(Loop& loop, unsigned int flags) {
   if (loop.IsClosing()) {
@@ -190,4 +190,4 @@ void Tcp::CloseReset() {
   }
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Timer.cpp b/wpinet/src/main/native/cpp/uv/Timer.cpp
index 7f7d326cbf..b90a039535 100644
--- a/wpinet/src/main/native/cpp/uv/Timer.cpp
+++ b/wpinet/src/main/native/cpp/uv/Timer.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Timer> Timer::Create(Loop& loop) {
   if (loop.IsClosing()) {
@@ -51,4 +51,4 @@ void Timer::Start(Time timeout, Time repeat) {
       timeout.count(), repeat.count());
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Tty.cpp b/wpinet/src/main/native/cpp/uv/Tty.cpp
index 5337fa14a8..34e4c4b1f9 100644
--- a/wpinet/src/main/native/cpp/uv/Tty.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tty.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 std::shared_ptr<Tty> Tty::Create(Loop& loop, uv_file fd, bool readable) {
   if (loop.IsClosing()) {
@@ -24,4 +24,4 @@ std::shared_ptr<Tty> Tty::Create(Loop& loop, uv_file fd, bool readable) {
   return h;
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Udp.cpp b/wpinet/src/main/native/cpp/uv/Udp.cpp
index 0ff3880dcb..1e14d5a801 100644
--- a/wpinet/src/main/native/cpp/uv/Udp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Udp.cpp
@@ -15,8 +15,8 @@
 
 namespace {
 
-using namespace wpi;
-using namespace wpi::uv;
+using namespace wpi::net;
+using namespace wpi::net::uv;
 
 class CallbackUdpSendReq : public UdpSendReq {
  public:
@@ -28,12 +28,12 @@ class CallbackUdpSendReq : public UdpSendReq {
   }
 
  private:
-  SmallVector<Buffer, 4> m_bufs;
+  wpi::util::SmallVector<Buffer, 4> m_bufs;
 };
 
 }  // namespace
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 UdpSendReq::UdpSendReq() {
   error = [this](Error err) { GetUdp().error(err); };
@@ -116,8 +116,8 @@ sockaddr_storage Udp::GetSock() {
 void Udp::SetMembership(std::string_view multicastAddr,
                         std::string_view interfaceAddr,
                         uv_membership membership) {
-  SmallString<128> multicastAddrBuf{multicastAddr};
-  SmallString<128> interfaceAddrBuf{interfaceAddr};
+  wpi::util::SmallString<128> multicastAddrBuf{multicastAddr};
+  wpi::util::SmallString<128> interfaceAddrBuf{interfaceAddr};
   Invoke(&uv_udp_set_membership, GetRaw(), multicastAddrBuf.c_str(),
          interfaceAddrBuf.c_str(), membership);
 }
@@ -126,15 +126,15 @@ void Udp::SetSourceMembership(std::string_view multicastAddr,
                               std::string_view interfaceAddr,
                               std::string_view sourceAddr,
                               uv_membership membership) {
-  SmallString<128> multicastAddrBuf{multicastAddr};
-  SmallString<128> interfaceAddrBuf{interfaceAddr};
-  SmallString<128> sourceAddrBuf{sourceAddr};
+  wpi::util::SmallString<128> multicastAddrBuf{multicastAddr};
+  wpi::util::SmallString<128> interfaceAddrBuf{interfaceAddr};
+  wpi::util::SmallString<128> sourceAddrBuf{sourceAddr};
   Invoke(&uv_udp_set_source_membership, GetRaw(), multicastAddrBuf.c_str(),
          interfaceAddrBuf.c_str(), sourceAddrBuf.c_str(), membership);
 }
 
 void Udp::SetMulticastInterface(std::string_view interfaceAddr) {
-  SmallString<128> interfaceAddrBuf{interfaceAddr};
+  wpi::util::SmallString<128> interfaceAddrBuf{interfaceAddr};
   Invoke(&uv_udp_set_multicast_interface, GetRaw(), interfaceAddrBuf.c_str());
 }
 
@@ -213,4 +213,4 @@ void Udp::StartRecv() {
          });
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/cpp/uv/Work.cpp b/wpinet/src/main/native/cpp/uv/Work.cpp
index 4e81c1ecff..2325307282 100644
--- a/wpinet/src/main/native/cpp/uv/Work.cpp
+++ b/wpinet/src/main/native/cpp/uv/Work.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 WorkReq::WorkReq() {
   error = [this](Error err) { GetLoop().error(err); };
@@ -57,4 +57,4 @@ void QueueWork(Loop& loop, std::function<void()> work,
   QueueWork(loop, req);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/main/native/include/wpi/net/DsClient.hpp b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
index 19b71e9b80..a96be18cc6 100644
--- a/wpinet/src/main/native/include/wpi/net/DsClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
@@ -10,7 +10,7 @@
 
 #include "wpi/util/Signal.h"
 
-namespace wpi {
+namespace wpi::net {
 
 class Logger;
 
@@ -24,32 +24,32 @@ class DsClient : public std::enable_shared_from_this<DsClient> {
   struct private_init {};
 
  public:
-  static std::shared_ptr<DsClient> Create(wpi::uv::Loop& loop,
-                                          wpi::Logger& logger) {
+  static std::shared_ptr<DsClient> Create(wpi::net::uv::Loop& loop,
+                                          wpi::util::Logger& logger) {
     return std::make_shared<DsClient>(loop, logger, private_init{});
   }
 
-  DsClient(wpi::uv::Loop& loop, wpi::Logger& logger, const private_init&);
+  DsClient(wpi::net::uv::Loop& loop, wpi::util::Logger& logger, const private_init&);
   ~DsClient();
   DsClient(const DsClient&) = delete;
   DsClient& operator=(const DsClient&) = delete;
 
   void Close();
 
-  sig::Signal<std::string_view> setIp;
-  sig::Signal<> clearIp;
+  wpi::util::sig::Signal<std::string_view> setIp;
+  wpi::util::sig::Signal<> clearIp;
 
  private:
   void Connect();
   void HandleIncoming(std::string_view in);
   void ParseJson();
 
-  wpi::Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
-  std::shared_ptr<wpi::uv::Tcp> m_tcp;
-  std::shared_ptr<wpi::uv::Timer> m_timer;
+  std::shared_ptr<wpi::net::uv::Tcp> m_tcp;
+  std::shared_ptr<wpi::net::uv::Timer> m_timer;
 
   std::string m_json;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp b/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
index 22f2be54d5..efdad6b3b6 100644
--- a/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
+++ b/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
@@ -11,7 +11,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/SafeThread.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * Executes an event loop on a separate thread.
@@ -54,9 +54,9 @@ class EventLoopRunner {
 
  private:
   class Thread;
-  SafeThreadOwner<Thread> m_owner;
+  wpi::util::SafeThreadOwner<Thread> m_owner;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_EVENTLOOPRUNNER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/HttpParser.hpp b/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
index 6f2d14b28c..0a2473ffd1 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
@@ -13,7 +13,7 @@
 #include "wpi/util/Signal.h"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * HTTP protocol parser.  Performs incremental parsing with callbacks for each
@@ -143,14 +143,14 @@ class HttpParser {
   /**
    * Message begin callback.
    */
-  sig::Signal<> messageBegin;
+  wpi::util::sig::Signal<> messageBegin;
 
   /**
    * URL callback.
    *
    * The parameter to the callback is the complete URL string.
    */
-  sig::Signal<std::string_view> url;
+  wpi::util::sig::Signal<std::string_view> url;
 
   /**
    * Status callback.
@@ -158,14 +158,14 @@ class HttpParser {
    * The parameter to the callback is the complete status string.
    * GetStatusCode() can be used to get the numeric status code.
    */
-  sig::Signal<std::string_view> status;
+  wpi::util::sig::Signal<std::string_view> status;
 
   /**
    * Header field callback.
    *
    * The parameters to the callback are the field name and field value.
    */
-  sig::Signal<std::string_view, std::string_view> header;
+  wpi::util::sig::Signal<std::string_view, std::string_view> header;
 
   /**
    * Headers complete callback.
@@ -175,7 +175,7 @@ class HttpParser {
    * connection.  If you are the server, respond with the "Connection: close"
    * header.  If you are the client, close the connection.
    */
-  sig::Signal<bool> headersComplete;
+  wpi::util::sig::Signal<bool> headersComplete;
 
   /**
    * Body data callback.
@@ -185,7 +185,7 @@ class HttpParser {
    * multiple times arbitrarily (e.g. it's possible that it may be called with
    * just a few characters at a time).
    */
-  sig::Signal<std::string_view, bool> body;
+  wpi::util::sig::Signal<std::string_view, bool> body;
 
   /**
    * Headers complete callback.
@@ -195,19 +195,19 @@ class HttpParser {
    * connection.  If you are the server, respond with the "Connection: close"
    * header.  If you are the client, close the connection.
    */
-  sig::Signal<bool> messageComplete;
+  wpi::util::sig::Signal<bool> messageComplete;
 
   /**
    * Chunk header callback.
    *
    * The parameter to the callback is the chunk size.
    */
-  sig::Signal<uint64_t> chunkHeader;
+  wpi::util::sig::Signal<uint64_t> chunkHeader;
 
   /**
    * Chunk complete callback.
    */
-  sig::Signal<> chunkComplete;
+  wpi::util::sig::Signal<> chunkComplete;
 
  private:
   http_parser m_parser;
@@ -215,13 +215,13 @@ class HttpParser {
 
   size_t m_maxLength = 1024;
   enum { kStart, kUrl, kStatus, kField, kValue } m_state = kStart;
-  SmallString<128> m_urlBuf;
-  SmallString<32> m_fieldBuf;
-  SmallString<128> m_valueBuf;
+  wpi::util::SmallString<128> m_urlBuf;
+  wpi::util::SmallString<32> m_fieldBuf;
+  wpi::util::SmallString<128> m_valueBuf;
 
   bool m_aborted = false;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_HTTPPARSER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
index 44f3c8ed90..fca6f23ac7 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
@@ -12,7 +12,7 @@
 #include "wpi/net/HttpParser.hpp"
 #include "wpi/net/uv/Stream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class raw_ostream;
 
@@ -49,7 +49,7 @@ class HttpServerConnection {
    *
    * @param os response stream
    */
-  virtual void BuildCommonHeaders(raw_ostream& os);
+  virtual void BuildCommonHeaders(wpi::util::raw_ostream& os);
 
   /**
    * Build HTTP response header, along with other header information like
@@ -63,7 +63,7 @@ class HttpServerConnection {
    *                      be set to false.
    * @param extra Extra HTTP headers to send, including final "\r\n"
    */
-  virtual void BuildHeader(raw_ostream& os, int code, std::string_view codeText,
+  virtual void BuildHeader(wpi::util::raw_ostream& os, int code, std::string_view codeText,
                            std::string_view contentType, uint64_t contentLength,
                            std::string_view extra = {});
 
@@ -138,15 +138,15 @@ class HttpServerConnection {
   uv::Stream& m_stream;
 
   /** The header reader connection. */
-  sig::ScopedConnection m_dataConn;
+  wpi::util::sig::ScopedConnection m_dataConn;
 
   /** The end stream connection. */
-  sig::ScopedConnection m_endConn;
+  wpi::util::sig::ScopedConnection m_endConn;
 
   /** The message complete connection. */
-  sig::Connection m_messageCompleteConn;
+  wpi::util::sig::Connection m_messageCompleteConn;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_HTTPSERVERCONNECTION_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp b/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
index d56b80f400..a9f4b80fe4 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
@@ -22,26 +22,26 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/raw_istream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 // Unescape a %xx-encoded URI.
 // @param buf Buffer for output
 // @param error Set to true if an error occurred
 // @return Escaped string
-std::string_view UnescapeURI(std::string_view str, SmallVectorImpl<char>& buf,
+std::string_view UnescapeURI(std::string_view str, wpi::util::SmallVectorImpl<char>& buf,
                              bool* error);
 
 // Escape a string with %xx-encoding.
 // @param buf Buffer for output
 // @param spacePlus If true, encodes spaces to '+' rather than "%20"
 // @return Escaped string
-std::string_view EscapeURI(std::string_view str, SmallVectorImpl<char>& buf,
+std::string_view EscapeURI(std::string_view str, wpi::util::SmallVectorImpl<char>& buf,
                            bool spacePlus = true);
 
 // Escape a string for HTML output.
 // @param buf Buffer for output
 // @return Escaped string
-std::string_view EscapeHTML(std::string_view str, SmallVectorImpl<char>& buf);
+std::string_view EscapeHTML(std::string_view str, wpi::util::SmallVectorImpl<char>& buf);
 
 // Parse a set of HTTP headers.  Saves just the Content-Type and Content-Length
 // fields.
@@ -49,8 +49,8 @@ std::string_view EscapeHTML(std::string_view str, SmallVectorImpl<char>& buf);
 // @param contentType If not null, Content-Type contents are saved here.
 // @param contentLength If not null, Content-Length contents are saved here.
 // @return False if error occurred in input stream
-bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
-                      SmallVectorImpl<char>* contentLength);
+bool ParseHttpHeaders(wpi::util::raw_istream& is, wpi::util::SmallVectorImpl<char>* contentType,
+                      wpi::util::SmallVectorImpl<char>* contentLength);
 
 // Look for a MIME multi-part boundary.  On return, the input stream will
 // be located at the character following the boundary (usually "\r\n").
@@ -59,7 +59,7 @@ bool ParseHttpHeaders(raw_istream& is, SmallVectorImpl<char>* contentType,
 // @param saveBuf If not null, all scanned characters up to but not including
 //     the boundary are saved to this string
 // @return False if error occurred on input stream, true if boundary found.
-bool FindMultipartBoundary(wpi::raw_istream& is, std::string_view boundary,
+bool FindMultipartBoundary(wpi::util::raw_istream& is, std::string_view boundary,
                            std::string* saveBuf);
 
 /**
@@ -93,10 +93,10 @@ class HttpQueryMap {
    *         name is not present in the query map.
    */
   std::optional<std::string_view> Get(std::string_view name,
-                                      SmallVectorImpl<char>& buf) const;
+                                      wpi::util::SmallVectorImpl<char>& buf) const;
 
  private:
-  StringMap<std::string_view> m_elems;
+  wpi::util::StringMap<std::string_view> m_elems;
 };
 
 class HttpPathRef;
@@ -224,8 +224,8 @@ class HttpPath {
   HttpPathRef drop_front(size_t n) const;
 
  private:
-  SmallString<128> m_pathBuf;
-  SmallVector<size_t, 16> m_pathEnds;
+  wpi::util::SmallString<128> m_pathBuf;
+  wpi::util::SmallVector<size_t, 16> m_pathEnds;
 };
 
 /**
@@ -322,7 +322,7 @@ class HttpRequest {
   template <typename T>
   HttpRequest(const HttpLocation& loc, const T& extraParams)
       : host{loc.host}, port{loc.port} {
-    SmallVector<std::pair<std::string_view, std::string_view>, 4> params;
+    wpi::util::SmallVector<std::pair<std::string_view, std::string_view>, 4> params;
     for (const auto& p : loc.params) {
       params.emplace_back(std::pair{GetFirst(p), GetSecond(p)});
     }
@@ -345,10 +345,10 @@ class HttpRequest {
     SetAuth(loc);
   }
 
-  SmallString<128> host;
+  wpi::util::SmallString<128> host;
   int port;
   std::string auth;
-  SmallString<128> path;
+  wpi::util::SmallString<128> path;
 
  private:
   void SetAuth(const HttpLocation& loc);
@@ -356,7 +356,7 @@ class HttpRequest {
   template <typename T>
   void SetPath(std::string_view path_, const T& params) {
     // Build location including query string
-    raw_svector_ostream pathOs{path};
+    wpi::util::raw_svector_ostream pathOs{path};
     pathOs << path_;
     bool first = true;
     for (const auto& param : params) {
@@ -366,7 +366,7 @@ class HttpRequest {
       } else {
         pathOs << '&';
       }
-      SmallString<64> escapeBuf;
+      wpi::util::SmallString<64> escapeBuf;
       pathOs << EscapeURI(GetFirst(param), escapeBuf, false);
       if (!GetSecond(param).empty()) {
         pathOs << '=' << EscapeURI(GetSecond(param), escapeBuf, false);
@@ -390,18 +390,18 @@ class HttpRequest {
 
 class HttpConnection {
  public:
-  HttpConnection(std::unique_ptr<wpi::NetworkStream> stream_, int timeout)
+  HttpConnection(std::unique_ptr<wpi::net::NetworkStream> stream_, int timeout)
       : stream{std::move(stream_)}, is{*stream, timeout}, os{*stream, true} {}
 
   bool Handshake(const HttpRequest& request, std::string* warnMsg);
 
-  std::unique_ptr<wpi::NetworkStream> stream;
-  wpi::raw_socket_istream is;
-  wpi::raw_socket_ostream os;
+  std::unique_ptr<wpi::net::NetworkStream> stream;
+  wpi::net::raw_socket_istream is;
+  wpi::net::raw_socket_ostream os;
 
   // Valid after Handshake() is successful
-  SmallString<64> contentType;
-  SmallString<64> contentLength;
+  wpi::util::SmallString<64> contentType;
+  wpi::util::SmallString<64> contentLength;
 
   explicit operator bool() const { return stream && !is.has_error(); }
 };
@@ -436,7 +436,7 @@ class HttpMultipartScanner {
   }
 
  private:
-  SmallString<64> m_boundaryWith, m_boundaryWithout;
+  wpi::util::SmallString<64> m_boundaryWith, m_boundaryWithout;
 
   // Internal state
   enum State { kBoundary, kPadding, kDone };
@@ -454,6 +454,6 @@ inline HttpPathRef HttpPath::drop_front(size_t n) const {
   return HttpPathRef(*this, n);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_HTTPUTIL_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp b/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
index 511a05337d..1310473bf5 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
@@ -17,7 +17,7 @@
 #include "wpi/net/uv/Stream.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * A server-side HTTP connection that also accepts WebSocket upgrades.
@@ -43,7 +43,7 @@ class HttpWebSocketServerConnection
     // Handle upgrade event
     m_helper.upgrade.connect([this] {
       // Negotiate sub-protocol
-      SmallVector<std::string_view, 2> protocols{m_protocols.begin(),
+      wpi::util::SmallVector<std::string_view, 2> protocols{m_protocols.begin(),
                                                  m_protocols.end()};
       std::string_view protocol = m_helper.MatchProtocol(protocols).second;
 
@@ -118,9 +118,9 @@ class HttpWebSocketServerConnection
 
  private:
   WebSocketServerHelper m_helper;
-  SmallVector<std::string, 2> m_protocols;
+  wpi::util::SmallVector<std::string, 2> m_protocols;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_HTTPWEBSOCKETSERVERCONNECTION_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/MimeTypes.hpp b/wpinet/src/main/native/include/wpi/net/MimeTypes.hpp
index 8bf1844ab0..032e9ab9d8 100644
--- a/wpinet/src/main/native/include/wpi/net/MimeTypes.hpp
+++ b/wpinet/src/main/native/include/wpi/net/MimeTypes.hpp
@@ -7,10 +7,10 @@
 
 #include <string_view>
 
-namespace wpi {
+namespace wpi::net {
 
 std::string_view MimeTypeFromPath(std::string_view path);
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_MIMETYPES_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/MulticastServiceAnnouncer.h b/wpinet/src/main/native/include/wpi/net/MulticastServiceAnnouncer.h
index ee1ede2fa7..3b2c56a7b9 100644
--- a/wpinet/src/main/native/include/wpi/net/MulticastServiceAnnouncer.h
+++ b/wpinet/src/main/native/include/wpi/net/MulticastServiceAnnouncer.h
@@ -12,7 +12,7 @@
 #include <string>
 #include <string_view>
 #include <utility>
-namespace wpi {
+namespace wpi::net {
 class MulticastServiceAnnouncer {
  public:
   /**
@@ -66,7 +66,7 @@ class MulticastServiceAnnouncer {
  private:
   std::unique_ptr<Impl> pImpl;
 };
-}  // namespace wpi
+}  // namespace wpi::net
 extern "C" {
 #endif
 
diff --git a/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h b/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
index edf15acc10..883b107bf1 100644
--- a/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
+++ b/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
@@ -15,7 +15,7 @@
 #include <vector>
 
 #include "wpi/util/mutex.hpp"
-namespace wpi {
+namespace wpi::net {
 class MulticastServiceResolver {
  public:
   explicit MulticastServiceResolver(std::string_view serviceType);
@@ -95,14 +95,14 @@ class MulticastServiceResolver {
       event.Set();
     }
   }
-  wpi::Event event{true};
+  wpi::util::Event event{true};
   std::vector<ServiceData> queue;
-  wpi::mutex mutex;
+  wpi::util::mutex mutex;
   std::function<bool(const ServiceData&)> copyCallback;
   std::function<void(ServiceData&&)> moveCallback;
   std::unique_ptr<Impl> pImpl;
 };
-}  // namespace wpi
+}  // namespace wpi::net
 #endif
 
 #ifdef __cplusplus
diff --git a/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp b/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
index 714bdab931..50ad6e87ed 100644
--- a/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
+++ b/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/net/NetworkStream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class NetworkAcceptor {
  public:
@@ -24,6 +24,6 @@ class NetworkAcceptor {
   NetworkAcceptor& operator=(const NetworkAcceptor&) = delete;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_NETWORKACCEPTOR_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/NetworkStream.hpp b/wpinet/src/main/native/include/wpi/net/NetworkStream.hpp
index 00a414372f..c62de14642 100644
--- a/wpinet/src/main/native/include/wpi/net/NetworkStream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/NetworkStream.hpp
@@ -8,7 +8,7 @@
 #include <cstddef>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::net {
 
 class NetworkStream {
  public:
@@ -39,6 +39,6 @@ class NetworkStream {
   NetworkStream& operator=(const NetworkStream&) = delete;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_NETWORKSTREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
index 9f06c33f36..713c890fc3 100644
--- a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
+++ b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
@@ -15,7 +15,7 @@
 
 #include "wpi/net/uv/Timer.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class Logger;
 
@@ -59,8 +59,8 @@ class ParallelTcpConnector
    * @return Parallel connector
    */
   static std::shared_ptr<ParallelTcpConnector> Create(
-      wpi::uv::Loop& loop, wpi::uv::Timer::Time reconnectRate,
-      wpi::Logger& logger, std::function<void(wpi::uv::Tcp& tcp)> connected,
+      wpi::net::uv::Loop& loop, wpi::net::uv::Timer::Time reconnectRate,
+      wpi::util::Logger& logger, std::function<void(wpi::net::uv::Tcp& tcp)> connected,
       bool ipv4Only = false) {
     if (loop.IsClosing()) {
       return nullptr;
@@ -70,9 +70,9 @@ class ParallelTcpConnector
                                                   ipv4Only, private_init{});
   }
 
-  ParallelTcpConnector(wpi::uv::Loop& loop, wpi::uv::Timer::Time reconnectRate,
-                       wpi::Logger& logger,
-                       std::function<void(wpi::uv::Tcp& tcp)> connected,
+  ParallelTcpConnector(wpi::net::uv::Loop& loop, wpi::net::uv::Timer::Time reconnectRate,
+                       wpi::util::Logger& logger,
+                       std::function<void(wpi::net::uv::Tcp& tcp)> connected,
                        bool ipv4Only, const private_init&);
   ~ParallelTcpConnector();
 
@@ -105,24 +105,24 @@ class ParallelTcpConnector
    *
    * @param tcp connection passed to connected callback
    */
-  void Succeeded(wpi::uv::Tcp& tcp);
+  void Succeeded(wpi::net::uv::Tcp& tcp);
 
  private:
   bool IsConnected() const { return m_isConnected || m_servers.empty(); }
   void Connect();
-  void CancelAll(wpi::uv::Tcp* except = nullptr);
+  void CancelAll(wpi::net::uv::Tcp* except = nullptr);
 
-  wpi::uv::Loop& m_loop;
-  wpi::Logger& m_logger;
-  wpi::uv::Timer::Time m_reconnectRate;
+  wpi::net::uv::Loop& m_loop;
+  wpi::util::Logger& m_logger;
+  wpi::net::uv::Timer::Time m_reconnectRate;
   bool m_ipv4Only;
-  std::function<void(wpi::uv::Tcp& tcp)> m_connected;
-  std::shared_ptr<wpi::uv::Timer> m_reconnectTimer;
+  std::function<void(wpi::net::uv::Tcp& tcp)> m_connected;
+  std::shared_ptr<wpi::net::uv::Timer> m_reconnectTimer;
   std::vector<std::pair<std::string, unsigned int>> m_servers;
-  std::vector<std::weak_ptr<wpi::uv::GetAddrInfoReq>> m_resolvers;
-  std::vector<std::pair<sockaddr_storage, std::weak_ptr<wpi::uv::Tcp>>>
+  std::vector<std::weak_ptr<wpi::net::uv::GetAddrInfoReq>> m_resolvers;
+  std::vector<std::pair<sockaddr_storage, std::weak_ptr<wpi::net::uv::Tcp>>>
       m_attempts;
   bool m_isConnected{false};
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/include/wpi/net/PortForwarder.hpp b/wpinet/src/main/native/include/wpi/net/PortForwarder.hpp
index 0bd30cb47b..6e5bf2c18c 100644
--- a/wpinet/src/main/native/include/wpi/net/PortForwarder.hpp
+++ b/wpinet/src/main/native/include/wpi/net/PortForwarder.hpp
@@ -10,7 +10,7 @@
 #include <memory>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * Forward ports to another host.  This is primarily useful for accessing
@@ -54,6 +54,6 @@ class PortForwarder {
   std::unique_ptr<Impl> m_impl;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_PORTFORWARDER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/SocketError.hpp b/wpinet/src/main/native/include/wpi/net/SocketError.hpp
index d23aea80cc..f102d9fa5f 100644
--- a/wpinet/src/main/native/include/wpi/net/SocketError.hpp
+++ b/wpinet/src/main/native/include/wpi/net/SocketError.hpp
@@ -7,7 +7,7 @@
 
 #include <string>
 
-namespace wpi {
+namespace wpi::net {
 
 int SocketErrno();
 
@@ -17,6 +17,6 @@ inline std::string SocketStrerror() {
   return SocketStrerror(SocketErrno());
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_SOCKETERROR_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
index 8c139b430a..1c7c2cb445 100644
--- a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
@@ -12,7 +12,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class Logger;
 
@@ -20,11 +20,11 @@ class UDPClient {
   int m_lsd;
   int m_port;
   std::string m_address;
-  Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
  public:
-  explicit UDPClient(Logger& logger);
-  UDPClient(std::string_view address, Logger& logger);
+  explicit UDPClient(wpi::util::Logger& logger);
+  UDPClient(std::string_view address, wpi::util::Logger& logger);
   UDPClient(const UDPClient& other) = delete;
   UDPClient(UDPClient&& other);
   ~UDPClient();
@@ -40,10 +40,10 @@ class UDPClient {
   int send(std::string_view data, std::string_view server, int port);
   int receive(uint8_t* data_received, int receive_len);
   int receive(uint8_t* data_received, int receive_len,
-              SmallVectorImpl<char>* addr_received, int* port_received);
+              wpi::util::SmallVectorImpl<char>* addr_received, int* port_received);
   int set_timeout(double timeout);
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UDPCLIENT_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/UrlParser.hpp b/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
index 5f0faa09da..cf7bd2bc24 100644
--- a/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
+++ b/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
@@ -10,7 +10,7 @@
 #include "wpi/net/http_parser.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * Parses a URL into its constituent components.
@@ -53,34 +53,34 @@ class UrlParser {
   }
 
   std::string_view GetSchema() const {
-    return wpi::substr(m_data, m_url.field_data[UF_SCHEMA].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_SCHEMA].off,
                        m_url.field_data[UF_SCHEMA].len);
   }
 
   std::string_view GetHost() const {
-    return wpi::substr(m_data, m_url.field_data[UF_HOST].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_HOST].off,
                        m_url.field_data[UF_HOST].len);
   }
 
   unsigned int GetPort() const { return m_url.port; }
 
   std::string_view GetPath() const {
-    return wpi::substr(m_data, m_url.field_data[UF_PATH].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_PATH].off,
                        m_url.field_data[UF_PATH].len);
   }
 
   std::string_view GetQuery() const {
-    return wpi::substr(m_data, m_url.field_data[UF_QUERY].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_QUERY].off,
                        m_url.field_data[UF_QUERY].len);
   }
 
   std::string_view GetFragment() const {
-    return wpi::substr(m_data, m_url.field_data[UF_FRAGMENT].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_FRAGMENT].off,
                        m_url.field_data[UF_FRAGMENT].len);
   }
 
   std::string_view GetUserInfo() const {
-    return wpi::substr(m_data, m_url.field_data[UF_USERINFO].off,
+    return wpi::util::substr(m_data, m_url.field_data[UF_USERINFO].off,
                        m_url.field_data[UF_USERINFO].len);
   }
 
@@ -90,6 +90,6 @@ class UrlParser {
   http_parser_url m_url;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_URLPARSER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/WebServer.hpp b/wpinet/src/main/native/include/wpi/net/WebServer.hpp
index 59e066b84c..9e9280c1df 100644
--- a/wpinet/src/main/native/include/wpi/net/WebServer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WebServer.hpp
@@ -10,7 +10,7 @@
 #include <memory>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::net {
 
 /**
  * A web server using the HTTP protocol.
@@ -53,6 +53,6 @@ class WebServer {
   std::unique_ptr<Impl> m_impl;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_WEBSERVER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/WebSocket.hpp b/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
index bd5b33ace9..4cb8250bc8 100644
--- a/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/Signal.h"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 namespace uv {
 class Stream;
@@ -466,7 +466,7 @@ class WebSocket : public std::enable_shared_from_this<WebSocket> {
    * Open event.  Emitted when the connection is open and ready to communicate.
    * The parameter is the selected subprotocol.
    */
-  sig::Signal<std::string_view> open;
+  wpi::util::sig::Signal<std::string_view> open;
 
   /**
    * Close event.  Emitted when the connection is closed.  The first parameter
@@ -474,32 +474,32 @@ class WebSocket : public std::enable_shared_from_this<WebSocket> {
    * has been closed.  The second parameter is a human-readable string
    * explaining the reason why the connection has been closed.
    */
-  sig::Signal<uint16_t, std::string_view> closed;
+  wpi::util::sig::Signal<uint16_t, std::string_view> closed;
 
   /**
    * Text message event.  Emitted when a text message is received.
    * The first parameter is the data, the second parameter is true if the
    * data is the last fragment of the message.
    */
-  sig::Signal<std::string_view, bool> text;
+  wpi::util::sig::Signal<std::string_view, bool> text;
 
   /**
    * Binary message event.  Emitted when a binary message is received.
    * The first parameter is the data, the second parameter is true if the
    * data is the last fragment of the message.
    */
-  sig::Signal<std::span<const uint8_t>, bool> binary;
+  wpi::util::sig::Signal<std::span<const uint8_t>, bool> binary;
 
   /**
    * Ping event.  Emitted when a ping message is received.  A pong message is
    * automatically sent in response, so this is simply a notification.
    */
-  sig::Signal<std::span<const uint8_t>> ping;
+  wpi::util::sig::Signal<std::span<const uint8_t>> ping;
 
   /**
    * Pong event.  Emitted when a pong message is received.
    */
-  sig::Signal<std::span<const uint8_t>> pong;
+  wpi::util::sig::Signal<std::span<const uint8_t>> pong;
 
  private:
   // user data
@@ -527,10 +527,10 @@ class WebSocket : public std::enable_shared_from_this<WebSocket> {
 
   // incoming message buffers/state
   uint64_t m_lastReceivedTime = 0;
-  SmallVector<uint8_t, 14> m_header;
+  wpi::util::SmallVector<uint8_t, 14> m_header;
   size_t m_headerSize = 0;
-  SmallVector<uint8_t, 1024> m_payload;
-  SmallVector<uint8_t, 64> m_controlPayload;
+  wpi::util::SmallVector<uint8_t, 1024> m_payload;
+  wpi::util::SmallVector<uint8_t, 64> m_controlPayload;
   size_t m_frameStart = 0;
   uint64_t m_frameSize = UINT64_MAX;
   uint8_t m_fragmentOpcode = 0;
@@ -559,6 +559,6 @@ class WebSocket : public std::enable_shared_from_this<WebSocket> {
       const std::function<void(std::span<uv::Buffer>, uv::Error)>& callback);
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_WEBSOCKET_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp b/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
index f873c22a27..6bd82c6697 100644
--- a/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
@@ -19,7 +19,7 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 namespace uv {
 class Stream;
@@ -97,14 +97,14 @@ class WebSocketServerHelper {
   /**
    * Upgrade event.  Call Accept() to accept the upgrade.
    */
-  sig::Signal<> upgrade;
+  wpi::util::sig::Signal<> upgrade;
 
  private:
   bool m_gotHost = false;
   bool m_websocket = false;
-  SmallVector<std::string, 2> m_protocols;
-  SmallString<64> m_key;
-  SmallString<16> m_version;
+  wpi::util::SmallVector<std::string, 2> m_protocols;
+  wpi::util::SmallString<64> m_key;
+  wpi::util::SmallString<16> m_version;
 };
 
 /**
@@ -169,22 +169,22 @@ class WebSocketServer : public std::enable_shared_from_this<WebSocketServer> {
   /**
    * Connected event.  First parameter is the URL, second is the websocket.
    */
-  sig::Signal<std::string_view, WebSocket&> connected;
+  wpi::util::sig::Signal<std::string_view, WebSocket&> connected;
 
  private:
   uv::Stream& m_stream;
   HttpParser m_req{HttpParser::kRequest};
   WebSocketServerHelper m_helper;
-  SmallVector<std::string, 2> m_protocols;
+  wpi::util::SmallVector<std::string, 2> m_protocols;
   ServerOptions m_options;
   bool m_aborted = false;
-  sig::ScopedConnection m_dataConn;
-  sig::ScopedConnection m_errorConn;
-  sig::ScopedConnection m_endConn;
+  wpi::util::sig::ScopedConnection m_dataConn;
+  wpi::util::sig::ScopedConnection m_errorConn;
+  wpi::util::sig::ScopedConnection m_endConn;
 
   void Abort(uint16_t code, std::string_view reason);
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_WEBSOCKETSERVER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp b/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
index 6a4293f774..6432161b29 100644
--- a/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/SafeThread.hpp"
 #include "wpi/util/future.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 namespace detail {
 
@@ -89,14 +89,14 @@ struct WorkerThreadRequest {
 };
 
 template <typename R, typename... T>
-class WorkerThreadThread : public SafeThread {
+class WorkerThreadThread : public wpi::util::SafeThread {
  public:
   using Request = WorkerThreadRequest<R, T...>;
 
   void Main() override;
 
   std::vector<Request> m_requests;
-  PromiseFactory<R> m_promises;
+  wpi::util::PromiseFactory<R> m_promises;
   detail::WorkerThreadAsync<R> m_async;
 };
 
@@ -228,7 +228,7 @@ class WorkerThread<R(T...)> final {
    * @param u Arguments to work function
    */
   template <typename... U>
-  future<R> QueueWork(WorkFunction work, U&&... u) {
+  wpi::util::future<R> QueueWork(WorkFunction work, U&&... u) {
     if (auto thr = m_owner.GetThread()) {
       // create the future
       uint64_t req = thr->m_promises.CreateRequest();
@@ -245,7 +245,7 @@ class WorkerThread<R(T...)> final {
     }
 
     // XXX: is this the right thing to do?
-    return future<R>();
+    return wpi::util::future<R>();
   }
 
   /**
@@ -277,9 +277,9 @@ class WorkerThread<R(T...)> final {
   }
 
  private:
-  SafeThreadOwner<Thread> m_owner;
+  wpi::util::SafeThreadOwner<Thread> m_owner;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_WORKERTHREAD_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/hostname.hpp b/wpinet/src/main/native/include/wpi/net/hostname.hpp
index 30b4ae6773..2dc6b8e628 100644
--- a/wpinet/src/main/native/include/wpi/net/hostname.hpp
+++ b/wpinet/src/main/native/include/wpi/net/hostname.hpp
@@ -8,12 +8,12 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::net {
 template <typename T>
 class SmallVectorImpl;
 
 std::string GetHostname();
-std::string_view GetHostname(SmallVectorImpl<char>& name);
-}  // namespace wpi
+std::string_view GetHostname(wpi::util::SmallVectorImpl<char>& name);
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_HOSTNAME_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/http_parser.hpp b/wpinet/src/main/native/include/wpi/net/http_parser.hpp
index 3993a4fc27..2da9d9c16f 100644
--- a/wpinet/src/main/native/include/wpi/net/http_parser.hpp
+++ b/wpinet/src/main/native/include/wpi/net/http_parser.hpp
@@ -47,7 +47,7 @@
 # define HTTP_MAX_HEADER_SIZE (80*1024)
 #endif
 
-namespace wpi {
+namespace wpi::net {
 
 struct http_parser;
 struct http_parser_settings;
@@ -273,7 +273,7 @@ enum http_errno {
 
 
 /* Get an http_errno value from an http_parser */
-#define HTTP_PARSER_ERRNO(p)            ((::wpi::http_errno) (p)->http_errno)
+#define HTTP_PARSER_ERRNO(p)            ((::wpi::net::http_errno) (p)->http_errno)
 
 
 struct http_parser {
@@ -416,6 +416,6 @@ void http_parser_pause(http_parser *parser, int paused);
 /* Checks if this is the final chunk of the body. */
 int http_body_is_final(const http_parser *parser);
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif
diff --git a/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp b/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
index 0866b402ef..f61ab8470f 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
@@ -7,11 +7,11 @@
 
 #include "wpi/util/raw_istream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class NetworkStream;
 
-class raw_socket_istream : public raw_istream {
+class raw_socket_istream : public wpi::util::raw_istream {
  public:
   explicit raw_socket_istream(NetworkStream& stream, int timeout = 0)
       : m_stream(stream), m_timeout(timeout) {}
@@ -26,6 +26,6 @@ class raw_socket_istream : public raw_istream {
   int m_timeout;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_RAW_SOCKET_ISTREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp b/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
index bd013fc1d4..b95bc1d794 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
@@ -7,11 +7,11 @@
 
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class NetworkStream;
 
-class raw_socket_ostream : public raw_ostream {
+class raw_socket_ostream : public wpi::util::raw_ostream {
  public:
   raw_socket_ostream(NetworkStream& stream, bool shouldClose)
       : m_stream(stream), m_shouldClose(shouldClose) {}
@@ -34,6 +34,6 @@ class raw_socket_ostream : public raw_ostream {
   bool m_shouldClose;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_RAW_SOCKET_OSTREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp b/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
index 44818e0474..14bfcd55cf 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
@@ -13,14 +13,14 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 /**
- * raw_ostream style output to a SmallVector of uv::Buffer buffers.  Fixed-size
+ * wpi::util::raw_ostream style output to a wpi::util::SmallVector of uv::Buffer buffers.  Fixed-size
  * buffers are allocated and appended as necessary to fit the data being output.
- * The SmallVector need not be empty at start.
+ * The wpi::util::SmallVector need not be empty at start.
  */
-class raw_uv_ostream : public raw_ostream {
+class raw_uv_ostream : public wpi::util::raw_ostream {
  public:
   /**
    * Construct a new raw_uv_ostream.
@@ -28,7 +28,7 @@ class raw_uv_ostream : public raw_ostream {
    * @param allocSize Size to allocate for each buffer; allocation will be
    *                  performed using Buffer::Allocate().
    */
-  raw_uv_ostream(SmallVectorImpl<uv::Buffer>& bufs, size_t allocSize)
+  raw_uv_ostream(wpi::util::SmallVectorImpl<uv::Buffer>& bufs, size_t allocSize)
       : m_bufs(bufs), m_alloc([=] { return uv::Buffer::Allocate(allocSize); }) {
     SetUnbuffered();
   }
@@ -38,7 +38,7 @@ class raw_uv_ostream : public raw_ostream {
    * @param bufs Buffers vector.  NOT cleared on construction.
    * @param alloc Allocator.
    */
-  raw_uv_ostream(SmallVectorImpl<uv::Buffer>& bufs,
+  raw_uv_ostream(wpi::util::SmallVectorImpl<uv::Buffer>& bufs,
                  std::function<uv::Buffer()> alloc)
       : m_bufs(bufs), m_alloc(std::move(alloc)) {
     SetUnbuffered();
@@ -62,13 +62,13 @@ class raw_uv_ostream : public raw_ostream {
   void write_impl(const char* data, size_t len) override;
   uint64_t current_pos() const override;
 
-  SmallVectorImpl<uv::Buffer>& m_bufs;
+  wpi::util::SmallVectorImpl<uv::Buffer>& m_bufs;
   std::function<uv::Buffer()> m_alloc;
 
   // How much allocated space is left in the current buffer.
   size_t m_left = 0;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_RAW_UV_OSTREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Async.hpp b/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
index 619975c481..ca4130667d 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/Signal.h"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 /**
  * Async handle.
@@ -121,10 +121,10 @@ class Async final : public HandleImpl<Async<T...>, uv_async_t> {
   /**
    * Signal generated (on event loop thread) when the async event occurs.
    */
-  sig::Signal<T...> wakeup;
+  wpi::util::sig::Signal<T...> wakeup;
 
  private:
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::vector<std::tuple<T...>> m_data;
   std::weak_ptr<Loop> m_loop;
 };
@@ -190,12 +190,12 @@ class Async<> final : public HandleImpl<Async<>, uv_async_t> {
   /**
    * Signal generated (on event loop thread) when the async event occurs.
    */
-  sig::Signal<> wakeup;
+  wpi::util::sig::Signal<> wakeup;
 
  private:
   std::weak_ptr<Loop> m_loop;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_ASYNC_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp b/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
index 9ee8818d74..961a4de4d5 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
@@ -21,7 +21,7 @@
 #include "wpi/util/future.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 template <typename T>
 class AsyncFunction;
@@ -38,7 +38,7 @@ class AsyncFunction<R(T...)> final
 
  public:
   AsyncFunction(const std::shared_ptr<Loop>& loop,
-                std::function<void(promise<R>, T...)> func, const private_init&)
+                std::function<void(wpi::util::promise<R>, T...)> func, const private_init&)
       : wakeup{std::move(func)}, m_loop{loop} {}
   ~AsyncFunction() noexcept override {
     if (auto loop = m_loop.lock()) {
@@ -58,7 +58,7 @@ class AsyncFunction<R(T...)> final
    *             wakeup function, a default-constructed value is "returned".
    */
   static std::shared_ptr<AsyncFunction> Create(
-      Loop& loop, std::function<void(promise<R>, T...)> func = nullptr) {
+      Loop& loop, std::function<void(wpi::util::promise<R>, T...)> func = nullptr) {
     return Create(loop.shared_from_this(), std::move(func));
   }
 
@@ -73,7 +73,7 @@ class AsyncFunction<R(T...)> final
    */
   static std::shared_ptr<AsyncFunction> Create(
       const std::shared_ptr<Loop>& loop,
-      std::function<void(promise<R>, T...)> func = nullptr) {
+      std::function<void(wpi::util::promise<R>, T...)> func = nullptr) {
     if (loop->IsClosing()) {
       return nullptr;
     }
@@ -121,7 +121,7 @@ class AsyncFunction<R(T...)> final
    * destroyed while waiting for a result.
    */
   template <typename... U>
-  future<R> Call(U&&... u) {
+  wpi::util::future<R> Call(U&&... u) {
     // create the future
     uint64_t req = m_promises.CreateRequest();
 
@@ -157,22 +157,22 @@ class AsyncFunction<R(T...)> final
   }
 
   template <typename... U>
-  future<R> operator()(U&&... u) {
+  wpi::util::future<R> operator()(U&&... u) {
     return Call(std::forward<U>(u)...);
   }
 
   /**
    * Function called (on event loop thread) when the async is called.
    */
-  std::function<void(promise<R>, T...)> wakeup;
+  std::function<void(wpi::util::promise<R>, T...)> wakeup;
 
  private:
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::vector<std::pair<uint64_t, std::tuple<T...>>> m_params;
-  PromiseFactory<R> m_promises;
+  wpi::util::PromiseFactory<R> m_promises;
   std::weak_ptr<Loop> m_loop;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_ASYNCFUNCTION_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp b/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
index bb187695ab..41437628cd 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
@@ -15,7 +15,7 @@
 
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 /**
  * Data buffer.  Convenience wrapper around uv_buf_t.
@@ -167,10 +167,10 @@ class SimpleBufferPool {
   size_t Remaining() const { return m_pool.size(); }
 
  private:
-  SmallVector<Buffer, DEPTH> m_pool;
+  wpi::util::SmallVector<Buffer, DEPTH> m_pool;
   size_t m_size;  // NOLINT
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_BUFFER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Check.hpp b/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
index 0144079b90..04c247eebd 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
@@ -12,7 +12,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -57,9 +57,9 @@ class Check final : public HandleImpl<Check, uv_check_t> {
   /**
    * Signal generated once per loop iteration after polling for I/O.
    */
-  sig::Signal<> check;
+  wpi::util::sig::Signal<> check;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_CHECK_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Error.hpp b/wpinet/src/main/native/include/wpi/net/uv/Error.hpp
index 51216a0257..fc79763391 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Error.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Error.hpp
@@ -7,7 +7,7 @@
 
 #include <uv.h>
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 /**
  * Error code.
@@ -41,6 +41,6 @@ class Error {
   int m_err{0};
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_ERROR_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp b/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
index b5ae73deb5..b480c5ba79 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
@@ -14,7 +14,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -71,9 +71,9 @@ class FsEvent final : public HandleImpl<FsEvent, uv_fs_event_t> {
    * relative to that directory).  The second parameter is an ORed mask of
    * UV_RENAME and UV_CHANGE.
    */
-  sig::Signal<const char*, int> fsEvent;
+  wpi::util::sig::Signal<const char*, int> fsEvent;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_FSEVENT_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp b/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
index dbd44e33e3..3c8c20496b 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
@@ -16,7 +16,7 @@
 #include "wpi/net/uv/Request.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -34,7 +34,7 @@ class GetAddrInfoReq : public RequestImpl<GetAddrInfoReq, uv_getaddrinfo_t> {
    * Resolved lookup signal.
    * Parameter is resolved address info.
    */
-  sig::Signal<const addrinfo&> resolved;
+  wpi::util::sig::Signal<const addrinfo&> resolved;
 };
 
 /**
@@ -115,6 +115,6 @@ inline void GetAddrInfo(const std::shared_ptr<Loop>& loop,
   GetAddrInfo(*loop, std::move(callback), node, service, hints);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_GETADDRINFO_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp b/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
index 46a1499010..56101ca504 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
@@ -15,7 +15,7 @@
 #include "wpi/net/uv/Request.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -33,7 +33,7 @@ class GetNameInfoReq : public RequestImpl<GetNameInfoReq, uv_getnameinfo_t> {
    * Resolved lookup signal.
    * Parameters are hostname and service.
    */
-  sig::Signal<const char*, const char*> resolved;
+  wpi::util::sig::Signal<const char*, const char*> resolved;
 };
 
 /**
@@ -222,6 +222,6 @@ inline void GetNameInfo6(const std::shared_ptr<Loop>& loop,
   return GetNameInfo6(*loop, std::move(callback), ip, port, flags);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_GETNAMEINFO_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
index fbc3d95631..9ea645e0e4 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
@@ -18,11 +18,11 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi {
+namespace wpi::net {
 class Logger;
-}  // namespace wpi
+}  // namespace wpi::net
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 /**
  * Handle.
@@ -226,23 +226,23 @@ class Handle : public std::enable_shared_from_this<Handle> {
    * Sets logger.
    * @param logger Logger
    */
-  void SetLogger(Logger* logger) { m_logger = logger; }
+  void SetLogger(wpi::util::Logger* logger) { m_logger = logger; }
 
   /**
    * Gets logger.
    * @return Logger, or nullptr if none set
    */
-  Logger* GetLogger() const { return m_logger; }
+  wpi::util::Logger* GetLogger() const { return m_logger; }
 
   /**
    * Error signal
    */
-  sig::Signal<Error> error;
+  wpi::util::sig::Signal<Error> error;
 
   /**
    * Closed signal
    */
-  sig::Signal<> closed;
+  wpi::util::sig::Signal<> closed;
 
   /**
    * Report an error.
@@ -279,7 +279,7 @@ class Handle : public std::enable_shared_from_this<Handle> {
   std::function<Buffer(size_t)> m_allocBuf{&Buffer::Allocate};
   std::function<void(Buffer&)> m_freeBuf{&DefaultFreeBuf};
   std::shared_ptr<void> m_data;
-  Logger* m_logger = nullptr;
+  wpi::util::Logger* m_logger = nullptr;
 };
 
 /**
@@ -309,6 +309,6 @@ class HandleImpl : public Handle {
   HandleImpl() : Handle{static_cast<uv_handle_t*>(std::malloc(sizeof(U)))} {}
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_HANDLE_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp b/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
index d4a6c79d0f..2a216d4fe0 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
@@ -12,7 +12,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -66,9 +66,9 @@ class Idle final : public HandleImpl<Idle, uv_idle_t> {
   /**
    * Signal generated once per loop iteration prior to Prepare signals.
    */
-  sig::Signal<> idle;
+  wpi::util::sig::Signal<> idle;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_IDLE_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp b/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
index bce2a7e5cd..66b4645192 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/Signal.h"
 #include "wpi/util/function_ref.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Handle;
 
@@ -186,7 +186,7 @@ class Loop final : public std::enable_shared_from_this<Loop> {
    *
    * @param callback A function to be invoked once for each active handle.
    */
-  void Walk(function_ref<void(Handle&)> callback);
+  void Walk(wpi::util::function_ref<void(Handle&)> callback);
 
   /**
    * Reinitialize any kernel state necessary in the child process after
@@ -247,7 +247,7 @@ class Loop final : public std::enable_shared_from_this<Loop> {
   /**
    * Error signal
    */
-  sig::Signal<Error> error;
+  wpi::util::sig::Signal<Error> error;
 
   /**
    * Reports error.
@@ -263,6 +263,6 @@ class Loop final : public std::enable_shared_from_this<Loop> {
   bool m_closing = false;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_LOOP_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp b/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
index 720caabd6c..790ef5797c 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
@@ -14,7 +14,7 @@
 #include "wpi/net/uv/Stream.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class NetworkStream;
 
@@ -32,7 +32,7 @@ class ConnectReq : public RequestImpl<ConnectReq, uv_connect_t> {
   /**
    * Connection completed signal.
    */
-  sig::Signal<> connected;
+  wpi::util::sig::Signal<> connected;
 };
 
 /**
@@ -115,7 +115,7 @@ class NetworkStream : public Stream {
   /**
    * Signal generated when an incoming connection is received.
    */
-  sig::Signal<> connection;
+  wpi::util::sig::Signal<> connection;
 
  protected:
   explicit NetworkStream(uv_stream_t* uv_stream) : Stream{uv_stream} {}
@@ -148,6 +148,6 @@ class NetworkStreamImpl : public NetworkStream {
       : NetworkStream{static_cast<uv_stream_t*>(std::malloc(sizeof(U)))} {}
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_NETWORKSTREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp b/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
index be5543ca02..dc9590ff02 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
@@ -14,7 +14,7 @@
 
 #include "wpi/net/uv/NetworkStream.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 class PipeConnectReq;
@@ -203,6 +203,6 @@ class PipeConnectReq : public ConnectReq {
   }
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_PIPE_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp b/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
index db95635e45..0c648046ef 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
@@ -13,7 +13,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -105,7 +105,7 @@ class Poll final : public HandleImpl<Poll, uv_poll_t> {
   /**
    * Signal generated when a poll event occurs.
    */
-  sig::Signal<int> pollEvent;
+  wpi::util::sig::Signal<int> pollEvent;
 
  private:
   struct ReuseData {
@@ -117,6 +117,6 @@ class Poll final : public HandleImpl<Poll, uv_poll_t> {
   std::unique_ptr<ReuseData> m_reuseData;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_POLL_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp b/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
index d0864260ee..c41e47e7c3 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
@@ -12,7 +12,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -57,9 +57,9 @@ class Prepare final : public HandleImpl<Prepare, uv_prepare_t> {
   /**
    * Signal generated once per loop iteration prior to polling for I/O.
    */
-  sig::Signal<> prepare;
+  wpi::util::sig::Signal<> prepare;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_PREPARE_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Process.hpp b/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
index 15d6cbf621..341631076a 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
@@ -17,7 +17,7 @@
 #include "wpi/util/Signal.h"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 class Pipe;
@@ -70,7 +70,7 @@ class Process final : public HandleImpl<Process, uv_process_t> {
       m_data.str = m_strData.c_str();
     }
 
-    /*implicit*/ Option(const SmallVectorImpl<char>& arg)  // NOLINT
+    /*implicit*/ Option(const wpi::util::SmallVectorImpl<char>& arg)  // NOLINT
         : m_strData(arg.data(), arg.size()) {
       m_data.str = m_strData.c_str();
     }
@@ -302,9 +302,9 @@ class Process final : public HandleImpl<Process, uv_process_t> {
    * Signal generated when the process exits.  The parameters are the exit
    * status and the signal that caused the process to terminate, if any.
    */
-  sig::Signal<int64_t, int> exited;
+  wpi::util::sig::Signal<int64_t, int> exited;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_PROCESS_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Request.hpp b/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
index fe6d1f0867..3c720f1d2d 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
@@ -13,7 +13,7 @@
 
 #include "wpi/net/uv/Error.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 /**
  * Request.  Requests are not moveable or copyable.
@@ -166,6 +166,6 @@ class RequestImpl : public Request {
   U m_uv_req;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_REQUEST_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp b/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
index 98deaec801..47981282c3 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
@@ -12,7 +12,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -71,9 +71,9 @@ class Signal final : public HandleImpl<Signal, uv_signal_t> {
   /**
    * Signal generated when a signal occurs.
    */
-  sig::Signal<int> signal;
+  wpi::util::sig::Signal<int> signal;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_SIGNAL_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp b/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
index 3def693db8..86058aa690 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
@@ -19,7 +19,7 @@
 #include "wpi/net/uv/Request.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Stream;
 
@@ -37,7 +37,7 @@ class ShutdownReq : public RequestImpl<ShutdownReq, uv_shutdown_t> {
   /**
    * Shutdown completed signal.
    */
-  sig::Signal<> complete;
+  wpi::util::sig::Signal<> complete;
 };
 
 /**
@@ -55,7 +55,7 @@ class WriteReq : public RequestImpl<WriteReq, uv_write_t> {
    * Write completed signal.  This is called even if an error occurred.
    * @param err error value
    */
-  sig::Signal<Error> finish;
+  wpi::util::sig::Signal<Error> finish;
 };
 
 /**
@@ -293,12 +293,12 @@ class Stream : public Handle {
   /**
    * Signal generated when data was read on a stream.
    */
-  sig::Signal<Buffer&, size_t> data;
+  wpi::util::sig::Signal<Buffer&, size_t> data;
 
   /**
    * Signal generated when no more read data is available.
    */
-  sig::Signal<> end;
+  wpi::util::sig::Signal<> end;
 
  protected:
   explicit Stream(uv_stream_t* uv_stream)
@@ -329,6 +329,6 @@ class StreamImpl : public Stream {
   StreamImpl() : Stream{static_cast<uv_stream_t*>(std::malloc(sizeof(U)))} {}
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_STREAM_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp b/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
index f68b184452..459c8b84dc 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
@@ -15,7 +15,7 @@
 
 #include "wpi/net/uv/NetworkStream.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 class TcpConnectReq;
@@ -366,6 +366,6 @@ class TcpConnectReq : public ConnectReq {
   }
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_TCP_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp b/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
index 6e39043455..5f3b1caa2e 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
@@ -15,7 +15,7 @@
 #include "wpi/net/uv/Handle.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -136,9 +136,9 @@ class Timer final : public HandleImpl<Timer, uv_timer_t> {
   /**
    * Signal generated when the timeout event occurs.
    */
-  sig::Signal<> timeout;
+  wpi::util::sig::Signal<> timeout;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_TIMER_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp b/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
index 06a21bf3c1..89ebeb68c8 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
@@ -12,7 +12,7 @@
 
 #include "wpi/net/uv/Stream.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 class Tty;
@@ -80,6 +80,6 @@ class Tty final : public StreamImpl<Tty, uv_tty_t> {
   }
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_TTY_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp b/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
index 6a7b32e08b..8185ec44dd 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
@@ -17,7 +17,7 @@
 #include "wpi/net/uv/Request.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 class Udp;
@@ -35,7 +35,7 @@ class UdpSendReq : public RequestImpl<UdpSendReq, uv_udp_send_t> {
    * Send completed signal.  This is called even if an error occurred.
    * @param err error value
    */
-  sig::Signal<Error> complete;
+  wpi::util::sig::Signal<Error> complete;
 };
 
 /**
@@ -390,9 +390,9 @@ class Udp final : public HandleImpl<Udp, uv_udp_t> {
    * Signal generated for each incoming datagram.  Parameters are the buffer,
    * the number of bytes received, the address of the sender, and flags.
    */
-  sig::Signal<Buffer&, size_t, const sockaddr&, unsigned> received;
+  wpi::util::sig::Signal<Buffer&, size_t, const sockaddr&, unsigned> received;
 };
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_UDP_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Work.hpp b/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
index 645bc220ff..258cc92f6c 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
@@ -14,7 +14,7 @@
 #include "wpi/net/uv/Request.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 class Loop;
 
@@ -31,13 +31,13 @@ class WorkReq : public RequestImpl<WorkReq, uv_work_t> {
   /**
    * Function(s) that will be run on the thread pool.
    */
-  sig::Signal<> work;
+  wpi::util::sig::Signal<> work;
 
   /**
    * Function(s) that will be run on the loop thread after the work on the
    * thread pool has been completed by the work callback.
    */
-  sig::Signal<> afterWork;
+  wpi::util::sig::Signal<> afterWork;
 };
 
 /**
@@ -88,6 +88,6 @@ inline void QueueWork(const std::shared_ptr<Loop>& loop,
   QueueWork(*loop, std::move(work), std::move(afterWork));
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_WORK_HPP_
diff --git a/wpinet/src/main/native/include/wpi/net/uv/util.hpp b/wpinet/src/main/native/include/wpi/net/uv/util.hpp
index 08cc844928..fa9b86f2f3 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/util.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/util.hpp
@@ -14,7 +14,7 @@
 #pragma comment(lib, "Ws2_32.lib")
 #endif
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 namespace detail {
 template <typename T>
@@ -153,6 +153,6 @@ int NameToAddr(std::string_view ip, in_addr* addr);
  */
 int NameToAddr(std::string_view ip, in6_addr* addr);
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
 #endif  // WPINET_WPINET_SRC_MAIN_NATIVE_INCLUDE_WPI_NET_UV_UTIL_HPP_
diff --git a/wpinet/src/main/native/linux/AvahiClient.cpp b/wpinet/src/main/native/linux/AvahiClient.cpp
index e039f6f200..10c91200c9 100644
--- a/wpinet/src/main/native/linux/AvahiClient.cpp
+++ b/wpinet/src/main/native/linux/AvahiClient.cpp
@@ -10,7 +10,7 @@
 
 #include "dlfcn.h"
 
-using namespace wpi;
+using namespace wpi::net;
 
 #define AvahiFunctionLoad(snake_name)                                          \
   do {                                                                         \
@@ -73,7 +73,7 @@ AvahiFunctionTable& AvahiFunctionTable::Get() {
   return table;
 }
 
-static wpi::mutex ThreadLoopLock;
+static wpi::util::mutex ThreadLoopLock;
 static std::weak_ptr<AvahiThread> ThreadLoop;
 
 std::shared_ptr<AvahiThread> AvahiThread::Get() {
diff --git a/wpinet/src/main/native/linux/AvahiClient.hpp b/wpinet/src/main/native/linux/AvahiClient.hpp
index 1ed93a8b58..ede5276411 100644
--- a/wpinet/src/main/native/linux/AvahiClient.hpp
+++ b/wpinet/src/main/native/linux/AvahiClient.hpp
@@ -223,7 +223,7 @@ enum {
   AVAHI_ERR_MAX = -54
 };
 
-namespace wpi {
+namespace wpi::net {
 class AvahiFunctionTable {
  public:
 #define AvahiFunction(CapName, RetType, Parameters) \
@@ -319,4 +319,4 @@ class AvahiThread {
   AvahiFunctionTable& table = AvahiFunctionTable::Get();
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
index 9d944c11fa..8ebd9d7fdb 100644
--- a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
@@ -14,7 +14,7 @@
 #include "AvahiClient.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct MulticastServiceAnnouncer::Impl {
   AvahiFunctionTable& table = AvahiFunctionTable::Get();
diff --git a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
index dfe921fb5f..0b6bb7b879 100644
--- a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct MulticastServiceResolver::Impl {
   AvahiFunctionTable& table = AvahiFunctionTable::Get();
@@ -88,12 +88,12 @@ static void ResolveCallback(AvahiServiceResolver* r, AvahiIfIndex interface,
           // Todo make this just do key
           continue;
         }
-        std::string_view key = wpi::substr(value, 0, splitIndex);
+        std::string_view key = wpi::util::substr(value, 0, splitIndex);
         value =
-            wpi::substr(value, splitIndex + 1, value.size() - splitIndex - 1);
+            wpi::util::substr(value, splitIndex + 1, value.size() - splitIndex - 1);
         data.txt.emplace_back(std::pair<std::string, std::string>{key, value});
       }
-      wpi::SmallString<256> outputHostName;
+      wpi::util::SmallString<256> outputHostName;
       char label[256];
       do {
         impl->table.unescape_label(&host_name, label, sizeof(label));
diff --git a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
index 043dae19fd..a7526f9975 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
@@ -13,7 +13,7 @@
 #include "dns_sd.h"
 #include "wpi/util/SmallString.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct MulticastServiceAnnouncer::Impl {
   std::string serviceName;
@@ -57,7 +57,7 @@ MulticastServiceAnnouncer::MulticastServiceAnnouncer(
   pImpl->serviceType = serviceType;
   pImpl->port = port;
 
-  wpi::SmallString<64> key;
+  wpi::util::SmallString<64> key;
 
   for (auto&& i : txt) {
     key.clear();
diff --git a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
index 2b668a6478..3c676721be 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
@@ -20,7 +20,7 @@
 #include "dns_sd.h"
 #include "wpi/util/SmallVector.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct DnsResolveState {
   DnsResolveState(MulticastServiceResolver::Impl* impl,
@@ -214,17 +214,17 @@ void MulticastServiceResolver::Stop() {
   if (!pImpl->serviceRef) {
     return;
   }
-  wpi::SmallVector<WPI_EventHandle, 8> cleanupEvents;
+  wpi::util::SmallVector<WPI_EventHandle, 8> cleanupEvents;
   for (auto&& i : pImpl->ResolveStates) {
     cleanupEvents.push_back(
         pImpl->thread->RemoveServiceRefOutsideThread(i->ResolveRef));
   }
   cleanupEvents.push_back(
       pImpl->thread->RemoveServiceRefOutsideThread(pImpl->serviceRef));
-  wpi::SmallVector<WPI_Handle, 8> signaledBuf;
+  wpi::util::SmallVector<WPI_Handle, 8> signaledBuf;
   signaledBuf.resize(cleanupEvents.size());
   while (!cleanupEvents.empty()) {
-    auto signaled = wpi::WaitForObjects(cleanupEvents, signaledBuf);
+    auto signaled = wpi::util::WaitForObjects(cleanupEvents, signaledBuf);
     for (auto&& s : signaled) {
       cleanupEvents.erase(
           std::find(cleanupEvents.begin(), cleanupEvents.end(), s));
diff --git a/wpinet/src/main/native/macOS/ResolverThread.cpp b/wpinet/src/main/native/macOS/ResolverThread.cpp
index a5ac1e1c4d..d275441081 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.cpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.cpp
@@ -13,7 +13,7 @@
 
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 ResolverThread::ResolverThread(const private_init&) {}
 
@@ -62,7 +62,7 @@ bool ResolverThread::CleanupRefs() {
         std::find_if(serviceRefs.begin(), serviceRefs.end(),
                      [=](auto& a) { return a.first == r.first; }));
     DNSServiceRefDeallocate(r.first);
-    wpi::SetEvent(r.second);
+    wpi::util::SetEvent(r.second);
   }
   serviceRefsToRemove.clear();
   return serviceRefs.empty();
@@ -102,7 +102,7 @@ void ResolverThread::ThreadMain() {
   }
 }
 
-static wpi::mutex ThreadLoopLock;
+static wpi::util::mutex ThreadLoopLock;
 static std::weak_ptr<ResolverThread> ThreadLoop;
 
 std::shared_ptr<ResolverThread> ResolverThread::Get() {
diff --git a/wpinet/src/main/native/macOS/ResolverThread.hpp b/wpinet/src/main/native/macOS/ResolverThread.hpp
index d141854d6c..d03e495e4e 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.hpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.hpp
@@ -19,7 +19,7 @@
 #include "wpi/util/Synchronization.h"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::net {
 class ResolverThread {
  private:
   struct private_init {};
@@ -38,12 +38,12 @@ class ResolverThread {
   void ThreadMain();
   bool CleanupRefs();
 
-  wpi::mutex serviceRefMutex;
+  wpi::util::mutex serviceRefMutex;
   std::vector<std::pair<DNSServiceRef, WPI_EventHandle>> serviceRefsToRemove;
   std::vector<std::pair<DNSServiceRef, dnssd_sock_t>> serviceRefs;
   std::thread thread;
   std::atomic_bool running;
 };
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // defined(__APPLE__)
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
index 743a9aaef2..c7ecdb8f3e 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
@@ -43,9 +43,9 @@
 
 #include "wpi/net/SocketError.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
-TCPAcceptor::TCPAcceptor(int port, std::string_view address, Logger& logger)
+TCPAcceptor::TCPAcceptor(int port, std::string_view address, wpi::util::Logger& logger)
     : m_lsd(0),
       m_port(port),
       m_address(address),
@@ -89,7 +89,7 @@ int TCPAcceptor::start() {
   address.sin_family = PF_INET;
   if (m_address.size() > 0) {
 #ifdef _WIN32
-    SmallString<128> addr_copy(m_address);
+    wpi::util::SmallString<128> addr_copy(m_address);
     addr_copy.push_back('\0');
     int res = InetPton(PF_INET, addr_copy.data(), &(address.sin_addr));
 #else
@@ -143,7 +143,7 @@ void TCPAcceptor::shutdown() {
 
   std::memset(&address, 0, sizeof(address));
   address.sin_family = PF_INET;
-  SmallString<128> addr_copy;
+  wpi::util::SmallString<128> addr_copy;
   if (m_address.size() > 0)
     addr_copy = m_address;
   else
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
index db17dfd37b..73d55c0dde 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
@@ -46,7 +46,7 @@
 #include "wpi/net/SocketError.hpp"
 #include "wpi/net/TCPStream.h"
 
-using namespace wpi;
+using namespace wpi::net;
 
 static int ResolveHostName(const char* hostname, struct in_addr* addr) {
   struct addrinfo hints;
@@ -71,7 +71,7 @@ static int ResolveHostName(const char* hostname, struct in_addr* addr) {
 }
 
 std::unique_ptr<NetworkStream> TCPConnector::connect(const char* server,
-                                                     int port, Logger& logger,
+                                                     int port, wpi::util::Logger& logger,
                                                      int timeout) {
 #ifdef _WIN32
   struct WSAHelper {
@@ -90,7 +90,7 @@ std::unique_ptr<NetworkStream> TCPConnector::connect(const char* server,
   address.sin_family = AF_INET;
   if (ResolveHostName(server, &(address.sin_addr)) != 0) {
 #ifdef _WIN32
-    SmallString<128> addr_copy(server);
+    wpi::util::SmallString<128> addr_copy(server);
     addr_copy.push_back('\0');
     int res = InetPton(PF_INET, addr_copy.data(), &(address.sin_addr));
 #else
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
index 94ab2079a7..c7c91cfe85 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
@@ -13,10 +13,10 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
-    std::span<const std::pair<const char*, int>> servers, Logger& logger,
+    std::span<const std::pair<const char*, int>> servers, wpi::util::Logger& logger,
     int timeout) {
   if (servers.empty()) {
     return nullptr;
@@ -24,8 +24,8 @@ std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
 
   // structure to make sure we don't start duplicate workers
   struct GlobalState {
-    wpi::mutex mtx;
-    SmallSet<std::tuple<std::thread::id, std::string, int>, 16> active;
+    wpi::util::mutex mtx;
+    wpi::util::SmallSet<std::tuple<std::thread::id, std::string, int>, 16> active;
   };
   static auto global = std::make_shared<GlobalState>();
   auto this_id = std::this_thread::get_id();
@@ -33,8 +33,8 @@ std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
 
   // structure shared between threads and this function
   struct Result {
-    wpi::mutex mtx;
-    wpi::condition_variable cv;
+    wpi::util::mutex mtx;
+    wpi::util::condition_variable cv;
     std::unique_ptr<NetworkStream> stream;
     std::atomic<unsigned int> count{0};
     std::atomic<bool> done{false};
@@ -42,7 +42,7 @@ std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
   auto result = std::make_shared<Result>();
 
   // start worker threads; this is I/O bound so we don't limit to # of procs
-  Logger* plogger = &logger;
+  wpi::util::Logger* plogger = &logger;
   unsigned int num_workers = 0;
   for (const auto& server : servers) {
     std::pair<std::string, int> server_copy{std::string{server.first},
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
index 082b2a7a54..e8c10ea029 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
@@ -38,7 +38,7 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 TCPStream::TCPStream(int sd, sockaddr_in* address)
     : m_sd(sd), m_blocking(true) {
@@ -87,7 +87,7 @@ size_t TCPStream::send(const char* buffer, size_t len, Error* err) {
   }
   if (!result) {
     char Buffer[128];
-    wpi::format_to_n_c_str(Buffer, sizeof(Buffer),
+    wpi::util::format_to_n_c_str(Buffer, sizeof(Buffer),
                            "Send() failed: WSA error={}\n", WSAGetLastError());
 
     OutputDebugStringA(Buffer);
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
index d1fe60eaa7..7cad7d2a43 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
@@ -32,7 +32,7 @@
 #include "wpi/net/NetworkAcceptor.hpp"
 #include "wpi/net/TCPStream.h"
 
-namespace wpi {
+namespace wpi::net {
 
 class Logger;
 
@@ -42,10 +42,10 @@ class TCPAcceptor : public NetworkAcceptor {
   std::string m_address;
   bool m_listening;
   std::atomic_bool m_shutdown;
-  Logger& m_logger;
+  wpi::util::Logger& m_logger;
 
  public:
-  TCPAcceptor(int port, std::string_view address, Logger& logger);
+  TCPAcceptor(int port, std::string_view address, wpi::util::Logger& logger);
   ~TCPAcceptor() override;
 
   int start() override;
@@ -53,6 +53,6 @@ class TCPAcceptor : public NetworkAcceptor {
   std::unique_ptr<NetworkStream> accept() override;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_TCPACCEPTOR_H_
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
index 5dc09c8b37..1a3e094cc1 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
@@ -30,20 +30,20 @@
 
 #include "wpi/net/NetworkStream.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class Logger;
 
 class TCPConnector {
  public:
   static std::unique_ptr<NetworkStream> connect(const char* server, int port,
-                                                Logger& logger,
+                                                wpi::util::Logger& logger,
                                                 int timeout = 0);
   static std::unique_ptr<NetworkStream> connect_parallel(
-      std::span<const std::pair<const char*, int>> servers, Logger& logger,
+      std::span<const std::pair<const char*, int>> servers, wpi::util::Logger& logger,
       int timeout = 0);
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_TCPCONNECTOR_H_
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
index d8959bfe54..43e37af31a 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
@@ -32,7 +32,7 @@
 
 struct sockaddr_in;
 
-namespace wpi {
+namespace wpi::net {
 
 class TCPStream : public NetworkStream {
   int m_sd;
@@ -67,6 +67,6 @@ class TCPStream : public NetworkStream {
   TCPStream() = delete;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
 
 #endif  // WPINET_TCPSTREAM_H_
diff --git a/wpinet/src/main/native/windows/DynamicDns.cpp b/wpinet/src/main/native/windows/DynamicDns.cpp
index cf9458d00c..6bad3dfad3 100644
--- a/wpinet/src/main/native/windows/DynamicDns.cpp
+++ b/wpinet/src/main/native/windows/DynamicDns.cpp
@@ -4,7 +4,7 @@
 
 #include "DynamicDns.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 DynamicDns& DynamicDns::GetDynamicDns() {
   static DynamicDns dns;
diff --git a/wpinet/src/main/native/windows/DynamicDns.hpp b/wpinet/src/main/native/windows/DynamicDns.hpp
index c8bee04a5a..0caf328ef3 100644
--- a/wpinet/src/main/native/windows/DynamicDns.hpp
+++ b/wpinet/src/main/native/windows/DynamicDns.hpp
@@ -12,7 +12,7 @@
 
 #include <WinDNS.h>
 
-namespace wpi {
+namespace wpi::net {
 class DynamicDns {
  public:
   using DnsServiceFreeInstanceFunc =
@@ -56,4 +56,4 @@ class DynamicDns {
  private:
   DynamicDns();
 };
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
index ecdf1d7c87..e7db046596 100644
--- a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
@@ -20,10 +20,10 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct ImplBase {
-  wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+  wpi::net::DynamicDns& dynamicDns = wpi::net::DynamicDns::GetDynamicDns();
   PDNS_SERVICE_INSTANCE serviceInstance = nullptr;
   HANDLE event = nullptr;
 };
@@ -53,16 +53,16 @@ MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
 
   this->port = port;
 
-  wpi::SmallVector<wchar_t, 128> wideStorage;
-  std::string hostName = wpi::GetHostname() + ".local";
+  wpi::util::SmallVector<wchar_t, 128> wideStorage;
+  std::string hostName = wpi::net::GetHostname() + ".local";
 
   for (auto&& i : txt) {
     wideStorage.clear();
-    wpi::sys::windows::UTF8ToUTF16(i.first, wideStorage);
+    wpi::util::sys::windows::UTF8ToUTF16(i.first, wideStorage);
     this->keys.emplace_back(
         std::wstring{wideStorage.data(), wideStorage.size()});
     wideStorage.clear();
-    wpi::sys::windows::UTF8ToUTF16(i.second, wideStorage);
+    wpi::util::sys::windows::UTF8ToUTF16(i.second, wideStorage);
     this->values.emplace_back(
         std::wstring{wideStorage.data(), wideStorage.size()});
   }
@@ -72,21 +72,21 @@ MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
     this->valuePtrs.emplace_back(this->values[i].c_str());
   }
 
-  wpi::SmallString<128> storage;
+  wpi::util::SmallString<128> storage;
 
   wideStorage.clear();
-  wpi::sys::windows::UTF8ToUTF16(hostName, wideStorage);
+  wpi::util::sys::windows::UTF8ToUTF16(hostName, wideStorage);
 
   this->hostName = std::wstring{wideStorage.data(), wideStorage.size()};
 
   wideStorage.clear();
-  if (wpi::ends_with_lower(serviceType, ".local")) {
-    wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+  if (wpi::util::ends_with_lower(serviceType, ".local")) {
+    wpi::util::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
   } else {
     storage.clear();
     storage.append(serviceType);
     storage.append(".local");
-    wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+    wpi::util::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
   }
   this->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
 
@@ -95,11 +95,11 @@ MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
   storage.append(serviceName);
   storage.append(".");
   storage.append(serviceType);
-  if (!wpi::ends_with_lower(serviceType, ".local")) {
+  if (!wpi::util::ends_with_lower(serviceType, ".local")) {
     storage.append(".local");
   }
 
-  wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+  wpi::util::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
   this->serviceInstanceName =
       std::wstring{wideStorage.data(), wideStorage.size()};
 }
diff --git a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
index 8826e3fa43..ee1b5972db 100644
--- a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
@@ -20,10 +20,10 @@
 
 #pragma comment(lib, "dnsapi")
 
-using namespace wpi;
+using namespace wpi::net;
 
 struct MulticastServiceResolver::Impl {
-  wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+  wpi::net::DynamicDns& dynamicDns = wpi::net::DynamicDns::GetDynamicDns();
   std::wstring serviceType;
   DNS_SERVICE_CANCEL serviceCancel{nullptr};
 
@@ -43,15 +43,15 @@ MulticastServiceResolver::MulticastServiceResolver(
     return;
   }
 
-  wpi::SmallVector<wchar_t, 128> wideStorage;
+  wpi::util::SmallVector<wchar_t, 128> wideStorage;
 
-  if (wpi::ends_with_lower(serviceType, ".local")) {
-    wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+  if (wpi::util::ends_with_lower(serviceType, ".local")) {
+    wpi::util::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
   } else {
-    wpi::SmallString<128> storage;
+    wpi::util::SmallString<128> storage;
     storage.append(serviceType);
     storage.append(".local");
-    wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+    wpi::util::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
   }
   pImpl->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
 }
@@ -92,10 +92,10 @@ static _Function_class_(DNS_QUERY_COMPLETION_ROUTINE) VOID WINAPI
   MulticastServiceResolver::Impl* impl =
       reinterpret_cast<MulticastServiceResolver::Impl*>(pQueryContext);
 
-  wpi::SmallVector<DNS_RECORDW*, 4> PtrRecords;
-  wpi::SmallVector<DNS_RECORDW*, 4> SrvRecords;
-  wpi::SmallVector<DNS_RECORDW*, 4> TxtRecords;
-  wpi::SmallVector<DNS_RECORDW*, 4> ARecords;
+  wpi::util::SmallVector<DNS_RECORDW*, 4> PtrRecords;
+  wpi::util::SmallVector<DNS_RECORDW*, 4> SrvRecords;
+  wpi::util::SmallVector<DNS_RECORDW*, 4> TxtRecords;
+  wpi::util::SmallVector<DNS_RECORDW*, 4> ARecords;
 
   {
     DNS_RECORDW* current = pQueryResults->pQueryRecords;
@@ -140,7 +140,7 @@ static _Function_class_(DNS_QUERY_COMPLETION_ROUTINE) VOID WINAPI
       if (std::wstring_view{A->pName} ==
           std::wstring_view{foundSrv->Data.Srv.pNameTarget}) {
         MulticastServiceResolver::ServiceData data;
-        wpi::SmallString<128> storage;
+        wpi::util::SmallString<128> storage;
         for (DNS_RECORDW* Txt : TxtRecords) {
           if (std::wstring_view{Txt->pName} == nameHost) {
             for (DWORD i = 0; i < Txt->Data.Txt.dwStringCount; i++) {
@@ -151,41 +151,41 @@ static _Function_class_(DNS_QUERY_COMPLETION_ROUTINE) VOID WINAPI
                 continue;
               }
               storage.clear();
-              std::span<const wpi::UTF16> wideStr{
-                  reinterpret_cast<const wpi::UTF16*>(wideView.data()),
+              std::span<const wpi::util::UTF16> wideStr{
+                  reinterpret_cast<const wpi::util::UTF16*>(wideView.data()),
                   splitIndex};
-              wpi::convertUTF16ToUTF8String(wideStr, storage);
+              wpi::util::convertUTF16ToUTF8String(wideStr, storage);
               auto& pair =
                   data.txt.emplace_back(std::pair<std::string, std::string>{
                       std::string{storage}, {}});
               storage.clear();
-              wideStr = std::span<const wpi::UTF16>{
-                  reinterpret_cast<const wpi::UTF16*>(wideView.data() +
+              wideStr = std::span<const wpi::util::UTF16>{
+                  reinterpret_cast<const wpi::util::UTF16*>(wideView.data() +
                                                       splitIndex + 1),
                   wideView.size() - splitIndex - 1};
-              wpi::convertUTF16ToUTF8String(wideStr, storage);
+              wpi::util::convertUTF16ToUTF8String(wideStr, storage);
               pair.second = std::string{storage};
             }
           }
         }
 
         storage.clear();
-        std::span<const wpi::UTF16> wideHostName{
-            reinterpret_cast<const wpi::UTF16*>(A->pName), wcslen(A->pName)};
-        wpi::convertUTF16ToUTF8String(wideHostName, storage);
+        std::span<const wpi::util::UTF16> wideHostName{
+            reinterpret_cast<const wpi::util::UTF16*>(A->pName), wcslen(A->pName)};
+        wpi::util::convertUTF16ToUTF8String(wideHostName, storage);
         storage.append(".");
 
         data.hostName = std::string{storage};
         storage.clear();
 
         int len = nameHost.find(impl->serviceType.c_str());
-        std::span<const wpi::UTF16> wideServiceName{
-            reinterpret_cast<const wpi::UTF16*>(nameHost.data()),
+        std::span<const wpi::util::UTF16> wideServiceName{
+            reinterpret_cast<const wpi::util::UTF16*>(nameHost.data()),
             nameHost.size()};
         if (len != nameHost.npos) {
           wideServiceName = wideServiceName.subspan(0, len - 1);
         }
-        wpi::convertUTF16ToUTF8String(wideServiceName, storage);
+        wpi::util::convertUTF16ToUTF8String(wideServiceName, storage);
 
         data.serviceName = std::string{storage};
         data.port = ntohs(foundSrv->Data.Srv.wPort);
diff --git a/wpinet/src/main/python/semiwrap/PortForwarder.yml b/wpinet/src/main/python/semiwrap/PortForwarder.yml
index 64e172eae9..6c80be7140 100644
--- a/wpinet/src/main/python/semiwrap/PortForwarder.yml
+++ b/wpinet/src/main/python/semiwrap/PortForwarder.yml
@@ -1,5 +1,5 @@
 classes:
-  wpi::PortForwarder:
+  wpi::net::PortForwarder:
     nodelete: true
     methods:
       GetInstance:
diff --git a/wpinet/src/main/python/semiwrap/WebServer.yml b/wpinet/src/main/python/semiwrap/WebServer.yml
index 61ac088751..192ae17913 100644
--- a/wpinet/src/main/python/semiwrap/WebServer.yml
+++ b/wpinet/src/main/python/semiwrap/WebServer.yml
@@ -1,5 +1,5 @@
 classes:
-  wpi::WebServer:
+  wpi::net::WebServer:
     nodelete: true
     methods:
       GetInstance:
diff --git a/wpinet/src/netconsoleServer/native/cpp/main.cpp b/wpinet/src/netconsoleServer/native/cpp/main.cpp
index 42f4065bfc..44a26c0fb6 100644
--- a/wpinet/src/netconsoleServer/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleServer/native/cpp/main.cpp
@@ -29,12 +29,12 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
-static uint64_t startTime = wpi::Now();
+static uint64_t startTime = wpi::util::Now();
 
 static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
-                          wpi::SmallVectorImpl<uv::Buffer>& bufs, bool tcp,
+                          wpi::util::SmallVectorImpl<uv::Buffer>& bufs, bool tcp,
                           uint16_t tcpSeq) {
   // scan for last newline
   std::string_view str(buf.base, len);
@@ -46,12 +46,12 @@ static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
   }
 
   // build output
-  wpi::raw_uv_ostream out(bufs, 4096);
-  std::string_view toCopy = wpi::slice(str, 0, idx + 1);
+  wpi::net::raw_uv_ostream out(bufs, 4096);
+  std::string_view toCopy = wpi::util::slice(str, 0, idx + 1);
   if (tcp) {
     // Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte sequence num
     uint32_t ts =
-        std::bit_cast<uint32_t, float>((wpi::Now() - startTime) * 1.0e-6);
+        std::bit_cast<uint32_t, float>((wpi::util::Now() - startTime) * 1.0e-6);
     uint16_t len = rem.size() + toCopy.size() + 1 + 4 + 2;
     const uint8_t header[] = {static_cast<uint8_t>((len >> 8) & 0xff),
                               static_cast<uint8_t>(len & 0xff),
@@ -67,7 +67,7 @@ static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
   out << rem << toCopy;
 
   // reset remainder
-  rem = wpi::slice(str, idx + 1, std::string_view::npos);
+  rem = wpi::util::slice(str, idx + 1, std::string_view::npos);
   return true;
 }
 
@@ -89,7 +89,7 @@ static void CopyUdp(uv::Stream& in, std::shared_ptr<uv::Udp> out,
       [rem = std::make_shared<std::string>(), outPtr = out.get(), addr](
           uv::Buffer& buf, size_t len) {
         // build buffers
-        wpi::SmallVector<uv::Buffer, 4> bufs;
+        wpi::util::SmallVector<uv::Buffer, 4> bufs;
         if (!NewlineBuffer(*rem, buf, len, bufs, false, 0)) {
           return;
         }
@@ -113,7 +113,7 @@ static void CopyTcp(uv::Stream& in, std::shared_ptr<uv::Stream> out) {
       [data = std::make_shared<StreamData>(), outPtr = out.get()](
           uv::Buffer& buf, size_t len) {
         // build buffers
-        wpi::SmallVector<uv::Buffer, 4> bufs;
+        wpi::util::SmallVector<uv::Buffer, 4> bufs;
         if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++)) {
           return;
         }
@@ -155,7 +155,7 @@ int main(int argc, char* argv[]) {
       useUdp = true;
       broadcastUdp = true;
     } else {
-      wpi::print(stderr, "unrecognized command line option {}\n",
+      wpi::util::print(stderr, "unrecognized command line option {}\n",
                  argv[programArgc]);
       err = true;
     }
@@ -176,7 +176,7 @@ int main(int argc, char* argv[]) {
 
   auto loop = uv::Loop::Create();
   loop->error.connect(
-      [](uv::Error err) { wpi::print(stderr, "uv ERROR: {}\n", err.str()); });
+      [](uv::Error err) { wpi::util::print(stderr, "uv ERROR: {}\n", err.str()); });
 
   // create pipes to communicate with child
   auto stdinPipe = uv::Pipe::Create(loop);
@@ -223,7 +223,7 @@ int main(int argc, char* argv[]) {
       }
 
       // close on error
-      tcp->error.connect([s = tcp.get()](wpi::uv::Error err) { s->Close(); });
+      tcp->error.connect([s = tcp.get()](wpi::net::uv::Error err) { s->Close(); });
 
       // tee stdout and stderr
       CopyTcp(*stdoutPipe, tcp);
@@ -235,7 +235,7 @@ int main(int argc, char* argv[]) {
   }
 
   // build process options
-  wpi::SmallVector<uv::Process::Option, 8> options;
+  wpi::util::SmallVector<uv::Process::Option, 8> options;
 
   // hook up pipes to child
   options.emplace_back(
diff --git a/wpinet/src/netconsoleTee/native/cpp/main.cpp b/wpinet/src/netconsoleTee/native/cpp/main.cpp
index 54fd6078fe..359d23233d 100644
--- a/wpinet/src/netconsoleTee/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleTee/native/cpp/main.cpp
@@ -20,12 +20,12 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-namespace uv = wpi::uv;
+namespace uv = wpi::net::uv;
 
-static uint64_t startTime = wpi::Now();
+static uint64_t startTime = wpi::util::Now();
 
 static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
-                          wpi::SmallVectorImpl<uv::Buffer>& bufs, bool tcp,
+                          wpi::util::SmallVectorImpl<uv::Buffer>& bufs, bool tcp,
                           uint16_t tcpSeq) {
   // scan for last newline
   std::string_view str(buf.base, len);
@@ -37,12 +37,12 @@ static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
   }
 
   // build output
-  wpi::raw_uv_ostream out(bufs, 4096);
-  std::string_view toCopy = wpi::slice(str, 0, idx + 1);
+  wpi::net::raw_uv_ostream out(bufs, 4096);
+  std::string_view toCopy = wpi::util::slice(str, 0, idx + 1);
   if (tcp) {
     // Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte sequence num
     uint32_t ts =
-        std::bit_cast<uint32_t, float>((wpi::Now() - startTime) * 1.0e-6);
+        std::bit_cast<uint32_t, float>((wpi::util::Now() - startTime) * 1.0e-6);
     uint16_t len = rem.size() + toCopy.size() + 1 + 4 + 2;
     const uint8_t header[] = {static_cast<uint8_t>((len >> 8) & 0xff),
                               static_cast<uint8_t>(len & 0xff),
@@ -58,7 +58,7 @@ static bool NewlineBuffer(std::string& rem, uv::Buffer& buf, size_t len,
   out << rem << toCopy;
 
   // reset remainder
-  rem = wpi::slice(str, idx + 1, std::string_view::npos);
+  rem = wpi::util::slice(str, idx + 1, std::string_view::npos);
   return true;
 }
 
@@ -80,7 +80,7 @@ static void CopyUdp(uv::Stream& in, std::shared_ptr<uv::Udp> out, int port,
       [rem = std::make_shared<std::string>(), outPtr = out.get(), addr](
           uv::Buffer& buf, size_t len) {
         // build buffers
-        wpi::SmallVector<uv::Buffer, 4> bufs;
+        wpi::util::SmallVector<uv::Buffer, 4> bufs;
         if (!NewlineBuffer(*rem, buf, len, bufs, false, 0)) {
           return;
         }
@@ -104,7 +104,7 @@ static void CopyTcp(uv::Stream& in, std::shared_ptr<uv::Stream> out) {
       [data = std::make_shared<StreamData>(), outPtr = out.get()](
           uv::Buffer& buf, size_t len) {
         // build buffers
-        wpi::SmallVector<uv::Buffer, 4> bufs;
+        wpi::util::SmallVector<uv::Buffer, 4> bufs;
         if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++)) {
           return;
         }
@@ -150,14 +150,14 @@ int main(int argc, char* argv[]) {
       ++arg;
       std::optional<int> portValue;
       if (arg >= argc || argv[arg][0] == '-' ||
-          !(portValue = wpi::parse_integer<int>(argv[arg], 10))) {
+          !(portValue = wpi::util::parse_integer<int>(argv[arg], 10))) {
         std::fputs("-p must be followed by port number\n", stderr);
         err = true;
       } else if (portValue) {
         port = portValue.value();
       }
     } else {
-      wpi::print(stderr, "unrecognized command line option {}\n", argv[arg]);
+      wpi::util::print(stderr, "unrecognized command line option {}\n", argv[arg]);
       err = true;
     }
     ++arg;
@@ -176,7 +176,7 @@ int main(int argc, char* argv[]) {
 
   auto loop = uv::Loop::Create();
   loop->error.connect(
-      [](uv::Error err) { wpi::print(stderr, "uv ERROR: {}\n", err.str()); });
+      [](uv::Error err) { wpi::util::print(stderr, "uv ERROR: {}\n", err.str()); });
 
   // create ttys
   auto stdinTty = uv::Tty::Create(loop, 0, true);
@@ -213,7 +213,7 @@ int main(int argc, char* argv[]) {
       }
 
       // close on error
-      tcp->error.connect([s = tcp.get()](wpi::uv::Error err) { s->Close(); });
+      tcp->error.connect([s = tcp.get()](wpi::net::uv::Error err) { s->Close(); });
 
       // tee
       CopyTcp(*stdinTty, tcp);
diff --git a/wpinet/src/test/native/cpp/HttpParserTest.cpp b/wpinet/src/test/native/cpp/HttpParserTest.cpp
index 793ea5f386..fd83339bf9 100644
--- a/wpinet/src/test/native/cpp/HttpParserTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpParserTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::net {
 
 TEST(HttpParserTest, UrlMethodHeadersComplete) {
   HttpParser p{HttpParser::kRequest};
@@ -203,4 +203,4 @@ TEST(HttpParserTest, Reset) {
   ASSERT_FALSE(p.HasError());
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/HttpUtilTest.cpp b/wpinet/src/test/native/cpp/HttpUtilTest.cpp
index a8fdacc2bf..28335362d5 100644
--- a/wpinet/src/test/native/cpp/HttpUtilTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpUtilTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::net {
 
 TEST(HttpMultipartScannerTest, ExecuteExact) {
   HttpMultipartScanner scanner("foo");
@@ -99,4 +99,4 @@ TEST(HttpMultipartScannerTest, SeqNoDashesNoDashes) {
   EXPECT_TRUE(scanner.IsDone());
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
index 46ae45c907..64f555a142 100644
--- a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
@@ -8,7 +8,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::net {
 
 class HttpWebSocketServerConnectionTest
     : public HttpWebSocketServerConnection<HttpWebSocketServerConnectionTest> {
@@ -24,4 +24,4 @@ class HttpWebSocketServerConnectionTest
   int gotUpgrade = 0;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/MulticastTest.cpp b/wpinet/src/test/native/cpp/MulticastTest.cpp
index 78c4474166..96935200d9 100644
--- a/wpinet/src/test/native/cpp/MulticastTest.cpp
+++ b/wpinet/src/test/native/cpp/MulticastTest.cpp
@@ -19,8 +19,8 @@ TEST(MulticastServiceAnnouncerTest, EmptyText) {
   const std::string_view serviceName = "TestServiceNoText";
   const std::string_view serviceType = "_wpinotxt";
   const int port = std::rand();
-  wpi::MulticastServiceAnnouncer announcer(serviceName, serviceType, port);
-  wpi::MulticastServiceResolver resolver(serviceType);
+  wpi::net::MulticastServiceAnnouncer announcer(serviceName, serviceType, port);
+  wpi::net::MulticastServiceResolver resolver(serviceType);
 
   if (announcer.HasImplementation() && resolver.HasImplementation()) {
     announcer.Start();
@@ -39,8 +39,8 @@ TEST(MulticastServiceAnnouncerTest, SingleText) {
   const int port = std::rand();
   std::array<std::pair<std::string, std::string>, 1> txt = {
       std::pair{"hello", "world"}};
-  wpi::MulticastServiceAnnouncer announcer(serviceName, serviceType, port, txt);
-  wpi::MulticastServiceResolver resolver(serviceType);
+  wpi::net::MulticastServiceAnnouncer announcer(serviceName, serviceType, port, txt);
+  wpi::net::MulticastServiceResolver resolver(serviceType);
 
   if (announcer.HasImplementation() && resolver.HasImplementation()) {
     announcer.Start();
diff --git a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
index 1f231058ce..8fec345806 100644
--- a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
@@ -17,7 +17,7 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/sha1.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class WebSocketClientTest : public WebSocketTest {
  public:
@@ -25,29 +25,29 @@ class WebSocketClientTest : public WebSocketTest {
     // Bare bones server
     req.header.connect([this](std::string_view name, std::string_view value) {
       // save key (required for valid response)
-      if (equals_lower(name, "sec-websocket-key")) {
+      if (wpi::util::equals_lower(name, "sec-websocket-key")) {
         clientKey = value;
       }
     });
     req.headersComplete.connect([this](bool) {
       // send response
-      SmallVector<uv::Buffer, 4> bufs;
+      wpi::util::SmallVector<uv::Buffer, 4> bufs;
       raw_uv_ostream os{bufs, 4096};
       os << "HTTP/1.1 101 Switching Protocols\r\n";
       os << "Upgrade: websocket\r\n";
       os << "Connection: Upgrade\r\n";
 
       // accept hash
-      SHA1 hash;
+      wpi::util::SHA1 hash;
       hash.Update(clientKey);
       hash.Update("258EAFA5-E914-47DA-95CA-C5AB0DC85B11");
       if (mockBadAccept) {
         hash.Update("1");
       }
-      SmallString<64> hashBuf;
-      SmallString<64> acceptBuf;
+      wpi::util::SmallString<64> hashBuf;
+      wpi::util::SmallString<64> acceptBuf;
       os << "Sec-WebSocket-Accept: "
-         << Base64Encode(hash.RawFinal(hashBuf), acceptBuf) << "\r\n";
+         << wpi::util::Base64Encode(hash.RawFinal(hashBuf), acceptBuf) << "\r\n";
 
       if (!mockProtocol.empty()) {
         os << "Sec-WebSocket-Protocol: " << mockProtocol << "\r\n";
@@ -92,7 +92,7 @@ class WebSocketClientTest : public WebSocketTest {
   std::vector<uint8_t> wireData;
   std::shared_ptr<uv::Pipe> conn;
   HttpParser req{HttpParser::kRequest};
-  SmallString<64> clientKey;
+  wpi::util::SmallString<64> clientKey;
   std::string mockProtocol;
   bool serverHeadersDone = false;
   std::function<void()> connected;
@@ -321,4 +321,4 @@ TEST_P(WebSocketClientDataTest, ReceiveMasked) {
   ASSERT_EQ(gotCallback, 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
index 238a950b85..d9bba03905 100644
--- a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
@@ -9,7 +9,7 @@
 #include "WebSocketTest.hpp"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class WebSocketIntegrationTest : public WebSocketTest {};
 
@@ -199,4 +199,4 @@ TEST_F(WebSocketIntegrationTest, ServerSendPing) {
   ASSERT_EQ(gotData, 2);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
index 2fad23b827..b956a6a6e8 100644
--- a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
@@ -26,17 +26,17 @@ using ::testing::Field;
 using ::testing::Pointee;
 using ::testing::Return;
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 inline bool operator==(const Buffer& lhs, const Buffer& rhs) {
   return lhs.len == rhs.len &&
          std::equal(lhs.base, lhs.base + lhs.len, rhs.base);
 }
 inline void PrintTo(const Buffer& buf, ::std::ostream* os) {
-  ::wpi::PrintTo(buf.bytes(), os);
+  ::wpi::util::PrintTo(buf.bytes(), os);
 }
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
 
-namespace wpi {
+namespace wpi::net {
 inline bool operator==(const WebSocket::Frame& lhs,
                        const WebSocket::Frame& rhs) {
   return lhs.opcode == rhs.opcode &&
@@ -44,11 +44,11 @@ inline bool operator==(const WebSocket::Frame& lhs,
 }
 inline void PrintTo(const WebSocket::Frame& frame, ::std::ostream* os) {
   *os << frame.opcode << ": ";
-  ::wpi::PrintTo(frame.data, os);
+  ::wpi::util::PrintTo(frame.data, os);
 }
-}  // namespace wpi
+}  // namespace wpi::net
 
-namespace wpi::detail {
+namespace wpi::net::detail {
 
 class MockWebSocketWriteReq
     : public std::enable_shared_from_this<MockWebSocketWriteReq>,
@@ -72,7 +72,7 @@ class MockStream {
               (std::span<const uv::Buffer> bufs,
                const std::shared_ptr<MockWebSocketWriteReq>& req));
 
-  Logger* GetLogger() const { return nullptr; }
+  wpi::util::Logger* GetLogger() const { return nullptr; }
 };
 
 class WebSocketWriteReqTest : public ::testing::Test {
@@ -103,7 +103,7 @@ TEST_F(WebSocketWriteReqTest, ContinueDone) {
 }
 
 TEST_F(WebSocketWriteReqTest, ContinueTryWriteComplete) {
-  EXPECT_CALL(stream, TryWrite(wpi::SpanEq(req->m_frames.m_bufs)))
+  EXPECT_CALL(stream, TryWrite(wpi::util::SpanEq(req->m_frames.m_bufs)))
       .WillOnce(Return(9));
   ASSERT_EQ(req->Continue(stream, req), 0);
 }
@@ -114,7 +114,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWriteNoProgress) {
   // Write should get called for all of next frame - make forward progress
   uv::Buffer remBufs[2] = {uv::Buffer{m_buf0}, uv::Buffer{m_buf1}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -130,7 +130,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWritePartialMidFrameMidBuf1) {
   // Write should get called for remainder of buf 0 and all of buf 1
   uv::Buffer remBufs[2] = {uv::Buffer{&m_buf0[2], 1}, uv::Buffer{m_buf1}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -140,7 +140,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWritePartialMidFrameBufBoundary) {
   // Write should get called for all of buf 1
   uv::Buffer remBufs[1] = {uv::Buffer{m_buf1}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -150,7 +150,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWritePartialMidFrameMidBuf2) {
   // Write should get called for remainder of buf 1
   uv::Buffer remBufs[1] = {uv::Buffer{&m_buf1[1], 1}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -160,7 +160,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWritePartialFrameBoundary) {
   // Write should get called for all of next frame
   uv::Buffer remBufs[1] = {uv::Buffer{m_buf2}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -170,7 +170,7 @@ TEST_F(WebSocketWriteReqTest, ContinueTryWritePartialMidFrameMidBuf3) {
   // Write should get called for remainder of buf 2
   uv::Buffer remBufs[1] = {uv::Buffer{&m_buf2[1], 3}};
   EXPECT_CALL(stream,
-              DoWrite(wpi::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
+              DoWrite(wpi::util::SpanEq(std::span<const uv::Buffer>(remBufs)), _));
   ASSERT_EQ(req->Continue(stream, req), 1);
 }
 
@@ -243,10 +243,10 @@ void WebSocketTrySendTest::CheckTrySendFrames(
           [&](auto bufs, auto err) {
             ++callbackCalled;
             ASSERT_THAT(bufs,
-                        SpanEq(std::span<const uv::Buffer>(expectCbBufs)));
+                        wpi::util::SpanEq(std::span<const uv::Buffer>(expectCbBufs)));
             ASSERT_EQ(err.code(), expectErr);
           }),
-      SpanEq(expectRet));
+      wpi::util::SpanEq(expectRet));
 }
 
 TEST_F(WebSocketTrySendTest, ServerComplete) {
@@ -288,13 +288,13 @@ TEST_F(WebSocketTrySendTest, ServerPartialMidFrameMidBuf0) {
                                     m_bufs[1]};
   std::array<uv::Buffer, 2> contBufs{m_frameHeaders[1], m_bufs[2]};
   std::array<int, 1> contFrameOffs{static_cast<int>(m_serialized[1].size())};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, std::span{m_frames}.subspan(2));
   ASSERT_EQ(makeReqCalled, 1);
-  ASSERT_THAT(req->m_frames.m_bufs, SpanEq(contBufs));
+  ASSERT_THAT(req->m_frames.m_bufs, wpi::util::SpanEq(contBufs));
   ASSERT_EQ(req->m_continueBufPos, 0u);
   ASSERT_EQ(req->m_continueFramePos, 0u);
-  ASSERT_THAT(req->m_continueFrameOffs, SpanEq(contFrameOffs));
+  ASSERT_THAT(req->m_continueFrameOffs, wpi::util::SpanEq(contFrameOffs));
   ASSERT_EQ(callbackCalled, 0);
 }
 
@@ -306,10 +306,10 @@ TEST_F(WebSocketTrySendTest, ServerPartialMidFrameBufBoundary) {
   // return will be frame 2 only
   std::array<uv::Buffer, 1> remBufs{m_bufs[1]};
   std::array<uv::Buffer, 2> contBufs{m_frameHeaders[1], m_bufs[2]};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, std::span{m_frames}.subspan(2));
   ASSERT_EQ(makeReqCalled, 1);
-  ASSERT_THAT(req->m_frames.m_bufs, SpanEq(contBufs));
+  ASSERT_THAT(req->m_frames.m_bufs, wpi::util::SpanEq(contBufs));
   ASSERT_EQ(callbackCalled, 0);
 }
 
@@ -321,10 +321,10 @@ TEST_F(WebSocketTrySendTest, ServerPartialMidFrameMidBuf1) {
   // return will be frame 2 only
   std::array<uv::Buffer, 1> remBufs{std::span{m_buf1data}.subspan(1)};
   std::array<uv::Buffer, 2> contBufs{m_frameHeaders[1], m_bufs[2]};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, std::span{m_frames}.subspan(2));
   ASSERT_EQ(makeReqCalled, 1);
-  ASSERT_THAT(req->m_frames.m_bufs, SpanEq(contBufs));
+  ASSERT_THAT(req->m_frames.m_bufs, wpi::util::SpanEq(contBufs));
   ASSERT_EQ(callbackCalled, 0);
 }
 
@@ -336,7 +336,7 @@ TEST_F(WebSocketTrySendTest, ServerPartialFrameBoundary) {
   // no continuation
   // return will be frame 2 only
   std::array<uv::Buffer, 1> remBufs{m_bufs[2]};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, std::span{m_frames}.subspan(2));
   ASSERT_EQ(makeReqCalled, 1);
   ASSERT_TRUE(req->m_frames.m_bufs.empty());
@@ -350,7 +350,7 @@ TEST_F(WebSocketTrySendTest, ServerPartialMidFrameMidBuf2) {
   // Write should get called for remainder of buf 2; no continuation
   // return will be frame 2 only
   std::array<uv::Buffer, 1> remBufs{std::span{m_buf2data}.subspan(1)};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, std::span{m_frames}.subspan(2));
   ASSERT_EQ(makeReqCalled, 1);
   ASSERT_TRUE(req->m_frames.m_bufs.empty());
@@ -375,7 +375,7 @@ TEST_F(WebSocketTrySendTest, ServerPartialLastFrame) {
                        m_frameHeaders[2].len + 10));
   // Write called for remainder of buf 3; no continuation
   std::array<uv::Buffer, 1> remBufs{std::span{m_buf3data}.subspan(1)};
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
   CheckTrySendFrames({}, {});
   ASSERT_EQ(makeReqCalled, 1);
   ASSERT_TRUE(req->m_frames.m_bufs.empty());
@@ -400,7 +400,7 @@ TEST_F(WebSocketTrySendTest, Big) {
   for (size_t i = 6; i < bufs.size(); ++i) {
     remBufs.emplace_back(bufs[i]);
   }
-  EXPECT_CALL(stream, DoWrite(wpi::SpanEq(remBufs), _));
+  EXPECT_CALL(stream, DoWrite(wpi::util::SpanEq(remBufs), _));
 
   ASSERT_TRUE(
       TrySendFrames(
@@ -420,4 +420,4 @@ TEST_F(WebSocketTrySendTest, Big) {
   ASSERT_EQ(callbackCalled, 0);
 }
 
-}  // namespace wpi::detail
+}  // namespace wpi::net::detail
diff --git a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
index 526f3f4576..141f8752e9 100644
--- a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
@@ -14,7 +14,7 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/sha1.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class WebSocketServerTest : public WebSocketTest {
  public:
@@ -793,4 +793,4 @@ TEST_P(WebSocketServerDataTest, ReceiveUnmasked) {
   ASSERT_EQ(gotCallback, 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/WebSocketTest.cpp b/wpinet/src/test/native/cpp/WebSocketTest.cpp
index f8f6584672..38e5976eb2 100644
--- a/wpinet/src/test/native/cpp/WebSocketTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketTest.cpp
@@ -12,7 +12,7 @@
 #include "wpi/net/HttpParser.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 #ifdef _WIN32
 const char* WebSocketTest::pipeName = "\\\\.\\pipe\\websocket-unit-test";
@@ -111,18 +111,18 @@ TEST_F(WebSocketTest, CreateClientBasic) {
   HttpParser req{HttpParser::kRequest};
   req.url.connect([](std::string_view url) { ASSERT_EQ(url, "/test"); });
   req.header.connect([&](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "host")) {
+    if (wpi::util::equals_lower(name, "host")) {
       ASSERT_EQ(value, pipeName);
       ++gotHost;
-    } else if (equals_lower(name, "upgrade")) {
+    } else if (wpi::util::equals_lower(name, "upgrade")) {
       ASSERT_EQ(value, "websocket");
       ++gotUpgrade;
-    } else if (equals_lower(name, "connection")) {
+    } else if (wpi::util::equals_lower(name, "connection")) {
       ASSERT_EQ(value, "Upgrade");
       ++gotConnection;
-    } else if (equals_lower(name, "sec-websocket-key")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-key")) {
       ++gotKey;
-    } else if (equals_lower(name, "sec-websocket-version")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-version")) {
       ASSERT_EQ(value, "13");
       ++gotVersion;
     } else {
@@ -163,10 +163,10 @@ TEST_F(WebSocketTest, CreateClientExtraHeaders) {
   int gotExtra2 = 0;
   HttpParser req{HttpParser::kRequest};
   req.header.connect([&](std::string_view name, std::string_view value) {
-    if (equals(name, "Extra1")) {
+    if (wpi::util::equals(name, "Extra1")) {
       ASSERT_EQ(value, "Data1");
       ++gotExtra1;
-    } else if (equals(name, "Extra2")) {
+    } else if (wpi::util::equals(name, "Extra2")) {
       ASSERT_EQ(value, "Data2");
       ++gotExtra2;
     }
@@ -186,7 +186,7 @@ TEST_F(WebSocketTest, CreateClientExtraHeaders) {
   });
   clientPipe->Connect(pipeName, [&]() {
     WebSocket::ClientOptions options;
-    SmallVector<std::pair<std::string_view, std::string_view>, 4> extraHeaders;
+    wpi::util::SmallVector<std::pair<std::string_view, std::string_view>, 4> extraHeaders;
     extraHeaders.emplace_back("Extra1", "Data1");
     extraHeaders.emplace_back("Extra2", "Data2");
     options.extraHeaders = extraHeaders;
@@ -239,13 +239,13 @@ TEST_F(WebSocketTest, CreateServerBasic) {
     ASSERT_EQ(resp.GetStatusCode(), 101u) << "status: " << status;
   });
   resp.header.connect([&](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "upgrade")) {
+    if (wpi::util::equals_lower(name, "upgrade")) {
       ASSERT_EQ(value, "websocket");
       ++gotUpgrade;
-    } else if (equals_lower(name, "connection")) {
+    } else if (wpi::util::equals_lower(name, "connection")) {
       ASSERT_EQ(value, "Upgrade");
       ++gotConnection;
-    } else if (equals_lower(name, "sec-websocket-accept")) {
+    } else if (wpi::util::equals_lower(name, "sec-websocket-accept")) {
       ASSERT_EQ(value, "s3pPLMBiTxaQ9kYGzzhZRbK+xOo=");
       ++gotAccept;
     } else {
@@ -291,7 +291,7 @@ TEST_F(WebSocketTest, CreateServerProtocol) {
 
   HttpParser resp{HttpParser::kResponse};
   resp.header.connect([&](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "sec-websocket-protocol")) {
+    if (wpi::util::equals_lower(name, "sec-websocket-protocol")) {
       ++gotProtocol;
       ASSERT_EQ(value, "myProtocol");
     }
@@ -337,10 +337,10 @@ TEST_F(WebSocketTest, CreateServerBadVersion) {
     ASSERT_EQ(resp.GetStatusCode(), 426u) << "status: " << status;
   });
   resp.header.connect([&](std::string_view name, std::string_view value) {
-    if (equals_lower(name, "sec-websocket-version")) {
+    if (wpi::util::equals_lower(name, "sec-websocket-version")) {
       ++gotVersion;
       ASSERT_EQ(value, "13");
-    } else if (equals_lower(name, "upgrade")) {
+    } else if (wpi::util::equals_lower(name, "upgrade")) {
       ++gotUpgrade;
       ASSERT_EQ(value, "WebSocket");
     } else {
@@ -378,4 +378,4 @@ TEST_F(WebSocketTest, CreateServerBadVersion) {
   ASSERT_EQ(gotUpgrade, 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/WebSocketTest.hpp b/wpinet/src/test/native/cpp/WebSocketTest.hpp
index bf4aa52297..9d7f98e45d 100644
--- a/wpinet/src/test/native/cpp/WebSocketTest.hpp
+++ b/wpinet/src/test/native/cpp/WebSocketTest.hpp
@@ -15,7 +15,7 @@
 #include "wpi/net/uv/Pipe.hpp"
 #include "wpi/net/uv/Timer.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 class WebSocketTest : public ::testing::Test {
  public:
@@ -68,4 +68,4 @@ class WebSocketTest : public ::testing::Test {
   std::shared_ptr<uv::Pipe> serverPipe;
 };
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
index 4f134f00a4..ea65f0b5d6 100644
--- a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
+++ b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
@@ -13,11 +13,11 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::net {
 
 TEST(WorkerThreadTest, Future) {
   WorkerThread<int(bool)> worker;
-  future<int> f =
+  wpi::util::future<int> f =
       worker.QueueWork([](bool v) -> int { return v ? 1 : 2; }, true);
   ASSERT_EQ(f.get(), 1);
 }
@@ -25,7 +25,7 @@ TEST(WorkerThreadTest, Future) {
 TEST(WorkerThreadTest, FutureVoid) {
   int callbacks = 0;
   WorkerThread<void(int)> worker;
-  future<void> f = worker.QueueWork(
+  wpi::util::future<void> f = worker.QueueWork(
       [&](int v) {
         ++callbacks;
         ASSERT_EQ(v, 3);
@@ -82,4 +82,4 @@ TEST(WorkerThreadTest, LoopVoid) {
   ASSERT_EQ(callbacks, 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/hostname.cpp b/wpinet/src/test/native/cpp/hostname.cpp
index 8a678fa64a..feb24ce2a4 100644
--- a/wpinet/src/test/native/cpp/hostname.cpp
+++ b/wpinet/src/test/native/cpp/hostname.cpp
@@ -9,16 +9,16 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::net {
 TEST(HostNameTest, HostNameNotEmpty) {
   ASSERT_NE(GetHostname(), "");
 }
 TEST(HostNameTest, HostNameNotEmptySmallVector) {
-  SmallVector<char, 256> name;
+  wpi::util::SmallVector<char, 256> name;
   ASSERT_NE(GetHostname(name), "");
 }
 TEST(HostNameTest, HostNameEq) {
-  SmallVector<char, 256> nameBuf;
+  wpi::util::SmallVector<char, 256> nameBuf;
   ASSERT_EQ(GetHostname(nameBuf), GetHostname());
 }
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp b/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
index 13a3cd133d..bdfae8b364 100644
--- a/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
+++ b/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::net {
 
 TEST(RawUvStreamTest, BasicWrite) {
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os(bufs, 1024);
   os << "12";
   os << "34";
@@ -26,7 +26,7 @@ TEST(RawUvStreamTest, BasicWrite) {
 }
 
 TEST(RawUvStreamTest, BoundaryWrite) {
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os(bufs, 4);
   ASSERT_EQ(bufs.size(), 0u);
   os << "12";
@@ -42,7 +42,7 @@ TEST(RawUvStreamTest, BoundaryWrite) {
 }
 
 TEST(RawUvStreamTest, LargeWrite) {
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   raw_uv_ostream os(bufs, 4);
   os << "123456";
   ASSERT_EQ(bufs.size(), 2u);
@@ -55,7 +55,7 @@ TEST(RawUvStreamTest, LargeWrite) {
 }
 
 TEST(RawUvStreamTest, PrevDataWrite) {
-  SmallVector<uv::Buffer, 4> bufs;
+  wpi::util::SmallVector<uv::Buffer, 4> bufs;
   bufs.emplace_back(uv::Buffer::Allocate(1024));
   raw_uv_ostream os(bufs, 1024);
   os << "1234";
@@ -68,4 +68,4 @@ TEST(RawUvStreamTest, PrevDataWrite) {
   }
 }
 
-}  // namespace wpi
+}  // namespace wpi::net
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
index ca20fdbee7..e51387dbc4 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/net/uv/Prepare.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvAsyncFunctionTest, Basic) {
   int prepare_cb_called = 0;
@@ -44,7 +44,7 @@ TEST(UvAsyncFunctionTest, Basic) {
 
   async->error.connect([](Error) { FAIL(); });
   async->closed.connect([&] { close_cb_called++; });
-  async->wakeup = [&](promise<int> out, int v) {
+  async->wakeup = [&](wpi::util::promise<int> out, int v) {
     ++async_cb_called[v];
     if (v == 1) {
       async->Close();
@@ -82,7 +82,7 @@ TEST(UvAsyncFunctionTest, Ref) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<int> out, int v, int& r) {
+  async->wakeup = [&](wpi::util::promise<int> out, int v, int& r) {
     r = v;
     async->Close();
     prepare->Close();
@@ -121,7 +121,7 @@ TEST(UvAsyncFunctionTest, Movable) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<std::unique_ptr<int>> out,
+  async->wakeup = [&](wpi::util::promise<std::unique_ptr<int>> out,
                       std::unique_ptr<int> v) {
     async->Close();
     prepare->Close();
@@ -153,7 +153,7 @@ TEST(UvAsyncFunctionTest, CallIgnoreResult) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<std::unique_ptr<int>> out,
+  async->wakeup = [&](wpi::util::promise<std::unique_ptr<int>> out,
                       std::unique_ptr<int> v) {
     async->Close();
     prepare->Close();
@@ -184,7 +184,7 @@ TEST(UvAsyncFunctionTest, VoidCall) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<void> out) {
+  async->wakeup = [&](wpi::util::promise<void> out) {
     async->Close();
     prepare->Close();
     out.set_value();
@@ -216,7 +216,7 @@ TEST(UvAsyncFunctionTest, WaitFor) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<int> out) {
+  async->wakeup = [&](wpi::util::promise<int> out) {
     async->Close();
     prepare->Close();
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -249,7 +249,7 @@ TEST(UvAsyncFunctionTest, VoidWaitFor) {
   });
   prepare->Start();
 
-  async->wakeup = [&](promise<void> out) {
+  async->wakeup = [&](wpi::util::promise<void> out) {
     async->Close();
     prepare->Close();
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -263,4 +263,4 @@ TEST(UvAsyncFunctionTest, VoidWaitFor) {
   }
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
index babbfc637b..57a82f7eaa 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
@@ -35,14 +35,14 @@
 #include "wpi/net/uv/Prepare.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvAsyncTest, CallbackOnly) {
   std::atomic_int async_cb_called{0};
   int prepare_cb_called = 0;
   int close_cb_called = 0;
 
-  wpi::mutex mutex;
+  wpi::util::mutex mutex;
   mutex.lock();
 
   std::thread theThread;
@@ -183,4 +183,4 @@ TEST(UvAsyncTest, DataRef) {
   }
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp b/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
index f9801a8bf7..10860edee5 100644
--- a/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvSimpleBufferPoolTest, ConstructDefault) {
   SimpleBufferPool<> pool;
@@ -45,4 +45,4 @@ TEST(UvSimpleBufferPoolTest, ClearRemaining) {
   ASSERT_EQ(pool.Remaining(), 0u);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp b/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
index ef392e9c0a..8553664264 100644
--- a/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
@@ -31,7 +31,7 @@
 
 #define CONCURRENT_COUNT 10
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvGetAddrInfoTest, BothNull) {
   int fail_cb_called = 0;
@@ -103,4 +103,4 @@ TEST(UvGetAddrInfoTest, Concurrent) {
 }
 #endif
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp b/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
index 63aefa5d8a..c9e0d51e11 100644
--- a/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
@@ -29,7 +29,7 @@
 
 #include "wpi/net/uv/Loop.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvGetNameInfoTest, BasicIp4) {
   int getnameinfo_cbs = 0;
@@ -71,4 +71,4 @@ TEST(UvGetNameInfoTest, BasicIp6) {
   ASSERT_EQ(getnameinfo_cbs, 1);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp b/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
index 8cd32e5a7e..98b58c4864 100644
--- a/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
@@ -29,7 +29,7 @@
 
 #include "wpi/net/uv/Timer.hpp"
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvLoopTest, Walk) {
   int seen_timer_handle = 0;
@@ -66,4 +66,4 @@ TEST(UvLoopTest, Walk) {
   ASSERT_EQ(seen_timer_handle, 0);
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp b/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
index b18857f66a..be1de6589d 100644
--- a/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi::uv {
+namespace wpi::net::uv {
 
 TEST(UvTimerTest, StartAndStop) {
   auto loop = Loop::Create();
@@ -66,4 +66,4 @@ TEST(UvTimerTest, Repeat) {
   loop->Run();  // forces close callback to run
 }
 
-}  // namespace wpi::uv
+}  // namespace wpi::net::uv
diff --git a/wpiutil/src/dev/native/cpp/main.cpp b/wpiutil/src/dev/native/cpp/main.cpp
index 74f17fbfea..e5b9d37af1 100644
--- a/wpiutil/src/dev/native/cpp/main.cpp
+++ b/wpiutil/src/dev/native/cpp/main.cpp
@@ -6,6 +6,6 @@
 #include "wpi/util/print.hpp"
 
 int main() {
-  wpi::SmallString<128> v1("Hello");
-  wpi::print("{}\n", v1.str());
+  wpi::util::SmallString<128> v1("Hello");
+  wpi::util::print("{}\n", v1.str());
 }
diff --git a/wpiutil/src/main/native/cpp/Base64.cpp b/wpiutil/src/main/native/cpp/Base64.cpp
index 43266f2519..ca134c5b4b 100644
--- a/wpiutil/src/main/native/cpp/Base64.cpp
+++ b/wpiutil/src/main/native/cpp/Base64.cpp
@@ -63,7 +63,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 // aaaack but it's fast and const should make it shared text page.
 static const unsigned char pr2six[256] = {
@@ -216,4 +216,4 @@ std::string_view Base64Encode(std::span<const uint8_t> plain,
   return os.str();
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/cpp/Logger.cpp b/wpiutil/src/main/native/cpp/Logger.cpp
index 96e298fbaa..c2568f81a1 100644
--- a/wpiutil/src/main/native/cpp/Logger.cpp
+++ b/wpiutil/src/main/native/cpp/Logger.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/util/Logger.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 void Logger::DoLog(unsigned int level, const char* file, unsigned int line,
                    const char* msg) {
diff --git a/wpiutil/src/main/native/cpp/MappedFileRegion.cpp b/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
index 88bdc5bd01..e11d5fd01d 100644
--- a/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
+++ b/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
@@ -31,7 +31,7 @@
 #include "wpi/util/WindowsError.hpp"
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 MappedFileRegion::MappedFileRegion(fs::file_t f, uint64_t length,
                                    uint64_t offset, MapMode mapMode,
@@ -47,7 +47,7 @@ MappedFileRegion::MappedFileRegion(fs::file_t f, uint64_t length,
       f, 0, mapMode == kReadOnly ? PAGE_READONLY : PAGE_READWRITE, length >> 32,
       length & 0xffffffff, 0);
   if (fileMappingHandle == nullptr) {
-    ec = wpi::mapWindowsError(GetLastError());
+    ec = wpi::util::mapWindowsError(GetLastError());
     return;
   }
 
@@ -66,7 +66,7 @@ MappedFileRegion::MappedFileRegion(fs::file_t f, uint64_t length,
   m_mapping = ::MapViewOfFile(fileMappingHandle, dwDesiredAccess, offset >> 32,
                               offset & 0xffffffff, length);
   if (m_mapping == nullptr) {
-    ec = wpi::mapWindowsError(GetLastError());
+    ec = wpi::util::mapWindowsError(GetLastError());
     ::CloseHandle(fileMappingHandle);
     return;
   }
@@ -79,7 +79,7 @@ MappedFileRegion::MappedFileRegion(fs::file_t f, uint64_t length,
   ::CloseHandle(fileMappingHandle);
   if (!::DuplicateHandle(::GetCurrentProcess(), f, ::GetCurrentProcess(),
                          &m_fileHandle, 0, 0, DUPLICATE_SAME_ACCESS)) {
-    ec = wpi::mapWindowsError(GetLastError());
+    ec = wpi::util::mapWindowsError(GetLastError());
     ::UnmapViewOfFile(m_mapping);
     m_mapping = nullptr;
     return;
diff --git a/wpiutil/src/main/native/cpp/RawFrame.cpp b/wpiutil/src/main/native/cpp/RawFrame.cpp
index 513db1c07b..2f1a0c41a3 100644
--- a/wpiutil/src/main/native/cpp/RawFrame.cpp
+++ b/wpiutil/src/main/native/cpp/RawFrame.cpp
@@ -14,7 +14,7 @@ int WPI_AllocateRawFrameData(WPI_RawFrame* frame, size_t requestedSize) {
     return 0;
   }
   WPI_FreeRawFrameData(frame);
-  frame->data = static_cast<uint8_t*>(wpi::safe_malloc(requestedSize));
+  frame->data = static_cast<uint8_t*>(wpi::util::safe_malloc(requestedSize));
   frame->capacity = requestedSize;
   frame->size = 0;
   return 1;
diff --git a/wpiutil/src/main/native/cpp/SafeThread.cpp b/wpiutil/src/main/native/cpp/SafeThread.cpp
index f288cacf98..f6ae5dff62 100644
--- a/wpiutil/src/main/native/cpp/SafeThread.cpp
+++ b/wpiutil/src/main/native/cpp/SafeThread.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <utility>
 
-using namespace wpi;
+using namespace wpi::util;
 
 // thread start/stop notifications for bindings that need to set up
 // per-thread state
@@ -24,7 +24,7 @@ static std::atomic<int> gSafeThreadRefcount;
 static std::atomic<OnThreadStartFn> gOnSafeThreadStart{DefaultOnThreadStart};
 static std::atomic<OnThreadEndFn> gOnSafeThreadEnd{DefaultOnThreadEnd};
 
-namespace wpi::impl {
+namespace wpi::util::impl {
 void SetSafeThreadNotifiers(OnThreadStartFn OnStart, OnThreadEndFn OnEnd) {
   if (gSafeThreadRefcount != 0) {
     throw std::runtime_error(
@@ -36,7 +36,7 @@ void SetSafeThreadNotifiers(OnThreadStartFn OnStart, OnThreadEndFn OnEnd) {
   gOnSafeThreadStart = OnStart ? OnStart : DefaultOnThreadStart;
   gOnSafeThreadEnd = OnEnd ? OnEnd : DefaultOnThreadEnd;
 }
-}  // namespace wpi::impl
+}  // namespace wpi::util::impl
 
 void SafeThread::Stop() {
   m_active = false;
@@ -54,7 +54,7 @@ detail::SafeThreadProxyBase::SafeThreadProxyBase(
   if (!m_thread) {
     return;
   }
-  m_lock = std::unique_lock<wpi::mutex>(m_thread->m_mutex);
+  m_lock = std::unique_lock<wpi::util::mutex>(m_thread->m_mutex);
   if (!m_thread->m_active) {
     m_lock.unlock();
     m_thread = nullptr;
diff --git a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
index 1c2c461b0d..0682da8742 100644
--- a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
+++ b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
@@ -8,12 +8,12 @@
 #include "wpi/util/StackTrace.hpp"
 
 static std::atomic<std::string (*)(int offset)> gStackTraceImpl{
-    wpi::GetStackTraceDefault};
+    wpi::util::GetStackTraceDefault};
 
-std::string wpi::GetStackTrace(int offset) {
+std::string wpi::util::GetStackTrace(int offset) {
   return (gStackTraceImpl.load())(offset);
 }
 
-void wpi::SetGetStackTraceImpl(std::string (*func)(int offset)) {
-  gStackTraceImpl = func ? func : wpi::GetStackTraceDefault;
+void wpi::util::SetGetStackTraceImpl(std::string (*func)(int offset)) {
+  gStackTraceImpl = func ? func : wpi::util::GetStackTraceDefault;
 }
diff --git a/wpiutil/src/main/native/cpp/Synchronization.cpp b/wpiutil/src/main/native/cpp/Synchronization.cpp
index defc48bc25..e301fcbd91 100644
--- a/wpiutil/src/main/native/cpp/Synchronization.cpp
+++ b/wpiutil/src/main/native/cpp/Synchronization.cpp
@@ -15,7 +15,7 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 // Count of active threads using the handle manager singleton. A negative value
 // indicates that the manager is being destroyed. When the manager is being
@@ -34,7 +34,7 @@ namespace {
 struct State {
   int signaled{0};
   bool autoReset{false};
-  wpi::SmallVector<wpi::condition_variable*, 2> waiters;
+  wpi::util::SmallVector<wpi::util::condition_variable*, 2> waiters;
 };
 
 struct HandleManager {
@@ -67,10 +67,10 @@ struct HandleManager {
     }
 #endif
   }
-  wpi::mutex mutex;
-  wpi::UidVector<int, 8> eventIds;
-  wpi::UidVector<int, 8> semaphoreIds;
-  wpi::DenseMap<WPI_Handle, State> states;
+  wpi::util::mutex mutex;
+  wpi::util::UidVector<int, 8> eventIds;
+  wpi::util::UidVector<int, 8> semaphoreIds;
+  wpi::util::DenseMap<WPI_Handle, State> states;
 };
 
 class ManagerGuard {
@@ -97,7 +97,7 @@ class ManagerGuard {
 
 }  // namespace
 
-WPI_EventHandle wpi::CreateEvent(bool manualReset, bool initialState) {
+WPI_EventHandle wpi::util::CreateEvent(bool manualReset, bool initialState) {
   ManagerGuard guard;
   if (!guard) {
     return {};
@@ -115,7 +115,7 @@ WPI_EventHandle wpi::CreateEvent(bool manualReset, bool initialState) {
   return handle;
 }
 
-void wpi::DestroyEvent(WPI_EventHandle handle) {
+void wpi::util::DestroyEvent(WPI_EventHandle handle) {
   if ((handle >> 24) != kHandleTypeEvent) {
     return;
   }
@@ -131,7 +131,7 @@ void wpi::DestroyEvent(WPI_EventHandle handle) {
   manager.eventIds.erase(handle & 0xffffff);
 }
 
-void wpi::SetEvent(WPI_EventHandle handle) {
+void wpi::util::SetEvent(WPI_EventHandle handle) {
   if ((handle >> 24) != kHandleTypeEvent) {
     return;
   }
@@ -139,7 +139,7 @@ void wpi::SetEvent(WPI_EventHandle handle) {
   SetSignalObject(handle);
 }
 
-void wpi::ResetEvent(WPI_EventHandle handle) {
+void wpi::util::ResetEvent(WPI_EventHandle handle) {
   if ((handle >> 24) != kHandleTypeEvent) {
     return;
   }
@@ -147,7 +147,7 @@ void wpi::ResetEvent(WPI_EventHandle handle) {
   ResetSignalObject(handle);
 }
 
-WPI_SemaphoreHandle wpi::CreateSemaphore(int initialCount, int maximumCount) {
+WPI_SemaphoreHandle wpi::util::CreateSemaphore(int initialCount, int maximumCount) {
   ManagerGuard guard;
   if (!guard) {
     return {};
@@ -166,7 +166,7 @@ WPI_SemaphoreHandle wpi::CreateSemaphore(int initialCount, int maximumCount) {
   return handle;
 }
 
-void wpi::DestroySemaphore(WPI_SemaphoreHandle handle) {
+void wpi::util::DestroySemaphore(WPI_SemaphoreHandle handle) {
   if ((handle >> 24) != kHandleTypeSemaphore) {
     return;
   }
@@ -182,7 +182,7 @@ void wpi::DestroySemaphore(WPI_SemaphoreHandle handle) {
   manager.eventIds.erase(handle & 0xffffff);
 }
 
-bool wpi::ReleaseSemaphore(WPI_SemaphoreHandle handle, int releaseCount,
+bool wpi::util::ReleaseSemaphore(WPI_SemaphoreHandle handle, int releaseCount,
                            int* prevCount) {
   if ((handle >> 24) != kHandleTypeSemaphore) {
     return false;
@@ -217,11 +217,11 @@ bool wpi::ReleaseSemaphore(WPI_SemaphoreHandle handle, int releaseCount,
   return true;
 }
 
-bool wpi::WaitForObject(WPI_Handle handle) {
+bool wpi::util::WaitForObject(WPI_Handle handle) {
   return WaitForObject(handle, -1, nullptr);
 }
 
-bool wpi::WaitForObject(WPI_Handle handle, double timeout, bool* timedOut) {
+bool wpi::util::WaitForObject(WPI_Handle handle, double timeout, bool* timedOut) {
   WPI_Handle signaledValue;
   auto signaled = WaitForObjects(
       std::span(&handle, 1), std::span(&signaledValue, 1), timeout, timedOut);
@@ -231,12 +231,12 @@ bool wpi::WaitForObject(WPI_Handle handle, double timeout, bool* timedOut) {
   return (signaled[0] & 0x80000000ul) == 0;
 }
 
-std::span<WPI_Handle> wpi::WaitForObjects(std::span<const WPI_Handle> handles,
+std::span<WPI_Handle> wpi::util::WaitForObjects(std::span<const WPI_Handle> handles,
                                           std::span<WPI_Handle> signaled) {
   return WaitForObjects(handles, signaled, -1, nullptr);
 }
 
-std::span<WPI_Handle> wpi::WaitForObjects(std::span<const WPI_Handle> handles,
+std::span<WPI_Handle> wpi::util::WaitForObjects(std::span<const WPI_Handle> handles,
                                           std::span<WPI_Handle> signaled,
                                           double timeout, bool* timedOut) {
   ManagerGuard guard;
@@ -248,7 +248,7 @@ std::span<WPI_Handle> wpi::WaitForObjects(std::span<const WPI_Handle> handles,
   }
   auto& manager = guard.GetManager();
   std::unique_lock lock{manager.mutex};
-  wpi::condition_variable cv;
+  wpi::util::condition_variable cv;
   bool addedWaiters = false;
   bool timedOutVal = false;
   size_t count = 0;
@@ -336,7 +336,7 @@ std::span<WPI_Handle> wpi::WaitForObjects(std::span<const WPI_Handle> handles,
   return signaled.subspan(0, count);
 }
 
-void wpi::CreateSignalObject(WPI_Handle handle, bool manualReset,
+void wpi::util::CreateSignalObject(WPI_Handle handle, bool manualReset,
                              bool initialState) {
   ManagerGuard guard;
   if (!guard) {
@@ -349,7 +349,7 @@ void wpi::CreateSignalObject(WPI_Handle handle, bool manualReset,
   state.autoReset = !manualReset;
 }
 
-void wpi::SetSignalObject(WPI_Handle handle) {
+void wpi::util::SetSignalObject(WPI_Handle handle) {
   ManagerGuard guard;
   if (!guard) {
     return;
@@ -371,7 +371,7 @@ void wpi::SetSignalObject(WPI_Handle handle) {
   }
 }
 
-void wpi::ResetSignalObject(WPI_Handle handle) {
+void wpi::util::ResetSignalObject(WPI_Handle handle) {
   ManagerGuard guard;
   if (!guard) {
     return;
@@ -384,7 +384,7 @@ void wpi::ResetSignalObject(WPI_Handle handle) {
   }
 }
 
-void wpi::DestroySignalObject(WPI_Handle handle) {
+void wpi::util::DestroySignalObject(WPI_Handle handle) {
   ManagerGuard guard;
   if (!guard) {
     return;
@@ -405,49 +405,49 @@ void wpi::DestroySignalObject(WPI_Handle handle) {
 extern "C" {
 
 WPI_EventHandle WPI_CreateEvent(int manual_reset, int initial_state) {
-  return wpi::CreateEvent(manual_reset != 0, initial_state != 0);
+  return wpi::util::CreateEvent(manual_reset != 0, initial_state != 0);
 }
 
 void WPI_DestroyEvent(WPI_EventHandle handle) {
-  wpi::DestroyEvent(handle);
+  wpi::util::DestroyEvent(handle);
 }
 
 void WPI_SetEvent(WPI_EventHandle handle) {
-  wpi::SetEvent(handle);
+  wpi::util::SetEvent(handle);
 }
 
 void WPI_ResetEvent(WPI_EventHandle handle) {
-  wpi::ResetEvent(handle);
+  wpi::util::ResetEvent(handle);
 }
 
 WPI_SemaphoreHandle WPI_CreateSemaphore(int initial_count, int maximum_count) {
-  return wpi::CreateSemaphore(initial_count, maximum_count);
+  return wpi::util::CreateSemaphore(initial_count, maximum_count);
 }
 
 void WPI_DestroySemaphore(WPI_SemaphoreHandle handle) {
-  wpi::DestroySemaphore(handle);
+  wpi::util::DestroySemaphore(handle);
 }
 
 int WPI_ReleaseSemaphore(WPI_SemaphoreHandle handle, int release_count,
                          int* prev_count) {
-  return wpi::ReleaseSemaphore(handle, release_count, prev_count);
+  return wpi::util::ReleaseSemaphore(handle, release_count, prev_count);
 }
 
 int WPI_WaitForObject(WPI_Handle handle) {
-  return wpi::WaitForObject(handle);
+  return wpi::util::WaitForObject(handle);
 }
 
 int WPI_WaitForObjectTimeout(WPI_Handle handle, double timeout,
                              int* timed_out) {
   bool timedOutBool;
-  int rv = wpi::WaitForObject(handle, timeout, &timedOutBool);
+  int rv = wpi::util::WaitForObject(handle, timeout, &timedOutBool);
   *timed_out = timedOutBool ? 1 : 0;
   return rv;
 }
 
 int WPI_WaitForObjects(const WPI_Handle* handles, int handles_count,
                        WPI_Handle* signaled) {
-  return wpi::WaitForObjects(std::span(handles, handles_count),
+  return wpi::util::WaitForObjects(std::span(handles, handles_count),
                              std::span(signaled, handles_count))
       .size();
 }
@@ -456,7 +456,7 @@ int WPI_WaitForObjectsTimeout(const WPI_Handle* handles, int handles_count,
                               WPI_Handle* signaled, double timeout,
                               int* timed_out) {
   bool timedOutBool;
-  auto signaledResult = wpi::WaitForObjects(std::span(handles, handles_count),
+  auto signaledResult = wpi::util::WaitForObjects(std::span(handles, handles_count),
                                             std::span(signaled, handles_count),
                                             timeout, &timedOutBool);
   *timed_out = timedOutBool ? 1 : 0;
@@ -465,19 +465,19 @@ int WPI_WaitForObjectsTimeout(const WPI_Handle* handles, int handles_count,
 
 void WPI_CreateSignalObject(WPI_Handle handle, int manual_reset,
                             int initial_state) {
-  wpi::CreateSignalObject(handle, manual_reset, initial_state);
+  wpi::util::CreateSignalObject(handle, manual_reset, initial_state);
 }
 
 void WPI_SetSignalObject(WPI_Handle handle) {
-  wpi::SetSignalObject(handle);
+  wpi::util::SetSignalObject(handle);
 }
 
 void WPI_ResetSignalObject(WPI_Handle handle) {
-  wpi::ResetSignalObject(handle);
+  wpi::util::ResetSignalObject(handle);
 }
 
 void WPI_DestroySignalObject(WPI_Handle handle) {
-  wpi::DestroySignalObject(handle);
+  wpi::util::DestroySignalObject(handle);
 }
 
 }  // extern "C"
diff --git a/wpiutil/src/main/native/cpp/fs.cpp b/wpiutil/src/main/native/cpp/fs.cpp
index fe5acd97c4..03fbfdb641 100644
--- a/wpiutil/src/main/native/cpp/fs.cpp
+++ b/wpiutil/src/main/native/cpp/fs.cpp
@@ -100,7 +100,7 @@ static file_t openFileInternal(const path& Path, std::error_code& EC,
                     Disp, Flags, NULL);
   if (H == INVALID_HANDLE_VALUE) {
     DWORD LastError = ::GetLastError();
-    EC = wpi::mapWindowsError(LastError);
+    EC = wpi::util::mapWindowsError(LastError);
     // Provide a better error message when trying to open directories.
     // This only runs if we failed to open the file, so there is probably
     // no performances issues.
@@ -121,7 +121,7 @@ static std::error_code setDeleteDisposition(HANDLE Handle, bool Delete) {
   Disposition.DeleteFile = Delete;
   if (!::SetFileInformationByHandle(Handle, FileDispositionInfo, &Disposition,
                                     sizeof(Disposition)))
-    return wpi::mapWindowsError(::GetLastError());
+    return wpi::util::mapWindowsError(::GetLastError());
   return std::error_code();
 }
 
@@ -153,7 +153,7 @@ file_t OpenFile(const path& Path, std::error_code& EC, CreationDisposition Disp,
         ::SetFileTime(Result, NULL, &FileTime, NULL) == 0) {
       DWORD LastError = ::GetLastError();
       ::CloseHandle(Result);
-      EC = wpi::mapWindowsError(LastError);
+      EC = wpi::util::mapWindowsError(LastError);
       return WPI_kInvalidFile;
     }
   }
@@ -173,7 +173,7 @@ file_t OpenFileForRead(const path& Path, std::error_code& EC, OpenFlags Flags) {
 
 int FileToFd(file_t& F, std::error_code& EC, OpenFlags Flags) {
   if (F == WPI_kInvalidFile) {
-    EC = wpi::mapWindowsError(ERROR_INVALID_HANDLE);
+    EC = wpi::util::mapWindowsError(ERROR_INVALID_HANDLE);
     return -1;
   }
 
@@ -189,7 +189,7 @@ int FileToFd(file_t& F, std::error_code& EC, OpenFlags Flags) {
   int ResultFD = ::_open_osfhandle(intptr_t(F), CrtOpenFlags);
   if (ResultFD == -1) {
     ::CloseHandle(F);
-    EC = wpi::mapWindowsError(ERROR_INVALID_HANDLE);
+    EC = wpi::util::mapWindowsError(ERROR_INVALID_HANDLE);
     return -1;
   }
 
@@ -249,7 +249,7 @@ file_t OpenFile(const path& Path, std::error_code& EC, CreationDisposition Disp,
   // Call ::open in a lambda to avoid overload resolution in RetryAfterSignal
   // when open is overloaded, such as in Bionic.
   auto Open = [&]() { return ::open(Path.c_str(), OpenFlags, Mode); };
-  if ((ResultFD = wpi::sys::RetryAfterSignal(-1, Open)) < 0) {
+  if ((ResultFD = wpi::util::sys::RetryAfterSignal(-1, Open)) < 0) {
     EC = std::error_code(errno, std::generic_category());
     return WPI_kInvalidFile;
   }
diff --git a/wpiutil/src/main/native/cpp/future.cpp b/wpiutil/src/main/native/cpp/future.cpp
index ac6afac038..65bbb0d9f7 100644
--- a/wpiutil/src/main/native/cpp/future.cpp
+++ b/wpiutil/src/main/native/cpp/future.cpp
@@ -6,7 +6,7 @@
 
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 namespace detail {
 
 PromiseFactoryBase::~PromiseFactoryBase() {
@@ -123,4 +123,4 @@ PromiseFactory<void>& PromiseFactory<void>::GetInstance() {
   return inst;
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
index 9d0c20874a..84eae8b6bf 100644
--- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -14,7 +14,7 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.h"
 
-using namespace wpi::java;
+using namespace wpi::util::java;
 
 static bool mockTimeEnabled = false;
 static uint64_t mockNow = 0;
@@ -34,19 +34,19 @@ static const JExceptionInit exceptions[] = {
     {"java/lang/NullPointerException", &nullPointerEx},
     {"org/wpilib/util/runtime/MsvcRuntimeException", &msvcRuntimeEx}};
 
-void wpi::ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg) {
+void wpi::util::ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg) {
   illegalArgEx.Throw(env, msg);
 }
 
-void wpi::ThrowIndexOobException(JNIEnv* env, std::string_view msg) {
+void wpi::util::ThrowIndexOobException(JNIEnv* env, std::string_view msg) {
   indexOobEx.Throw(env, msg);
 }
 
-void wpi::ThrowIOException(JNIEnv* env, std::string_view msg) {
+void wpi::util::ThrowIOException(JNIEnv* env, std::string_view msg) {
   ioEx.Throw(env, msg);
 }
 
-void wpi::ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
+void wpi::util::ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
   nullPointerEx.Throw(env, msg);
 }
 
@@ -98,7 +98,7 @@ Java_org_wpilib_util_WPIUtilJNI_checkMsvcRuntime
                           &expectedMinor, &runtimePath)) {
     static jmethodID ctor =
         env->GetMethodID(msvcRuntimeEx, "<init>", "(IIIILjava/lang/String;)V");
-    jstring jmsvcruntime = MakeJString(env, wpi::to_string_view(&runtimePath));
+    jstring jmsvcruntime = MakeJString(env, wpi::util::to_string_view(&runtimePath));
     jobject exception =
         env->NewObject(msvcRuntimeEx, ctor, foundMajor, foundMinor,
                        expectedMajor, expectedMinor, jmsvcruntime);
@@ -116,7 +116,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_writeStderr
   (JNIEnv* env, jclass, jstring str)
 {
-  wpi::print(stderr, "{}", JStringRef{env, str}.str());
+  wpi::util::print(stderr, "{}", JStringRef{env, str}.str());
 }
 
 /*
@@ -129,10 +129,10 @@ Java_org_wpilib_util_WPIUtilJNI_enableMockTime
   (JNIEnv*, jclass)
 {
 #ifdef __FRC_SYSTEMCORE__
-  wpi::print(stderr, "WPIUtil: Mocking time is not available on systemcore\n");
+  wpi::util::print(stderr, "WPIUtil: Mocking time is not available on systemcore\n");
 #else
   mockTimeEnabled = true;
-  wpi::SetNowImpl([] { return mockNow; });
+  wpi::util::SetNowImpl([] { return mockNow; });
 #endif
 }
 
@@ -146,7 +146,7 @@ Java_org_wpilib_util_WPIUtilJNI_disableMockTime
   (JNIEnv*, jclass)
 {
   mockTimeEnabled = false;
-  wpi::SetNowImpl(nullptr);
+  wpi::util::SetNowImpl(nullptr);
 }
 
 /*
@@ -173,7 +173,7 @@ Java_org_wpilib_util_WPIUtilJNI_now
   if (mockTimeEnabled) {
     return mockNow;
   } else {
-    return wpi::Now();
+    return wpi::util::Now();
   }
 }
 
@@ -186,7 +186,7 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_util_WPIUtilJNI_getSystemTime
   (JNIEnv*, jclass)
 {
-  return wpi::GetSystemTime();
+  return wpi::util::GetSystemTime();
 }
 
 /*
@@ -198,7 +198,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_util_WPIUtilJNI_createEvent
   (JNIEnv*, jclass, jboolean manualReset, jboolean initialState)
 {
-  return wpi::CreateEvent(manualReset, initialState);
+  return wpi::util::CreateEvent(manualReset, initialState);
 }
 
 /*
@@ -210,7 +210,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_destroyEvent
   (JNIEnv*, jclass, jint eventHandle)
 {
-  wpi::DestroyEvent(eventHandle);
+  wpi::util::DestroyEvent(eventHandle);
 }
 
 /*
@@ -222,7 +222,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_setEvent
   (JNIEnv*, jclass, jint eventHandle)
 {
-  wpi::SetEvent(eventHandle);
+  wpi::util::SetEvent(eventHandle);
 }
 
 /*
@@ -234,7 +234,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_resetEvent
   (JNIEnv*, jclass, jint eventHandle)
 {
-  wpi::ResetEvent(eventHandle);
+  wpi::util::ResetEvent(eventHandle);
 }
 
 /*
@@ -246,7 +246,7 @@ JNIEXPORT jint JNICALL
 Java_org_wpilib_util_WPIUtilJNI_createSemaphore
   (JNIEnv*, jclass, jint initialCount, jint maximumCount)
 {
-  return wpi::CreateSemaphore(initialCount, maximumCount);
+  return wpi::util::CreateSemaphore(initialCount, maximumCount);
 }
 
 /*
@@ -258,7 +258,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_destroySemaphore
   (JNIEnv*, jclass, jint semHandle)
 {
-  wpi::DestroySemaphore(semHandle);
+  wpi::util::DestroySemaphore(semHandle);
 }
 
 /*
@@ -270,7 +270,7 @@ JNIEXPORT jboolean JNICALL
 Java_org_wpilib_util_WPIUtilJNI_releaseSemaphore
   (JNIEnv*, jclass, jint semHandle, jint releaseCount)
 {
-  return wpi::ReleaseSemaphore(semHandle, releaseCount);
+  return wpi::util::ReleaseSemaphore(semHandle, releaseCount);
 }
 
 /*
@@ -282,7 +282,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_waitForObject
   (JNIEnv* env, jclass, jint handle)
 {
-  if (!wpi::WaitForObject(handle)) {
+  if (!wpi::util::WaitForObject(handle)) {
     interruptedEx.Throw(env, "WaitForObject interrupted");
   }
 }
@@ -297,7 +297,7 @@ Java_org_wpilib_util_WPIUtilJNI_waitForObjectTimeout
   (JNIEnv* env, jclass, jint handle, jdouble timeout)
 {
   bool timedOut;
-  if (!wpi::WaitForObject(handle, timeout, &timedOut) && !timedOut) {
+  if (!wpi::util::WaitForObject(handle, timeout, &timedOut) && !timedOut) {
     interruptedEx.Throw(env, "WaitForObject interrupted");
     return false;
   }
@@ -314,13 +314,13 @@ Java_org_wpilib_util_WPIUtilJNI_waitForObjects
   (JNIEnv* env, jclass, jintArray handles)
 {
   JSpan<const jint> handlesArr{env, handles};
-  wpi::SmallVector<WPI_Handle, 8> signaledBuf;
+  wpi::util::SmallVector<WPI_Handle, 8> signaledBuf;
   signaledBuf.resize(handlesArr.size());
   std::span<const WPI_Handle> handlesArr2{
       reinterpret_cast<const WPI_Handle*>(handlesArr.data()),
       handlesArr.size()};
 
-  auto signaled = wpi::WaitForObjects(handlesArr2, signaledBuf);
+  auto signaled = wpi::util::WaitForObjects(handlesArr2, signaledBuf);
   if (signaled.empty()) {
     interruptedEx.Throw(env, "WaitForObjects interrupted");
     return nullptr;
@@ -338,7 +338,7 @@ Java_org_wpilib_util_WPIUtilJNI_waitForObjectsTimeout
   (JNIEnv* env, jclass, jintArray handles, jdouble timeout)
 {
   JSpan<const jint> handlesArr{env, handles};
-  wpi::SmallVector<WPI_Handle, 8> signaledBuf;
+  wpi::util::SmallVector<WPI_Handle, 8> signaledBuf;
   signaledBuf.resize(handlesArr.size());
   std::span<const WPI_Handle> handlesArr2{
       reinterpret_cast<const WPI_Handle*>(handlesArr.data()),
@@ -346,7 +346,7 @@ Java_org_wpilib_util_WPIUtilJNI_waitForObjectsTimeout
 
   bool timedOut;
   auto signaled =
-      wpi::WaitForObjects(handlesArr2, signaledBuf, timeout, &timedOut);
+      wpi::util::WaitForObjects(handlesArr2, signaledBuf, timeout, &timedOut);
   if (signaled.empty() && !timedOut) {
     interruptedEx.Throw(env, "WaitForObjects interrupted");
     return nullptr;
@@ -363,7 +363,7 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_util_WPIUtilJNI_allocateRawFrame
   (JNIEnv*, jclass)
 {
-  return reinterpret_cast<jlong>(new wpi::RawFrame);
+  return reinterpret_cast<jlong>(new wpi::util::RawFrame);
 }
 
 /*
@@ -375,7 +375,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_freeRawFrame
   (JNIEnv*, jclass, jlong frame)
 {
-  delete reinterpret_cast<wpi::RawFrame*>(frame);
+  delete reinterpret_cast<wpi::util::RawFrame*>(frame);
 }
 
 /*
@@ -387,9 +387,9 @@ JNIEXPORT jlong JNICALL
 Java_org_wpilib_util_WPIUtilJNI_getRawFrameDataPtr
   (JNIEnv* env, jclass, jlong frame)
 {
-  auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
+  auto* f = reinterpret_cast<wpi::util::RawFrame*>(frame);
   if (!f) {
-    wpi::ThrowNullPointerException(env, "frame is null");
+    wpi::util::ThrowNullPointerException(env, "frame is null");
     return 0;
   }
   return reinterpret_cast<jlong>(f->data);
@@ -405,14 +405,14 @@ Java_org_wpilib_util_WPIUtilJNI_setRawFrameData
   (JNIEnv* env, jclass, jlong frame, jobject data, jint size, jint width,
    jint height, jint stride, jint pixelFormat)
 {
-  auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
+  auto* f = reinterpret_cast<wpi::util::RawFrame*>(frame);
   if (!f) {
-    wpi::ThrowNullPointerException(env, "frame is null");
+    wpi::util::ThrowNullPointerException(env, "frame is null");
     return;
   }
   auto buf = env->GetDirectBufferAddress(data);
   if (!buf) {
-    wpi::ThrowNullPointerException(env, "data is null");
+    wpi::util::ThrowNullPointerException(env, "data is null");
     return;
   }
   // there's no way to free a passed-in direct byte buffer
@@ -433,9 +433,9 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_setRawFrameTime
   (JNIEnv* env, jclass, jlong frame, jlong time, jint timeSource)
 {
-  auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
+  auto* f = reinterpret_cast<wpi::util::RawFrame*>(frame);
   if (!f) {
-    wpi::ThrowNullPointerException(env, "frame is null");
+    wpi::util::ThrowNullPointerException(env, "frame is null");
     return;
   }
   f->timestamp = time;
@@ -452,9 +452,9 @@ Java_org_wpilib_util_WPIUtilJNI_setRawFrameInfo
   (JNIEnv* env, jclass, jlong frame, jint size, jint width, jint height,
    jint stride, jint pixelFormat)
 {
-  auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
+  auto* f = reinterpret_cast<wpi::util::RawFrame*>(frame);
   if (!f) {
-    wpi::ThrowNullPointerException(env, "frame is null");
+    wpi::util::ThrowNullPointerException(env, "frame is null");
     return;
   }
   f->width = width;
diff --git a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.hpp b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.hpp
index 4d08fdbf8b..efe0099f4e 100644
--- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.hpp
+++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.hpp
@@ -8,11 +8,11 @@
 
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 
 void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
 void ThrowIndexOobException(JNIEnv* env, std::string_view msg);
 void ThrowIOException(JNIEnv* env, std::string_view msg);
 void ThrowNullPointerException(JNIEnv* env, std::string_view msg);
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
index b08ff53f04..d7300aa45f 100644
--- a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
+++ b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/util/SmallVector.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 std::string detail::GetTypeString(const pb_msgdesc_t* msg) {
   return fmt::format("proto:{}", msg->proto_name);
@@ -52,7 +52,7 @@ bool detail::WriteFromStdVector(pb_ostream_t* stream, const pb_byte_t* buf,
 bool detail::WriteSubmessage(pb_ostream_t* stream, const pb_msgdesc_t* desc,
                              const void* msg) {
   // Write the submessage to a separate buffer
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::SmallVector<uint8_t, 64> buf;
   pb_ostream_t subStream{
       .callback = WriteFromSmallVector,
       .state = &buf,
diff --git a/wpiutil/src/main/native/cpp/raw_istream.cpp b/wpiutil/src/main/native/cpp/raw_istream.cpp
index 65e104a4d6..27c717144f 100644
--- a/wpiutil/src/main/native/cpp/raw_istream.cpp
+++ b/wpiutil/src/main/native/cpp/raw_istream.cpp
@@ -31,7 +31,7 @@
 #endif
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 std::string_view raw_istream::getline(SmallVectorImpl<char>& buf, int maxLen) {
   buf.clear();
diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index 65e940a225..51f5e5cdce 100644
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -17,7 +17,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 struct Component {
@@ -26,7 +26,7 @@ struct Component {
   std::string name;
   std::string subsystem = "Ungrouped";
   Sendable* parent = nullptr;
-  wpi::SmallVector<std::shared_ptr<void>, 2> data;
+  wpi::util::SmallVector<std::shared_ptr<void>, 2> data;
 
   void SetName(std::string_view moduleType, int channel) {
     name = fmt::format("{}[{}]", moduleType, channel);
@@ -38,10 +38,10 @@ struct Component {
 };
 
 struct SendableRegistryInst {
-  wpi::recursive_mutex mutex;
+  wpi::util::recursive_mutex mutex;
 
-  wpi::UidVector<std::unique_ptr<Component>, 32> components;
-  wpi::DenseMap<void*, SendableRegistry::UID> componentMap;
+  wpi::util::UidVector<std::unique_ptr<Component>, 32> components;
+  wpi::util::DenseMap<void*, SendableRegistry::UID> componentMap;
   int nextDataHandle = 0;
 
   Component& GetOrAdd(void* sendable, SendableRegistry::UID* uid = nullptr);
@@ -72,11 +72,11 @@ static SendableRegistryInst& GetInstance() {
 }
 
 #ifndef __FRC_SYSTEMCORE__
-namespace wpi::impl {
+namespace wpi::util::impl {
 void ResetSendableRegistry() {
   std::make_unique<SendableRegistryInst>().swap(GetInstanceHolder());
 }
-}  // namespace wpi::impl
+}  // namespace wpi::util::impl
 #endif
 
 void SendableRegistry::EnsureInitialized() {
diff --git a/wpiutil/src/main/native/cpp/sha1.cpp b/wpiutil/src/main/native/cpp/sha1.cpp
index 97b287b543..9da4fa918f 100644
--- a/wpiutil/src/main/native/cpp/sha1.cpp
+++ b/wpiutil/src/main/native/cpp/sha1.cpp
@@ -26,7 +26,7 @@
 #include "wpi/util/raw_istream.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 static const size_t BLOCK_INTS =
     16; /* number of 32bit integers per SHA1 block */
diff --git a/wpiutil/src/main/native/cpp/string.cpp b/wpiutil/src/main/native/cpp/string.cpp
index dc9dab9e6b..d4c766da16 100644
--- a/wpiutil/src/main/native/cpp/string.cpp
+++ b/wpiutil/src/main/native/cpp/string.cpp
@@ -46,7 +46,7 @@ char* WPI_AllocateString(struct WPI_String* wpiString, size_t length) {
     wpiString->str = nullptr;
     return &writeBuffer;
   }
-  char* str = static_cast<char*>(wpi::safe_malloc(length));
+  char* str = static_cast<char*>(wpi::util::safe_malloc(length));
   wpiString->str = str;
   wpiString->len = length;
   return str;
@@ -61,7 +61,7 @@ void WPI_FreeString(const struct WPI_String* wpiString) {
 
 struct WPI_String* WPI_AllocateStringArray(size_t length) {
   return static_cast<struct WPI_String*>(
-      wpi::safe_malloc(length * sizeof(struct WPI_String)));
+      wpi::util::safe_malloc(length * sizeof(struct WPI_String)));
 }
 
 void WPI_FreeStringArray(const struct WPI_String* wpiStringArray,
diff --git a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
index a61a615e59..684c28c095 100644
--- a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
+++ b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
@@ -16,7 +16,7 @@
 #include "wpi/util/raw_ostream.hpp"
 #include "wpi/util/struct/SchemaParser.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 static size_t TypeToSize(StructFieldType type) {
   switch (type) {
@@ -111,7 +111,7 @@ const StructFieldDescriptor* StructDescriptor::FindFieldByName(
 }
 
 bool StructDescriptor::CheckCircular(
-    wpi::SmallVectorImpl<const StructDescriptor*>& stack) const {
+    wpi::util::SmallVectorImpl<const StructDescriptor*>& stack) const {
   stack.emplace_back(this);
   for (auto&& ref : m_references) {
     if (std::find(stack.begin(), stack.end(), ref) != stack.end()) {
@@ -126,7 +126,7 @@ bool StructDescriptor::CheckCircular(
 }
 
 std::string StructDescriptor::CalculateOffsets(
-    wpi::SmallVectorImpl<const StructDescriptor*>& stack) {
+    wpi::util::SmallVectorImpl<const StructDescriptor*>& stack) {
   size_t offset = 0;
   unsigned int shift = 0;
   size_t prevBitfieldSize = 0;
@@ -282,7 +282,7 @@ const StructDescriptor* StructDescriptorDatabase::Add(std::string_view name,
   theStruct.m_valid = isValid;
   if (isValid) {
     // we have all the info needed, so calculate field offset & shift
-    wpi::SmallVector<const StructDescriptor*, 16> stack;
+    wpi::util::SmallVector<const StructDescriptor*, 16> stack;
     auto err2 = theStruct.CalculateOffsets(stack);
     if (!err2.empty()) {
       *err = std::move(err2);
@@ -290,10 +290,10 @@ const StructDescriptor* StructDescriptorDatabase::Add(std::string_view name,
     }
   } else {
     // check for circular reference
-    wpi::SmallVector<const StructDescriptor*, 16> stack;
+    wpi::util::SmallVector<const StructDescriptor*, 16> stack;
     if (!theStruct.CheckCircular(stack)) {
-      wpi::SmallString<128> buf;
-      wpi::raw_svector_ostream os{buf};
+      wpi::util::SmallString<128> buf;
+      wpi::util::raw_svector_ostream os{buf};
       for (auto&& elem : stack) {
         if (!buf.empty()) {
           os << " <- ";
diff --git a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
index 49cf3530e6..f32b4c0057 100644
--- a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
+++ b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
@@ -11,9 +11,9 @@
 
 #include "wpi/util/StringExtras.hpp"
 
-using namespace wpi::structparser;
+using namespace wpi::util::structparser;
 
-std::string_view wpi::structparser::ToString(Token::Kind kind) {
+std::string_view wpi::util::structparser::ToString(Token::Kind kind) {
   switch (kind) {
     case Token::kInteger:
       return "integer";
diff --git a/wpiutil/src/main/native/cpp/timestamp.cpp b/wpiutil/src/main/native/cpp/timestamp.cpp
index 6215bd5ab1..3ec3acf98f 100644
--- a/wpiutil/src/main/native/cpp/timestamp.cpp
+++ b/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -78,7 +78,7 @@ static const uint64_t offset_val = timestamp();
 static const uint64_t frequency_val = update_frequency();
 #endif
 
-uint64_t wpi::NowDefault() {
+uint64_t wpi::util::NowDefault() {
 #ifdef _WIN32
   assert(offset_val > 0u);
   assert(frequency_val > 0u);
@@ -95,36 +95,36 @@ uint64_t wpi::NowDefault() {
 #endif
 }
 
-static std::atomic<uint64_t (*)()> now_impl{wpi::NowDefault};
+static std::atomic<uint64_t (*)()> now_impl{wpi::util::NowDefault};
 
-void wpi::SetNowImpl(uint64_t (*func)(void)) {
+void wpi::util::SetNowImpl(uint64_t (*func)(void)) {
   now_impl = func ? func : NowDefault;
 }
 
-uint64_t wpi::Now() {
+uint64_t wpi::util::Now() {
   return (now_impl.load())();
 }
 
-uint64_t wpi::GetSystemTime() {
+uint64_t wpi::util::GetSystemTime() {
   return time_since_epoch();
 }
 
 extern "C" {
 
 uint64_t WPI_NowDefault(void) {
-  return wpi::NowDefault();
+  return wpi::util::NowDefault();
 }
 
 void WPI_SetNowImpl(uint64_t (*func)(void)) {
-  wpi::SetNowImpl(func);
+  wpi::util::SetNowImpl(func);
 }
 
 uint64_t WPI_Now(void) {
-  return wpi::Now();
+  return wpi::util::Now();
 }
 
 uint64_t WPI_GetSystemTime(void) {
-  return wpi::GetSystemTime();
+  return wpi::util::GetSystemTime();
 }
 
 }  // extern "C"
diff --git a/wpiutil/src/main/native/include/wpi/util/Algorithm.hpp b/wpiutil/src/main/native/include/wpi/util/Algorithm.hpp
index 112bfc3485..64ee3b647a 100644
--- a/wpiutil/src/main/native/include/wpi/util/Algorithm.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/Algorithm.hpp
@@ -9,7 +9,7 @@
 #include <utility>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 
 // Binary insertion into vector; std::log(n) efficiency.
 template <typename T>
@@ -32,4 +32,4 @@ constexpr void for_each(F&& f, Ts&&... elems) {
   }(std::index_sequence_for<Ts...>{});
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/Base64.hpp b/wpiutil/src/main/native/include/wpi/util/Base64.hpp
index 7bd09cd674..e6271410b4 100644
--- a/wpiutil/src/main/native/include/wpi/util/Base64.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/Base64.hpp
@@ -13,7 +13,7 @@
 #include <string_view>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 class raw_ostream;
@@ -44,6 +44,6 @@ void Base64Encode(std::span<const uint8_t> plain, std::string* encoded);
 std::string_view Base64Encode(std::span<const uint8_t> plain,
                               SmallVectorImpl<char>& buf);
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_BASE64_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp b/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
index 993fcdd500..d3a359276a 100644
--- a/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
@@ -19,7 +19,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename Callback>
 class CallbackListenerData {
@@ -47,7 +47,7 @@ template <typename Derived, typename TUserInfo,
           typename TListenerData =
               CallbackListenerData<std::function<void(const TUserInfo& info)>>,
           typename TNotifierData = TUserInfo>
-class CallbackThread : public wpi::SafeThread {
+class CallbackThread : public wpi::util::SafeThread {
  public:
   using UserInfo = TUserInfo;
   using NotifierData = TNotifierData;
@@ -67,10 +67,10 @@ class CallbackThread : public wpi::SafeThread {
 
   void Main() override;
 
-  wpi::UidVector<ListenerData, 64> m_listeners;
+  wpi::util::UidVector<ListenerData, 64> m_listeners;
 
   std::queue<std::pair<unsigned int, NotifierData>> m_queue;
-  wpi::condition_variable m_queue_empty;
+  wpi::util::condition_variable m_queue_empty;
 
   struct Poller {
     void Terminate() {
@@ -81,12 +81,12 @@ class CallbackThread : public wpi::SafeThread {
       poll_cond.notify_all();
     }
     std::queue<NotifierData> poll_queue;
-    wpi::mutex poll_mutex;
-    wpi::condition_variable poll_cond;
+    wpi::util::mutex poll_mutex;
+    wpi::util::condition_variable poll_cond;
     bool terminating = false;
     bool canceling = false;
   };
-  wpi::UidVector<std::shared_ptr<Poller>, 64> m_pollers;
+  wpi::util::UidVector<std::shared_ptr<Poller>, 64> m_pollers;
 
   std::function<void()> m_on_start;
   std::function<void()> m_on_exit;
@@ -379,17 +379,17 @@ class CallbackManager {
     thr->m_cond.notify_one();
   }
 
-  typename wpi::SafeThreadOwner<Thread>::Proxy GetThread() const {
+  typename wpi::util::SafeThreadOwner<Thread>::Proxy GetThread() const {
     return m_owner.GetThread();
   }
 
  private:
-  wpi::SafeThreadOwner<Thread> m_owner;
+  wpi::util::SafeThreadOwner<Thread> m_owner;
 
   std::function<void()> m_on_start;
   std::function<void()> m_on_exit;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_CALLBACKMANAGER_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/DecayedDerivedFrom.hpp b/wpiutil/src/main/native/include/wpi/util/DecayedDerivedFrom.hpp
index c776c9ce9c..63a6f86536 100644
--- a/wpiutil/src/main/native/include/wpi/util/DecayedDerivedFrom.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/DecayedDerivedFrom.hpp
@@ -7,11 +7,11 @@
 #include <concepts>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 template <class Derived, class Base>
 concept DecayedDerivedFrom =
     std::derived_from<std::decay_t<Derived>, std::decay_t<Base>> &&
     std::convertible_to<std::decay_t<Derived>*, std::decay_t<Base>*>;
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/Demangle.hpp b/wpiutil/src/main/native/include/wpi/util/Demangle.hpp
index 273b5e688e..b44ba74e64 100644
--- a/wpiutil/src/main/native/include/wpi/util/Demangle.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/Demangle.hpp
@@ -9,7 +9,7 @@
 #include <string_view>
 #include <typeinfo>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Demangle a C++ symbol.
@@ -28,6 +28,6 @@ std::string GetTypeName(const T& type) {
   return Demangle(typeid(type).name());
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_DEMANGLE_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/EventVector.hpp b/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
index a0750d2a03..d9c4014e25 100644
--- a/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
@@ -8,10 +8,10 @@
 #include "wpi/util/Synchronization.h"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 struct EventVector {
-  wpi::mutex mutex;
-  wpi::SmallVector<WPI_EventHandle, 4> events;
+  wpi::util::mutex mutex;
+  wpi::util::SmallVector<WPI_EventHandle, 4> events;
 
   /**
    * Adds an event to the event vector.
@@ -44,8 +44,8 @@ struct EventVector {
   void Wakeup() {
     std::scoped_lock lock{mutex};
     for (auto&& handle : events) {
-      wpi::SetEvent(handle);
+      wpi::util::SetEvent(handle);
     }
   }
 };
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/FastQueue.hpp b/wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
index 2049ccee8a..86aff9790e 100644
--- a/wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
@@ -53,7 +53,7 @@
 // Allocates memory sparingly, and only once if the original maximum size
 // estimate is never exceeded.
 
-namespace wpi {
+namespace wpi::util {
 
 template<typename T, size_t MAX_BLOCK_SIZE = 512>
 class FastQueue
@@ -554,4 +554,4 @@ private:
 	size_t largestBlockSize;
 };
 
-}    // end namespace wpi
+}    // end namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/Logger.hpp b/wpiutil/src/main/native/include/wpi/util/Logger.hpp
index f17482f44a..3c6d69ab3e 100644
--- a/wpiutil/src/main/native/include/wpi/util/Logger.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/Logger.hpp
@@ -10,7 +10,7 @@
 
 #include <fmt/format.h>
 
-namespace wpi {
+namespace wpi::util {
 
 enum LogLevel {
   WPI_LOG_CRITICAL = 50,
@@ -73,22 +73,22 @@ class Logger {
   }
 
 #define WPI_ERROR(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_WARNING(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_INFO(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_DEBUG(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_DEBUG1(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_DEBUG2(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_DEBUG3(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
 #define WPI_DEBUG4(inst, format, ...) \
-  WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+  WPI_LOG(inst, ::wpi::util::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_LOGGER_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/MappedFileRegion.hpp b/wpiutil/src/main/native/include/wpi/util/MappedFileRegion.hpp
index 33d3bb9df0..9322236971 100644
--- a/wpiutil/src/main/native/include/wpi/util/MappedFileRegion.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/MappedFileRegion.hpp
@@ -18,7 +18,7 @@ using file_t = int;
 #endif
 }  // namespace fs
 
-namespace wpi {
+namespace wpi::util {
 
 class MappedFileRegion {
  public:
@@ -83,4 +83,4 @@ class MappedFileRegion {
 #endif
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/NullDeleter.hpp b/wpiutil/src/main/native/include/wpi/util/NullDeleter.hpp
index 26146e5ea6..d4b441944f 100644
--- a/wpiutil/src/main/native/include/wpi/util/NullDeleter.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/NullDeleter.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-namespace wpi {
+namespace wpi::util {
 
 // A struct to use as a deleter when a std::shared_ptr must wrap a raw pointer
 // that is being deleted by someone else.
@@ -13,4 +13,4 @@ struct NullDeleter {
   void operator()(T*) const noexcept {};
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/RawFrame.h b/wpiutil/src/main/native/include/wpi/util/RawFrame.h
index ce44698e92..2b7829fbb6 100644
--- a/wpiutil/src/main/native/include/wpi/util/RawFrame.h
+++ b/wpiutil/src/main/native/include/wpi/util/RawFrame.h
@@ -61,18 +61,18 @@ enum WPI_PixelFormat {
 };
 
 /**
- * Timestamp metadata. Timebase is the same as wpi::Now
+ * Timestamp metadata. Timebase is the same as wpi::util::Now
  */
 enum WPI_TimestampSource {
   WPI_TIMESRC_UNKNOWN = 0,    // unknown
-  WPI_TIMESRC_FRAME_DEQUEUE,  // wpi::Now when the new frame was dequeued by
+  WPI_TIMESRC_FRAME_DEQUEUE,  // wpi::util::Now when the new frame was dequeued by
                               // CSCore. Does not account for camera exposure
                               // time or V4L latency.
   WPI_TIMESRC_V4L_EOF,  // End of Frame. Same as V4L2_BUF_FLAG_TSTAMP_SRC_EOF,
-                        // translated into wpi::Now's timebase.
+                        // translated into wpi::util::Now's timebase.
   WPI_TIMESRC_V4L_SOE,  // Start of Exposure. Same as
                         // V4L2_BUF_FLAG_TSTAMP_SRC_SOE, translated into
-                        // wpi::Now's timebase.
+                        // wpi::util::Now's timebase.
 };
 
 // Returns nonzero if the frame data was allocated/reallocated
@@ -88,7 +88,7 @@ void WPI_SetRawFrameData(WPI_RawFrame* frame, void* data, size_t size,
 #endif
 
 #ifdef __cplusplus
-namespace wpi {
+namespace wpi::util {
 struct RawFrame : public WPI_RawFrame {
   RawFrame() {
     data = nullptr;
@@ -135,7 +135,7 @@ struct RawFrame : public WPI_RawFrame {
 };
 
 #ifdef WPI_RAWFRAME_JNI
-template <std::same_as<wpi::RawFrame> T>
+template <std::same_as<wpi::util::RawFrame> T>
 void SetFrameData(JNIEnv* env, jclass rawFrameCls, jobject jframe,
                   const T& frame, bool newData) {
   if (newData) {
@@ -160,7 +160,7 @@ void SetFrameData(JNIEnv* env, jclass rawFrameCls, jobject jframe,
 }
 #endif
 
-}  // namespace wpi
+}  // namespace wpi::util
 #endif
 
 #endif  // WPIUTIL_WPI_UTIL_RAWFRAME_H_
diff --git a/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp b/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
index bd86803e41..536f995e3c 100644
--- a/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
@@ -14,7 +14,7 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Base class for SafeThreadOwner threads.
@@ -25,7 +25,7 @@ class SafeThreadBase {
   virtual void Main() = 0;
   virtual void Stop() = 0;
 
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::atomic_bool m_active{true};
   std::thread::id m_threadId;
 };
@@ -34,7 +34,7 @@ class SafeThread : public SafeThreadBase {
  public:
   void Stop() override;
 
-  wpi::condition_variable m_cond;
+  wpi::util::condition_variable m_cond;
 };
 
 class SafeThreadEvent : public SafeThreadBase {
@@ -55,11 +55,11 @@ class SafeThreadProxyBase {
  public:
   explicit SafeThreadProxyBase(std::shared_ptr<SafeThreadBase> thr);
   explicit operator bool() const { return m_thread != nullptr; }
-  std::unique_lock<wpi::mutex>& GetLock() { return m_lock; }
+  std::unique_lock<wpi::util::mutex>& GetLock() { return m_lock; }
 
  protected:
   std::shared_ptr<SafeThreadBase> m_thread;
-  std::unique_lock<wpi::mutex> m_lock;
+  std::unique_lock<wpi::util::mutex> m_lock;
 };
 
 /**
@@ -110,7 +110,7 @@ class SafeThreadOwnerBase {
   std::shared_ptr<SafeThreadBase> GetThreadSharedPtr() const;
 
  private:
-  mutable wpi::mutex m_mutex;
+  mutable wpi::util::mutex m_mutex;
   std::thread m_stdThread;
   std::weak_ptr<SafeThreadBase> m_thread;
   std::atomic_bool m_joinAtExit{true};
@@ -140,6 +140,6 @@ class SafeThreadOwner : public detail::SafeThreadOwnerBase {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_SAFETHREAD_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/SpanExtras.hpp b/wpiutil/src/main/native/include/wpi/util/SpanExtras.hpp
index 790a66f0ea..6ccb5542ab 100644
--- a/wpiutil/src/main/native/include/wpi/util/SpanExtras.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/SpanExtras.hpp
@@ -7,7 +7,7 @@
 #include <cassert>
 #include <span>
 
-namespace wpi {
+namespace wpi::util {
 
 /// Drop the first \p N elements of the array.
 template <typename T, size_t N>
@@ -55,4 +55,4 @@ constexpr std::span<T> take_back(std::span<T, N> in,
   return drop_front(in, length - n);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/StackTrace.hpp b/wpiutil/src/main/native/include/wpi/util/StackTrace.hpp
index 98dfbdbde1..ca82ceb832 100644
--- a/wpiutil/src/main/native/include/wpi/util/StackTrace.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/StackTrace.hpp
@@ -7,7 +7,7 @@
 
 #include <string>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Get a stack trace, ignoring the first "offset" symbols.
@@ -30,6 +30,6 @@ std::string GetStackTraceDefault(int offset);
  */
 void SetGetStackTraceImpl(std::string (*func)(int offset));
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_STACKTRACE_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/StringMap.hpp b/wpiutil/src/main/native/include/wpi/util/StringMap.hpp
index 27b5001921..09be08458a 100644
--- a/wpiutil/src/main/native/include/wpi/util/StringMap.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/StringMap.hpp
@@ -13,7 +13,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * StringMap is a sorted associative container that contains key-value pairs
@@ -767,11 +767,11 @@ class StringMap : public std::map<std::string, T, std::less<>, Allocator> {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 namespace std {
 template <typename T>
-inline void swap(wpi::StringMap<T>& lhs, wpi::StringMap<T>& rhs) {
+inline void swap(wpi::util::StringMap<T>& lhs, wpi::util::StringMap<T>& rhs) {
   lhs.swap(rhs);
 }
 }  // namespace std
diff --git a/wpiutil/src/main/native/include/wpi/util/Synchronization.h b/wpiutil/src/main/native/include/wpi/util/Synchronization.h
index aa067662d3..24086e518e 100644
--- a/wpiutil/src/main/native/include/wpi/util/Synchronization.h
+++ b/wpiutil/src/main/native/include/wpi/util/Synchronization.h
@@ -29,7 +29,7 @@ typedef WPI_Handle WPI_SemaphoreHandle;  // NOLINT
 
 #ifdef __cplusplus
 
-namespace wpi {
+namespace wpi::util {
 
 /** Constant representing an invalid handle. */
 constexpr unsigned int kInvalidHandle = 0;
@@ -442,7 +442,7 @@ class SignalObject final {
   T m_handle;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 extern "C" {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/UidVector.hpp b/wpiutil/src/main/native/include/wpi/util/UidVector.hpp
index c84921d419..3b354e0ca2 100644
--- a/wpiutil/src/main/native/include/wpi/util/UidVector.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/UidVector.hpp
@@ -9,7 +9,7 @@
 #include <utility>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace impl {
 template <typename It>
@@ -154,6 +154,6 @@ class UidVector {
   size_type m_active_count{0};
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_UIDVECTOR_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/array.hpp b/wpiutil/src/main/native/include/wpi/util/array.hpp
index d6711f16d9..e2f8292c87 100644
--- a/wpiutil/src/main/native/include/wpi/util/array.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/array.hpp
@@ -10,7 +10,7 @@
 #include <tuple>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 struct empty_array_t {};
 constexpr empty_array_t empty_array;
@@ -59,42 +59,42 @@ class array : public std::array<T, N> {
 template <typename T, std::convertible_to<T>... Ts>
 array(T, Ts...) -> array<T, 1 + sizeof...(Ts)>;
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 template <size_t I, typename T, size_t N>
   requires(I < N)
-constexpr T& get(wpi::array<T, N>& arr) noexcept {
+constexpr T& get(wpi::util::array<T, N>& arr) noexcept {
   return std::get<I>(static_cast<std::array<T, N>>(arr));
 }
 
 template <size_t I, typename T, size_t N>
   requires(I < N)
-constexpr T&& get(wpi::array<T, N>&& arr) noexcept {
+constexpr T&& get(wpi::util::array<T, N>&& arr) noexcept {
   return std::move(std::get<I>(arr));
 }
 
 template <size_t I, typename T, size_t N>
   requires(I < N)
-constexpr const T& get(const wpi::array<T, N>& arr) noexcept {
+constexpr const T& get(const wpi::util::array<T, N>& arr) noexcept {
   return std::get<I>(static_cast<std::array<T, N>>(arr));
 }
 
 template <size_t I, typename T, size_t N>
   requires(I < N)
-constexpr const T&& get(const wpi::array<T, N>&& arr) noexcept {
+constexpr const T&& get(const wpi::util::array<T, N>&& arr) noexcept {
   return std::move(std::get<I>(arr));
 }
 
 // Enables structured bindings
 namespace std {  // NOLINT
-// Partial specialization for wpi::array
+// Partial specialization for wpi::util::array
 template <typename T, size_t N>
-struct tuple_size<wpi::array<T, N>> : public integral_constant<size_t, N> {};
+struct tuple_size<wpi::util::array<T, N>> : public integral_constant<size_t, N> {};
 
-// Partial specialization for wpi::array
+// Partial specialization for wpi::util::array
 template <size_t I, typename T, size_t N>
   requires(I < N)
-struct tuple_element<I, wpi::array<T, N>> {
+struct tuple_element<I, wpi::util::array<T, N>> {
   using type = T;
 };
 }  // namespace std
diff --git a/wpiutil/src/main/native/include/wpi/util/circular_buffer.hpp b/wpiutil/src/main/native/include/wpi/util/circular_buffer.hpp
index 4fee596755..0489e16429 100644
--- a/wpiutil/src/main/native/include/wpi/util/circular_buffer.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/circular_buffer.hpp
@@ -8,7 +8,7 @@
 #include <iterator>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * This is a simple circular buffer so we don't need to "bucket brigade" copy
@@ -117,7 +117,7 @@ class circular_buffer {
    * Returns end iterator.
    */
   constexpr iterator end() {
-    return iterator(this, ::wpi::circular_buffer<T>::size());
+    return iterator(this, ::wpi::util::circular_buffer<T>::size());
   }
 
   /**
@@ -129,7 +129,7 @@ class circular_buffer {
    * Returns const end iterator.
    */
   constexpr const_iterator end() const {
-    return const_iterator(this, ::wpi::circular_buffer<T>::size());
+    return const_iterator(this, ::wpi::util::circular_buffer<T>::size());
   }
 
   /**
@@ -141,7 +141,7 @@ class circular_buffer {
    * Returns const end iterator.
    */
   constexpr const_iterator cend() const {
-    return const_iterator(this, ::wpi::circular_buffer<T>::size());
+    return const_iterator(this, ::wpi::util::circular_buffer<T>::size());
   }
 
   /**
@@ -431,4 +431,4 @@ class circular_buffer {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp b/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
index e21157a238..c7b7e57aeb 100644
--- a/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/priority_mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 #if defined(__linux__) && defined(WPI_HAVE_PRIORITY_MUTEX)
 using condition_variable = ::std::condition_variable_any;
@@ -16,4 +16,4 @@ using condition_variable = ::std::condition_variable_any;
 using condition_variable = ::std::condition_variable;
 #endif
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/ct_string.hpp b/wpiutil/src/main/native/include/wpi/util/ct_string.hpp
index 2c7796b4f6..725473620f 100644
--- a/wpiutil/src/main/native/include/wpi/util/ct_string.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/ct_string.hpp
@@ -12,7 +12,7 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 
 // derived from:
 // https://codereview.stackexchange.com/questions/282514/string-literals-concatenation-with-support-for-dynamic-strings
@@ -228,4 +228,4 @@ constexpr auto NumToCtString() {
   return res;
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp b/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
index 61d24a4242..77f9528e6e 100644
--- a/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
@@ -9,9 +9,9 @@
 
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
-inline void vprint(wpi::raw_ostream& os, fmt::string_view format_str,
+inline void vprint(wpi::util::raw_ostream& os, fmt::string_view format_str,
                    fmt::format_args args) {
   fmt::memory_buffer buffer;
   fmt::detail::vformat_to(buffer, format_str, args);
@@ -22,10 +22,10 @@ inline void vprint(wpi::raw_ostream& os, fmt::string_view format_str,
  * Prints formatted data to the stream *os*.
  */
 template <typename S, typename... Args>
-void print(wpi::raw_ostream& os, const S& format_str, Args&&... args) {
+void print(wpi::util::raw_ostream& os, const S& format_str, Args&&... args) {
   vprint(os, format_str, fmt::make_format_args(args...));
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_FMT_RAW_OSTREAM_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/future.hpp b/wpiutil/src/main/native/include/wpi/util/future.hpp
index 44edc088f9..beca9b5685 100644
--- a/wpiutil/src/main/native/include/wpi/util/future.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/future.hpp
@@ -18,7 +18,7 @@
 #include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename T>
 class PromiseFactory;
@@ -39,16 +39,16 @@ class PromiseFactoryBase {
 
   bool IsActive() const { return m_active; }
 
-  wpi::mutex& GetResultMutex() { return m_resultMutex; }
+  wpi::util::mutex& GetResultMutex() { return m_resultMutex; }
 
   void Notify() { m_resultCv.notify_all(); }
 
   // must be called with locked lock == ResultMutex
-  void Wait(std::unique_lock<wpi::mutex>& lock) { m_resultCv.wait(lock); }
+  void Wait(std::unique_lock<wpi::util::mutex>& lock) { m_resultCv.wait(lock); }
 
   // returns false if timeout reached
   template <class Clock, class Duration>
-  bool WaitUntil(std::unique_lock<wpi::mutex>& lock,
+  bool WaitUntil(std::unique_lock<wpi::util::mutex>& lock,
                  const std::chrono::time_point<Clock, Duration>& timeout_time) {
     return m_resultCv.wait_until(lock, timeout_time) ==
            std::cv_status::no_timeout;
@@ -67,9 +67,9 @@ class PromiseFactoryBase {
   uint64_t CreateErasedRequest() { return ++m_uid; }
 
  private:
-  wpi::mutex m_resultMutex;
+  wpi::util::mutex m_resultMutex;
   std::atomic_bool m_active{true};
-  wpi::condition_variable m_resultCv;
+  wpi::util::condition_variable m_resultCv;
 
   uint64_t m_uid = 0;
   std::vector<uint64_t> m_requests;
@@ -938,6 +938,6 @@ future<void> detail::FutureThen<void, void>::Create(
   return factory.CreateFuture(req);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_FUTURE_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/interpolating_map.hpp b/wpiutil/src/main/native/include/wpi/util/interpolating_map.hpp
index d334cd8026..3c34a91f2d 100644
--- a/wpiutil/src/main/native/include/wpi/util/interpolating_map.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/interpolating_map.hpp
@@ -7,7 +7,7 @@
 #include <map>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Implements a table of key-value pairs with linear interpolation between
@@ -84,4 +84,4 @@ class interpolating_map {
   std::map<Key, Value> m_container;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/jni_util.hpp b/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
index 75fecb0dc1..4b6b1aedd7 100644
--- a/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
@@ -26,7 +26,7 @@
 #include "wpi/util/string.h"
 
 /** Java Native Interface (JNI) utility functions */
-namespace wpi::java {
+namespace wpi::util::java {
 
 /**
  * Gets a Java stack trace.
@@ -160,7 +160,7 @@ class JStringRef {
         env->ReleaseStringCritical(str, chars);
       }
     } else {
-      wpi::print(stderr, "JStringRef was passed a null pointer at\n",
+      wpi::util::print(stderr, "JStringRef was passed a null pointer at\n",
                  GetJavaStackTrace(env));
     }
     // Ensure str is null-terminated.
@@ -172,7 +172,7 @@ class JStringRef {
   std::string_view str() const { return m_str.str(); }
   const char* c_str() const { return m_str.data(); }
   size_t size() const { return m_str.size(); }
-  WPI_String wpi_str() const { return wpi::make_string(str()); }
+  WPI_String wpi_str() const { return wpi::util::make_string(str()); }
 
  private:
   SmallString<128> m_str;
@@ -284,7 +284,7 @@ class JSpanBase {
         m_elements{static_cast<std::remove_cv_t<T>*>(
             bb ? env->GetDirectBufferAddress(bb) : nullptr)} {
     if (!bb) {
-      wpi::print(stderr, "JSpan was passed a null pointer at\n",
+      wpi::util::print(stderr, "JSpan was passed a null pointer at\n",
                  GetJavaStackTrace(env));
     }
   }
@@ -303,7 +303,7 @@ class JSpanBase {
         m_elements = ArrHelper::GetArrayElements(env, jarr);
       }
     } else {
-      wpi::print(stderr, "JSpan was passed a null pointer at\n",
+      wpi::util::print(stderr, "JSpan was passed a null pointer at\n",
                  GetJavaStackTrace(env));
     }
   }
@@ -845,7 +845,7 @@ inline std::string GetJavaStackTrace(JNIEnv* env, std::string_view skipPrefix) {
     // add a line to res
     JStringRef elem(env, stackElementString);
     if (!foundFirst) {
-      if (wpi::starts_with(elem, skipPrefix)) {
+      if (wpi::util::starts_with(elem, skipPrefix)) {
         continue;
       }
       foundFirst = true;
@@ -928,7 +928,7 @@ inline std::string GetJavaStackTrace(JNIEnv* env, std::string* func,
       if (i == 1) {
         *func = elem.str();
       } else if (i > 1 && !haveLoc && !excludeFuncPrefix.empty() &&
-                 !wpi::starts_with(elem, excludeFuncPrefix)) {
+                 !wpi::util::starts_with(elem, excludeFuncPrefix)) {
         *func = elem.str();
         haveLoc = true;
       }
@@ -975,6 +975,6 @@ struct JExceptionInit {
   JException* cls;
 };
 
-}  // namespace wpi::java
+}  // namespace wpi::util::java
 
 #endif  // WPIUTIL_WPI_UTIL_JNI_UTIL_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/mutex.hpp b/wpiutil/src/main/native/include/wpi/util/mutex.hpp
index f4a07bbbe4..016c042210 100644
--- a/wpiutil/src/main/native/include/wpi/util/mutex.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/mutex.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/priority_mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 #ifdef WPI_HAVE_PRIORITY_MUTEX
 using mutex = priority_mutex;
@@ -18,4 +18,4 @@ using mutex = ::std::mutex;
 using recursive_mutex = ::std::recursive_mutex;
 #endif
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/print.hpp b/wpiutil/src/main/native/include/wpi/util/print.hpp
index 422e65dc63..146a73df18 100644
--- a/wpiutil/src/main/native/include/wpi/util/print.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/print.hpp
@@ -14,7 +14,7 @@
 #include <fmt/core.h>
 #endif
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Wrapper around fmt::print() that squelches write failure exceptions.
@@ -60,4 +60,4 @@ inline void println(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
   }
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp b/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp
index d27d4815e3..3451c0ddfc 100644
--- a/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp
@@ -11,7 +11,7 @@
 
 #include <mutex>
 
-namespace wpi {
+namespace wpi::util {
 
 #if defined(__FRC_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX)
 #define WPI_USE_PRIORITY_MUTEX
@@ -75,4 +75,4 @@ class priority_mutex {
 
 #endif  // defined(WPI_USE_PRIORITY_MUTEX) && defined(__linux__)
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/priority_queue.hpp b/wpiutil/src/main/native/include/wpi/util/priority_queue.hpp
index 0447bc8433..d3c55ce00e 100644
--- a/wpiutil/src/main/native/include/wpi/util/priority_queue.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/priority_queue.hpp
@@ -11,7 +11,7 @@
 #include <utility>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * This class is the same as std::priority_queue with two changes:
@@ -111,6 +111,6 @@ class priority_queue {
   Compare comp;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_PRIORITY_QUEUE_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp b/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
index 99aa6f1953..d8eecb13d4 100644
--- a/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/array.hpp"
 #include "wpi/util/function_ref.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename T>
 class SmallVectorImpl;
@@ -36,7 +36,7 @@ template <typename T>
 struct Protobuf {};
 
 namespace detail {
-using SmallVectorType = wpi::SmallVectorImpl<uint8_t>;
+using SmallVectorType = wpi::util::SmallVectorImpl<uint8_t>;
 using StdVectorType = std::vector<uint8_t>;
 bool WriteFromSmallVector(pb_ostream_t* stream, const pb_byte_t* buf,
                           size_t count);
@@ -232,25 +232,25 @@ class ProtoOutputStream {
  * values into a nanopb Stream and deserialization consists of
  * reading values from nanopb Stream.
  *
- * Implementations must define a template specialization for wpi::Protobuf with
+ * Implementations must define a template specialization for wpi::util::Protobuf with
  * T being the type that is being serialized/deserialized, with the following
  * static members (as enforced by this concept):
  * - using MessageStruct = nanopb_message_struct_here: typedef to the wpilib
  *   modified nanopb message struct
- * - std::optional<T> Unpack(wpi::ProtoInputStream<T>&): function
+ * - std::optional<T> Unpack(wpi::util::ProtoInputStream<T>&): function
  *   for deserialization
- * - bool Pack(wpi::ProtoOutputStream<T>&, T&& value): function
+ * - bool Pack(wpi::util::ProtoOutputStream<T>&, T&& value): function
  *   for serialization
  *
  * As a suggestion, 2 extra type usings can be added to simplify the stream
  * definitions, however these are not required.
- * - using InputStream = wpi::ProtoInputStream<T>;
- * - using OutputStream = wpi::ProtoOutputStream<T>;
+ * - using InputStream = wpi::util::ProtoInputStream<T>;
+ * - using OutputStream = wpi::util::ProtoOutputStream<T>;
  */
 template <typename T>
 concept ProtobufSerializable = requires(
-    wpi::ProtoOutputStream<std::remove_cvref_t<T>>& ostream,
-    wpi::ProtoInputStream<std::remove_cvref_t<T>>& istream, const T& value) {
+    wpi::util::ProtoOutputStream<std::remove_cvref_t<T>>& ostream,
+    wpi::util::ProtoInputStream<std::remove_cvref_t<T>>& istream, const T& value) {
   typename Protobuf<typename std::remove_cvref_t<T>>;
   {
     Protobuf<typename std::remove_cvref_t<T>>::Unpack(istream)
@@ -274,14 +274,14 @@ concept ProtobufSerializable = requires(
  * Specifies that a type is capable of in-place protobuf deserialization.
  *
  * In addition to meeting ProtobufSerializable, implementations must define a
- * wpi::Protobuf<T> static member -
- * `bool UnpackInto(T*, wpi::ProtoInputStream<T>&)` to update the pointed-to T
+ * wpi::util::Protobuf<T> static member -
+ * `bool UnpackInto(T*, wpi::util::ProtoInputStream<T>&)` to update the pointed-to T
  * with the contents of the message.
  */
 template <typename T>
 concept MutableProtobufSerializable =
     ProtobufSerializable<T> &&
-    requires(T* out, wpi::ProtoInputStream<T>& istream) {
+    requires(T* out, wpi::util::ProtoInputStream<T>& istream) {
       {
         Protobuf<typename std::remove_cvref_t<T>>::UnpackInto(out, istream)
       } -> std::same_as<bool>;
@@ -345,7 +345,7 @@ class ProtobufMessage {
    * @param[in] value value
    * @return true if successful
    */
-  bool Pack(wpi::SmallVectorImpl<uint8_t>& out, const T& value) {
+  bool Pack(wpi::util::SmallVectorImpl<uint8_t>& out, const T& value) {
     ProtoOutputStream<std::remove_cvref_t<T>> stream{out};
     return Protobuf<std::remove_cvref_t<T>>::Pack(stream, value);
   }
@@ -391,4 +391,4 @@ class ProtobufMessage {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp b/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
index 05fdd899ec..1881c8babf 100644
--- a/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
@@ -15,7 +15,7 @@
 #include "wpi/util/array.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * The behavior to use when more elements are in the message then expected when
@@ -268,7 +268,7 @@ class DirectUnpackCallback {
                      space.size());
     } else if constexpr (ProtobufSerializable<T>) {
       ProtoInputStream<T> istream{stream};
-      auto decoded = wpi::Protobuf<T>::Unpack(istream);
+      auto decoded = wpi::util::Protobuf<T>::Unpack(istream);
       if (decoded.has_value()) {
         m_storage.emplace_back(std::move(decoded.value()));
         return true;
@@ -332,13 +332,13 @@ class DirectUnpackCallback {
  */
 template <ProtoCallbackUnpackable T, size_t N = 1>
 class UnpackCallback
-    : public DirectUnpackCallback<T, wpi::SmallVector<T, N>, N> {
+    : public DirectUnpackCallback<T, wpi::util::SmallVector<T, N>, N> {
  public:
   /**
    * Constructs an UnpackCallback.
    */
   UnpackCallback()
-      : DirectUnpackCallback<T, wpi::SmallVector<T, N>, N>{m_storedBuffer} {
+      : DirectUnpackCallback<T, wpi::util::SmallVector<T, N>, N>{m_storedBuffer} {
     this->SetLimits(DecodeLimits::Ignore);
   }
 
@@ -361,10 +361,10 @@ class UnpackCallback
    *
    * @return small vector reference
    */
-  wpi::SmallVector<T, N>& Vec() noexcept { return m_storedBuffer; }
+  wpi::util::SmallVector<T, N>& Vec() noexcept { return m_storedBuffer; }
 
  private:
-  wpi::SmallVector<T, N> m_storedBuffer;
+  wpi::util::SmallVector<T, N> m_storedBuffer;
 };
 
 /**
@@ -414,12 +414,12 @@ class StdVectorUnpackCallback
 };
 
 /**
- * A wrapper around a wpi::array that lets us
+ * A wrapper around a wpi::util::array that lets us
  * treat it as a limited sized vector.
  */
 template <ProtoCallbackUnpackable T, size_t N>
 struct WpiArrayEmplaceWrapper {
-  wpi::array<T, N> m_array{wpi::empty_array_t{}};
+  wpi::util::array<T, N> m_array{wpi::util::empty_array_t{}};
   size_t m_currentIndex = 0;
 
   size_t size() const { return m_currentIndex; }
@@ -433,7 +433,7 @@ struct WpiArrayEmplaceWrapper {
 };
 
 /**
- * A DirectUnpackCallback backed by a wpi::array<T, N>.
+ * A DirectUnpackCallback backed by a wpi::util::array<T, N>.
  *
  * Any elements in the packed buffer past N will
  * be cause decoding to fail.
@@ -471,7 +471,7 @@ struct WpiArrayUnpackCallback
    *
    * @return array reference
    */
-  wpi::array<T, N>& Array() noexcept { return m_array.m_array; }
+  wpi::util::array<T, N>& Array() noexcept { return m_array.m_array; }
 
  private:
   WpiArrayEmplaceWrapper<T, N> m_array;
@@ -581,7 +581,7 @@ class PackCallback {
                               reinterpret_cast<const pb_byte_t*>(view.data()),
                               view.size());
     } else if constexpr (ProtobufSerializable<T>) {
-      return wpi::Protobuf<T>::Pack(stream, value);
+      return wpi::util::Protobuf<T>::Pack(stream, value);
     }
   }
 
@@ -667,4 +667,4 @@ class PackCallback {
   pb_callback_t m_callback;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp b/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
index 42c39dcfe8..ca87b6ce75 100644
--- a/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
@@ -17,7 +17,7 @@
 
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 class raw_istream {
  public:
@@ -171,6 +171,6 @@ class raw_fd_istream : public raw_istream {
   bool m_shouldClose;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_RAW_ISTREAM_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/rotated_span.hpp b/wpiutil/src/main/native/include/wpi/util/rotated_span.hpp
index 92d7036363..aceb21167b 100644
--- a/wpiutil/src/main/native/include/wpi/util/rotated_span.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/rotated_span.hpp
@@ -10,7 +10,7 @@
 #include <span>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * This is a simple rotated span view.  Indexed/iterated access provides a
@@ -251,4 +251,4 @@ as_writable_bytes(rotated_span<Type, Extent> sp) noexcept {
   return {std::as_writable_bytes(sp.data()), sp.offset() * sizeof(Type)};
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
index 3a78ddf2b8..4e7538ad83 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/util/SymbolExports.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 class SendableBuilder;
 
@@ -25,4 +25,4 @@ class WPILIB_DLLEXPORT Sendable {
   virtual void InitSendable(SendableBuilder& builder) = 0;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
index 36e8df4068..7da25f5102 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
@@ -13,7 +13,7 @@
 
 #include "wpi/util/SmallVector.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Helper class for building Sendable dashboard representations.
@@ -277,7 +277,7 @@ class SendableBuilder {
    */
   virtual void AddSmallStringProperty(
       std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<std::string_view(wpi::util::SmallVectorImpl<char>& buf)> getter,
       std::function<void(std::string_view)> setter) = 0;
 
   /**
@@ -289,7 +289,7 @@ class SendableBuilder {
    */
   virtual void AddSmallBooleanArrayProperty(
       std::string_view key,
-      std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)>
+      std::function<std::span<const int>(wpi::util::SmallVectorImpl<int>& buf)>
           getter,
       std::function<void(std::span<const int>)> setter) = 0;
 
@@ -303,7 +303,7 @@ class SendableBuilder {
   virtual void AddSmallIntegerArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
+          std::span<const int64_t>(wpi::util::SmallVectorImpl<int64_t>& buf)>
           getter,
       std::function<void(std::span<const int64_t>)> setter) = 0;
 
@@ -316,7 +316,7 @@ class SendableBuilder {
    */
   virtual void AddSmallFloatArrayProperty(
       std::string_view key,
-      std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
+      std::function<std::span<const float>(wpi::util::SmallVectorImpl<float>& buf)>
           getter,
       std::function<void(std::span<const float>)> setter) = 0;
 
@@ -329,7 +329,7 @@ class SendableBuilder {
    */
   virtual void AddSmallDoubleArrayProperty(
       std::string_view key,
-      std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
+      std::function<std::span<const double>(wpi::util::SmallVectorImpl<double>& buf)>
           getter,
       std::function<void(std::span<const double>)> setter) = 0;
 
@@ -343,7 +343,7 @@ class SendableBuilder {
   virtual void AddSmallStringArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
+          std::span<const std::string>(wpi::util::SmallVectorImpl<std::string>& buf)>
           getter,
       std::function<void(std::span<const std::string>)> setter) = 0;
 
@@ -357,7 +357,7 @@ class SendableBuilder {
    */
   virtual void AddSmallRawProperty(
       std::string_view key, std::string_view typeString,
-      std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
+      std::function<std::span<uint8_t>(wpi::util::SmallVectorImpl<uint8_t>& buf)>
           getter,
       std::function<void(std::span<const uint8_t>)> setter) = 0;
 
@@ -386,4 +386,4 @@ class SendableBuilder {
   virtual void ClearProperties() = 0;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
index 9e8ec0596e..16f652e9fc 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * A helper class for use with objects that add themselves to SendableRegistry.
@@ -59,4 +59,4 @@ class SendableHelper {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/SendableRegistry.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/SendableRegistry.hpp
index 324c7d286a..77cdfa1acc 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/SendableRegistry.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/SendableRegistry.hpp
@@ -8,7 +8,7 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 
 class Sendable;
 class SendableBuilder;
@@ -237,4 +237,4 @@ class SendableRegistry final {
   static void Update(UID sendableUid);
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/sha1.hpp b/wpiutil/src/main/native/include/wpi/util/sha1.hpp
index 611782dcfd..855da55818 100644
--- a/wpiutil/src/main/native/include/wpi/util/sha1.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sha1.hpp
@@ -25,7 +25,7 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
 class raw_istream;
@@ -47,6 +47,6 @@ class SHA1 {
   uint64_t transforms;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_UTIL_SHA1_HPP_
diff --git a/wpiutil/src/main/native/include/wpi/util/spinlock.hpp b/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
index bf9046d033..0bf1cf19e6 100644
--- a/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
@@ -11,7 +11,7 @@
 
 #include "wpi/util/Compiler.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * A spinlock mutex.  Wraps std::atomic_flag in a std::mutex compatible way.
@@ -141,4 +141,4 @@ using recursive_spinlock = recursive_spinlock2;
 using recursive_spinlock = recursive_spinlock1;
 #endif
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/static_circular_buffer.hpp b/wpiutil/src/main/native/include/wpi/util/static_circular_buffer.hpp
index 133c9e3a67..a342cf798e 100644
--- a/wpiutil/src/main/native/include/wpi/util/static_circular_buffer.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/static_circular_buffer.hpp
@@ -8,7 +8,7 @@
 #include <cstddef>
 #include <iterator>
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * This is a simple circular buffer so we don't need to "bucket brigade" copy
@@ -108,7 +108,7 @@ class static_circular_buffer {
    * Returns end iterator.
    */
   constexpr iterator end() {
-    return iterator(this, ::wpi::static_circular_buffer<T, N>::size());
+    return iterator(this, ::wpi::util::static_circular_buffer<T, N>::size());
   }
 
   /**
@@ -120,7 +120,7 @@ class static_circular_buffer {
    * Returns const end iterator.
    */
   constexpr const_iterator end() const {
-    return const_iterator(this, ::wpi::static_circular_buffer<T, N>::size());
+    return const_iterator(this, ::wpi::util::static_circular_buffer<T, N>::size());
   }
 
   /**
@@ -132,7 +132,7 @@ class static_circular_buffer {
    * Returns const end iterator.
    */
   constexpr const_iterator cend() const {
-    return const_iterator(this, ::wpi::static_circular_buffer<T, N>::size());
+    return const_iterator(this, ::wpi::util::static_circular_buffer<T, N>::size());
   }
 
   /**
@@ -348,4 +348,4 @@ class static_circular_buffer {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/string.h b/wpiutil/src/main/native/include/wpi/util/string.h
index 151c9f6c93..006af17ad0 100644
--- a/wpiutil/src/main/native/include/wpi/util/string.h
+++ b/wpiutil/src/main/native/include/wpi/util/string.h
@@ -20,7 +20,7 @@ struct WPI_String {
 };
 
 #ifdef __cplusplus
-namespace wpi {
+namespace wpi::util {
 /** Converts a WPI_String to a string_view */
 constexpr std::string_view to_string_view(const struct WPI_String* str) {
   if (str) {
@@ -34,7 +34,7 @@ constexpr std::string_view to_string_view(const struct WPI_String* str) {
 constexpr WPI_String make_string(std::string_view view) {
   return WPI_String{view.data(), view.size()};
 }
-}  // namespace wpi
+}  // namespace wpi::util
 #endif  // __cplusplus
 
 #ifdef __cplusplus
@@ -109,7 +109,7 @@ void WPI_FreeStringArray(const struct WPI_String* wpiStringArray,
 #endif  // __cplusplus
 
 #ifdef __cplusplus
-namespace wpi {
+namespace wpi::util {
 
 /** Allocates a copy of a string_view and stores the result into a WPI_String */
 inline WPI_String alloc_wpi_string(std::string_view view) {
@@ -126,5 +126,5 @@ inline WPI_String copy_wpi_string(const WPI_String& str) {
   }
   return alloc_wpi_string(to_string_view(&str));
 }
-}  // namespace wpi
+}  // namespace wpi::util
 #endif
diff --git a/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp b/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
index fd0e6c2e34..aca89f3bd3 100644
--- a/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/bit.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename T>
 class SmallVectorImpl;
@@ -316,9 +316,9 @@ class StructDescriptor {
 
  private:
   bool CheckCircular(
-      wpi::SmallVectorImpl<const StructDescriptor*>& stack) const;
+      wpi::util::SmallVectorImpl<const StructDescriptor*>& stack) const;
   std::string CalculateOffsets(
-      wpi::SmallVectorImpl<const StructDescriptor*>& stack);
+      wpi::util::SmallVectorImpl<const StructDescriptor*>& stack);
 
   std::string m_name;
   std::string m_schema;
@@ -696,4 +696,4 @@ class DynamicStructObject : private impl::DSOData, public MutableDynamicStruct {
   DynamicStructObject& operator=(DynamicStructObject&&) = delete;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/struct/SchemaParser.hpp b/wpiutil/src/main/native/include/wpi/util/struct/SchemaParser.hpp
index 4e5a1df457..e57c4215a1 100644
--- a/wpiutil/src/main/native/include/wpi/util/struct/SchemaParser.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/struct/SchemaParser.hpp
@@ -11,7 +11,7 @@
 #include <utility>
 #include <vector>
 
-namespace wpi::structparser {
+namespace wpi::util::structparser {
 
 /**
  * A lexed raw struct schema token.
@@ -196,4 +196,4 @@ class Parser {
   std::string m_error;
 };
 
-}  // namespace wpi::structparser
+}  // namespace wpi::util::structparser
diff --git a/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp b/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
index d2734ca0e8..4adfdafa4d 100644
--- a/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
@@ -25,7 +25,7 @@
 #include "wpi/util/mutex.hpp"
 #include "wpi/util/type_traits.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /**
  * Struct serialization template. Unspecialized class has no members; only
@@ -47,7 +47,7 @@ struct Struct {};
  * values into a mutable std::span and deserialization consists of reading
  * values from an immutable std::span.
  *
- * Implementations must define a template specialization for wpi::Struct with
+ * Implementations must define a template specialization for wpi::util::Struct with
  * T being the type that is being serialized/deserialized, with the following
  * static members (as enforced by this concept):
  * - std::string_view GetTypeName(): function that returns the type name
@@ -96,7 +96,7 @@ concept StructSerializable = requires(std::span<const uint8_t> in,
  * Specifies that a type is capable of in-place raw struct deserialization.
  *
  * In addition to meeting StructSerializable, implementations must define a
- * wpi::Struct<T> static member `void UnpackInto(T*, std::span<const uint8_t>)`
+ * wpi::util::Struct<T> static member `void UnpackInto(T*, std::span<const uint8_t>)`
  * to update the pointed-to T with the contents of the span.
  */
 template <typename T, typename... I>
@@ -111,7 +111,7 @@ concept MutableStructSerializable =
  * Specifies that a struct type has nested struct declarations.
  *
  * In addition to meeting StructSerializable, implementations must define a
- * wpi::Struct<T> static member
+ * wpi::util::Struct<T> static member
  * `void ForEachNested(std::invocable<std::string_view, std::string_view) auto
  * fn)` (or equivalent) and call ForEachStructSchema<Type> on each nested struct
  * type.
@@ -169,17 +169,17 @@ inline T UnpackStruct(std::span<const uint8_t> data, const I&... info) {
  * @return Deserialized array
  */
 template <StructSerializable T, size_t Offset, size_t N>
-inline wpi::array<T, N> UnpackStructArray(std::span<const uint8_t> data) {
+inline wpi::util::array<T, N> UnpackStructArray(std::span<const uint8_t> data) {
   if (is_constexpr([] { Struct<std::remove_cvref_t<T>>::GetSize(); })) {
     constexpr auto StructSize = Struct<std::remove_cvref_t<T>>::GetSize();
-    wpi::array<T, N> arr(wpi::empty_array);
+    wpi::util::array<T, N> arr(wpi::util::empty_array);
     [&]<size_t... Is>(std::index_sequence<Is...>) {
       ((arr[Is] = UnpackStruct<T, Offset + Is * StructSize>(data)), ...);
     }(std::make_index_sequence<N>{});
     return arr;
   } else {
     auto size = Struct<std::remove_cvref_t<T>>::GetSize();
-    wpi::array<T, N> arr(wpi::empty_array);
+    wpi::util::array<T, N> arr(wpi::util::empty_array);
     for (size_t i = 0; i < N; i++) {
       arr[i] = UnpackStruct<T>(data);
       data = data.subspan(size);
@@ -232,7 +232,7 @@ inline void PackStruct(std::span<uint8_t> data, T&& value, const I&... info) {
  */
 template <size_t Offset, size_t N, StructSerializable T>
 inline void PackStructArray(std::span<uint8_t> data,
-                            const wpi::array<T, N>& arr) {
+                            const wpi::util::array<T, N>& arr) {
   if (is_constexpr([] { Struct<std::remove_cvref_t<T>>::GetSize(); })) {
     constexpr auto StructSize = Struct<std::remove_cvref_t<T>>::GetSize();
     [&]<size_t... Is>(std::index_sequence<Is...>) {
@@ -480,7 +480,7 @@ class StructArrayBuffer {
   }
 
  private:
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::vector<uint8_t> m_buf;
 };
 
@@ -711,4 +711,4 @@ struct Struct<double> {
   }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/include/wpi/util/timestamp.h b/wpiutil/src/main/native/include/wpi/util/timestamp.h
index 6ea7af37f0..2f6df2f32b 100644
--- a/wpiutil/src/main/native/include/wpi/util/timestamp.h
+++ b/wpiutil/src/main/native/include/wpi/util/timestamp.h
@@ -51,7 +51,7 @@ uint64_t WPI_GetSystemTime(void);
 #endif
 
 #ifdef __cplusplus
-namespace wpi {
+namespace wpi::util {
 
 /**
  * The default implementation used for Now().
@@ -83,7 +83,7 @@ uint64_t Now();
  */
 uint64_t GetSystemTime();
 
-}  // namespace wpi
+}  // namespace wpi::util
 #endif
 
 #endif  // WPIUTIL_WPI_UTIL_TIMESTAMP_H_
diff --git a/wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp b/wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp
index 7ce9081150..3113e14035 100644
--- a/wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp
+++ b/wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp
@@ -71,7 +71,7 @@ SOFTWARE.
 #define WPI_CUSTOM_STRTOLD strtold
 #endif
 
-namespace wpi {
+namespace wpi::util {
 
 namespace details { // namespace for helper methods
 
@@ -2540,4 +2540,4 @@ protected:
   std::vector<std::string> m_group_names;
 };
 
-} // namespace wpi
+} // namespace wpi::util
diff --git a/wpiutil/src/main/native/thirdparty/debugging/include/debugging.hpp b/wpiutil/src/main/native/thirdparty/debugging/include/debugging.hpp
index 291d4c723e..79d3c16d96 100644
--- a/wpiutil/src/main/native/thirdparty/debugging/include/debugging.hpp
+++ b/wpiutil/src/main/native/thirdparty/debugging/include/debugging.hpp
@@ -3,7 +3,7 @@
 
 #include <debugging/detail/psnip_debug_trap.h>
 
-namespace wpi {
+namespace wpi::util {
 
 bool is_debugger_present() noexcept;
 
@@ -24,6 +24,6 @@ inline void breakpoint_if_debugging() noexcept
 	if (is_debugger_present()) breakpoint();
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/debugging/src/emscripten.cpp b/wpiutil/src/main/native/thirdparty/debugging/src/emscripten.cpp
index 16924894cc..4d72e8c4b1 100644
--- a/wpiutil/src/main/native/thirdparty/debugging/src/emscripten.cpp
+++ b/wpiutil/src/main/native/thirdparty/debugging/src/emscripten.cpp
@@ -6,13 +6,13 @@
 #	include <fstream>
 #	include <string>
 
-namespace wpi {
+namespace wpi::util {
 
 bool is_debugger_present() noexcept
 {
   return false;
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/debugging/src/linux.cpp b/wpiutil/src/main/native/thirdparty/debugging/src/linux.cpp
index 40402a50f8..11628e2d90 100644
--- a/wpiutil/src/main/native/thirdparty/debugging/src/linux.cpp
+++ b/wpiutil/src/main/native/thirdparty/debugging/src/linux.cpp
@@ -7,7 +7,7 @@
 #	include <fstream>
 #	include <string>
 
-namespace wpi {
+namespace wpi::util {
 
 bool is_debugger_present() noexcept
 {
@@ -20,6 +20,6 @@ bool is_debugger_present() noexcept
 	return buffer[index + 11] != '0';
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/debugging/src/macos.cpp b/wpiutil/src/main/native/thirdparty/debugging/src/macos.cpp
index 0e90a952d2..4d1bd55859 100644
--- a/wpiutil/src/main/native/thirdparty/debugging/src/macos.cpp
+++ b/wpiutil/src/main/native/thirdparty/debugging/src/macos.cpp
@@ -11,7 +11,7 @@
 template <class T>
 auto exc = std::array<T, EXC_TYPES_COUNT> { {} };
 
-namespace wpi {
+namespace wpi::util {
 
 bool is_debugger_present() noexcept
 {
@@ -31,6 +31,6 @@ bool is_debugger_present() noexcept
 		return end != std::find_if(begin, end, valid);
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/debugging/src/windows.cpp b/wpiutil/src/main/native/thirdparty/debugging/src/windows.cpp
index 465c92fbd6..db80d70e2d 100644
--- a/wpiutil/src/main/native/thirdparty/debugging/src/windows.cpp
+++ b/wpiutil/src/main/native/thirdparty/debugging/src/windows.cpp
@@ -6,13 +6,13 @@
 #	define WIN32_LEAN_AND_MEAN
 #	include <Windows.h>
 
-namespace wpi {
+namespace wpi::util {
 
 bool is_debugger_present() noexcept
 {
 	return ::IsDebuggerPresent();
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
index 6160cceb05..11be2e76ef 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
@@ -25,30 +25,30 @@ struct adl_serializer
     /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
     template<typename BasicJsonType, typename TargetType = ValueType>
     static auto from_json(BasicJsonType && j, TargetType& val) noexcept(
-        noexcept(::wpi::from_json(std::forward<BasicJsonType>(j), val)))
-    -> decltype(::wpi::from_json(std::forward<BasicJsonType>(j), val), void())
+        noexcept(::wpi::util::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::wpi::util::from_json(std::forward<BasicJsonType>(j), val), void())
     {
-        ::wpi::from_json(std::forward<BasicJsonType>(j), val);
+        ::wpi::util::from_json(std::forward<BasicJsonType>(j), val);
     }
 
     /// @brief convert a JSON value to any value type
     /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
     template<typename BasicJsonType, typename TargetType = ValueType>
     static auto from_json(BasicJsonType && j) noexcept(
-    noexcept(::wpi::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {})))
-    -> decltype(::wpi::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {}))
+    noexcept(::wpi::util::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {})))
+    -> decltype(::wpi::util::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {}))
     {
-        return ::wpi::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {});
+        return ::wpi::util::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {});
     }
 
     /// @brief convert any value type to a JSON value
     /// @sa https://json.nlohmann.me/api/adl_serializer/to_json/
     template<typename BasicJsonType, typename TargetType = ValueType>
     static auto to_json(BasicJsonType& j, TargetType && val) noexcept(
-        noexcept(::wpi::to_json(j, std::forward<TargetType>(val))))
-    -> decltype(::wpi::to_json(j, std::forward<TargetType>(val)), void())
+        noexcept(::wpi::util::to_json(j, std::forward<TargetType>(val))))
+    -> decltype(::wpi::util::to_json(j, std::forward<TargetType>(val)), void())
     {
-        ::wpi::to_json(j, std::forward<TargetType>(val));
+        ::wpi::util::to_json(j, std::forward<TargetType>(val));
     }
 };
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/abi_macros.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/abi_macros.hpp
index b4d0fccd40..b36f93f2ff 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/abi_macros.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/abi_macros.hpp
@@ -44,18 +44,18 @@
 
 #ifndef WPI_JSON_NAMESPACE
 #define WPI_JSON_NAMESPACE               \
-    wpi::WPI_JSON_NAMESPACE_CONCAT( \
+    wpi::util::WPI_JSON_NAMESPACE_CONCAT( \
             WPI_JSON_ABI_TAGS,           \
             WPI_JSON_NAMESPACE_VERSION)
 #endif
 
 #ifndef WPI_JSON_NAMESPACE_BEGIN
 #define WPI_JSON_NAMESPACE_BEGIN \
-    namespace wpi                \
+    namespace wpi::util                \
     {
 #endif
 
 #ifndef WPI_JSON_NAMESPACE_END
 #define WPI_JSON_NAMESPACE_END \
-    }  // namespace wpi
+    }  // namespace wpi::util
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
index 4885362393..42ff5f3285 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
@@ -22,7 +22,7 @@ WPI_JSON_NAMESPACE_BEGIN
 /*!
 @brief SAX interface
 
-This class describes the SAX interface used by @ref wpi::json::sax_parse.
+This class describes the SAX interface used by @ref wpi::util::json::sax_parse.
 Each function is called in different situations while the input is parsed. The
 boolean return value informs the parser whether to continue processing the
 input.
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
index 1898a3ed13..2f828298d1 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
@@ -190,7 +190,7 @@ template<typename IteratorType> class iteration_proxy
 // For further reference see https://blog.tartanllama.xyz/structured-bindings/
 // And see https://github.com/nlohmann/json/pull/1391
 template<std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
-auto get(const wpi::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+auto get(const wpi::util::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
 {
     return i.key();
 }
@@ -198,7 +198,7 @@ auto get(const wpi::detail::iteration_proxy_value<IteratorType>& i) -> decltype(
 // For further reference see https://blog.tartanllama.xyz/structured-bindings/
 // And see https://github.com/nlohmann/json/pull/1391
 template<std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
-auto get(const wpi::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+auto get(const wpi::util::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
 {
     return i.value();
 }
@@ -219,16 +219,16 @@ namespace std
     #pragma clang diagnostic ignored "-Wmismatched-tags"
 #endif
 template<typename IteratorType>
-class tuple_size<::wpi::detail::iteration_proxy_value<IteratorType>> // NOLINT(cert-dcl58-cpp)
+class tuple_size<::wpi::util::detail::iteration_proxy_value<IteratorType>> // NOLINT(cert-dcl58-cpp)
             : public std::integral_constant<std::size_t, 2> {};
 
 template<std::size_t N, typename IteratorType>
-class tuple_element<N, ::wpi::detail::iteration_proxy_value<IteratorType >> // NOLINT(cert-dcl58-cpp)
+class tuple_element<N, ::wpi::util::detail::iteration_proxy_value<IteratorType >> // NOLINT(cert-dcl58-cpp)
 {
   public:
     using type = decltype(
                      get<N>(std::declval <
-                            ::wpi::detail::iteration_proxy_value<IteratorType >> ()));
+                            ::wpi::util::detail::iteration_proxy_value<IteratorType >> ()));
 };
 #if defined(__clang__)
     #pragma clang diagnostic pop
@@ -238,5 +238,5 @@ class tuple_element<N, ::wpi::detail::iteration_proxy_value<IteratorType >> // N
 
 #if JSON_HAS_RANGES
     template <typename IteratorType>
-    inline constexpr bool ::std::ranges::enable_borrowed_range<::wpi::detail::iteration_proxy<IteratorType>> = true;
+    inline constexpr bool ::std::ranges::enable_borrowed_range<::wpi::util::detail::iteration_proxy<IteratorType>> = true;
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
index 924dc8bcdb..38fb7006d3 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
@@ -399,15 +399,15 @@
 @since version 3.9.0
 */
 #define WPI_DEFINE_TYPE_INTRUSIVE(Type, ...)  \
-    friend void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
-    friend void from_json(const wpi::json& nlohmann_json_j, Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM, __VA_ARGS__)) }
+    friend void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const wpi::util::json& nlohmann_json_j, Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM, __VA_ARGS__)) }
 
 #define WPI_DEFINE_TYPE_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
-    friend void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
-    friend void from_json(const wpi::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+    friend void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const wpi::util::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
 
 #define WPI_DEFINE_TYPE_INTRUSIVE_ONLY_SERIALIZE(Type, ...)  \
-    friend void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) }
+    friend void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) }
 
 /*!
 @brief macro
@@ -415,15 +415,15 @@
 @since version 3.9.0
 */
 #define WPI_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)  \
-    inline void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
-    inline void from_json(const wpi::json& nlohmann_json_j, Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM, __VA_ARGS__)) }
+    inline void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const wpi::util::json& nlohmann_json_j, Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM, __VA_ARGS__)) }
 
 #define WPI_DEFINE_TYPE_NON_INTRUSIVE_ONLY_SERIALIZE(Type, ...)  \
-    inline void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) }
+    inline void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) }
 
 #define WPI_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
-    inline void to_json(wpi::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
-    inline void from_json(const wpi::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+    inline void to_json(wpi::util::json& nlohmann_json_j, const Type& nlohmann_json_t) { WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const wpi::util::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; WPI_JSON_EXPAND(WPI_JSON_PASTE(WPI_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
 
 // inspired from https://stackoverflow.com/a/26745591
 // allows to call any std function as if (e.g. with begin):
@@ -453,7 +453,7 @@
     template<typename... T>                                                       \
     struct would_call_std_##std_name                                              \
     {                                                                             \
-        static constexpr auto const value = ::wpi::detail::                  \
+        static constexpr auto const value = ::wpi::util::detail::                  \
                                             is_detected_exact<std_name##_tag, result_of_##std_name, T...>::value; \
     };                                                                            \
     } /* namespace detail2 */ \
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
index d98f445f5a..672328dc7d 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
@@ -557,7 +557,7 @@ template<template <typename...> class Primary, typename... Args>
 struct is_specialization_of<Primary, Primary<Args...>> : std::true_type {};
 
 template<typename T>
-using is_json_pointer = is_specialization_of<::wpi::json_pointer, uncvref_t<T>>;
+using is_json_pointer = is_specialization_of<::wpi::util::json_pointer, uncvref_t<T>>;
 
 // checks if A and B are comparable using Compare functor
 template<typename Compare, typename A, typename B, typename = void>
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
index f466467cdb..f4dd0618b8 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
@@ -828,7 +828,7 @@ class serializer
     void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
     {
         auto* begin = number_buffer.data();
-        auto* end = ::wpi::detail::to_chars(begin, begin + number_buffer.size(), x);
+        auto* end = ::wpi::util::detail::to_chars(begin, begin + number_buffer.size(), x);
 
         o->write_characters(begin, static_cast<size_t>(end - begin));
     }
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
index 40ef8f2105..dd41176ef0 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
@@ -95,74 +95,74 @@ The invariants are checked by member function assert_invariant().
 */
 WPI_BASIC_JSON_TPL_DECLARATION
 class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-special-member-functions)
-    : public ::wpi::detail::json_base_class<CustomBaseClass>
+    : public ::wpi::util::detail::json_base_class<CustomBaseClass>
 {
   private:
     template<detail::value_t> friend struct detail::external_constructor;
 
     template<typename>
-    friend class ::wpi::json_pointer;
+    friend class ::wpi::util::json_pointer;
     // can be restored when json_pointer backwards compatibility is removed
-    // friend ::wpi::json_pointer<StringType>;
+    // friend ::wpi::util::json_pointer<StringType>;
 
     template<typename BasicJsonType, typename InputType>
-    friend class ::wpi::detail::parser;
-    friend ::wpi::detail::serializer<basic_json>;
+    friend class ::wpi::util::detail::parser;
+    friend ::wpi::util::detail::serializer<basic_json>;
     template<typename BasicJsonType>
-    friend class ::wpi::detail::iter_impl;
+    friend class ::wpi::util::detail::iter_impl;
     template<typename BasicJsonType, typename CharType>
-    friend class ::wpi::detail::binary_writer;
+    friend class ::wpi::util::detail::binary_writer;
     template<typename BasicJsonType, typename InputType, typename SAX>
-    friend class ::wpi::detail::binary_reader;
+    friend class ::wpi::util::detail::binary_reader;
     template<typename BasicJsonType>
-    friend class ::wpi::detail::json_sax_dom_parser;
+    friend class ::wpi::util::detail::json_sax_dom_parser;
     template<typename BasicJsonType>
-    friend class ::wpi::detail::json_sax_dom_callback_parser;
-    friend class ::wpi::detail::exception;
+    friend class ::wpi::util::detail::json_sax_dom_callback_parser;
+    friend class ::wpi::util::detail::exception;
 
     /// workaround type for MSVC
     using basic_json_t = WPI_BASIC_JSON_TPL;
-    using json_base_class_t = ::wpi::detail::json_base_class<CustomBaseClass>;
+    using json_base_class_t = ::wpi::util::detail::json_base_class<CustomBaseClass>;
 
   JSON_PRIVATE_UNLESS_TESTED:
     // convenience aliases for types residing in namespace detail;
-    using lexer = ::wpi::detail::lexer_base<basic_json>;
+    using lexer = ::wpi::util::detail::lexer_base<basic_json>;
 
     template<typename InputAdapterType>
-    static ::wpi::detail::parser<basic_json, InputAdapterType> parser(
+    static ::wpi::util::detail::parser<basic_json, InputAdapterType> parser(
         InputAdapterType adapter,
         detail::parser_callback_t<basic_json>cb = nullptr,
         const bool allow_exceptions = true,
         const bool ignore_comments = false
     )
     {
-        return ::wpi::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
+        return ::wpi::util::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
                 std::move(cb), allow_exceptions, ignore_comments);
     }
 
   private:
-    using primitive_iterator_t = ::wpi::detail::primitive_iterator_t;
+    using primitive_iterator_t = ::wpi::util::detail::primitive_iterator_t;
     template<typename BasicJsonType>
-    using internal_iterator = ::wpi::detail::internal_iterator<BasicJsonType>;
+    using internal_iterator = ::wpi::util::detail::internal_iterator<BasicJsonType>;
     template<typename BasicJsonType>
-    using iter_impl = ::wpi::detail::iter_impl<BasicJsonType>;
+    using iter_impl = ::wpi::util::detail::iter_impl<BasicJsonType>;
     template<typename Iterator>
-    using iteration_proxy = ::wpi::detail::iteration_proxy<Iterator>;
-    template<typename Base> using json_reverse_iterator = ::wpi::detail::json_reverse_iterator<Base>;
+    using iteration_proxy = ::wpi::util::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::wpi::util::detail::json_reverse_iterator<Base>;
 
     template<typename CharType>
-    using output_adapter_t = ::wpi::detail::output_adapter_t<CharType>;
+    using output_adapter_t = ::wpi::util::detail::output_adapter_t<CharType>;
 
     template<typename InputType>
-    using binary_reader = ::wpi::detail::binary_reader<basic_json, InputType>;
-    template<typename CharType> using binary_writer = ::wpi::detail::binary_writer<basic_json, CharType>;
+    using binary_reader = ::wpi::util::detail::binary_reader<basic_json, InputType>;
+    template<typename CharType> using binary_writer = ::wpi::util::detail::binary_writer<basic_json, CharType>;
 
   public:
-    using serializer = ::wpi::detail::serializer<basic_json>;
+    using serializer = ::wpi::util::detail::serializer<basic_json>;
 
     using value_t = detail::value_t;
     /// JSON Pointer, see @ref json_pointer
-    using json_pointer = ::wpi::json_pointer<StringType>;
+    using json_pointer = ::wpi::util::json_pointer<StringType>;
     template<typename T, typename SFINAE>
     using json_serializer = JSONSerializer<T, SFINAE>;
     /// how to treat decoding errors
@@ -173,7 +173,7 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
 
     using input_format_t = detail::input_format_t;
-    /// SAX interface type, see wpi::json_sax
+    /// SAX interface type, see wpi::util::json_sax
     using json_sax_t = json_sax<basic_json>;
 
     ////////////////
@@ -361,7 +361,7 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
 
     /// @brief a type for a packed binary type
     /// @sa https://json.nlohmann.me/api/basic_json/binary_t/
-    using binary_t = wpi::byte_container_with_subtype<BinaryType>;
+    using binary_t = wpi::util::byte_container_with_subtype<BinaryType>;
 
     /// @brief object key comparator type
     /// @sa https://json.nlohmann.me/api/basic_json/object_comparator_t/
@@ -2370,8 +2370,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
                    detail::is_basic_json<BasicJsonType>::value
                    && detail::is_getable<basic_json_t, ValueType>::value
                    && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    ValueType value(const ::wpi::json_pointer<BasicJsonType>& ptr, const ValueType& default_value) const
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ValueType value(const ::wpi::util::json_pointer<BasicJsonType>& ptr, const ValueType& default_value) const
     {
         return value(ptr.convert(), default_value);
     }
@@ -2381,8 +2381,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
                    detail::is_basic_json<BasicJsonType>::value
                    && detail::is_getable<basic_json_t, ReturnType>::value
                    && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    ReturnType value(const ::wpi::json_pointer<BasicJsonType>& ptr, ValueType && default_value) const
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ReturnType value(const ::wpi::util::json_pointer<BasicJsonType>& ptr, ValueType && default_value) const
     {
         return value(ptr.convert(), std::forward<ValueType>(default_value));
     }
@@ -2746,8 +2746,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     }
 
     template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    bool contains(const typename ::wpi::json_pointer<BasicJsonType>& ptr) const
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    bool contains(const typename ::wpi::util::json_pointer<BasicJsonType>& ptr) const
     {
         return ptr.contains(this);
     }
@@ -4625,8 +4625,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     }
 
     template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    reference operator[](const ::wpi::json_pointer<BasicJsonType>& ptr)
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference operator[](const ::wpi::util::json_pointer<BasicJsonType>& ptr)
     {
         return ptr.get_unchecked(this);
     }
@@ -4639,8 +4639,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     }
 
     template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    const_reference operator[](const ::wpi::json_pointer<BasicJsonType>& ptr) const
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference operator[](const ::wpi::util::json_pointer<BasicJsonType>& ptr) const
     {
         return ptr.get_unchecked(this);
     }
@@ -4653,8 +4653,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     }
 
     template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    reference at(const ::wpi::json_pointer<BasicJsonType>& ptr)
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference at(const ::wpi::util::json_pointer<BasicJsonType>& ptr)
     {
         return ptr.get_checked(this);
     }
@@ -4667,8 +4667,8 @@ class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-spec
     }
 
     template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
-    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
-    const_reference at(const ::wpi::json_pointer<BasicJsonType>& ptr) const
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or wpi::util::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference at(const ::wpi::util::json_pointer<BasicJsonType>& ptr) const
     {
         return ptr.get_checked(this);
     }
@@ -5169,24 +5169,24 @@ inline namespace json_literals
 /// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json/
 JSON_HEDLEY_NON_NULL(1)
 #if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
-    inline wpi::json operator ""_json(const char* s, std::size_t n)
+    inline wpi::util::json operator ""_json(const char* s, std::size_t n)
 #else
-    inline wpi::json operator "" _json(const char* s, std::size_t n)
+    inline wpi::util::json operator "" _json(const char* s, std::size_t n)
 #endif
 {
-    return wpi::json::parse(s, s + n);
+    return wpi::util::json::parse(s, s + n);
 }
 
 /// @brief user-defined string literal for JSON pointer
 /// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json_pointer/
 JSON_HEDLEY_NON_NULL(1)
 #if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
-    inline wpi::json::json_pointer operator ""_json_pointer(const char* s, std::size_t n)
+    inline wpi::util::json::json_pointer operator ""_json_pointer(const char* s, std::size_t n)
 #else
-    inline wpi::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+    inline wpi::util::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
 #endif
 {
-    return wpi::json::json_pointer(std::string(s, n));
+    return wpi::util::json::json_pointer(std::string(s, n));
 }
 
 }  // namespace json_literals
@@ -5203,29 +5203,29 @@ namespace std // NOLINT(cert-dcl58-cpp)
 /// @brief hash value for JSON objects
 /// @sa https://json.nlohmann.me/api/basic_json/std_hash/
 WPI_BASIC_JSON_TPL_DECLARATION
-struct hash<wpi::WPI_BASIC_JSON_TPL> // NOLINT(cert-dcl58-cpp)
+struct hash<wpi::util::WPI_BASIC_JSON_TPL> // NOLINT(cert-dcl58-cpp)
 {
-    std::size_t operator()(const wpi::WPI_BASIC_JSON_TPL& j) const
+    std::size_t operator()(const wpi::util::WPI_BASIC_JSON_TPL& j) const
     {
-        return wpi::detail::hash(j);
+        return wpi::util::detail::hash(j);
     }
 };
 
 // specialization for std::less<value_t>
 template<>
-struct less< ::wpi::detail::value_t> // do not remove the space after '<', see https://github.com/nlohmann/json/pull/679
+struct less< ::wpi::util::detail::value_t> // do not remove the space after '<', see https://github.com/nlohmann/json/pull/679
 {
     /*!
     @brief compare two value_t enum values
     @since version 3.0.0
     */
-    bool operator()(::wpi::detail::value_t lhs,
-                    ::wpi::detail::value_t rhs) const noexcept
+    bool operator()(::wpi::util::detail::value_t lhs,
+                    ::wpi::util::detail::value_t rhs) const noexcept
     {
 #if JSON_HAS_THREE_WAY_COMPARISON
         return std::is_lt(lhs <=> rhs); // *NOPAD*
 #else
-        return ::wpi::detail::operator<(lhs, rhs);
+        return ::wpi::util::detail::operator<(lhs, rhs);
 #endif
     }
 };
@@ -5236,9 +5236,9 @@ struct less< ::wpi::detail::value_t> // do not remove the space after '<', see h
 /// @brief exchanges the values of two JSON objects
 /// @sa https://json.nlohmann.me/api/basic_json/std_swap/
 WPI_BASIC_JSON_TPL_DECLARATION
-inline void swap(wpi::WPI_BASIC_JSON_TPL& j1, wpi::WPI_BASIC_JSON_TPL& j2) noexcept(  // NOLINT(readability-inconsistent-declaration-parameter-name, cert-dcl58-cpp)
-    is_nothrow_move_constructible<wpi::WPI_BASIC_JSON_TPL>::value&&                          // NOLINT(misc-redundant-expression,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
-    is_nothrow_move_assignable<wpi::WPI_BASIC_JSON_TPL>::value)
+inline void swap(wpi::util::WPI_BASIC_JSON_TPL& j1, wpi::util::WPI_BASIC_JSON_TPL& j2) noexcept(  // NOLINT(readability-inconsistent-declaration-parameter-name, cert-dcl58-cpp)
+    is_nothrow_move_constructible<wpi::util::WPI_BASIC_JSON_TPL>::value&&                          // NOLINT(misc-redundant-expression,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    is_nothrow_move_assignable<wpi::util::WPI_BASIC_JSON_TPL>::value)
 {
     j1.swap(j2);
 }
@@ -5249,11 +5249,11 @@ inline void swap(wpi::WPI_BASIC_JSON_TPL& j1, wpi::WPI_BASIC_JSON_TPL& j2) noexc
 
 #if JSON_USE_GLOBAL_UDLS
     #if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
-        using wpi::literals::json_literals::operator ""_json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
-        using wpi::literals::json_literals::operator ""_json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using wpi::util::literals::json_literals::operator ""_json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using wpi::util::literals::json_literals::operator ""_json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
     #else
-        using wpi::literals::json_literals::operator "" _json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
-        using wpi::literals::json_literals::operator "" _json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using wpi::util::literals::json_literals::operator "" _json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using wpi::util::literals::json_literals::operator "" _json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
     #endif
 #endif
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
index e89bd74585..0c54150a42 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
@@ -68,7 +68,7 @@ struct ordered_map;
 
 /// @brief specialization that maintains the insertion order of object keys
 /// @sa https://json.nlohmann.me/api/ordered_json/
-using ordered_json = basic_json<wpi::ordered_map>;
+using ordered_json = basic_json<wpi::util::ordered_map>;
 
 WPI_JSON_NAMESPACE_END
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
index a3462bcea0..b3ad7f30f2 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
@@ -23,7 +23,7 @@
 WPI_JSON_NAMESPACE_BEGIN
 
 /// ordered_map: a minimal map-like container that preserves insertion order
-/// for use within wpi::basic_json<ordered_map>
+/// for use within wpi::util::basic_json<ordered_map>
 template <class Key, class T, class IgnoredLess = std::less<Key>,
           class Allocator = std::allocator<std::pair<const Key, T>>>
                   struct ordered_map : std::vector<std::pair<const Key, T>, Allocator>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
index 282b81efa3..d7bf17a081 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
@@ -100,7 +100,7 @@
 
 ConvertUTF_DISABLE_WARNINGS
 
-namespace wpi {
+namespace wpi::util {
 
 static const int halfShift  = 10; /* used for shifting by 10 bits */
 
@@ -770,7 +770,7 @@ namespace sys {
 namespace windows {
 std::error_code CodePageToUTF16(unsigned codepage,
                                 std::string_view original,
-                                wpi::SmallVectorImpl<wchar_t> &utf16) {
+                                wpi::util::SmallVectorImpl<wchar_t> &utf16) {
   if (!original.empty()) {
     int len = ::MultiByteToWideChar(codepage, MB_ERR_INVALID_CHARS, original.data(),
                                     original.size(), utf16.begin(), 0);
@@ -798,19 +798,19 @@ std::error_code CodePageToUTF16(unsigned codepage,
 }
 
 std::error_code UTF8ToUTF16(std::string_view utf8,
-                            wpi::SmallVectorImpl<wchar_t> &utf16) {
+                            wpi::util::SmallVectorImpl<wchar_t> &utf16) {
   return CodePageToUTF16(CP_UTF8, utf8, utf16);
 }
 
 std::error_code CurCPToUTF16(std::string_view curcp,
-                            wpi::SmallVectorImpl<wchar_t> &utf16) {
+                            wpi::util::SmallVectorImpl<wchar_t> &utf16) {
   return CodePageToUTF16(CP_ACP, curcp, utf16);
 }
 
 static
 std::error_code UTF16ToCodePage(unsigned codepage, const wchar_t *utf16,
                                 size_t utf16_len,
-                                wpi::SmallVectorImpl<char> &converted) {
+                                wpi::util::SmallVectorImpl<char> &converted) {
   if (utf16_len) {
     // Get length.
     int len = ::WideCharToMultiByte(codepage, 0, utf16, utf16_len, converted.begin(),
@@ -840,12 +840,12 @@ std::error_code UTF16ToCodePage(unsigned codepage, const wchar_t *utf16,
 }
 
 std::error_code UTF16ToUTF8(const wchar_t *utf16, size_t utf16_len,
-                            wpi::SmallVectorImpl<char> &utf8) {
+                            wpi::util::SmallVectorImpl<char> &utf8) {
   return UTF16ToCodePage(CP_UTF8, utf16, utf16_len, utf8);
 }
 
 std::error_code UTF16ToCurCP(const wchar_t *utf16, size_t utf16_len,
-                             wpi::SmallVectorImpl<char> &curcp) {
+                             wpi::util::SmallVectorImpl<char> &curcp) {
   return UTF16ToCodePage(CP_ACP, utf16, utf16_len, curcp);
 }
 
@@ -854,6 +854,6 @@ std::error_code UTF16ToCurCP(const wchar_t *utf16, size_t utf16_len,
 
 #endif  // _WIN32
 
-} // namespace wpi
+} // namespace wpi::util
 
 ConvertUTF_RESTORE_WARNINGS
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
index 50034b489e..cabc377fb2 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
@@ -15,7 +15,7 @@
 #include <string_view>
 #include <vector>
 
-namespace wpi {
+namespace wpi::util {
 
 bool ConvertUTF8toWide(unsigned WideCharWidth, std::string_view Source,
                        char *&ResultPtr, const UTF8 *&ErrorPtr) {
@@ -103,7 +103,7 @@ bool convertUTF16ToUTF8String(std::span<const char> SrcBytes, SmallVectorImpl<ch
   if (Src[0] == UNI_UTF16_BYTE_ORDER_MARK_SWAPPED) {
     ByteSwapped.insert(ByteSwapped.end(), Src, SrcEnd);
     for (UTF16 &I : ByteSwapped)
-      I = wpi::byteswap<uint16_t>(I);
+      I = wpi::util::byteswap<uint16_t>(I);
     Src = &ByteSwapped[0];
     SrcEnd = &ByteSwapped[ByteSwapped.size() - 1] + 1;
   }
@@ -161,7 +161,7 @@ bool convertUTF32ToUTF8String(std::span<const char> SrcBytes, std::string &Out)
   if (Src[0] == UNI_UTF32_BYTE_ORDER_MARK_SWAPPED) {
     ByteSwapped.insert(ByteSwapped.end(), Src, SrcEnd);
     for (UTF32 &I : ByteSwapped)
-      I = wpi::byteswap<uint32_t>(I);
+      I = wpi::util::byteswap<uint32_t>(I);
     Src = &ByteSwapped[0];
     SrcEnd = &ByteSwapped[ByteSwapped.size() - 1] + 1;
   }
@@ -305,5 +305,5 @@ bool convertWideToUTF8(const std::wstring &Source, SmallVectorImpl<char> &Result
   }
 }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
index 3bd0e54104..8d8c68de97 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
@@ -28,7 +28,7 @@
 #include <io.h>
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 static fatal_error_handler_t ErrorHandler = nullptr;
 static void *ErrorHandlerUserData = nullptr;
@@ -50,7 +50,7 @@ static void *BadAllocErrorHandlerUserData = nullptr;
 static std::mutex ErrorHandlerMutex;
 static std::mutex BadAllocErrorHandlerMutex;
 
-void wpi::install_fatal_error_handler(fatal_error_handler_t handler,
+void wpi::util::install_fatal_error_handler(fatal_error_handler_t handler,
                                        void *user_data) {
   std::scoped_lock Lock(ErrorHandlerMutex);
   assert(!ErrorHandler && "Error handler already registered!\n");
@@ -58,22 +58,22 @@ void wpi::install_fatal_error_handler(fatal_error_handler_t handler,
   ErrorHandlerUserData = user_data;
 }
 
-void wpi::remove_fatal_error_handler() {
+void wpi::util::remove_fatal_error_handler() {
   std::scoped_lock Lock(ErrorHandlerMutex);
   ErrorHandler = nullptr;
   ErrorHandlerUserData = nullptr;
 }
 
-void wpi::report_fatal_error(const char *Reason, bool GenCrashDiag) {
+void wpi::util::report_fatal_error(const char *Reason, bool GenCrashDiag) {
   report_fatal_error(std::string_view(Reason), GenCrashDiag);
 }
 
-void wpi::report_fatal_error(const std::string &Reason, bool GenCrashDiag) {
+void wpi::util::report_fatal_error(const std::string &Reason, bool GenCrashDiag) {
   report_fatal_error(std::string_view(Reason), GenCrashDiag);
 }
 
-void wpi::report_fatal_error(std::string_view Reason, bool GenCrashDiag) {
-  wpi::fatal_error_handler_t handler = nullptr;
+void wpi::util::report_fatal_error(std::string_view Reason, bool GenCrashDiag) {
+  wpi::util::fatal_error_handler_t handler = nullptr;
   void* handlerData = nullptr;
   {
     // Only acquire the mutex while reading the handler, so as not to invoke a
@@ -86,13 +86,13 @@ void wpi::report_fatal_error(std::string_view Reason, bool GenCrashDiag) {
   if (handler) {
     handler(handlerData, std::string{Reason}.c_str(), GenCrashDiag);
   } else {
-    wpi::print(stderr, "LLVM ERROR: {}\n", Reason);
+    wpi::util::print(stderr, "LLVM ERROR: {}\n", Reason);
   }
 
   exit(1);
 }
 
-void wpi::install_bad_alloc_error_handler(fatal_error_handler_t handler,
+void wpi::util::install_bad_alloc_error_handler(fatal_error_handler_t handler,
                                            void *user_data) {
   std::scoped_lock Lock(BadAllocErrorHandlerMutex);
   assert(!BadAllocErrorHandler &&
@@ -101,13 +101,13 @@ void wpi::install_bad_alloc_error_handler(fatal_error_handler_t handler,
   BadAllocErrorHandlerUserData = user_data;
 }
 
-void wpi::remove_bad_alloc_error_handler() {
+void wpi::util::remove_bad_alloc_error_handler() {
   std::scoped_lock Lock(BadAllocErrorHandlerMutex);
   BadAllocErrorHandler = nullptr;
   BadAllocErrorHandlerUserData = nullptr;
 }
 
-void wpi::report_bad_alloc_error(const char *Reason, bool GenCrashDiag) {
+void wpi::util::report_bad_alloc_error(const char *Reason, bool GenCrashDiag) {
   fatal_error_handler_t Handler = nullptr;
   void *HandlerData = nullptr;
   {
@@ -142,29 +142,29 @@ void wpi::report_bad_alloc_error(const char *Reason, bool GenCrashDiag) {
 // Causes crash on allocation failure. It is called prior to the handler set by
 // 'install_bad_alloc_error_handler'.
 static void out_of_memory_new_handler() {
-  wpi::report_bad_alloc_error("Allocation failed");
+  wpi::util::report_bad_alloc_error("Allocation failed");
 }
 
 // Installs new handler that causes crash on allocation failure. It is called by
 // InitLLVM.
-void wpi::install_out_of_memory_new_handler() {
+void wpi::util::install_out_of_memory_new_handler() {
   std::new_handler old = std::set_new_handler(out_of_memory_new_handler);
   (void)old;
   assert((old == nullptr || old == out_of_memory_new_handler) &&
          "new-handler already installed");
 }
 
-void wpi::wpi_unreachable_internal(const char *msg, const char *file,
+void wpi::util::wpi_unreachable_internal(const char *msg, const char *file,
                                      unsigned line) {
   // This code intentionally doesn't call the ErrorHandler callback, because
   // wpi_unreachable is intended to be used to indicate "impossible"
   // situations, and not legitimate runtime errors.
   if (msg)
-    wpi::print(stderr, "{}\n", msg);
+    wpi::util::print(stderr, "{}\n", msg);
   std::fputs("UNREACHABLE executed", stderr);
   if (file)
-    wpi::print(stderr, " at {}:{}", file, line);
-  wpi::print(stderr, "!\n");
+    wpi::util::print(stderr, " at {}:{}", file, line);
+  wpi::util::print(stderr, "!\n");
   abort();
 #ifdef LLVM_BUILTIN_UNREACHABLE
   // Windows systems and possibly others don't declare abort() to be noreturn,
@@ -184,7 +184,7 @@ void wpi::wpi_unreachable_internal(const char *msg, const char *file,
 // This function obtains the last error code and maps it. It may call
 // RtlGetLastNtStatus, which is a lower level API that can return a
 // more specific error code than GetLastError.
-std::error_code wpi::mapLastWindowsError() {
+std::error_code wpi::util::mapLastWindowsError() {
   unsigned EV = ::GetLastError();
   return mapWindowsError(EV);
 }
@@ -194,7 +194,7 @@ std::error_code wpi::mapLastWindowsError() {
   case x:                                                                      \
     return std::make_error_code(std::errc::y)
 
-std::error_code wpi::mapWindowsError(unsigned EV) {
+std::error_code wpi::util::mapWindowsError(unsigned EV) {
   switch (EV) {
     MAP_ERR_TO_COND(ERROR_ACCESS_DENIED, permission_denied);
     MAP_ERR_TO_COND(ERROR_ALREADY_EXISTS, file_exists);
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
index 93fa1c0439..30f35d9f15 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
@@ -12,7 +12,7 @@
 // These are out of line to have __cpp_aligned_new not affect ABI.
 
 LLVM_ATTRIBUTE_RETURNS_NONNULL LLVM_ATTRIBUTE_RETURNS_NOALIAS void *
-wpi::allocate_buffer(size_t Size, size_t Alignment) {
+wpi::util::allocate_buffer(size_t Size, size_t Alignment) {
   void *Result = ::operator new(Size,
 #ifdef __cpp_aligned_new
                                 std::align_val_t(Alignment),
@@ -24,7 +24,7 @@ wpi::allocate_buffer(size_t Size, size_t Alignment) {
   return Result;
 }
 
-void wpi::deallocate_buffer(void *Ptr, size_t Size, size_t Alignment) {
+void wpi::util::deallocate_buffer(void *Ptr, size_t Size, size_t Alignment) {
   ::operator delete(Ptr
 #ifdef __cpp_sized_deallocation
                     ,
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
index 79e29432d2..58e6a1e4a7 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
@@ -58,7 +58,7 @@
 #include "wpi/util/WindowsError.hpp"
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 //===----------------------------------------------------------------------===//
 // MemoryBuffer implementation itself.
@@ -259,12 +259,12 @@ static std::unique_ptr<WritableMemoryBuffer> GetMemoryBufferForStream(
   return GetMemBufferCopyImpl(buffer, bufferName, ec);
 }
 
-wpi::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
+wpi::util::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
 MemoryBuffer::GetFile(std::string_view filename, int64_t fileSize) {
   std::error_code ec;
   auto ret = GetFileAux<MemoryBuffer>(filename, ec, fileSize, fileSize, 0);
   if (ec) {
-    return wpi::unexpected{ec};
+    return wpi::util::unexpected{ec};
   }
   return ret;
 }
@@ -362,7 +362,7 @@ static std::unique_ptr<WriteThroughMemoryBuffer> GetReadWriteFile(
 
       LARGE_INTEGER fileSizeWin;
       if (!GetFileSizeEx(f, &fileSizeWin)) {
-        ec = wpi::mapWindowsError(GetLastError());
+        ec = wpi::util::mapWindowsError(GetLastError());
         return nullptr;
       }
       fileSize = fileSizeWin.QuadPart;
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
index 7cdb905348..a30825eaf5 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
@@ -19,7 +19,7 @@
 #include <cassert>
 #include <cstdlib>
 
-using namespace wpi;
+using namespace wpi::util;
 
 void SmallPtrSetImplBase::shrink_and_clear() {
   assert(!isSmall() && "Can't shrink a small set!");
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
index dbdafdc822..a0a2c0b089 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
@@ -16,7 +16,7 @@
 #ifdef LLVM_ENABLE_EXCEPTIONS
 #include <stdexcept>
 #endif
-using namespace wpi;
+using namespace wpi::util;
 
 // Check that no bytes are wasted and everything is well-aligned.
 namespace {
@@ -114,7 +114,7 @@ static size_t getNewCapacity(size_t MinSize, size_t TSize, size_t OldCapacity) {
 /// situation does occur.
 static void *replaceAllocation(void *NewElts, size_t TSize, size_t NewCapacity,
                                size_t VSize = 0) {
-  void *NewEltsReplace = wpi::safe_malloc(NewCapacity * TSize);
+  void *NewEltsReplace = wpi::util::safe_malloc(NewCapacity * TSize);
   if (VSize)
     memcpy(NewEltsReplace, NewElts, VSize * TSize);
   free(NewElts);
@@ -128,7 +128,7 @@ void *SmallVectorBase::mallocForGrow(void *FirstEl, size_t MinSize,
   NewCapacity = getNewCapacity(MinSize, TSize, this->capacity());
   // Even if capacity is not 0 now, if the vector was originally created with
   // capacity 0, it's possible for the malloc to return FirstEl.
-  void *NewElts = wpi::safe_malloc(NewCapacity * TSize);
+  void *NewElts = wpi::util::safe_malloc(NewCapacity * TSize);
   if (NewElts == FirstEl)
     NewElts = replaceAllocation(NewElts, TSize, NewCapacity);
   return NewElts;
@@ -140,7 +140,7 @@ void SmallVectorBase::grow_pod(void *FirstEl, size_t MinSize,
   size_t NewCapacity = getNewCapacity(MinSize, TSize, this->capacity());
   void *NewElts;
   if (BeginX == FirstEl) {
-    NewElts = wpi::safe_malloc(NewCapacity * TSize);
+    NewElts = wpi::util::safe_malloc(NewCapacity * TSize);
     if (NewElts == FirstEl)
       NewElts = replaceAllocation(NewElts, TSize, NewCapacity);
 
@@ -148,7 +148,7 @@ void SmallVectorBase::grow_pod(void *FirstEl, size_t MinSize,
     memcpy(NewElts, this->BeginX, size() * TSize);
   } else {
     // If this wasn't grown from the inline copy, grow the allocated space.
-    NewElts = wpi::safe_realloc(this->BeginX, NewCapacity * TSize);
+    NewElts = wpi::util::safe_realloc(this->BeginX, NewCapacity * TSize);
     if (NewElts == FirstEl)
       NewElts = replaceAllocation(NewElts, TSize, NewCapacity, size());
   }
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
index 5bfdf86513..357a001abd 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
@@ -28,8 +28,8 @@
 static int ascii_strncasecmp(const char* lhs, const char* rhs,
                              size_t length) noexcept {
   for (size_t i = 0; i < length; ++i) {
-    unsigned char lhc = wpi::toLower(lhs[i]);
-    unsigned char rhc = wpi::toLower(rhs[i]);
+    unsigned char lhc = wpi::util::toLower(lhs[i]);
+    unsigned char rhc = wpi::util::toLower(rhs[i]);
     if (lhc != rhc) {
       return lhc < rhc ? -1 : 1;
     }
@@ -37,7 +37,7 @@ static int ascii_strncasecmp(const char* lhs, const char* rhs,
   return 0;
 }
 
-int wpi::compare_lower(std::string_view lhs, std::string_view rhs) noexcept {
+int wpi::util::compare_lower(std::string_view lhs, std::string_view rhs) noexcept {
   if (int Res = ascii_strncasecmp(lhs.data(), rhs.data(),
                                   (std::min)(lhs.size(), rhs.size()))) {
     return Res;
@@ -48,7 +48,7 @@ int wpi::compare_lower(std::string_view lhs, std::string_view rhs) noexcept {
   return lhs.size() < rhs.size() ? -1 : 1;
 }
 
-std::string_view::size_type wpi::find_lower(
+std::string_view::size_type wpi::util::find_lower(
     std::string_view str, char ch, std::string_view::size_type from) noexcept {
   char lch = toLower(ch);
   auto s = drop_front(str, from);
@@ -61,7 +61,7 @@ std::string_view::size_type wpi::find_lower(
   return std::string_view::npos;
 }
 
-std::string_view::size_type wpi::find_lower(
+std::string_view::size_type wpi::util::find_lower(
     std::string_view str, std::string_view other,
     std::string_view::size_type from) noexcept {
   auto s = substr(str, from);
@@ -75,7 +75,7 @@ std::string_view::size_type wpi::find_lower(
   return std::string_view::npos;
 }
 
-std::string_view::size_type wpi::rfind_lower(
+std::string_view::size_type wpi::util::rfind_lower(
     std::string_view str, char ch, std::string_view::size_type from) noexcept {
   from = (std::min)(from, str.size());
   auto data = str.data();
@@ -89,7 +89,7 @@ std::string_view::size_type wpi::rfind_lower(
   return std::string_view::npos;
 }
 
-std::string_view::size_type wpi::rfind_lower(std::string_view str,
+std::string_view::size_type wpi::util::rfind_lower(std::string_view str,
                                              std::string_view other) noexcept {
   std::string_view::size_type n = other.size();
   if (n > str.size()) {
@@ -104,13 +104,13 @@ std::string_view::size_type wpi::rfind_lower(std::string_view str,
   return std::string_view::npos;
 }
 
-bool wpi::starts_with_lower(std::string_view str,
+bool wpi::util::starts_with_lower(std::string_view str,
                             std::string_view prefix) noexcept {
   return str.size() >= prefix.size() &&
          ascii_strncasecmp(str.data(), prefix.data(), prefix.size()) == 0;
 }
 
-bool wpi::ends_with_lower(std::string_view str,
+bool wpi::util::ends_with_lower(std::string_view str,
                           std::string_view suffix) noexcept {
   return str.size() >= suffix.size() &&
          ascii_strncasecmp(str.data() + str.size() - suffix.size(),
@@ -122,22 +122,22 @@ static unsigned GetAutoSenseRadix(std::string_view& str) noexcept {
     return 10;
   }
 
-  if (wpi::starts_with(str, "0x") || wpi::starts_with(str, "0X")) {
+  if (wpi::util::starts_with(str, "0x") || wpi::util::starts_with(str, "0X")) {
     str.remove_prefix(2);
     return 16;
   }
 
-  if (wpi::starts_with(str, "0b") || wpi::starts_with(str, "0B")) {
+  if (wpi::util::starts_with(str, "0b") || wpi::util::starts_with(str, "0B")) {
     str.remove_prefix(2);
     return 2;
   }
 
-  if (wpi::starts_with(str, "0o")) {
+  if (wpi::util::starts_with(str, "0o")) {
     str.remove_prefix(2);
     return 8;
   }
 
-  if (str[0] == '0' && str.size() > 1 && wpi::isDigit(str[1])) {
+  if (str[0] == '0' && str.size() > 1 && wpi::util::isDigit(str[1])) {
     str.remove_prefix(1);
     return 8;
   }
@@ -145,7 +145,7 @@ static unsigned GetAutoSenseRadix(std::string_view& str) noexcept {
   return 10;
 }
 
-bool wpi::detail::ConsumeUnsignedInteger(
+bool wpi::util::detail::ConsumeUnsignedInteger(
     std::string_view& str, unsigned radix,
     unsigned long long& result) noexcept {  // NOLINT(runtime/int)
   // Autosense radix if not specified.
@@ -201,14 +201,14 @@ bool wpi::detail::ConsumeUnsignedInteger(
   return false;
 }
 
-bool wpi::detail::ConsumeSignedInteger(
+bool wpi::util::detail::ConsumeSignedInteger(
     std::string_view& str, unsigned radix,
     long long& result) noexcept {  // NOLINT(runtime/int)
   unsigned long long ullVal;       // NOLINT(runtime/int)
 
   // Handle positive strings first.
   if (str.empty() || str.front() != '-') {
-    if (wpi::detail::ConsumeUnsignedInteger(str, radix, ullVal) ||
+    if (wpi::util::detail::ConsumeUnsignedInteger(str, radix, ullVal) ||
         // Check for value so large it overflows a signed value.
         static_cast<long long>(ullVal) < 0) {  // NOLINT(runtime/int)
       return true;
@@ -218,8 +218,8 @@ bool wpi::detail::ConsumeSignedInteger(
   }
 
   // Get the positive part of the value.
-  std::string_view str2 = wpi::drop_front(str);
-  if (wpi::detail::ConsumeUnsignedInteger(str2, radix, ullVal) ||
+  std::string_view str2 = wpi::util::drop_front(str);
+  if (wpi::util::detail::ConsumeUnsignedInteger(str2, radix, ullVal) ||
       // Reject values so large they'd overflow as negative signed, but allow
       // "-0".  This negates the unsigned so that the negative isn't undefined
       // on signed overflow.
@@ -232,10 +232,10 @@ bool wpi::detail::ConsumeSignedInteger(
   return false;
 }
 
-bool wpi::detail::GetAsUnsignedInteger(
+bool wpi::util::detail::GetAsUnsignedInteger(
     std::string_view str, unsigned radix,
     unsigned long long& result) noexcept {  // NOLINT(runtime/int)
-  if (wpi::detail::ConsumeUnsignedInteger(str, radix, result)) {
+  if (wpi::util::detail::ConsumeUnsignedInteger(str, radix, result)) {
     return true;
   }
 
@@ -244,10 +244,10 @@ bool wpi::detail::GetAsUnsignedInteger(
   return !str.empty();
 }
 
-bool wpi::detail::GetAsSignedInteger(
+bool wpi::util::detail::GetAsSignedInteger(
     std::string_view str, unsigned radix,
     long long& result) noexcept {  // NOLINT(runtime/int)
-  if (wpi::detail::ConsumeSignedInteger(str, radix, result)) {
+  if (wpi::util::detail::ConsumeSignedInteger(str, radix, result)) {
     return true;
   }
 
@@ -257,11 +257,11 @@ bool wpi::detail::GetAsSignedInteger(
 }
 
 template <>
-std::optional<float> wpi::parse_float<float>(std::string_view str) noexcept {
+std::optional<float> wpi::util::parse_float<float>(std::string_view str) noexcept {
   if (str.empty()) {
     return std::nullopt;
   }
-  wpi::SmallString<32> storage{str};
+  wpi::util::SmallString<32> storage{str};
   char* end;
   float val = std::strtof(storage.c_str(), &end);
   if (*end != '\0') {
@@ -271,11 +271,11 @@ std::optional<float> wpi::parse_float<float>(std::string_view str) noexcept {
 }
 
 template <>
-std::optional<double> wpi::parse_float<double>(std::string_view str) noexcept {
+std::optional<double> wpi::util::parse_float<double>(std::string_view str) noexcept {
   if (str.empty()) {
     return std::nullopt;
   }
-  wpi::SmallString<32> storage{str};
+  wpi::util::SmallString<32> storage{str};
   char* end;
   double val = std::strtod(storage.c_str(), &end);
   if (*end != '\0') {
@@ -285,12 +285,12 @@ std::optional<double> wpi::parse_float<double>(std::string_view str) noexcept {
 }
 
 template <>
-std::optional<long double> wpi::parse_float<long double>(
+std::optional<long double> wpi::util::parse_float<long double>(
     std::string_view str) noexcept {
   if (str.empty()) {
     return std::nullopt;
   }
-  wpi::SmallString<32> storage{str};
+  wpi::util::SmallString<32> storage{str};
   char* end;
   long double val = std::strtold(storage.c_str(), &end);
   if (*end != '\0') {
@@ -299,8 +299,8 @@ std::optional<long double> wpi::parse_float<long double>(
   return val;
 }
 
-std::pair<std::string_view, std::string_view> wpi::UnescapeCString(
-    std::string_view str, wpi::SmallVectorImpl<char>& buf) {
+std::pair<std::string_view, std::string_view> wpi::util::UnescapeCString(
+    std::string_view str, wpi::util::SmallVectorImpl<char>& buf) {
   buf.clear();
   buf.reserve(str.size());
   const char* s = str.data();
@@ -338,10 +338,10 @@ std::pair<std::string_view, std::string_view> wpi::UnescapeCString(
           buf.push_back('x');  // treat it like a unknown escape
           break;
         }
-        unsigned int ch = wpi::hexDigitValue(*++s);
+        unsigned int ch = wpi::util::hexDigitValue(*++s);
         if ((s + 1) < end && std::isxdigit(*(s + 1))) {
           ch <<= 4;
-          ch |= wpi::hexDigitValue(*++s);
+          ch |= wpi::util::hexDigitValue(*++s);
         }
         buf.push_back(static_cast<char>(ch));
         break;
@@ -358,11 +358,11 @@ std::pair<std::string_view, std::string_view> wpi::UnescapeCString(
       case '9': {
         // octal escape
         unsigned int ch = *s - '0';
-        if ((s + 1) < end && wpi::isDigit(*(s + 1))) {
+        if ((s + 1) < end && wpi::util::isDigit(*(s + 1))) {
           ch <<= 3;
           ch |= *++s - '0';
         }
-        if ((s + 1) < end && wpi::isDigit(*(s + 1))) {
+        if ((s + 1) < end && wpi::util::isDigit(*(s + 1))) {
           ch <<= 3;
           ch |= *++s - '0';
         }
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
index 3885b468ca..e7f28f870e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
@@ -49,13 +49,13 @@
 // Must be included after windows.h
 #include <wincrypt.h>
 
-namespace wpi {
+namespace wpi::util {
 
 /// Returns the Windows version as Major.Minor.0.BuildNumber. Uses
 /// RtlGetVersion or GetVersionEx under the hood depending on what is available.
 /// GetVersionEx is deprecated, but this API exposes the build number which can
 /// be useful for working around certain kernel bugs.
-inline wpi::VersionTuple GetWindowsOSVersion() {
+inline wpi::util::VersionTuple GetWindowsOSVersion() {
   typedef NTSTATUS(WINAPI* RtlGetVersionPtr)(PRTL_OSVERSIONINFOW);
   HMODULE hMod = ::GetModuleHandleW(L"ntdll.dll");
   if (hMod) {
@@ -64,12 +64,12 @@ inline wpi::VersionTuple GetWindowsOSVersion() {
       RTL_OSVERSIONINFOEXW info{};
       info.dwOSVersionInfoSize = sizeof(info);
       if (getVer((PRTL_OSVERSIONINFOW)&info) == ((NTSTATUS)0x00000000L)) {
-        return wpi::VersionTuple(info.dwMajorVersion, info.dwMinorVersion, 0,
+        return wpi::util::VersionTuple(info.dwMajorVersion, info.dwMinorVersion, 0,
                                   info.dwBuildNumber);
       }
     }
   }
-  return wpi::VersionTuple(0, 0, 0, 0);
+  return wpi::util::VersionTuple(0, 0, 0, 0);
 }
 
 /// Determines if the program is running on Windows 8 or newer. This
@@ -78,7 +78,7 @@ inline wpi::VersionTuple GetWindowsOSVersion() {
 /// yet have VersionHelpers.h, so we have our own helper.
 inline bool RunningWindows8OrGreater() {
   // Windows 8 is version 6.2, service pack 0.
-  return GetWindowsOSVersion() >= wpi::VersionTuple(6, 2, 0, 0);
+  return GetWindowsOSVersion() >= wpi::util::VersionTuple(6, 2, 0, 0);
 }
 
 /// Determines if the program is running on Windows 11 or Windows Server 2022.
@@ -88,7 +88,7 @@ bool RunningWindows11OrGreater();
 /// RtlGetVersion or GetVersionEx under the hood depending on what is available.
 /// GetVersionEx is deprecated, but this API exposes the build number which can
 /// be useful for working around certain kernel bugs.
-wpi::VersionTuple GetWindowsOSVersion();
+wpi::util::VersionTuple GetWindowsOSVersion();
 
 bool MakeErrMsg(std::string *ErrMsg, const std::string &prefix);
 
@@ -96,7 +96,7 @@ bool MakeErrMsg(std::string *ErrMsg, const std::string &prefix);
 [[noreturn]] inline void ReportLastErrorFatal(const char *Msg) {
   std::string ErrMsg;
   MakeErrMsg(&ErrMsg, Msg);
-  wpi::report_fatal_error(ErrMsg);
+  wpi::util::report_fatal_error(ErrMsg);
 }
 
 template <typename HandleTraits>
@@ -256,6 +256,6 @@ inline FILETIME toFILETIME(TimePoint<> TP) {
 }
 
 } // end namespace sys
-} // end namespace wpi.
+} // end namespace wpi::util.
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
index 7d6d29fe78..63ee11c5d4 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
@@ -12,7 +12,7 @@
 
 #include "wpi/util/raw_os_ostream.hpp"
 #include <ostream>
-using namespace wpi;
+using namespace wpi::util;
 
 //===----------------------------------------------------------------------===//
 //  raw_os_ostream
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
index 8214858d2e..0258a9bced 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
@@ -57,7 +57,7 @@
 #include "Windows/WindowsSupport.hpp"
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 constexpr raw_ostream::Colors raw_ostream::BLACK;
 constexpr raw_ostream::Colors raw_ostream::RED;
@@ -593,7 +593,7 @@ void raw_fd_ostream::anchor() {}
 //  outs(), errs(), nulls()
 //===----------------------------------------------------------------------===//
 
-raw_fd_ostream &wpi::outs() {
+raw_fd_ostream &wpi::util::outs() {
   // Set buffer settings to model stdout behavior.
   std::error_code EC;
   static raw_fd_ostream* S = new raw_fd_ostream("-", EC, fs::OF_None);
@@ -601,14 +601,14 @@ raw_fd_ostream &wpi::outs() {
   return *S;
 }
 
-raw_fd_ostream &wpi::errs() {
+raw_fd_ostream &wpi::util::errs() {
   // Set standard error to be unbuffered and tied to outs() by default.
   static raw_fd_ostream* S = new raw_fd_ostream(STDERR_FILENO, false, true);
   return *S;
 }
 
 /// nulls() - This returns a reference to a raw_ostream which discards output.
-raw_ostream &wpi::nulls() {
+raw_ostream &wpi::util::nulls() {
   static raw_null_ostream S;
   return S;
 }
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ADL.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ADL.hpp
index c379387f79..4dc9c552d9 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ADL.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ADL.hpp
@@ -13,7 +13,7 @@
 #include <iterator>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 // Only used by compiler if both template types are the same.  Useful when
 // using SFINAE to test for the existence of member functions.
@@ -130,6 +130,6 @@ using ValueOfRange =
     std::remove_reference_t<decltype(*adl_begin(std::declval<RangeT &>()))>;
 
 } // namespace detail
-} // namespace wpi
+} // namespace wpi::util
 
 #endif // WPIUTIL_WPI_ADL_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AlignOf.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AlignOf.hpp
index 515455c96d..484c2df504 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AlignOf.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AlignOf.hpp
@@ -16,7 +16,7 @@
 #include <algorithm>
 #include <cstddef>
 
-namespace wpi {
+namespace wpi::util {
 
 /// A suitably aligned and sized character array member which can hold elements
 /// of any type.
@@ -25,6 +25,6 @@ template <typename... Ts> struct AlignedCharArrayUnion {
       std::byte buffer[(std::max)({static_cast<size_t>(1), sizeof(Ts)...})];
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_ALIGNOF_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
index 697e14f7a1..c1ae124352 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
@@ -29,7 +29,7 @@
 #include "wpi/util/MemAlloc.hpp"
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 /// CRTP base class providing obvious overloads for the core \c
 /// Allocate() methods of LLVM-style allocators.
@@ -127,6 +127,6 @@ public:
 
 } // namespace detail
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif // WPIUTIL_WPI_ALLOCATORBASE_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
index 8873039185..36da000b02 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
@@ -21,7 +21,7 @@
 #include <optional>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 //===----------------------------------------------------------------------===//
 // simplify_type
@@ -806,7 +806,7 @@ template <class X, class Y>
 //===----------------------------------------------------------------------===//
 
 /// These are wrappers over isa* function that allow them to be used in generic
-/// algorithms such as `wpi:all_of`, `wpi::none_of`, etc. This is accomplished
+/// algorithms such as `wpi:all_of`, `wpi::util::none_of`, etc. This is accomplished
 /// by exposing the isa* functions through function objects with a generic
 /// function call operator.
 
@@ -824,29 +824,29 @@ template <typename... Types> struct IsaAndPresentCheckPredicate {
 };
 } // namespace detail
 
-/// Function object wrapper for the `wpi::isa` type check. The function call
+/// Function object wrapper for the `wpi::util::isa` type check. The function call
 /// operator returns true when the value can be cast to any type in `Types`.
 /// Example:
 /// ```
 /// SmallVector<Type> myTypes = ...;
-/// if (wpi::all_of(myTypes, wpi::IsaPred<VectorType>))
+/// if (wpi::util::all_of(myTypes, wpi::util::IsaPred<VectorType>))
 ///   ...
 /// ```
 template <typename... Types>
 inline constexpr detail::IsaCheckPredicate<Types...> IsaPred{};
 
-/// Function object wrapper for the `wpi::isa_and_present` type check. The
+/// Function object wrapper for the `wpi::util::isa_and_present` type check. The
 /// function call operator returns true when the value can be cast to any type
 /// in `Types`, or if the value is not present (e.g., nullptr). Example:
 /// ```
 /// SmallVector<Type> myTypes = ...;
-/// if (wpi::all_of(myTypes, wpi::IsaAndPresentPred<VectorType>))
+/// if (wpi::util::all_of(myTypes, wpi::util::IsaAndPresentPred<VectorType>))
 ///   ...
 /// ```
 template <typename... Types>
 inline constexpr detail::IsaAndPresentCheckPredicate<Types...>
     IsaAndPresentPred{};
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_CASTING_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
index 70b3befa33..cd40cab6ac 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
@@ -15,7 +15,7 @@
 #include <ctime>
 #include <ratio>
 
-namespace wpi {
+namespace wpi::util {
 
 class raw_ostream;
 
@@ -79,6 +79,6 @@ toTimePoint(std::time_t T, uint32_t nsec) {
 raw_ostream &operator<<(raw_ostream &OS, sys::TimePoint<> TP);
 raw_ostream &operator<<(raw_ostream &OS, sys::UtcTime<> TP);
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif // WPIUTIL_WPI_CHRONO_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ConvertUTF.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ConvertUTF.hpp
index 6153d818aa..c8a07714b9 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ConvertUTF.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ConvertUTF.hpp
@@ -111,10 +111,10 @@
 #include <string_view>
 #include <system_error>
 
-// Wrap everything in namespace wpi so that programs can link with llvm and
+// Wrap everything in namespace wpi::util so that programs can link with llvm and
 // their own version of the unicode libraries.
 
-namespace wpi {
+namespace wpi::util {
 
 /* ---------------------------------------------------------------------
     The following 4 definitions are compiler-specific.
@@ -340,6 +340,6 @@ std::error_code UTF16ToCurCP(const wchar_t *utf16, size_t utf16_len,
 } // namespace sys
 #endif
 
-} /* end namespace wpi */
+} /* end namespace wpi::util */
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
index e384a6af67..feeff2934a 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
@@ -33,7 +33,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace detail {
 
@@ -53,7 +53,7 @@ struct DenseMapPair : public std::pair<KeyT, ValueT> {
 
 template <typename KeyT, typename ValueT,
           typename KeyInfoT = DenseMapInfo<KeyT>,
-          typename Bucket = wpi::detail::DenseMapPair<KeyT, ValueT>,
+          typename Bucket = wpi::util::detail::DenseMapPair<KeyT, ValueT>,
           bool IsConst = false>
 class DenseMapIterator;
 
@@ -723,7 +723,7 @@ bool operator!=(
 
 template <typename KeyT, typename ValueT,
           typename KeyInfoT = DenseMapInfo<KeyT>,
-          typename BucketT = wpi::detail::DenseMapPair<KeyT, ValueT>>
+          typename BucketT = wpi::util::detail::DenseMapPair<KeyT, ValueT>>
 class DenseMap : public DenseMapBase<DenseMap<KeyT, ValueT, KeyInfoT, BucketT>,
                                      KeyT, ValueT, KeyInfoT, BucketT> {
   friend class DenseMapBase<DenseMap, KeyT, ValueT, KeyInfoT, BucketT>;
@@ -877,7 +877,7 @@ private:
 
 template <typename KeyT, typename ValueT, unsigned InlineBuckets = 4,
           typename KeyInfoT = DenseMapInfo<KeyT>,
-          typename BucketT = wpi::detail::DenseMapPair<KeyT, ValueT>>
+          typename BucketT = wpi::util::detail::DenseMapPair<KeyT, ValueT>>
 class SmallDenseMap
     : public DenseMapBase<
           SmallDenseMap<KeyT, ValueT, InlineBuckets, KeyInfoT, BucketT>, KeyT,
@@ -1303,6 +1303,6 @@ inline size_t capacity_in_bytes(const DenseMap<KeyT, ValueT, KeyInfoT> &X) {
   return X.getMemorySize();
 }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_DENSEMAP_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfo.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfo.hpp
index ce6bc5f368..8e5f085f7b 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfo.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfo.hpp
@@ -21,7 +21,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace densemap::detail {
 // A bit mixer with very low latency using one multiplications and one
@@ -320,6 +320,6 @@ struct DenseMapInfo<Enum, std::enable_if_t<std::is_enum_v<Enum>>> {
 
   static bool isEqual(const Enum &LHS, const Enum &RHS) { return LHS == RHS; }
 };
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_DENSEMAPINFO_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
index a3b0bada99..446a03b4d2 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
@@ -18,7 +18,7 @@
 #include <utility>
 #include <variant>
 
-namespace wpi {
+namespace wpi::util {
 
 // Provide DenseMapInfo for variants whose all alternatives have DenseMapInfo.
 template <typename... Ts> struct DenseMapInfo<std::variant<Ts...>> {
@@ -66,6 +66,6 @@ template <typename... Ts> struct DenseMapInfo<std::variant<Ts...>> {
   }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_DENSEMAPINFOVARIANT_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
index c038b1916c..ad9126a57f 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
@@ -22,7 +22,7 @@
 #include <cstring>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 namespace support {
 
 // These are named values for common alignments.
@@ -42,7 +42,7 @@ namespace endian {
 
 template <typename value_type>
 [[nodiscard]] inline value_type byte_swap(value_type value, endianness endian) {
-  if (endian != wpi::endianness::native)
+  if (endian != wpi::util::endianness::native)
     sys::swapByteOrder(value);
   return value;
 }
@@ -50,7 +50,7 @@ template <typename value_type>
 /// Swap the bytes of value to match the given endianness.
 template <typename value_type, endianness endian>
 [[nodiscard]] inline value_type byte_swap(value_type value) {
-  if constexpr (endian != wpi::endianness::native)
+  if constexpr (endian != wpi::util::endianness::native)
     sys::swapByteOrder(value);
   return value;
 }
@@ -280,120 +280,120 @@ public:
 } // end namespace detail
 
 using ulittle16_t =
-    detail::packed_endian_specific_integral<uint16_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint16_t, wpi::util::endianness::little,
                                             unaligned>;
 using ulittle32_t =
-    detail::packed_endian_specific_integral<uint32_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint32_t, wpi::util::endianness::little,
                                             unaligned>;
 using ulittle64_t =
-    detail::packed_endian_specific_integral<uint64_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint64_t, wpi::util::endianness::little,
                                             unaligned>;
 
 using little16_t =
-    detail::packed_endian_specific_integral<int16_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int16_t, wpi::util::endianness::little,
                                             unaligned>;
 using little32_t =
-    detail::packed_endian_specific_integral<int32_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int32_t, wpi::util::endianness::little,
                                             unaligned>;
 using little64_t =
-    detail::packed_endian_specific_integral<int64_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int64_t, wpi::util::endianness::little,
                                             unaligned>;
 
 using aligned_ulittle16_t =
-    detail::packed_endian_specific_integral<uint16_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint16_t, wpi::util::endianness::little,
                                             aligned>;
 using aligned_ulittle32_t =
-    detail::packed_endian_specific_integral<uint32_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint32_t, wpi::util::endianness::little,
                                             aligned>;
 using aligned_ulittle64_t =
-    detail::packed_endian_specific_integral<uint64_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<uint64_t, wpi::util::endianness::little,
                                             aligned>;
 
 using aligned_little16_t =
-    detail::packed_endian_specific_integral<int16_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int16_t, wpi::util::endianness::little,
                                             aligned>;
 using aligned_little32_t =
-    detail::packed_endian_specific_integral<int32_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int32_t, wpi::util::endianness::little,
                                             aligned>;
 using aligned_little64_t =
-    detail::packed_endian_specific_integral<int64_t, wpi::endianness::little,
+    detail::packed_endian_specific_integral<int64_t, wpi::util::endianness::little,
                                             aligned>;
 
 using ubig16_t =
-    detail::packed_endian_specific_integral<uint16_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint16_t, wpi::util::endianness::big,
                                             unaligned>;
 using ubig32_t =
-    detail::packed_endian_specific_integral<uint32_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint32_t, wpi::util::endianness::big,
                                             unaligned>;
 using ubig64_t =
-    detail::packed_endian_specific_integral<uint64_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint64_t, wpi::util::endianness::big,
                                             unaligned>;
 
 using big16_t =
-    detail::packed_endian_specific_integral<int16_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int16_t, wpi::util::endianness::big,
                                             unaligned>;
 using big32_t =
-    detail::packed_endian_specific_integral<int32_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int32_t, wpi::util::endianness::big,
                                             unaligned>;
 using big64_t =
-    detail::packed_endian_specific_integral<int64_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int64_t, wpi::util::endianness::big,
                                             unaligned>;
 
 using aligned_ubig16_t =
-    detail::packed_endian_specific_integral<uint16_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint16_t, wpi::util::endianness::big,
                                             aligned>;
 using aligned_ubig32_t =
-    detail::packed_endian_specific_integral<uint32_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint32_t, wpi::util::endianness::big,
                                             aligned>;
 using aligned_ubig64_t =
-    detail::packed_endian_specific_integral<uint64_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<uint64_t, wpi::util::endianness::big,
                                             aligned>;
 
 using aligned_big16_t =
-    detail::packed_endian_specific_integral<int16_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int16_t, wpi::util::endianness::big,
                                             aligned>;
 using aligned_big32_t =
-    detail::packed_endian_specific_integral<int32_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int32_t, wpi::util::endianness::big,
                                             aligned>;
 using aligned_big64_t =
-    detail::packed_endian_specific_integral<int64_t, wpi::endianness::big,
+    detail::packed_endian_specific_integral<int64_t, wpi::util::endianness::big,
                                             aligned>;
 
 using unaligned_uint16_t =
-    detail::packed_endian_specific_integral<uint16_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<uint16_t, wpi::util::endianness::native,
                                             unaligned>;
 using unaligned_uint32_t =
-    detail::packed_endian_specific_integral<uint32_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<uint32_t, wpi::util::endianness::native,
                                             unaligned>;
 using unaligned_uint64_t =
-    detail::packed_endian_specific_integral<uint64_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<uint64_t, wpi::util::endianness::native,
                                             unaligned>;
 
 using unaligned_int16_t =
-    detail::packed_endian_specific_integral<int16_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<int16_t, wpi::util::endianness::native,
                                             unaligned>;
 using unaligned_int32_t =
-    detail::packed_endian_specific_integral<int32_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<int32_t, wpi::util::endianness::native,
                                             unaligned>;
 using unaligned_int64_t =
-    detail::packed_endian_specific_integral<int64_t, wpi::endianness::native,
+    detail::packed_endian_specific_integral<int64_t, wpi::util::endianness::native,
                                             unaligned>;
 
 template <typename T>
 using little_t =
-    detail::packed_endian_specific_integral<T, wpi::endianness::little,
+    detail::packed_endian_specific_integral<T, wpi::util::endianness::little,
                                             unaligned>;
 template <typename T>
-using big_t = detail::packed_endian_specific_integral<T, wpi::endianness::big,
+using big_t = detail::packed_endian_specific_integral<T, wpi::util::endianness::big,
                                                       unaligned>;
 
 template <typename T>
 using aligned_little_t =
-    detail::packed_endian_specific_integral<T, wpi::endianness::little,
+    detail::packed_endian_specific_integral<T, wpi::util::endianness::little,
                                             aligned>;
 template <typename T>
 using aligned_big_t =
-    detail::packed_endian_specific_integral<T, wpi::endianness::big, aligned>;
+    detail::packed_endian_specific_integral<T, wpi::util::endianness::big, aligned>;
 
 namespace endian {
 
@@ -422,22 +422,22 @@ template <endianness E> [[nodiscard]] inline uint64_t read64(const void *P) {
 }
 
 [[nodiscard]] inline uint16_t read16le(const void *P) {
-  return read16<wpi::endianness::little>(P);
+  return read16<wpi::util::endianness::little>(P);
 }
 [[nodiscard]] inline uint32_t read32le(const void *P) {
-  return read32<wpi::endianness::little>(P);
+  return read32<wpi::util::endianness::little>(P);
 }
 [[nodiscard]] inline uint64_t read64le(const void *P) {
-  return read64<wpi::endianness::little>(P);
+  return read64<wpi::util::endianness::little>(P);
 }
 [[nodiscard]] inline uint16_t read16be(const void *P) {
-  return read16<wpi::endianness::big>(P);
+  return read16<wpi::util::endianness::big>(P);
 }
 [[nodiscard]] inline uint32_t read32be(const void *P) {
-  return read32<wpi::endianness::big>(P);
+  return read32<wpi::util::endianness::big>(P);
 }
 [[nodiscard]] inline uint64_t read64be(const void *P) {
-  return read64<wpi::endianness::big>(P);
+  return read64<wpi::util::endianness::big>(P);
 }
 
 template <typename T, endianness E> inline void write(void *P, T V) {
@@ -465,27 +465,27 @@ template <endianness E> inline void write64(void *P, uint64_t V) {
 }
 
 inline void write16le(void *P, uint16_t V) {
-  write16<wpi::endianness::little>(P, V);
+  write16<wpi::util::endianness::little>(P, V);
 }
 inline void write32le(void *P, uint32_t V) {
-  write32<wpi::endianness::little>(P, V);
+  write32<wpi::util::endianness::little>(P, V);
 }
 inline void write64le(void *P, uint64_t V) {
-  write64<wpi::endianness::little>(P, V);
+  write64<wpi::util::endianness::little>(P, V);
 }
 inline void write16be(void *P, uint16_t V) {
-  write16<wpi::endianness::big>(P, V);
+  write16<wpi::util::endianness::big>(P, V);
 }
 inline void write32be(void *P, uint32_t V) {
-  write32<wpi::endianness::big>(P, V);
+  write32<wpi::util::endianness::big>(P, V);
 }
 inline void write64be(void *P, uint64_t V) {
-  write64<wpi::endianness::big>(P, V);
+  write64<wpi::util::endianness::big>(P, V);
 }
 
 } // end namespace endian
 
 } // end namespace support
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_ENDIAN_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/EpochTracker.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/EpochTracker.hpp
index 8cb122a7d5..25ed6abb98 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/EpochTracker.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/EpochTracker.hpp
@@ -19,7 +19,7 @@
 
 #include <cstdint>
 
-namespace wpi {
+namespace wpi::util {
 
 #ifndef NDEBUG //ifndef LLVM_ENABLE_ABI_BREAKING_CHECKS
 #define LLVM_DEBUGEPOCHBASE_HANDLEBASE_EMPTYBASE
@@ -99,6 +99,6 @@ public:
 
 #endif // LLVM_ENABLE_ABI_BREAKING_CHECKS
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errc.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errc.hpp
index 651cd32c31..5cdef6b879 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errc.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errc.hpp
@@ -1,4 +1,4 @@
-//===- llvm/Support/Errc.h - Defines the wpi::errc enum --------*- C++ -*-===//
+//===- llvm/Support/Errc.h - Defines the wpi::util::errc enum --------*- C++ -*-===//
 //
 // Part of the LLVM Project, under the Apache License v2.0 with LLVM Exceptions.
 // See https://llvm.org/LICENSE.txt for license information.
@@ -31,7 +31,7 @@
 
 #include <system_error>
 
-namespace wpi {
+namespace wpi::util {
 enum class errc {
   argument_list_too_long = int(std::errc::argument_list_too_long),
   argument_out_of_domain = int(std::errc::argument_out_of_domain),
@@ -85,6 +85,6 @@ inline std::error_code make_error_code(errc E) {
 }
 
 namespace std {
-template <> struct is_error_code_enum<wpi::errc> : std::true_type {};
+template <> struct is_error_code_enum<wpi::util::errc> : std::true_type {};
 }
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errno.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errno.hpp
index a01ebdae0c..e844eb961a 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errno.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Errno.hpp
@@ -16,7 +16,7 @@
 #include <cerrno>
 #include <string>
 
-namespace wpi {
+namespace wpi::util {
 namespace sys {
 
 template <typename FailT, typename Fun, typename... Args>
@@ -31,6 +31,6 @@ inline decltype(auto) RetryAfterSignal(const FailT &Fail, const Fun &F,
 }
 
 }  // namespace sys
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif // WPIUTIL_WPI_ERRNO_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
index 2be1d269b7..6f277fbf59 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
@@ -18,7 +18,7 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 
   /// An error handler callback.
   typedef void (*fatal_error_handler_t)(void *user_data,
@@ -140,9 +140,9 @@ wpi_unreachable_internal(const char *msg = nullptr, const char *file = nullptr,
 /// unnecessary code.
 #ifndef NDEBUG
 #define wpi_unreachable(msg) \
-  ::wpi::wpi_unreachable_internal(msg, __FILE__, __LINE__)
+  ::wpi::util::wpi_unreachable_internal(msg, __FILE__, __LINE__)
 #elif !defined(LLVM_BUILTIN_UNREACHABLE)
-#define wpi_unreachable(msg) ::wpi::wpi_unreachable_internal()
+#define wpi_unreachable(msg) ::wpi::util::wpi_unreachable_internal()
 #elif LLVM_UNREACHABLE_OPTIMIZE
 #define wpi_unreachable(msg) LLVM_BUILTIN_UNREACHABLE
 #else
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
index c55d7a467e..59e222c803 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
@@ -42,7 +42,7 @@
 #include <memory>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 /// unique_function is a type-erasing functor similar to std::function.
 ///
@@ -425,6 +425,6 @@ public:
 #pragma GCC diagnostic pop
 #endif
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_FUNCTIONEXTRAS_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
index 56b40bbff8..1649198942 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
@@ -23,7 +23,7 @@
 #include <limits>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 /// Some template parameter helpers to optimize for bitwidth, for functions that
 /// take multiple arguments.
 
@@ -301,7 +301,7 @@ inline bool isShiftedMask_64(uint64_t Value, unsigned &MaskIdx,
 /// Compile time Log2.
 /// Valid only for positive powers of two.
 template <size_t kValue> constexpr size_t CTLog2() {
-  static_assert(kValue > 0 && wpi::isPowerOf2_64(kValue),
+  static_assert(kValue > 0 && wpi::util::isPowerOf2_64(kValue),
                 "Value is not a valid power of 2");
   return 1 + CTLog2<kValue / 2>();
 }
@@ -781,6 +781,6 @@ constexpr T Lerp(const T& startValue, const T& endValue, double t) {
   return startValue + (endValue - startValue) * t;
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
index 9469f9794e..c25acc100e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
@@ -20,7 +20,7 @@
 #include "wpi/util/ErrorHandling.hpp"
 #include <cstdlib>
 
-namespace wpi {
+namespace wpi::util {
 
 #ifdef _WIN32
 #pragma warning(push)
@@ -91,7 +91,7 @@ allocate_buffer(size_t Size, size_t Alignment);
 /// most likely using the above helper.
 void deallocate_buffer(void *Ptr, size_t Size, size_t Alignment);
 
-} // namespace wpi
+} // namespace wpi::util
 
 #ifdef _WIN32
 #pragma warning(pop)
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
index bfb41ef9f6..ec879782db 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
@@ -36,7 +36,7 @@ using file_t = int;
 #endif
 }  // namespace fs
 
-namespace wpi {
+namespace wpi::util {
 
 class MemoryBufferRef;
 
@@ -78,7 +78,7 @@ class MemoryBuffer {
   /// if successful, otherwise returning null. If FileSize is specified, this
   /// means that the client knows that the file exists and that it has the
   /// specified size.
-  static wpi::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
+  static wpi::util::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
   GetFile(std::string_view filename, int64_t fileSize = -1);
 
   /// Read all of the specified file into a MemoryBuffer as a stream
@@ -249,4 +249,4 @@ class MemoryBufferRef {
   size_t size() const { return m_buffer.size(); }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
index de133d6c10..ed8c7f8c86 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
@@ -22,7 +22,7 @@
 #include <cstring>
 #include <limits>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace detail {
 template <typename Ptr> struct PunnedPointer {
@@ -275,19 +275,19 @@ get(const PointerIntPair<PointerTy, IntBits, IntType, PtrTraits, Info> &Pair) {
     return Pair.getInt();
 }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 namespace std {
 template <typename PointerTy, unsigned IntBits, typename IntType,
           typename PtrTraits, typename Info>
 struct tuple_size<
-    wpi::PointerIntPair<PointerTy, IntBits, IntType, PtrTraits, Info>>
+    wpi::util::PointerIntPair<PointerTy, IntBits, IntType, PtrTraits, Info>>
     : std::integral_constant<std::size_t, 2> {};
 
 template <std::size_t I, typename PointerTy, unsigned IntBits, typename IntType,
           typename PtrTraits, typename Info>
 struct tuple_element<
-    I, wpi::PointerIntPair<PointerTy, IntBits, IntType, PtrTraits, Info>>
+    I, wpi::util::PointerIntPair<PointerTy, IntBits, IntType, PtrTraits, Info>>
     : std::conditional<I == 0, PointerTy, IntType> {};
 } // namespace std
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerLikeTypeTraits.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerLikeTypeTraits.hpp
index ffca61a141..6fdff82c86 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerLikeTypeTraits.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerLikeTypeTraits.hpp
@@ -18,7 +18,7 @@
 #include <cstdint>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 /// A traits type that is used to handle pointer types and things that are just
 /// wrappers for pointers as a uniform entity.
@@ -147,6 +147,6 @@ template <typename ReturnT, typename... ParamTs>
 struct PointerLikeTypeTraits<ReturnT (*)(ParamTs...)>
     : FunctionPointerLikeTypeTraits<4, ReturnT (*)(ParamTs...)> {};
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
index 2b67c5d4e0..440e12d8b9 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
@@ -25,7 +25,7 @@
 #include <cstdint>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace detail {
 template <typename T, typename... Us> struct TypesAreDistinct;
@@ -189,7 +189,7 @@ public:
   explicit operator bool() const { return !isNull(); }
 
   // FIXME: Replace the uses of is(), get() and dyn_cast() with
-  //        isa<T>, cast<T> and the wpi::dyn_cast<T>
+  //        isa<T>, cast<T> and the wpi::util::dyn_cast<T>
 
   /// Test if the Union currently holds the type matching T.
   template <typename T>
@@ -211,7 +211,7 @@ public:
   /// Returns the current pointer if it is of the specified pointer type,
   /// otherwise returns null.
   template <typename T> inline T dyn_cast() const {
-    return wpi::dyn_cast_if_present<T>(*this);
+    return wpi::util::dyn_cast_if_present<T>(*this);
   }
 
   /// If the union is set to the first pointer type get an address pointing to
@@ -350,6 +350,6 @@ template <typename ...PTs> struct DenseMapInfo<PointerUnion<PTs...>> {
   }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_POINTERUNION_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
index 71e706338d..16eec5a61d 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
@@ -3,7 +3,7 @@
 
 #include "wpi/util/PointerLikeTypeTraits.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template<class T = void *>
 bool shouldReverseIterate() {
@@ -14,5 +14,5 @@ bool shouldReverseIterate() {
 #endif
 }
 
-} // namespace wpi
+} // namespace wpi::util
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/STLForwardCompat.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/STLForwardCompat.hpp
index d39f8ca65f..0f979add02 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/STLForwardCompat.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/STLForwardCompat.hpp
@@ -20,7 +20,7 @@
 #include <optional>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 //===----------------------------------------------------------------------===//
 //     Features from C++20
@@ -34,7 +34,7 @@ struct remove_cvref // NOLINT(readability-identifier-naming)
 
 template <typename T>
 using remove_cvref_t // NOLINT(readability-identifier-naming)
-    = typename wpi::remove_cvref<T>::type;
+    = typename wpi::util::remove_cvref<T>::type;
 
 //===----------------------------------------------------------------------===//
 //     Features from C++23
@@ -67,6 +67,6 @@ template <typename Enum>
   return static_cast<std::underlying_type_t<Enum>>(E);
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif // WPIUTIL_WPI_STLFORWARDCOMPAT_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
index 8620f1b9d4..e013dd01e7 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
@@ -29,7 +29,7 @@
 #include <limits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /// SmallPtrSetImplBase - This is the common code shared among all the
 /// SmallPtrSet<>'s, which is almost everything.  SmallPtrSet has two modes, one
@@ -524,7 +524,7 @@ class SmallPtrSet : public SmallPtrSetImpl<PtrType> {
 
   using BaseT = SmallPtrSetImpl<PtrType>;
 
-  // A constexpr version of wpi::bit_ceil.
+  // A constexpr version of wpi::util::bit_ceil.
   // TODO: Replace this with std::bit_ceil once C++20 is available.
   static constexpr size_t RoundUpToPowerOfTwo(size_t X) {
     size_t C = 1;
@@ -584,13 +584,13 @@ public:
   }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 namespace std {
 
   /// Implement std::swap in terms of SmallPtrSet swap.
   template<class T, unsigned N>
-  inline void swap(wpi::SmallPtrSet<T, N> &LHS, wpi::SmallPtrSet<T, N> &RHS) {
+  inline void swap(wpi::util::SmallPtrSet<T, N> &LHS, wpi::util::SmallPtrSet<T, N> &RHS) {
     LHS.swap(RHS);
   }
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
index 2ee6b3b704..e8cf962fa5 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
@@ -23,7 +23,7 @@
 #include <set>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /// SmallSetIterator - This class implements a const_iterator for SmallSet by
 /// delegating to the underlying SmallVector or Set iterators.
@@ -291,6 +291,6 @@ bool operator!=(const SmallSet<T, LN, C> &LHS, const SmallSet<T, RN, C> &RHS) {
   return !(LHS == RHS);
 }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_SMALLSET_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
index ad36915361..0763f1de3a 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <string_view>
 
-namespace wpi {
+namespace wpi::util {
 
 /// SmallString - A SmallString is just a SmallVector with methods and accessors
 /// that make it work better as a string (e.g. operator+ etc).
@@ -217,6 +217,6 @@ public:
   }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_SMALLSTRING_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
index 0e97b8aabc..41f08c088f 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
@@ -39,7 +39,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename IteratorT> class iterator_range;
 
@@ -1323,21 +1323,21 @@ typename SmallVectorImpl<T>::size_type erase_if(
   return original_size - c.size();
 }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 namespace std {
 
   /// Implement std::swap in terms of SmallVector swap.
   template<typename T>
   inline void
-  swap(wpi::SmallVectorImpl<T> &LHS, wpi::SmallVectorImpl<T> &RHS) {
+  swap(wpi::util::SmallVectorImpl<T> &LHS, wpi::util::SmallVectorImpl<T> &RHS) {
     LHS.swap(RHS);
   }
 
   /// Implement std::swap in terms of SmallVector swap.
   template<typename T, unsigned N>
   inline void
-  swap(wpi::SmallVector<T, N> &LHS, wpi::SmallVector<T, N> &RHS) {
+  swap(wpi::util::SmallVector<T, N> &LHS, wpi::util::SmallVector<T, N> &RHS) {
     LHS.swap(RHS);
   }
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
index 10c033da23..2ae5745a79 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
@@ -26,7 +26,7 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /// SmallVector-backed MemoryBuffer instance.
 ///
@@ -60,4 +60,4 @@ class SmallVectorMemoryBuffer : public MemoryBuffer {
   std::string m_bufferName;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/StringExtras.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/StringExtras.hpp
index 9214f2b741..296a3570f3 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/StringExtras.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/StringExtras.hpp
@@ -28,7 +28,7 @@
 
 #include <fmt/format.h>
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename T>
 class SmallVectorImpl;
@@ -823,4 +823,4 @@ inline void format_to_n_c_str(OutputIt out, std::iter_difference_t<OutputIt> n,
   *result.out = '\0';
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
index 2ecc1bc94f..2e5c368d61 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
@@ -19,42 +19,42 @@
 #include <cstdint>
 #include <type_traits>
 
-namespace wpi {
+namespace wpi::util {
 
 namespace sys {
 
 constexpr bool IsBigEndianHost =
-    wpi::endianness::native == wpi::endianness::big;
+    wpi::util::endianness::native == wpi::util::endianness::big;
 
 static const bool IsLittleEndianHost = !IsBigEndianHost;
 
-inline unsigned char      getSwappedBytes(unsigned char      C) { return wpi::byteswap(C); }
-inline   signed char      getSwappedBytes( signed  char      C) { return wpi::byteswap(C); }
-inline          char      getSwappedBytes(         char      C) { return wpi::byteswap(C); }
+inline unsigned char      getSwappedBytes(unsigned char      C) { return wpi::util::byteswap(C); }
+inline   signed char      getSwappedBytes( signed  char      C) { return wpi::util::byteswap(C); }
+inline          char      getSwappedBytes(         char      C) { return wpi::util::byteswap(C); }
 
-inline unsigned short     getSwappedBytes(unsigned short     C) { return wpi::byteswap(C); }
-inline   signed short     getSwappedBytes(  signed short     C) { return wpi::byteswap(C); }
+inline unsigned short     getSwappedBytes(unsigned short     C) { return wpi::util::byteswap(C); }
+inline   signed short     getSwappedBytes(  signed short     C) { return wpi::util::byteswap(C); }
 
-inline unsigned int       getSwappedBytes(unsigned int       C) { return wpi::byteswap(C); }
-inline   signed int       getSwappedBytes(  signed int       C) { return wpi::byteswap(C); }
+inline unsigned int       getSwappedBytes(unsigned int       C) { return wpi::util::byteswap(C); }
+inline   signed int       getSwappedBytes(  signed int       C) { return wpi::util::byteswap(C); }
 
-inline unsigned long      getSwappedBytes(unsigned long      C) { return wpi::byteswap(C); }
-inline   signed long      getSwappedBytes(  signed long      C) { return wpi::byteswap(C); }
+inline unsigned long      getSwappedBytes(unsigned long      C) { return wpi::util::byteswap(C); }
+inline   signed long      getSwappedBytes(  signed long      C) { return wpi::util::byteswap(C); }
 
-inline unsigned long long getSwappedBytes(unsigned long long C) { return wpi::byteswap(C); }
-inline   signed long long getSwappedBytes(  signed long long C) { return wpi::byteswap(C); }
+inline unsigned long long getSwappedBytes(unsigned long long C) { return wpi::util::byteswap(C); }
+inline   signed long long getSwappedBytes(  signed long long C) { return wpi::util::byteswap(C); }
 
 inline float getSwappedBytes(float C) {
-  return wpi::bit_cast<float>(wpi::byteswap(wpi::bit_cast<uint32_t>(C)));
+  return wpi::util::bit_cast<float>(wpi::util::byteswap(wpi::util::bit_cast<uint32_t>(C)));
 }
 
 inline double getSwappedBytes(double C) {
-  return wpi::bit_cast<double>(wpi::byteswap(wpi::bit_cast<uint64_t>(C)));
+  return wpi::util::bit_cast<double>(wpi::util::byteswap(wpi::util::bit_cast<uint64_t>(C)));
 }
 
 template <typename T>
 inline std::enable_if_t<std::is_enum_v<T>, T> getSwappedBytes(T C) {
-  return static_cast<T>(wpi::byteswap(wpi::to_underlying(C)));
+  return static_cast<T>(wpi::util::byteswap(wpi::util::to_underlying(C)));
 }
 
 template<typename T>
@@ -63,6 +63,6 @@ inline void swapByteOrder(T &Value) {
 }
 
 } // end namespace sys
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
index 2c4e474867..87b0619c07 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <tuple>
 
-namespace wpi {
+namespace wpi::util {
 class raw_ostream;
 
 /// Represents a version number in the form major[.minor[.subminor[.build]]].
@@ -166,5 +166,5 @@ public:
   }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 #endif // WPIUTIL_WPI_VERSIONTUPLE_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/WindowsError.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/WindowsError.hpp
index 172cc70fac..3c237dde0d 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/WindowsError.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/WindowsError.hpp
@@ -11,7 +11,7 @@
 
 #include <system_error>
 
-namespace wpi {
+namespace wpi::util {
 std::error_code mapLastWindowsError();
 std::error_code mapWindowsError(unsigned EV);
 }
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
index ec39bb7baf..8d932d28bc 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
@@ -27,7 +27,7 @@
 #include <cstdlib>  // for _byteswap_{ushort,ulong,uint64}
 #endif
 
-namespace wpi {
+namespace wpi::util {
 
 enum class endianness {
   big,
@@ -94,8 +94,8 @@ template <typename T, typename = std::enable_if_t<std::is_integral_v<T>>>
 #elif defined(_MSC_VER) && !defined(_DEBUG)
     return _byteswap_uint64(UV);
 #else
-    uint64_t Hi = wpi::byteswap<uint32_t>(UV);
-    uint32_t Lo = wpi::byteswap<uint32_t>(UV >> 32);
+    uint64_t Hi = wpi::util::byteswap<uint32_t>(UV);
+    uint32_t Lo = wpi::util::byteswap<uint32_t>(UV >> 32);
     return (Hi << 32) | Lo;
 #endif
   } else {
@@ -104,6 +104,6 @@ template <typename T, typename = std::enable_if_t<std::is_integral_v<T>>>
   }
 }
 
-} // namespace wpi
+} // namespace wpi::util
 
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/function_ref.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/function_ref.hpp
index 868c164fd2..57cd0d0175 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/function_ref.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/function_ref.hpp
@@ -19,7 +19,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /// An efficient, type-erasing, non-owning reference to a callable. This is
 /// intended for use as the type of a function parameter that is not used
@@ -61,6 +61,6 @@ class function_ref<Ret(Params...)> {
   explicit operator bool() const { return callback; }
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // WPIUTIL_WPI_FUNCTION_REF_H_
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
index ca9219f44e..78a666c744 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
@@ -15,7 +15,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 /// CRTP base class which implements the entire standard iterator facade
 /// in terms of a minimal subset of the interface.
@@ -373,6 +373,6 @@ template <typename WrappedIteratorT,
 using raw_pointer_iterator =
     pointer_iterator<pointee_iterator<WrappedIteratorT, T1>, T2>;
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_ITERATOR_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
index 8ee0dc615c..e3c24b7878 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
@@ -22,7 +22,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename From, typename To, typename = void>
 struct explicitly_convertible : std::false_type {};
@@ -52,7 +52,7 @@ public:
   template <
       typename Container,
       std::enable_if_t<explicitly_convertible<
-          wpi::detail::IterOfRange<Container>, IteratorT>::value> * = nullptr>
+          wpi::util::detail::IterOfRange<Container>, IteratorT>::value> * = nullptr>
 #endif
   iterator_range(Container &&c)
       : begin_iterator(adl_begin(c)), end_iterator(adl_end(c)) {
@@ -68,7 +68,7 @@ public:
 
 template <typename Container>
 iterator_range(Container &&)
-    -> iterator_range<wpi::detail::IterOfRange<Container>>;
+    -> iterator_range<wpi::util::detail::IterOfRange<Container>>;
 
 /// Convenience function for iterating over sub-ranges.
 ///
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
index 55b0bcab3d..4fa2b62974 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
@@ -16,7 +16,7 @@
 #include "wpi/util/raw_ostream.hpp"
 #include <iosfwd>
 
-namespace wpi {
+namespace wpi::util {
 
 /// raw_os_ostream - A raw_ostream that writes to an std::ostream.  This is a
 /// simple adaptor class.  It does not check for output errors; clients should
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
index b6d4a66afc..640f54eaaa 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
@@ -34,7 +34,7 @@ enum CreationDisposition : unsigned;
 class FileLocker;
 } // end namespace fs
 
-namespace wpi {
+namespace wpi::util {
 
 /// This class implements an extremely fast bulk output stream that can *only*
 /// output to a stream.  It does not support seeking, reopening, rewinding, line
@@ -281,7 +281,7 @@ public:
   }
 
   /// Output \p Str, turning '\\', '\t', '\n', '"', and anything that doesn't
-  /// satisfy wpi::isPrint into an escape sequence.
+  /// satisfy wpi::util::isPrint into an escape sequence.
   raw_ostream &write_escaped(std::string_view Str, bool UseHexEscapes = false);
 
   raw_ostream &write(unsigned char C);
@@ -799,6 +799,6 @@ public:
   ~buffer_unique_ostream() override { *OS << str(); }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_RAW_OSTREAM_H
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
index 85314f5c4a..e7b459dd07 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
@@ -17,7 +17,7 @@
 #include <type_traits>
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 
 /// Metafunction that determines whether the given type is either an
@@ -81,6 +81,6 @@ template<class Lambda, int=(Lambda{}(), 0)>
 constexpr bool is_constexpr(Lambda) { return true; }
 constexpr bool is_constexpr(...) { return false; }
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // WPIUTIL_WPI_TYPE_TRAITS_H
diff --git a/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h b/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
index 1fff1929ef..ab4d1485d4 100644
--- a/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
+++ b/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
@@ -42,7 +42,7 @@ SOFTWARE.
 
 #include "wpi/util/mutex.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 namespace sig {
 
@@ -482,8 +482,8 @@ struct NullMutex {
  * of an emitting object and slots that are connected to the signal and called
  * with supplied arguments when a signal is emitted.
  *
- * wpi::SignalBase is the general implementation, whose locking policy must be
- * set in order to decide thread safety guarantees. wpi::Signal and wpi::Signal_st
+ * wpi::util::SignalBase is the general implementation, whose locking policy must be
+ * set in order to decide thread safety guarantees. wpi::util::Signal and wpi::util::Signal_st
  * are partial specializations for multi-threaded and single-threaded use.
  *
  * It does not allow slots to return a value.
@@ -560,7 +560,7 @@ public:
      *
      * Effect: All non blocked and connected slot functions will be called
      *         with supplied arguments.
-     * Safety: With proper locking (see wpi::Signal), emission can happen from
+     * Safety: With proper locking (see wpi::util::Signal), emission can happen from
      *         multiple threads simultaneously. The guarantees only apply to the
      *         signal object, it does not cover thread safety of potentially
      *         shared state used in slot functions.
@@ -829,4 +829,4 @@ template <typename... T>
 using Signal_r = SignalBase<recursive_mutex, T...>;
 
 }  // namespace sig
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/unix/Demangle.cpp b/wpiutil/src/main/native/unix/Demangle.cpp
index 152c0b6743..719ff43de0 100644
--- a/wpiutil/src/main/native/unix/Demangle.cpp
+++ b/wpiutil/src/main/native/unix/Demangle.cpp
@@ -11,7 +11,7 @@
 
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 std::string Demangle(std::string_view mangledSymbol) {
   SmallString<128> buf{mangledSymbol};
@@ -29,4 +29,4 @@ std::string Demangle(std::string_view mangledSymbol) {
   return std::string{mangledSymbol};
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/unix/StackTrace.cpp b/wpiutil/src/main/native/unix/StackTrace.cpp
index 20413b658e..fc4029b323 100644
--- a/wpiutil/src/main/native/unix/StackTrace.cpp
+++ b/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -15,15 +15,15 @@
 #include "wpi/util/StringExtras.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 std::string GetStackTraceDefault(int offset) {
 #if !defined(__ANDROID__) && !defined(__EMSCRIPTEN__)
   void* stackTrace[128];
   int stackSize = backtrace(stackTrace, 128);
   char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
-  wpi::SmallString<1024> buf;
-  wpi::raw_svector_ostream trace(buf);
+  wpi::util::SmallString<1024> buf;
+  wpi::util::raw_svector_ostream trace(buf);
 
   for (int i = offset; i < stackSize; i++) {
     // Only print recursive functions once in a row.
@@ -47,4 +47,4 @@ std::string GetStackTraceDefault(int offset) {
 #endif
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/windows/Demangle.cpp b/wpiutil/src/main/native/windows/Demangle.cpp
index 8c2a972d15..e2cb52b9fc 100644
--- a/wpiutil/src/main/native/windows/Demangle.cpp
+++ b/wpiutil/src/main/native/windows/Demangle.cpp
@@ -15,10 +15,10 @@
 
 #pragma comment(lib, "Dbghelp.lib")
 
-namespace wpi {
+namespace wpi::util {
 
 std::string Demangle(std::string_view mangledSymbol) {
-  static wpi::mutex m;
+  static wpi::util::mutex m;
   std::scoped_lock lock(m);
   SmallString<128> buf{mangledSymbol};
   char buffer[256];
@@ -30,4 +30,4 @@ std::string Demangle(std::string_view mangledSymbol) {
   return std::string(buffer, sz);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/windows/StackTrace.cpp b/wpiutil/src/main/native/windows/StackTrace.cpp
index 145b3768f1..c6d2920708 100644
--- a/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -8,13 +8,13 @@
 
 #if defined(_MSC_VER)
 
-namespace wpi {
+namespace wpi::util {
 
 std::string GetStackTraceDefault(int offset) {
   // FIXME: Use C++23 std::stacktrace
   return "";
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 #endif  // defined(_MSC_VER)
diff --git a/wpiutil/src/main/python/pyproject.toml b/wpiutil/src/main/python/pyproject.toml
index a571826e48..8d5d8aa2c9 100644
--- a/wpiutil/src/main/python/pyproject.toml
+++ b/wpiutil/src/main/python/pyproject.toml
@@ -88,11 +88,11 @@ includedir = [
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_array_type_caster.h"
-types = ["wpi::array"]
+types = ["wpi::util::array"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_json_type_caster.h"
-types = ["wpi::json"]
+types = ["wpi::util::json"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_span_type_caster.h"
@@ -100,23 +100,23 @@ types = ["std::span"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_smallset_type_caster.h"
-types = ["wpi::SmallSet"]
+types = ["wpi::util::SmallSet"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_smallvector_type_caster.h"
-types = ["wpi::SmallVector"]
+types = ["wpi::util::SmallVector"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_smallvectorimpl_type_caster.h"
-types = ["wpi::SmallVectorImpl"]
+types = ["wpi::util::SmallVectorImpl"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_string_map_caster.h"
-types = ["wpi::StringMap"]
+types = ["wpi::util::StringMap"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpi_ct_string_type_caster.h"
-types = ["wpi::ct_string"]
+types = ["wpi::util::ct_string"]
 
 [[tool.semiwrap.export_type_casters.wpiutil-casters.headers]]
 header = "wpystruct.h"
diff --git a/wpiutil/src/main/python/semiwrap/Sendable.yml b/wpiutil/src/main/python/semiwrap/Sendable.yml
index e67fe280dc..6ec6c43a0d 100644
--- a/wpiutil/src/main/python/semiwrap/Sendable.yml
+++ b/wpiutil/src/main/python/semiwrap/Sendable.yml
@@ -2,7 +2,7 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  wpi::Sendable:
+  wpi::util::Sendable:
     methods:
       InitSendable:
         virtual_xform: |-
diff --git a/wpiutil/src/main/python/semiwrap/SendableBuilder.yml b/wpiutil/src/main/python/semiwrap/SendableBuilder.yml
index 1a52df427d..44e621a6e2 100644
--- a/wpiutil/src/main/python/semiwrap/SendableBuilder.yml
+++ b/wpiutil/src/main/python/semiwrap/SendableBuilder.yml
@@ -1,5 +1,5 @@
 classes:
-  wpi::SendableBuilder:
+  wpi::util::SendableBuilder:
     enums:
       BackendKind:
     methods:
diff --git a/wpiutil/src/main/python/semiwrap/SendableRegistry.yml b/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
index 3c0596b6ea..dd7822334b 100644
--- a/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
+++ b/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
@@ -3,7 +3,7 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  wpi::SendableRegistry:
+  wpi::util::SendableRegistry:
     nodelete: true
     methods:
       Add:
diff --git a/wpiutil/src/main/python/semiwrap/Synchronization.yml b/wpiutil/src/main/python/semiwrap/Synchronization.yml
index 633c7d56ca..a051b684ca 100644
--- a/wpiutil/src/main/python/semiwrap/Synchronization.yml
+++ b/wpiutil/src/main/python/semiwrap/Synchronization.yml
@@ -30,7 +30,7 @@ functions:
           [](std::span<const WPI_Handle> handles) {
             py::gil_scoped_release release;
             std::vector<WPI_Handle> signaled(handles.size());
-            auto result = wpi::WaitForObjects(handles, signaled);
+            auto result = wpi::util::WaitForObjects(handles, signaled);
             signaled.resize(result.size());
             return signaled;
           }
@@ -47,7 +47,7 @@ functions:
             py::gil_scoped_release release;
             std::vector<WPI_Handle> signaled(handles.size());
             bool timedOut = false;
-            auto result = wpi::WaitForObjects(handles, signaled, timeout, &timedOut);
+            auto result = wpi::util::WaitForObjects(handles, signaled, timeout, &timedOut);
             signaled.resize(result.size());
             return std::make_tuple(signaled, timedOut);
           }
diff --git a/wpiutil/src/main/python/wpiutil/src/main.cpp b/wpiutil/src/main/python/wpiutil/src/main.cpp
index c1ab2b42b9..9422c8a2f8 100644
--- a/wpiutil/src/main/python/wpiutil/src/main.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/main.cpp
@@ -9,13 +9,13 @@ void cleanup_safethread_gil();
 
 #ifndef __FRC_SYSTEMCORE__
 
-namespace wpi::impl {
+namespace wpi::util::impl {
 void ResetSendableRegistry();
-} // namespace wpi::impl
+} // namespace wpi::util::impl
 
 void cleanup_sendable_registry() {
   py::gil_scoped_release unlock;
-  wpi::impl::ResetSendableRegistry();
+  wpi::util::impl::ResetSendableRegistry();
 }
 
 #else
diff --git a/wpiutil/src/main/python/wpiutil/src/safethread_gil.cpp b/wpiutil/src/main/python/wpiutil/src/safethread_gil.cpp
index c7bb7ba702..4f6d439373 100644
--- a/wpiutil/src/main/python/wpiutil/src/safethread_gil.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/safethread_gil.cpp
@@ -6,7 +6,7 @@
 using OnThreadStartFn = void *(*)();
 using OnThreadEndFn = void (*)(void *);
 
-namespace wpi::impl {
+namespace wpi::util::impl {
 void SetSafeThreadNotifiers(OnThreadStartFn OnStart, OnThreadEndFn OnEnd);
 }
 
@@ -59,7 +59,7 @@ void setup_safethread_gil() {
   atexit.attr("register")(
       py::cpp_function([]() { g_gilstate_managed = false; }));
 
-  wpi::impl::SetSafeThreadNotifiers(on_safe_thread_start, on_safe_thread_end);
+  wpi::util::impl::SetSafeThreadNotifiers(on_safe_thread_start, on_safe_thread_end);
 }
 
 void cleanup_safethread_gil() { g_gilstate_managed = false; }
diff --git a/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp b/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
index 2b902e9467..ab56e1db6e 100644
--- a/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
@@ -9,7 +9,7 @@ py::object &get_hook_ref() {
 
 std::string final_py_stack_trace_hook(int offset) {
   std::string msg = "\tat <python stack trace not available due to interpreter shutdown>\n";
-  msg += wpi::GetStackTraceDefault(offset);
+  msg += wpi::util::GetStackTraceDefault(offset);
   return msg;
 }
 
@@ -25,16 +25,16 @@ std::string py_stack_trace_hook(int offset) {
     e.discard_as_unraisable("wpiutil._stacktrace._stack_trace_hook");
   }
 
-  return wpi::GetStackTraceDefault(offset);
+  return wpi::util::GetStackTraceDefault(offset);
 }
 
 void setup_stack_trace_hook(py::object fn) {
   get_hook_ref() = fn;
-  wpi::SetGetStackTraceImpl(py_stack_trace_hook);
+  wpi::util::SetGetStackTraceImpl(py_stack_trace_hook);
 }
 
 void cleanup_stack_trace_hook() {
-  wpi::SetGetStackTraceImpl(final_py_stack_trace_hook);
+  wpi::util::SetGetStackTraceImpl(final_py_stack_trace_hook);
 
   // release the function during interpreter shutdown
   auto &hook = get_hook_ref();
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
index 521a559b79..b3955b79df 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
@@ -24,15 +24,15 @@ struct wpi_array_name_maker<1> {
 };
 
 template <typename Type, size_t Size>
-struct type_caster<wpi::array<Type, Size>> {
+struct type_caster<wpi::util::array<Type, Size>> {
   using value_conv = make_caster<Type>;
 
-  // Have to copy/paste PYBIND11_TYPE_CASTER implementation because wpi::array
+  // Have to copy/paste PYBIND11_TYPE_CASTER implementation because wpi::util::array
   // is not default constructable
   //
   // begin PYBIND11_TYPE_CASTER
 protected:
-  wpi::array<Type, Size> value{wpi::empty_array_t{}};
+  wpi::util::array<Type, Size> value{wpi::util::empty_array_t{}};
 
   // An empty tuple is pretty useless
   static_assert(Size > 0, "empty array not supported");
@@ -41,7 +41,7 @@ public:
   static constexpr auto name = const_name("Tuple[") + wpi_array_name_maker<Size>::make(value_conv::name) + const_name("]");
   template <
       typename T_,
-      enable_if_t<std::is_same<wpi::array<Type, Size>, remove_cv_t<T_>>::value,
+      enable_if_t<std::is_same<wpi::util::array<Type, Size>, remove_cv_t<T_>>::value,
                   int> = 0>
   static handle cast(T_ *src, return_value_policy policy, handle parent) {
     if (!src)
@@ -54,9 +54,9 @@ public:
       return cast(*src, policy, parent);
     }
   }
-  operator wpi::array<Type, Size> *() { return &value; }
-  operator wpi::array<Type, Size> &() { return value; }
-  operator wpi::array<Type, Size> &&() && { return std::move(value); }
+  operator wpi::util::array<Type, Size> *() { return &value; }
+  operator wpi::util::array<Type, Size> &() { return value; }
+  operator wpi::util::array<Type, Size> &&() && { return std::move(value); }
   template <typename T_>
   using cast_op_type = pybind11::detail::movable_cast_op_type<T_>;
   // end PYBIND11_TYPE_CASTER
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
index b028f073d4..0a83d63b8b 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
@@ -9,8 +9,8 @@ namespace pybind11 {
 namespace detail {
 
 template <typename CharT, typename Traits, size_t N>
-struct type_caster<wpi::ct_string<CharT, Traits, N>> {
-    using str_type = wpi::ct_string<CharT, Traits, N>;
+struct type_caster<wpi::util::ct_string<CharT, Traits, N>> {
+    using str_type = wpi::util::ct_string<CharT, Traits, N>;
     PYBIND11_TYPE_CASTER(str_type, const_name(PYBIND11_STRING_NAME));
 
     // TODO
@@ -54,8 +54,8 @@ struct type_caster<wpi::ct_string<CharT, Traits, N>> {
 };
 
 // template <typename Char, typename Traits, size_t N>
-// struct type_caster<wpi::ct_string<Char, Traits, N>>
-//     : string_caster<wpi::ct_string<Char, Traits, N>, false> {};
+// struct type_caster<wpi::util::ct_string<Char, Traits, N>>
+//     : string_caster<wpi::util::ct_string<Char, Traits, N>, false> {};
 
 } // namespace detail
 } // namespace pybind11
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
index 7458b2e59b..b10cddd3cc 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
@@ -47,7 +47,7 @@ namespace pyjson
     using number_unsigned_t = uint64_t;
     using number_integer_t = int64_t;
 
-    inline py::object from_json(const wpi::json& j)
+    inline py::object from_json(const wpi::util::json& j)
     {
         if (j.is_null())
         {
@@ -85,7 +85,7 @@ namespace pyjson
         else // Object
         {
             py::dict obj;
-            for (wpi::json::const_iterator it = j.cbegin(); it != j.cend(); ++it)
+            for (wpi::util::json::const_iterator it = j.cbegin(); it != j.cend(); ++it)
             {
                 obj[py::str(it.key())] = from_json(it.value());
             }
@@ -93,7 +93,7 @@ namespace pyjson
         }
     }
 
-    inline wpi::json to_json(const py::handle& obj)
+    inline wpi::util::json to_json(const py::handle& obj)
     {
         if (obj.ptr() == nullptr || obj.is_none())
         {
@@ -144,7 +144,7 @@ namespace pyjson
         }
         if (py::isinstance<py::tuple>(obj) || py::isinstance<py::list>(obj))
         {
-            auto out = wpi::json::array();
+            auto out = wpi::util::json::array();
             for (const py::handle value : obj)
             {
                 out.push_back(to_json(value));
@@ -153,7 +153,7 @@ namespace pyjson
         }
         if (py::isinstance<py::dict>(obj))
         {
-            auto out = wpi::json::object();
+            auto out = wpi::util::json::object();
             for (const py::handle key : obj)
             {
                 if (py::isinstance<py::str>(key)) {
@@ -174,7 +174,7 @@ namespace pyjson
 }
 
 // nlohmann_json serializers
-namespace wpi
+namespace wpi::util
 {
     #define MAKE_NLJSON_SERIALIZER_DESERIALIZER(T)         \
     template <>                                            \
@@ -229,10 +229,10 @@ namespace pybind11
 {
     namespace detail
     {
-        template <> struct type_caster<wpi::json>
+        template <> struct type_caster<wpi::util::json>
         {
         public:
-            PYBIND11_TYPE_CASTER(wpi::json, _("wpiutil.json"));
+            PYBIND11_TYPE_CASTER(wpi::util::json, _("wpiutil.json"));
 
             bool load(handle src, bool convert)
             {
@@ -249,7 +249,7 @@ namespace pybind11
                 // }
             }
 
-            static handle cast(wpi::json src, return_value_policy /* policy */, handle /* parent */)
+            static handle cast(wpi::util::json src, return_value_policy /* policy */, handle /* parent */)
             {
                 object obj = pyjson::from_json(src);
                 return obj.release();
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
index 41a712e1e7..6e1cb4c058 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
@@ -11,8 +11,8 @@ namespace pybind11
 namespace detail
 {
 
-template <typename Type, unsigned Size> struct type_caster<wpi::SmallSet<Type, Size>>
- : set_caster<wpi::SmallSet<Type, Size>, Type> { };
+template <typename Type, unsigned Size> struct type_caster<wpi::util::SmallSet<Type, Size>>
+ : set_caster<wpi::util::SmallSet<Type, Size>, Type> { };
 
 } // namespace detail
 } // namespace pybind11
\ No newline at end of file
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
index 296fd608c7..7813732a8f 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
@@ -11,8 +11,8 @@ namespace pybind11
 namespace detail
 {
 
-template <typename Type, unsigned Size> struct type_caster<wpi::SmallVector<Type, Size>>
- : list_caster<wpi::SmallVector<Type, Size>, Type> { };
+template <typename Type, unsigned Size> struct type_caster<wpi::util::SmallVector<Type, Size>>
+ : list_caster<wpi::util::SmallVector<Type, Size>, Type> { };
 
 } // namespace detail
 } // namespace pybind11
\ No newline at end of file
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
index 34f03c0e16..2f791e83d1 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
@@ -11,7 +11,7 @@ namespace detail
 {
 
 
-template <typename Type> struct type_caster<wpi::SmallVectorImpl<Type>> {
+template <typename Type> struct type_caster<wpi::util::SmallVectorImpl<Type>> {
     using value_conv = make_caster<Type>;
   
 // Have to copy/paste PYBIND11_TYPE_CASTER implementation because SmallVectorImpl
@@ -19,10 +19,10 @@ template <typename Type> struct type_caster<wpi::SmallVectorImpl<Type>> {
 //
 // begin PYBIND11_TYPE_CASTER
 protected:
-    wpi::SmallVector<Type, 16> value;
+    wpi::util::SmallVector<Type, 16> value;
 public:
     static constexpr auto name = _("List[") + value_conv::name + _("]");
-    template <typename T_, enable_if_t<std::is_same<wpi::SmallVectorImpl<Type>, remove_cv_t<T_>>::value, int> = 0>
+    template <typename T_, enable_if_t<std::is_same<wpi::util::SmallVectorImpl<Type>, remove_cv_t<T_>>::value, int> = 0>
     static handle cast(T_ *src, return_value_policy policy, handle parent) {
         if (!src) return none().release();
         if (policy == return_value_policy::take_ownership) {
@@ -31,9 +31,9 @@ public:
             return cast(*src, policy, parent);
         }
     }
-    operator wpi::SmallVectorImpl<Type>*() { return &value; }
-    operator wpi::SmallVectorImpl<Type>&() { return value; }
-    operator wpi::SmallVectorImpl<Type>&&() && { return std::move(value); }
+    operator wpi::util::SmallVectorImpl<Type>*() { return &value; }
+    operator wpi::util::SmallVectorImpl<Type>&() { return value; }
+    operator wpi::util::SmallVectorImpl<Type>&&() && { return std::move(value); }
     template <typename T_> using cast_op_type = pybind11::detail::movable_cast_op_type<T_>;
 // end PYBIND11_TYPE_CASTER
 
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
index 513f58f12a..22f8c6dd51 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
@@ -82,7 +82,7 @@ template <typename Type> struct type_caster<std::span<Type, std::dynamic_extent>
   using value_type = typename std::remove_cv<Type>::type;
   PYBIND11_TYPE_CASTER(span_type, _("List[") + value_conv::name + _("]"));
 
-  wpi::SmallVector<value_type, 32> vec;
+  wpi::util::SmallVector<value_type, 32> vec;
   bool load(handle src, bool convert) {
     if (!isinstance<sequence>(src) || isinstance<str>(src))
       return false;
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
index fa377b56fd..581d0a8bbb 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
@@ -12,8 +12,8 @@ namespace detail
 {
 
 template <typename Value>
-struct type_caster<wpi::StringMap<Value>>
- : map_caster<wpi::StringMap<Value>, std::string, Value> { };
+struct type_caster<wpi::util::StringMap<Value>>
+ : map_caster<wpi::util::StringMap<Value>, std::string, Value> { };
 
 } // namespace detail
 } // namespace pybind11
\ No newline at end of file
diff --git a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
index 452bacaf26..7b11b244a9 100644
--- a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
+++ b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
@@ -103,38 +103,38 @@ struct WPyStructConverter {
 // static C++ converter
 template <typename T> struct WPyStructCppConverter : WPyStructConverter {
   std::string_view GetTypeName() const override {
-    return wpi::Struct<T>::GetTypeName();
+    return wpi::util::Struct<T>::GetTypeName();
   }
 
-  size_t GetSize() const override { return wpi::Struct<T>::GetSize(); }
+  size_t GetSize() const override { return wpi::util::Struct<T>::GetSize(); }
 
   std::string_view GetSchema() const override {
-    return wpi::Struct<T>::GetSchema();
+    return wpi::util::Struct<T>::GetSchema();
   }
 
   void Pack(std::span<uint8_t> data, const WPyStruct &value) const override {
     py::gil_scoped_acquire gil;
     const T &v = value.py.cast<const T &>();
-    wpi::Struct<T>::Pack(data, v);
+    wpi::util::Struct<T>::Pack(data, v);
   }
 
   WPyStruct Unpack(std::span<const uint8_t> data) const override {
     py::gil_scoped_acquire gil;
-    return WPyStruct{py::cast(wpi::UnpackStruct<T>(data))};
+    return WPyStruct{py::cast(wpi::util::UnpackStruct<T>(data))};
   }
 
   // void UnpackInto(WPyStruct *pyv,
   //                 std::span<const uint8_t> data) const override {
   //   py::gil_scoped_acquire gil;
   //   T *v = pyv->py.cast<T *>();
-  //   wpi::UnpackStructInto(v, data);
+  //   wpi::util::UnpackStructInto(v, data);
   // }
 
   void ForEachNested(
       const std::function<void(std::string_view, std::string_view)> &fn)
       const override {
-    if constexpr (wpi::HasNestedStruct<T>) {
-      wpi::Struct<T>::ForEachNested(fn);
+    if constexpr (wpi::util::HasNestedStruct<T>) {
+      wpi::util::Struct<T>::ForEachNested(fn);
     }
   }
 };
@@ -224,7 +224,7 @@ struct WPyStructPyConverter : WPyStructConverter {
   }
 };
 
-// passed as I... to the wpi::Struct methods
+// passed as I... to the wpi::util::Struct methods
 struct WPyStructInfo {
   WPyStructInfo() = default;
   WPyStructInfo(const py::type &t) {
@@ -275,7 +275,7 @@ private:
 };
 
 // Leverages the converter stored in WPyStructInfo to do the actual work
-template <> struct wpi::Struct<WPyStruct, WPyStructInfo> {
+template <> struct wpi::util::Struct<WPyStruct, WPyStructInfo> {
   static std::string_view GetTypeName(const WPyStructInfo &info) {
     return info->GetTypeName();
   }
@@ -310,8 +310,8 @@ template <> struct wpi::Struct<WPyStruct, WPyStructInfo> {
   }
 };
 
-static_assert(wpi::StructSerializable<WPyStruct, WPyStructInfo>);
-static_assert(wpi::HasNestedStruct<WPyStruct, WPyStructInfo>);
+static_assert(wpi::util::StructSerializable<WPyStruct, WPyStructInfo>);
+static_assert(wpi::util::HasNestedStruct<WPyStruct, WPyStructInfo>);
 
 // This breaks on readonly structs, so we disable for now
-// static_assert(wpi::MutableStructSerializable<WPyStruct, WPyStructInfo>);
+// static_assert(wpi::util::MutableStructSerializable<WPyStruct, WPyStructInfo>);
diff --git a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct_fns.cpp b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct_fns.cpp
index 730cb71938..739d56a801 100644
--- a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct_fns.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct_fns.cpp
@@ -5,28 +5,28 @@ void forEachNested(
     const py::type &t,
     const std::function<void(std::string_view, std::string_view)> &fn) {
   WPyStructInfo info(t);
-  wpi::ForEachStructSchema<WPyStruct, WPyStructInfo>(fn, info);
+  wpi::util::ForEachStructSchema<WPyStruct, WPyStructInfo>(fn, info);
 }
 
 py::str getTypeName(const py::type &t) {
   WPyStructInfo info(t);
-  return wpi::GetStructTypeName<WPyStruct, WPyStructInfo>(info);
+  return wpi::util::GetStructTypeName<WPyStruct, WPyStructInfo>(info);
 }
 
 py::str getSchema(const py::type &t) {
   WPyStructInfo info(t);
-  return wpi::GetStructSchema<WPyStruct, WPyStructInfo>(info);
+  return wpi::util::GetStructSchema<WPyStruct, WPyStructInfo>(info);
 }
 
 size_t getSize(const py::type &t) {
   WPyStructInfo info(t);
-  return wpi::GetStructSize<WPyStruct>(info);
+  return wpi::util::GetStructSize<WPyStruct>(info);
 }
 
 py::bytes pack(const WPyStruct &v) {
   WPyStructInfo info(v);
 
-  auto sz = wpi::GetStructSize<WPyStruct>(info);
+  auto sz = wpi::util::GetStructSize<WPyStruct>(info);
   PyObject *b = PyBytes_FromStringAndSize(NULL, sz);
   if (b == NULL) {
     throw py::error_already_set();
@@ -40,7 +40,7 @@ py::bytes pack(const WPyStruct &v) {
   }
 
   auto s = std::span((uint8_t *)pybuf, pysz);
-  wpi::PackStruct(s, v, info);
+  wpi::util::PackStruct(s, v, info);
 
   return py::reinterpret_steal<py::bytes>(b);
 }
@@ -52,7 +52,7 @@ py::bytes packArray(const py::sequence &seq) {
   }
 
   WPyStructInfo info(py::type::of(seq[0]));
-  auto sz = wpi::GetStructSize<WPyStruct>(info);
+  auto sz = wpi::util::GetStructSize<WPyStruct>(info);
   auto total = sz*len;
 
   PyObject *b = PyBytes_FromStringAndSize(NULL, total);
@@ -72,7 +72,7 @@ py::bytes packArray(const py::sequence &seq) {
   for (const auto &v: seq) {
     WPyStruct wv(v);
     auto s = std::span((uint8_t *)pybuf, sz);
-    wpi::PackStruct(s, wv, info);
+    wpi::util::PackStruct(s, wv, info);
     pybuf += sz;
   }
 
@@ -81,7 +81,7 @@ py::bytes packArray(const py::sequence &seq) {
 
 void packInto(const WPyStruct &v, py::buffer &b) {
   WPyStructInfo info(v);
-  py::ssize_t sz = wpi::GetStructSize<WPyStruct>(info);
+  py::ssize_t sz = wpi::util::GetStructSize<WPyStruct>(info);
 
   auto req = b.request();
   if (req.itemsize != 1) {
@@ -95,12 +95,12 @@ void packInto(const WPyStruct &v, py::buffer &b) {
   }
 
   auto s = std::span((uint8_t *)req.ptr, req.size);
-  wpi::PackStruct(s, v, info);
+  wpi::util::PackStruct(s, v, info);
 }
 
 WPyStruct unpack(const py::type &t, const py::buffer &b) {
   WPyStructInfo info(t);
-  py::ssize_t sz = wpi::GetStructSize<WPyStruct>(info);
+  py::ssize_t sz = wpi::util::GetStructSize<WPyStruct>(info);
 
   auto req = b.request();
   if (req.itemsize != 1) {
@@ -114,12 +114,12 @@ WPyStruct unpack(const py::type &t, const py::buffer &b) {
   }
 
   auto s = std::span((const uint8_t *)req.ptr, req.size);
-  return wpi::UnpackStruct<WPyStruct, WPyStructInfo>(s, info);
+  return wpi::util::UnpackStruct<WPyStruct, WPyStructInfo>(s, info);
 }
 
 py::typing::List<WPyStruct> unpackArray(const py::type &t, const py::buffer &b) {
   WPyStructInfo info(t);
-  py::ssize_t sz = wpi::GetStructSize<WPyStruct>(info);
+  py::ssize_t sz = wpi::util::GetStructSize<WPyStruct>(info);
 
   auto req = b.request();
   if (req.itemsize != 1) {
@@ -137,7 +137,7 @@ py::typing::List<WPyStruct> unpackArray(const py::type &t, const py::buffer &b)
   const uint8_t *ptr = (const uint8_t *)req.ptr;
   for (py::ssize_t i = 0; i < items; i++) {
     auto s = std::span(ptr, sz);
-    auto v = wpi::UnpackStruct<WPyStruct, WPyStructInfo>(s, info);
+    auto v = wpi::util::UnpackStruct<WPyStruct, WPyStructInfo>(s, info);
     // steals a reference
     PyList_SET_ITEM(a.ptr(), i, v.py.inc_ref().ptr());
     ptr += sz;
@@ -148,7 +148,7 @@ py::typing::List<WPyStruct> unpackArray(const py::type &t, const py::buffer &b)
 
 // void unpackInto(const py::buffer &b, WPyStruct *v) {
 //   WPyStructInfo info(*v);
-//   py::ssize_t sz = wpi::GetStructSize<WPyStruct>(info);
+//   py::ssize_t sz = wpi::util::GetStructSize<WPyStruct>(info);
 
 //   auto req = b.request();
 //   if (req.itemsize != 1) {
@@ -162,5 +162,5 @@ py::typing::List<WPyStruct> unpackArray(const py::type &t, const py::buffer &b)
 //   }
 
 //   auto s = std::span((const uint8_t *)req.ptr, req.size);
-//   wpi::UnpackStructInto<WPyStruct, WPyStructInfo>(v, s, info);
+//   wpi::util::UnpackStructInto<WPyStruct, WPyStructInfo>(v, s, info);
 // }
diff --git a/wpiutil/src/test/native/cpp/ArrayTest.cpp b/wpiutil/src/test/native/cpp/ArrayTest.cpp
index f1b087b78c..cf501b56e9 100644
--- a/wpiutil/src/test/native/cpp/ArrayTest.cpp
+++ b/wpiutil/src/test/native/cpp/ArrayTest.cpp
@@ -17,19 +17,19 @@ class MoveOnlyType {
 
 TEST(ArrayTest, CopyableTypeCompiles) {
   [[maybe_unused]]
-  constexpr wpi::array<int, 3> arr1{1, 2, 3};
+  constexpr wpi::util::array<int, 3> arr1{1, 2, 3};
 
   // Test deduction guide
   [[maybe_unused]]
-  constexpr wpi::array arr2{1, 2, 3};
+  constexpr wpi::util::array arr2{1, 2, 3};
 }
 
 TEST(ArrayTest, MoveOnlyTypeCompiles) {
   [[maybe_unused]]
-  constexpr wpi::array<MoveOnlyType, 3> arr1{MoveOnlyType{}, MoveOnlyType{},
+  constexpr wpi::util::array<MoveOnlyType, 3> arr1{MoveOnlyType{}, MoveOnlyType{},
                                              MoveOnlyType{}};
 
   // Test deduction guide
   [[maybe_unused]]
-  constexpr wpi::array arr2{MoveOnlyType{}, MoveOnlyType{}, MoveOnlyType{}};
+  constexpr wpi::util::array arr2{MoveOnlyType{}, MoveOnlyType{}, MoveOnlyType{}};
 }
diff --git a/wpiutil/src/test/native/cpp/Base64Test.cpp b/wpiutil/src/test/native/cpp/Base64Test.cpp
index 1f7e797b76..e7254a2802 100644
--- a/wpiutil/src/test/native/cpp/Base64Test.cpp
+++ b/wpiutil/src/test/native/cpp/Base64Test.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/Base64.hpp"
 #include "wpi/util/SmallString.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 struct Base64TestParam {
   int plain_len;
@@ -102,4 +102,4 @@ static Base64TestParam standard[] = {
 INSTANTIATE_TEST_SUITE_P(Base64StandardTests, Base64Test,
                          ::testing::ValuesIn(standard));
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/CircularBufferTest.cpp b/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
index acd134dc80..f42af0e79e 100644
--- a/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
+++ b/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
@@ -19,7 +19,7 @@ static const std::array<double, 8> pushBackOut = {
     {342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
 
 TEST(CircularBufferTest, PushFront) {
-  wpi::circular_buffer<double> queue(8);
+  wpi::util::circular_buffer<double> queue(8);
 
   for (auto& value : values) {
     queue.push_front(value);
@@ -31,7 +31,7 @@ TEST(CircularBufferTest, PushFront) {
 }
 
 TEST(CircularBufferTest, PushBack) {
-  wpi::circular_buffer<double> queue(8);
+  wpi::util::circular_buffer<double> queue(8);
 
   for (auto& value : values) {
     queue.push_back(value);
@@ -43,7 +43,7 @@ TEST(CircularBufferTest, PushBack) {
 }
 
 TEST(CircularBufferTest, EmplaceFront) {
-  wpi::circular_buffer<double> queue(8);
+  wpi::util::circular_buffer<double> queue(8);
 
   for (auto& value : values) {
     queue.emplace_front(value);
@@ -55,7 +55,7 @@ TEST(CircularBufferTest, EmplaceFront) {
 }
 
 TEST(CircularBufferTest, EmplaceBack) {
-  wpi::circular_buffer<double> queue(8);
+  wpi::util::circular_buffer<double> queue(8);
 
   for (auto& value : values) {
     queue.emplace_back(value);
@@ -67,7 +67,7 @@ TEST(CircularBufferTest, EmplaceBack) {
 }
 
 TEST(CircularBufferTest, PushPop) {
-  wpi::circular_buffer<double> queue(3);
+  wpi::util::circular_buffer<double> queue(3);
 
   // Insert three elements into the buffer
   queue.push_back(1.0);
@@ -110,7 +110,7 @@ TEST(CircularBufferTest, PushPop) {
 }
 
 TEST(CircularBufferTest, Reset) {
-  wpi::circular_buffer<double> queue(5);
+  wpi::util::circular_buffer<double> queue(5);
 
   for (size_t i = 1; i < 6; ++i) {
     queue.push_back(i);
@@ -122,7 +122,7 @@ TEST(CircularBufferTest, Reset) {
 }
 
 TEST(CircularBufferTest, Resize) {
-  wpi::circular_buffer<double> queue(5);
+  wpi::util::circular_buffer<double> queue(5);
 
   /* Buffer contains {1, 2, 3, _, _}
    *                  ^ front
@@ -228,7 +228,7 @@ TEST(CircularBufferTest, Resize) {
 }
 
 TEST(CircularBufferTest, Iterator) {
-  wpi::circular_buffer<double> queue(3);
+  wpi::util::circular_buffer<double> queue(3);
 
   queue.push_back(1.0);
   queue.push_back(2.0);
diff --git a/wpiutil/src/test/native/cpp/FastQueueTest.cpp b/wpiutil/src/test/native/cpp/FastQueueTest.cpp
index 503760057c..fdc70c04c5 100644
--- a/wpiutil/src/test/native/cpp/FastQueueTest.cpp
+++ b/wpiutil/src/test/native/cpp/FastQueueTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/util/FastQueue.hpp"
 
 TEST(FastQueueTest, Basic) {
-  wpi::FastQueue<int> q;
+  wpi::util::FastQueue<int> q;
   q.enqueue(25);
 
   int item;
diff --git a/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp b/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
index 59b84a7605..b7a1b24c35 100644
--- a/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
@@ -7,7 +7,7 @@
 #include <gtest/gtest.h>
 
 TEST(InterpolatingMapTest, Insert) {
-  wpi::interpolating_map<double, double> table;
+  wpi::util::interpolating_map<double, double> table;
 
   table.insert(125, 450);
   table.insert(200, 510);
@@ -35,7 +35,7 @@ TEST(InterpolatingMapTest, Insert) {
 }
 
 TEST(InterpolatingMapTest, Clear) {
-  wpi::interpolating_map<double, double> table;
+  wpi::util::interpolating_map<double, double> table;
 
   table.insert(125, 450);
   table.insert(200, 510);
diff --git a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp b/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
index d32d8d5268..8be64addaa 100644
--- a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
+++ b/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
@@ -12,7 +12,7 @@ TEST(ScopeExitTest, ScopeExit) {
   int exitCount = 0;
 
   {
-    wpi::scope_exit exit{[&] { ++exitCount; }};
+    wpi::util::scope_exit exit{[&] { ++exitCount; }};
 
     EXPECT_EQ(0, exitCount);
   }
@@ -24,16 +24,16 @@ TEST(ScopeExitTest, Release) {
   int exitCount = 0;
 
   {
-    wpi::scope_exit exit1{[&] { ++exitCount; }};
-    wpi::scope_exit exit2 = std::move(exit1);
+    wpi::util::scope_exit exit1{[&] { ++exitCount; }};
+    wpi::util::scope_exit exit2 = std::move(exit1);
     // NOLINTNEXTLINE(clang-analyzer-cplusplus.Move)
-    wpi::scope_exit exit3 = std::move(exit1);
+    wpi::util::scope_exit exit3 = std::move(exit1);
     EXPECT_EQ(0, exitCount);
   }
   EXPECT_EQ(1, exitCount);
 
   {
-    wpi::scope_exit exit{[&] { ++exitCount; }};
+    wpi::util::scope_exit exit{[&] { ++exitCount; }};
     exit.release();
   }
   EXPECT_EQ(1, exitCount);
diff --git a/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp b/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
index 150ff1714c..22644ee704 100644
--- a/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
+++ b/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
@@ -19,7 +19,7 @@ static const std::array<double, 8> pushBackOut = {
     {342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
 
 TEST(StaticCircularBufferTest, PushFront) {
-  wpi::static_circular_buffer<double, 8> queue;
+  wpi::util::static_circular_buffer<double, 8> queue;
 
   for (auto& value : values) {
     queue.push_front(value);
@@ -31,7 +31,7 @@ TEST(StaticCircularBufferTest, PushFront) {
 }
 
 TEST(StaticCircularBufferTest, PushBack) {
-  wpi::static_circular_buffer<double, 8> queue;
+  wpi::util::static_circular_buffer<double, 8> queue;
 
   for (auto& value : values) {
     queue.push_back(value);
@@ -43,7 +43,7 @@ TEST(StaticCircularBufferTest, PushBack) {
 }
 
 TEST(StaticCircularBufferTest, EmplaceFront) {
-  wpi::static_circular_buffer<double, 8> queue;
+  wpi::util::static_circular_buffer<double, 8> queue;
 
   for (auto& value : values) {
     queue.emplace_front(value);
@@ -55,7 +55,7 @@ TEST(StaticCircularBufferTest, EmplaceFront) {
 }
 
 TEST(StaticCircularBufferTest, EmplaceBack) {
-  wpi::static_circular_buffer<double, 8> queue;
+  wpi::util::static_circular_buffer<double, 8> queue;
 
   for (auto& value : values) {
     queue.emplace_back(value);
@@ -67,7 +67,7 @@ TEST(StaticCircularBufferTest, EmplaceBack) {
 }
 
 TEST(StaticCircularBufferTest, PushPop) {
-  wpi::static_circular_buffer<double, 3> queue;
+  wpi::util::static_circular_buffer<double, 3> queue;
 
   // Insert three elements into the buffer
   queue.push_back(1.0);
@@ -110,7 +110,7 @@ TEST(StaticCircularBufferTest, PushPop) {
 }
 
 TEST(StaticCircularBufferTest, Reset) {
-  wpi::static_circular_buffer<double, 5> queue;
+  wpi::util::static_circular_buffer<double, 5> queue;
 
   for (size_t i = 1; i < 6; ++i) {
     queue.push_back(i);
@@ -122,7 +122,7 @@ TEST(StaticCircularBufferTest, Reset) {
 }
 
 TEST(StaticCircularBufferTest, Iterator) {
-  wpi::static_circular_buffer<double, 3> queue;
+  wpi::util::static_circular_buffer<double, 3> queue;
 
   queue.push_back(1.0);
   queue.push_back(2.0);
diff --git a/wpiutil/src/test/native/cpp/StringExtrasTest.cpp b/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
index da1e4613d2..60ce91dc9a 100644
--- a/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
@@ -8,28 +8,28 @@
 
 TEST(StringExtrasTest, RemovePrefix) {
   std::string_view original = "wpilib";
-  auto modified = wpi::remove_prefix(original, "wpi");
+  auto modified = wpi::util::remove_prefix(original, "wpi");
   EXPECT_EQ(original, "wpilib");
   EXPECT_EQ(modified, std::optional{"lib"});
 }
 
 TEST(StringExtrasTest, RemoveSuffix) {
   std::string_view original = "wpilib";
-  auto modified = wpi::remove_suffix(original, "lib");
+  auto modified = wpi::util::remove_suffix(original, "lib");
   EXPECT_EQ(original, "wpilib");
   EXPECT_EQ(modified, std::optional{"wpi"});
 }
 
 TEST(StringExtrasTest, RemovePrefixNoMatch) {
   std::string_view original = "wpilib";
-  auto modified = wpi::remove_prefix(original, "foo");
+  auto modified = wpi::util::remove_prefix(original, "foo");
   EXPECT_EQ(original, "wpilib");
   EXPECT_EQ(modified, std::nullopt);
 }
 
 TEST(StringExtrasTest, RemoveSuffixNoMatch) {
   std::string_view original = "wpilib";
-  auto modified = wpi::remove_suffix(original, "foo");
+  auto modified = wpi::util::remove_suffix(original, "foo");
   EXPECT_EQ(original, "wpilib");
   EXPECT_EQ(modified, std::nullopt);
 }
diff --git a/wpiutil/src/test/native/cpp/StringMapTest.cpp b/wpiutil/src/test/native/cpp/StringMapTest.cpp
index b8f99d5ac3..52d16f465f 100644
--- a/wpiutil/src/test/native/cpp/StringMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/StringMapTest.cpp
@@ -18,7 +18,7 @@
 
 #include <gtest/gtest.h>
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
@@ -163,7 +163,7 @@ TEST_F(StringMapTest, InsertAndErase) {
 }
 
 TEST_F(StringMapTest, SmallFullMap) {
-  wpi::StringMap<int> Map;
+  wpi::util::StringMap<int> Map;
 
   Map["eins"] = 1;
   Map["zwei"] = 2;
@@ -182,7 +182,7 @@ TEST_F(StringMapTest, SmallFullMap) {
 }
 
 TEST_F(StringMapTest, CopyCtor) {
-  wpi::StringMap<int> Map;
+  wpi::util::StringMap<int> Map;
 
   Map["eins"] = 1;
   Map["zwei"] = 2;
@@ -199,7 +199,7 @@ TEST_F(StringMapTest, CopyCtor) {
   EXPECT_EQ(4, Map["veir"]);
   EXPECT_EQ(5, Map["funf"]);
 
-  wpi::StringMap<int> Map2(Map);
+  wpi::util::StringMap<int> Map2(Map);
   EXPECT_EQ(3u, Map2.size());
   EXPECT_FALSE(Map2.contains("eins"));
   EXPECT_EQ(2, Map2["zwei"]);
@@ -209,7 +209,7 @@ TEST_F(StringMapTest, CopyCtor) {
 }
 
 TEST_F(StringMapTest, At) {
-  wpi::StringMap<int> Map;
+  wpi::util::StringMap<int> Map;
 
   // keys both found and not found on non-empty map
   Map["a"] = 1;
diff --git a/wpiutil/src/test/native/cpp/SynchronizationTest.cpp b/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
index 39529c4a57..88b5d55184 100644
--- a/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
+++ b/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
@@ -9,48 +9,48 @@
 #include <gtest/gtest.h>
 
 TEST(EventTest, AutoReset) {
-  auto event = wpi::CreateEvent(false, false);
-  std::thread thr([&] { wpi::SetEvent(event); });
-  wpi::WaitForObject(event);
+  auto event = wpi::util::CreateEvent(false, false);
+  std::thread thr([&] { wpi::util::SetEvent(event); });
+  wpi::util::WaitForObject(event);
   thr.join();
   bool timedOut;
-  wpi::WaitForObject(event, 0, &timedOut);
+  wpi::util::WaitForObject(event, 0, &timedOut);
   ASSERT_EQ(timedOut, true);
 }
 
 TEST(EventTest, ManualReset) {
-  auto event = wpi::CreateEvent(true, false);
+  auto event = wpi::util::CreateEvent(true, false);
   int done = 0;
   std::thread thr([&] {
-    wpi::SetEvent(event);
+    wpi::util::SetEvent(event);
     ++done;
   });
-  wpi::WaitForObject(event);
+  wpi::util::WaitForObject(event);
   thr.join();
   ASSERT_EQ(done, 1);
   bool timedOut;
-  wpi::WaitForObject(event, 0, &timedOut);
+  wpi::util::WaitForObject(event, 0, &timedOut);
   ASSERT_EQ(timedOut, false);
 }
 
 TEST(EventTest, InitialSet) {
-  auto event = wpi::CreateEvent(false, true);
+  auto event = wpi::util::CreateEvent(false, true);
   bool timedOut;
-  wpi::WaitForObject(event, 0, &timedOut);
+  wpi::util::WaitForObject(event, 0, &timedOut);
   ASSERT_EQ(timedOut, false);
 }
 
 TEST(EventTest, WaitMultiple) {
-  auto event1 = wpi::CreateEvent(false, false);
-  auto event2 = wpi::CreateEvent(false, false);
-  std::thread thr([&] { wpi::SetEvent(event2); });
+  auto event1 = wpi::util::CreateEvent(false, false);
+  auto event2 = wpi::util::CreateEvent(false, false);
+  std::thread thr([&] { wpi::util::SetEvent(event2); });
   WPI_Handle signaled[2];
-  auto result1 = wpi::WaitForObjects({event1, event2}, signaled);
+  auto result1 = wpi::util::WaitForObjects({event1, event2}, signaled);
   thr.join();
   ASSERT_EQ(result1.size(), 1u);
   ASSERT_EQ(result1[0], event2);
   bool timedOut;
-  auto result2 = wpi::WaitForObjects({event1, event2}, signaled, 0, &timedOut);
+  auto result2 = wpi::util::WaitForObjects({event1, event2}, signaled, 0, &timedOut);
   ASSERT_EQ(timedOut, true);
   ASSERT_EQ(result2.size(), 0u);
 }
diff --git a/wpiutil/src/test/native/cpp/UidVectorTest.cpp b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
index 626b5d0565..299d85ff38 100644
--- a/wpiutil/src/test/native/cpp/UidVectorTest.cpp
+++ b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
@@ -8,7 +8,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(UidVectorTest, Empty) {
   UidVector<int, 4> v;
@@ -46,4 +46,4 @@ TEST(UidVectorTest, Iterate) {
   EXPECT_EQ(out[1], 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp b/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
index 6716ed6b3e..fcf0fc5e84 100644
--- a/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
+++ b/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/util/SmallString.hpp"
 #include "wpi/util/StringExtras.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
index a715178247..051b5f040b 100644
--- a/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
+++ b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
@@ -7,7 +7,7 @@
 #include "wpi/util/argparse.hpp"
 
 TEST(ArgparseTest, Basic) {
-  wpi::ArgumentParser program("ArgparseTest");
+  wpi::util::ArgumentParser program("ArgparseTest");
 
   program.add_argument("test").help("Test argument").scan<'i', int>();
 
diff --git a/wpiutil/src/test/native/cpp/ct_string_test.cpp b/wpiutil/src/test/native/cpp/ct_string_test.cpp
index 13345c2418..4152752aac 100644
--- a/wpiutil/src/test/native/cpp/ct_string_test.cpp
+++ b/wpiutil/src/test/native/cpp/ct_string_test.cpp
@@ -10,28 +10,28 @@
 #include <gtest/gtest.h>
 
 TEST(CtStringTest, Concat) {
-  using namespace wpi::literals;
+  using namespace wpi::util::literals;
   constexpr std::string_view astring = "name";
   constexpr int arrsize = 5;
   constexpr auto str = Concat(
-      wpi::ct_string<char, std::char_traits<char>, astring.size()>{astring},
-      "["_ct_string, wpi::NumToCtString<arrsize>(), "]"_ct_string);
+      wpi::util::ct_string<char, std::char_traits<char>, astring.size()>{astring},
+      "["_ct_string, wpi::util::NumToCtString<arrsize>(), "]"_ct_string);
   static_assert(str.size() == 7);
   ASSERT_EQ(std::string{str}, "name[5]");
 }
 
 TEST(CtStringTest, OperatorPlus) {
-  using namespace wpi::literals;
+  using namespace wpi::util::literals;
   constexpr std::string_view astring = "name";
   constexpr auto str =
-      wpi::ct_string<char, std::char_traits<char>, astring.size()>{astring} +
+      wpi::util::ct_string<char, std::char_traits<char>, astring.size()>{astring} +
       "[]"_ct_string;
   static_assert(str.size() == 6);
   ASSERT_EQ(std::string{str}, "name[]");
 }
 
 TEST(CtStringTest, StringViewConversion) {
-  using namespace wpi::literals;
+  using namespace wpi::util::literals;
   constexpr auto str = "[]"_ct_string;
   std::string_view sv = str;
   ASSERT_EQ(sv, "[]");
diff --git a/wpiutil/src/test/native/cpp/debugging/DebuggingTest.cpp b/wpiutil/src/test/native/cpp/debugging/DebuggingTest.cpp
index 76d7d47cfb..ca1f13ec5d 100644
--- a/wpiutil/src/test/native/cpp/debugging/DebuggingTest.cpp
+++ b/wpiutil/src/test/native/cpp/debugging/DebuggingTest.cpp
@@ -6,5 +6,5 @@
 #include <gtest/gtest.h>
 
 TEST(DebuggingTest, IsDebuggerPresent) {
-  EXPECT_FALSE(wpi::is_debugger_present());
+  EXPECT_FALSE(wpi::util::is_debugger_present());
 }
diff --git a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
index 4cc0647ae2..8e39891c26 100644
--- a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
+++ b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
@@ -25,14 +25,14 @@ struct TakesInitAndVariadic {
 
 TEST(ExpectedTest, Emplace) {
   {
-    wpi::expected<std::unique_ptr<int>, int> e;
+    wpi::util::expected<std::unique_ptr<int>, int> e;
     e.emplace(new int{42});
     EXPECT_TRUE(e);
     EXPECT_EQ(**e, 42);
   }
 
   {
-    wpi::expected<std::vector<int>, int> e;
+    wpi::util::expected<std::vector<int>, int> e;
     e.emplace({0, 1});
     EXPECT_TRUE(e);
     EXPECT_EQ((*e)[0], 0);
@@ -40,7 +40,7 @@ TEST(ExpectedTest, Emplace) {
   }
 
   {
-    wpi::expected<std::tuple<int, int>, int> e;
+    wpi::util::expected<std::tuple<int, int>, int> e;
     e.emplace(2, 3);
     EXPECT_TRUE(e);
     EXPECT_EQ(std::get<0>(*e), 2);
@@ -48,7 +48,7 @@ TEST(ExpectedTest, Emplace) {
   }
 
   {
-    wpi::expected<TakesInitAndVariadic, int> e = wpi::make_unexpected(0);
+    wpi::util::expected<TakesInitAndVariadic, int> e = wpi::util::make_unexpected(0);
     e.emplace({0, 1}, 2, 3);
     EXPECT_TRUE(e);
     EXPECT_EQ(e->v[0], 0);
diff --git a/wpiutil/src/test/native/cpp/future_test.cpp b/wpiutil/src/test/native/cpp/future_test.cpp
index eb95e2ef27..957654a69f 100644
--- a/wpiutil/src/test/native/cpp/future_test.cpp
+++ b/wpiutil/src/test/native/cpp/future_test.cpp
@@ -8,7 +8,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(FutureTest, Then) {
   promise<bool> inPromise;
@@ -78,4 +78,4 @@ TEST(FutureTest, MoveVoid) {
   ASSERT_TRUE(outFuture.is_ready());
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/llvm/Chrono.cpp b/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
index ea6e0cab90..6f4befc4b7 100644
--- a/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
@@ -9,8 +9,8 @@
 #include "wpi/util/Chrono.hpp"
 #include "gtest/gtest.h"
 
-using namespace wpi;
-using namespace wpi::sys;
+using namespace wpi::util;
+using namespace wpi::util::sys;
 using namespace std::chrono;
 
 namespace {
diff --git a/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp b/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
index 54efb078f5..42b056870e 100644
--- a/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
@@ -13,7 +13,7 @@
 #include <string>
 #include <vector>
 
-using namespace wpi;
+using namespace wpi::util;
 
 TEST(ConvertUTFTest, ConvertUTF16LittleEndianToUTF8String) {
   // Src is the look of disapproval.
diff --git a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
index 6e402492bb..064258dd6d 100644
--- a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
@@ -8,7 +8,7 @@
 
 #include "CountCopyAndMove.hpp"
 
-using namespace wpi;
+using namespace wpi::util;
 
 int CountCopyAndMove::DefaultConstructions = 0;
 int CountCopyAndMove::ValueConstructions = 0;
diff --git a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.hpp b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.hpp
index b6ffdbfa08..57f2d61cb6 100644
--- a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.hpp
+++ b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.hpp
@@ -9,7 +9,7 @@
 #ifndef LLVM_UNITTESTS_ADT_COUNTCOPYANDMOVE_H
 #define LLVM_UNITTESTS_ADT_COUNTCOPYANDMOVE_H
 
-namespace wpi {
+namespace wpi::util {
 
 struct CountCopyAndMove {
   static int DefaultConstructions;
@@ -61,6 +61,6 @@ struct CountCopyAndMove {
   static int TotalMoves() { return MoveConstructions + MoveAssignments; }
 };
 
-} // end namespace wpi
+} // end namespace wpi::util
 
 #endif // LLVM_UNITTESTS_ADT_COUNTCOPYANDMOVE_H
diff --git a/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp b/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
index 985a4394d2..8f9a8fef1e 100644
--- a/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
@@ -22,7 +22,7 @@
 #include <utility>
 #include <variant>
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 uint32_t getTestKey(int i, uint32_t *) { return i; }
@@ -701,7 +701,7 @@ struct AlwaysEqType {
 };
 } // namespace
 
-namespace wpi {
+namespace wpi::util {
 template <typename T>
 struct DenseMapInfo<T, std::enable_if_t<std::is_base_of_v<A, T>>> {
   static inline T getEmptyKey() { return {static_cast<int>(~0)}; }
@@ -721,7 +721,7 @@ template <> struct DenseMapInfo<AlwaysEqType> {
     return false;
   }
 };
-} // namespace wpi
+} // namespace wpi::util
 
 namespace {
 TEST(DenseMapCustomTest, SFINAEMapInfo) {
diff --git a/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp b/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
index 9da712e705..6a7c7126af 100644
--- a/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
@@ -10,7 +10,7 @@
 #include "gtest/gtest.h"
 #include <cstdlib>
 #include <ctime>
-using namespace wpi;
+using namespace wpi::util;
 using namespace support;
 
 #undef max
@@ -23,34 +23,34 @@ TEST(Endian, Read) {
   unsigned char littleval[] = {0x00, 0x04, 0x03, 0x02, 0x01};
   int32_t BigAsHost = 0x00010203;
   EXPECT_EQ(BigAsHost,
-            (endian::read<int32_t, wpi::endianness::big, unaligned>(bigval)));
+            (endian::read<int32_t, wpi::util::endianness::big, unaligned>(bigval)));
   int32_t LittleAsHost = 0x02030400;
   EXPECT_EQ(
       LittleAsHost,
-      (endian::read<int32_t, wpi::endianness::little, unaligned>(littleval)));
+      (endian::read<int32_t, wpi::util::endianness::little, unaligned>(littleval)));
 
   EXPECT_EQ(
-      (endian::read<int32_t, wpi::endianness::big, unaligned>(bigval + 1)),
-      (endian::read<int32_t, wpi::endianness::little, unaligned>(littleval +
+      (endian::read<int32_t, wpi::util::endianness::big, unaligned>(bigval + 1)),
+      (endian::read<int32_t, wpi::util::endianness::little, unaligned>(littleval +
                                                                   1)));
 }
 
 TEST(Endian, WriteNext) {
   unsigned char bigval[] = {0x00, 0x00}, *p = bigval;
-  endian::writeNext<int16_t, wpi::endianness::big>(p, short(0xaabb));
+  endian::writeNext<int16_t, wpi::util::endianness::big>(p, short(0xaabb));
   EXPECT_EQ(bigval[0], 0xaa);
   EXPECT_EQ(bigval[1], 0xbb);
   EXPECT_EQ(p, bigval + 2);
 
   char littleval[8] = {}, *q = littleval;
-  endian::writeNext<uint32_t, wpi::endianness::little>(q, 0x44556677);
+  endian::writeNext<uint32_t, wpi::util::endianness::little>(q, 0x44556677);
   EXPECT_EQ(littleval[0], 0x77);
   EXPECT_EQ(littleval[1], 0x66);
   EXPECT_EQ(littleval[2], 0x55);
   EXPECT_EQ(littleval[3], 0x44);
   EXPECT_EQ(q, littleval + 4);
 
-  endian::writeNext<uint32_t>(q, 0x11223344, wpi::endianness::little);
+  endian::writeNext<uint32_t>(q, 0x11223344, wpi::util::endianness::little);
   EXPECT_EQ(littleval[4], 0x44);
   EXPECT_EQ(littleval[5], 0x33);
   EXPECT_EQ(littleval[6], 0x22);
@@ -63,10 +63,10 @@ TEST(Endian, ReadBitAligned) {
   unsigned char littleval[] = {0x3f, 0x00, 0x00, 0x00, 0xc0, 0xff, 0xff, 0xff};
   unsigned char bigval[] = {0x00, 0x00, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xc0};
   EXPECT_EQ(
-      (endian::readAtBitAlignment<int, wpi::endianness::little, unaligned>(
+      (endian::readAtBitAlignment<int, wpi::util::endianness::little, unaligned>(
           &littleval[0], 6)),
       0x0);
-  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::endianness::big, unaligned>(
+  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::util::endianness::big, unaligned>(
                 &bigval[0], 6)),
             0x0);
   // Test to make sure that signed right shift of 0xf0000000 is masked
@@ -74,18 +74,18 @@ TEST(Endian, ReadBitAligned) {
   unsigned char littleval2[] = {0x00, 0x00, 0x00, 0xf0, 0x00, 0x00, 0x00, 0x00};
   unsigned char bigval2[] = {0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
   EXPECT_EQ(
-      (endian::readAtBitAlignment<int, wpi::endianness::little, unaligned>(
+      (endian::readAtBitAlignment<int, wpi::util::endianness::little, unaligned>(
           &littleval2[0], 4)),
       0x0f000000);
-  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::endianness::big, unaligned>(
+  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::util::endianness::big, unaligned>(
                 &bigval2[0], 4)),
             0x0f000000);
   // Test to make sure left shift of start bit doesn't overflow.
   EXPECT_EQ(
-      (endian::readAtBitAlignment<int, wpi::endianness::little, unaligned>(
+      (endian::readAtBitAlignment<int, wpi::util::endianness::little, unaligned>(
           &littleval2[0], 1)),
       0x78000000);
-  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::endianness::big, unaligned>(
+  EXPECT_EQ((endian::readAtBitAlignment<int, wpi::util::endianness::big, unaligned>(
                 &bigval2[0], 1)),
             0x78000000);
   // Test to make sure 64-bit int doesn't overflow.
@@ -94,11 +94,11 @@ TEST(Endian, ReadBitAligned) {
   unsigned char bigval3[] = {0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                              0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
   EXPECT_EQ(
-      (endian::readAtBitAlignment<int64_t, wpi::endianness::little, unaligned>(
+      (endian::readAtBitAlignment<int64_t, wpi::util::endianness::little, unaligned>(
           &littleval3[0], 4)),
       0x0f00000000000000);
   EXPECT_EQ(
-      (endian::readAtBitAlignment<int64_t, wpi::endianness::big, unaligned>(
+      (endian::readAtBitAlignment<int64_t, wpi::util::endianness::big, unaligned>(
           &bigval3[0], 4)),
       0x0f00000000000000);
 }
@@ -107,7 +107,7 @@ TEST(Endian, WriteBitAligned) {
   // This test ensures that signed right shift of 0xffffaa is masked
   // properly.
   unsigned char bigval[8] = {0x00};
-  endian::writeAtBitAlignment<int32_t, wpi::endianness::big, unaligned>(
+  endian::writeAtBitAlignment<int32_t, wpi::util::endianness::big, unaligned>(
       bigval, (int)0xffffaaaa, 4);
   EXPECT_EQ(bigval[0], 0xff);
   EXPECT_EQ(bigval[1], 0xfa);
@@ -119,7 +119,7 @@ TEST(Endian, WriteBitAligned) {
   EXPECT_EQ(bigval[7], 0x0f);
 
   unsigned char littleval[8] = {0x00};
-  endian::writeAtBitAlignment<int32_t, wpi::endianness::little, unaligned>(
+  endian::writeAtBitAlignment<int32_t, wpi::util::endianness::little, unaligned>(
       littleval, (int)0xffffaaaa, 4);
   EXPECT_EQ(littleval[0], 0xa0);
   EXPECT_EQ(littleval[1], 0xaa);
@@ -133,7 +133,7 @@ TEST(Endian, WriteBitAligned) {
   // This test makes sure 1<<31 doesn't overflow.
   // Test to make sure left shift of start bit doesn't overflow.
   unsigned char bigval2[8] = {0x00};
-  endian::writeAtBitAlignment<int32_t, wpi::endianness::big, unaligned>(
+  endian::writeAtBitAlignment<int32_t, wpi::util::endianness::big, unaligned>(
       bigval2, (int)0xffffffff, 1);
   EXPECT_EQ(bigval2[0], 0xff);
   EXPECT_EQ(bigval2[1], 0xff);
@@ -145,7 +145,7 @@ TEST(Endian, WriteBitAligned) {
   EXPECT_EQ(bigval2[7], 0x01);
 
   unsigned char littleval2[8] = {0x00};
-  endian::writeAtBitAlignment<int32_t, wpi::endianness::little, unaligned>(
+  endian::writeAtBitAlignment<int32_t, wpi::util::endianness::little, unaligned>(
       littleval2, (int)0xffffffff, 1);
   EXPECT_EQ(littleval2[0], 0xfe);
   EXPECT_EQ(littleval2[1], 0xff);
@@ -158,7 +158,7 @@ TEST(Endian, WriteBitAligned) {
 
   // Test to make sure 64-bit int doesn't overflow.
   unsigned char bigval64[16] = {0x00};
-  endian::writeAtBitAlignment<int64_t, wpi::endianness::big, unaligned>(
+  endian::writeAtBitAlignment<int64_t, wpi::util::endianness::big, unaligned>(
       bigval64, (int64_t)0xffffffffffffffff, 1);
   EXPECT_EQ(bigval64[0], 0xff);
   EXPECT_EQ(bigval64[1], 0xff);
@@ -178,7 +178,7 @@ TEST(Endian, WriteBitAligned) {
   EXPECT_EQ(bigval64[15], 0x01);
 
   unsigned char littleval64[16] = {0x00};
-  endian::writeAtBitAlignment<int64_t, wpi::endianness::little, unaligned>(
+  endian::writeAtBitAlignment<int64_t, wpi::util::endianness::little, unaligned>(
       littleval64, (int64_t)0xffffffffffffffff, 1);
   EXPECT_EQ(littleval64[0], 0xfe);
   EXPECT_EQ(littleval64[1], 0xff);
@@ -200,25 +200,25 @@ TEST(Endian, WriteBitAligned) {
 
 TEST(Endian, Write) {
   unsigned char data[5];
-  endian::write<int32_t, wpi::endianness::big, unaligned>(data, -1362446643);
+  endian::write<int32_t, wpi::util::endianness::big, unaligned>(data, -1362446643);
   EXPECT_EQ(data[0], 0xAE);
   EXPECT_EQ(data[1], 0xCA);
   EXPECT_EQ(data[2], 0xB6);
   EXPECT_EQ(data[3], 0xCD);
-  endian::write<int32_t, wpi::endianness::big, unaligned>(data + 1,
+  endian::write<int32_t, wpi::util::endianness::big, unaligned>(data + 1,
                                                            -1362446643);
   EXPECT_EQ(data[1], 0xAE);
   EXPECT_EQ(data[2], 0xCA);
   EXPECT_EQ(data[3], 0xB6);
   EXPECT_EQ(data[4], 0xCD);
 
-  endian::write<int32_t, wpi::endianness::little, unaligned>(data,
+  endian::write<int32_t, wpi::util::endianness::little, unaligned>(data,
                                                               -1362446643);
   EXPECT_EQ(data[0], 0xCD);
   EXPECT_EQ(data[1], 0xB6);
   EXPECT_EQ(data[2], 0xCA);
   EXPECT_EQ(data[3], 0xAE);
-  endian::write<int32_t, wpi::endianness::little, unaligned>(data + 1,
+  endian::write<int32_t, wpi::util::endianness::little, unaligned>(data + 1,
                                                               -1362446643);
   EXPECT_EQ(data[1], 0xCD);
   EXPECT_EQ(data[2], 0xB6);
diff --git a/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp b/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
index bdd930cb6f..dde5ac1f68 100644
--- a/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/Errno.hpp"
 #include "gtest/gtest.h"
 
-using namespace wpi::sys;
+using namespace wpi::util::sys;
 
 TEST(ErrnoTest, RetryAfterSignal) {
   EXPECT_EQ(1, RetryAfterSignal(-1, [] { return 1; }));
diff --git a/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp b/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
index 475161020b..3368a12a6c 100644
--- a/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
@@ -13,7 +13,7 @@
 #include <memory>
 #include <type_traits>
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp b/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
index f8b287779d..64d35221ec 100644
--- a/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
@@ -10,7 +10,7 @@
 #include "gtest/gtest.h"
 #include <limits>
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp b/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
index 96ee779375..0fa22f58c2 100644
--- a/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
@@ -9,7 +9,7 @@
 #include "wpi/util/PointerIntPair.hpp"
 #include "gtest/gtest.h"
 #include <limits>
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp b/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
index 95b28d7577..285df487b0 100644
--- a/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
@@ -8,7 +8,7 @@
 
 #include "wpi/util/PointerUnion.hpp"
 #include "gtest/gtest.h"
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp b/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
index 9fb5f1991a..21a41b3a93 100644
--- a/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
@@ -36,34 +36,34 @@ TYPED_TEST(STLForwardCompatRemoveCVRefTest, RemoveCVRef) {
   using From = typename TypeParam::first_type;
   using To = typename TypeParam::second_type;
   EXPECT_TRUE(
-      (std::is_same<typename wpi::remove_cvref<From>::type, To>::value));
+      (std::is_same<typename wpi::util::remove_cvref<From>::type, To>::value));
 }
 
 TYPED_TEST(STLForwardCompatRemoveCVRefTest, RemoveCVRefT) {
   using From = typename TypeParam::first_type;
-  EXPECT_TRUE((std::is_same<typename wpi::remove_cvref<From>::type,
-                            wpi::remove_cvref_t<From>>::value));
+  EXPECT_TRUE((std::is_same<typename wpi::util::remove_cvref<From>::type,
+                            wpi::util::remove_cvref_t<From>>::value));
 }
 
 TEST(TransformTest, TransformStd) {
   std::optional<int> A;
 
-  std::optional<int> B = wpi::transformOptional(A, [&](int N) { return N + 1; });
+  std::optional<int> B = wpi::util::transformOptional(A, [&](int N) { return N + 1; });
   EXPECT_FALSE(B.has_value());
 
   A = 3;
-  std::optional<int> C = wpi::transformOptional(A, [&](int N) { return N + 1; });
+  std::optional<int> C = wpi::util::transformOptional(A, [&](int N) { return N + 1; });
   EXPECT_TRUE(C.has_value());
   EXPECT_EQ(4, *C);
 }
 
 TEST(TransformTest, MoveTransformStd) {
-  using wpi::CountCopyAndMove;
+  using wpi::util::CountCopyAndMove;
 
   std::optional<CountCopyAndMove> A;
 
   CountCopyAndMove::ResetCounts();
-  std::optional<int> B = wpi::transformOptional(
+  std::optional<int> B = wpi::util::transformOptional(
       std::move(A), [&](const CountCopyAndMove &M) { return M.val + 2; });
   EXPECT_FALSE(B.has_value());
   EXPECT_EQ(0, CountCopyAndMove::TotalCopies());
@@ -73,7 +73,7 @@ TEST(TransformTest, MoveTransformStd) {
 
   A = CountCopyAndMove(5);
   CountCopyAndMove::ResetCounts();
-  std::optional<int> C = wpi::transformOptional(
+  std::optional<int> C = wpi::util::transformOptional(
       std::move(A), [&](const CountCopyAndMove &M) { return M.val + 2; });
   EXPECT_TRUE(C.has_value());
   EXPECT_EQ(7, *C);
@@ -87,23 +87,23 @@ TEST(TransformTest, TransformLlvm) {
   std::optional<int> A;
 
   std::optional<int> B =
-      wpi::transformOptional(A, [&](int N) { return N + 1; });
+      wpi::util::transformOptional(A, [&](int N) { return N + 1; });
   EXPECT_FALSE(B.has_value());
 
   A = 3;
   std::optional<int> C =
-      wpi::transformOptional(A, [&](int N) { return N + 1; });
+      wpi::util::transformOptional(A, [&](int N) { return N + 1; });
   EXPECT_TRUE(C.has_value());
   EXPECT_EQ(4, *C);
 }
 
 TEST(TransformTest, MoveTransformLlvm) {
-  using wpi::CountCopyAndMove;
+  using wpi::util::CountCopyAndMove;
 
   std::optional<CountCopyAndMove> A;
 
   CountCopyAndMove::ResetCounts();
-  std::optional<int> B = wpi::transformOptional(
+  std::optional<int> B = wpi::util::transformOptional(
       std::move(A), [&](const CountCopyAndMove &M) { return M.val + 2; });
   EXPECT_FALSE(B.has_value());
   EXPECT_EQ(0, CountCopyAndMove::TotalCopies());
@@ -113,7 +113,7 @@ TEST(TransformTest, MoveTransformLlvm) {
 
   A = CountCopyAndMove(5);
   CountCopyAndMove::ResetCounts();
-  std::optional<int> C = wpi::transformOptional(
+  std::optional<int> C = wpi::util::transformOptional(
       std::move(A), [&](const CountCopyAndMove &M) { return M.val + 2; });
   EXPECT_TRUE(C.has_value());
   EXPECT_EQ(7, *C);
@@ -125,19 +125,19 @@ TEST(TransformTest, MoveTransformLlvm) {
 
 TEST(TransformTest, ToUnderlying) {
   enum E { A1 = 0, B1 = -1 };
-  static_assert(wpi::to_underlying(A1) == 0);
-  static_assert(wpi::to_underlying(B1) == -1);
+  static_assert(wpi::util::to_underlying(A1) == 0);
+  static_assert(wpi::util::to_underlying(B1) == -1);
 
   enum E2 : unsigned char { A2 = 0, B2 };
   static_assert(
-      std::is_same_v<unsigned char, decltype(wpi::to_underlying(A2))>);
-  static_assert(wpi::to_underlying(A2) == 0);
-  static_assert(wpi::to_underlying(B2) == 1);
+      std::is_same_v<unsigned char, decltype(wpi::util::to_underlying(A2))>);
+  static_assert(wpi::util::to_underlying(A2) == 0);
+  static_assert(wpi::util::to_underlying(B2) == 1);
 
   enum class E3 { A3 = -1, B3 };
-  static_assert(std::is_same_v<int, decltype(wpi::to_underlying(E3::A3))>);
-  static_assert(wpi::to_underlying(E3::A3) == -1);
-  static_assert(wpi::to_underlying(E3::B3) == 0);
+  static_assert(std::is_same_v<int, decltype(wpi::util::to_underlying(E3::A3))>);
+  static_assert(wpi::util::to_underlying(E3::A3) == -1);
+  static_assert(wpi::util::to_underlying(E3::B3) == 0);
 }
 
 } // namespace
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
index fee4108e10..19393a216c 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
@@ -18,7 +18,7 @@
 
 #include <algorithm>
 
-using namespace wpi;
+using namespace wpi::util;
 using testing::UnorderedElementsAre;
 
 TEST(SmallPtrSetTest, Assignment) {
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
index 99626b2cc2..3daeb28e6e 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
@@ -16,7 +16,7 @@
 #include <algorithm>
 #include <string>
 
-using namespace wpi;
+using namespace wpi::util;
 
 TEST(SmallSetTest, ConstructorIteratorPair) {
   std::initializer_list<int> L = {1, 2, 3, 4, 5};
@@ -27,7 +27,7 @@ TEST(SmallSetTest, ConstructorIteratorPair) {
 TEST(SmallSet, ConstructorRange) {
   std::initializer_list<int> L = {1, 2, 3, 4, 5};
 
-  SmallSet<int, 4> S(wpi::make_range(std::begin(L), std::end(L)));
+  SmallSet<int, 4> S(wpi::util::make_range(std::begin(L), std::end(L)));
   EXPECT_THAT(S, testing::UnorderedElementsAreArray(L));
 }
 
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
index 454d8566b9..5e90ca6d60 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
@@ -16,7 +16,7 @@
 #include <cstring>
 #include <stdarg.h>
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
index 9b0d54d551..bdeab85e65 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
@@ -22,7 +22,7 @@
 #pragma GCC diagnostic ignored "-Wpedantic"
 #endif
 
-using namespace wpi;
+using namespace wpi::util;
 
 namespace {
 
@@ -1175,14 +1175,14 @@ TEST(SmallVectorTest, ConstructFromSpanOfConvertibleType) {
   std::vector<From> StdVector = {From(to1), From(to2), From(to3)};
   std::span<const From> Array = StdVector;
   {
-    wpi::SmallVector<To> Vector(Array);
+    wpi::util::SmallVector<To> Vector(Array);
 
     ASSERT_EQ(Array.size(), Vector.size());
     for (size_t I = 0; I < Array.size(); ++I)
       EXPECT_EQ(Array[I], Vector[I]);
   }
   {
-    wpi::SmallVector<To, 4> Vector(Array);
+    wpi::util::SmallVector<To, 4> Vector(Array);
 
     ASSERT_EQ(Array.size(), Vector.size());
     ASSERT_EQ(4u, NumBuiltinElts(Vector));
@@ -1195,14 +1195,14 @@ TEST(SmallVectorTest, ToVectorOf) {
   To to1{1}, to2{2}, to3{3};
   std::vector<From> StdVector = {From(to1), From(to2), From(to3)};
   {
-    wpi::SmallVector<To> Vector = wpi::to_vector_of<To>(StdVector);
+    wpi::util::SmallVector<To> Vector = wpi::util::to_vector_of<To>(StdVector);
 
     ASSERT_EQ(StdVector.size(), Vector.size());
     for (size_t I = 0; I < StdVector.size(); ++I)
       EXPECT_EQ(StdVector[I], Vector[I]);
   }
   {
-    auto Vector = wpi::to_vector_of<To, 4>(StdVector);
+    auto Vector = wpi::util::to_vector_of<To, 4>(StdVector);
 
     ASSERT_EQ(StdVector.size(), Vector.size());
     static_assert(NumBuiltinElts(Vector) == 4u);
diff --git a/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp b/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
index 35301cc9ce..0a1f111523 100644
--- a/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
@@ -10,7 +10,7 @@
 #include "gtest/gtest.h"
 #include <cstdlib>
 #include <ctime>
-using namespace wpi;
+using namespace wpi::util;
 
 #undef max
 
diff --git a/wpiutil/src/test/native/cpp/priority_mutex_test.cpp b/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
index 0f57886de5..f118abdfb5 100644
--- a/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
+++ b/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
@@ -10,7 +10,7 @@
 
 #include <gtest/gtest.h>
 
-namespace wpi {
+namespace wpi::util {
 
 #ifdef WPI_HAVE_PRIORITY_MUTEX
 
@@ -265,4 +265,4 @@ TEST(MutexTest, ReentrantTryLock) {
 
 #endif  // WPI_HAVE_PRIORITY_MUTEX
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/proto/TestProto.cpp b/wpiutil/src/test/native/cpp/proto/TestProto.cpp
index a0f4bfc500..0aea3c4eb0 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProto.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProto.cpp
@@ -32,18 +32,18 @@ struct TestProto {
 };
 
 template <>
-struct wpi::Protobuf<TestProto> {
+struct wpi::util::Protobuf<TestProto> {
   using MessageStruct = wpi_proto_TestProto;
-  using InputStream = wpi::ProtoInputStream<TestProto>;
-  using OutputStream = wpi::ProtoOutputStream<TestProto>;
+  using InputStream = wpi::util::ProtoInputStream<TestProto>;
+  using OutputStream = wpi::util::ProtoOutputStream<TestProto>;
   static std::optional<TestProto> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream, const TestProto& value);
 };
 
-std::optional<TestProto> wpi::Protobuf<TestProto>::Unpack(InputStream& stream) {
-  wpi::UnpackCallback<std::string> str;
-  wpi::UnpackCallback<std::vector<uint8_t>> bytes;
-  wpi::UnpackCallback<TestProtoInner> inner;
+std::optional<TestProto> wpi::util::Protobuf<TestProto>::Unpack(InputStream& stream) {
+  wpi::util::UnpackCallback<std::string> str;
+  wpi::util::UnpackCallback<std::vector<uint8_t>> bytes;
+  wpi::util::UnpackCallback<TestProtoInner> inner;
   wpi_proto_TestProto msg;
   msg.string_msg = str.Callback();
   msg.bytes_msg = bytes.Callback();
@@ -80,11 +80,11 @@ std::optional<TestProto> wpi::Protobuf<TestProto>::Unpack(InputStream& stream) {
   };
 }
 
-bool wpi::Protobuf<TestProto>::Pack(OutputStream& stream,
+bool wpi::util::Protobuf<TestProto>::Pack(OutputStream& stream,
                                     const TestProto& value) {
-  wpi::PackCallback str{&value.string_msg};
-  wpi::PackCallback bytes{&value.bytes_msg};
-  wpi::PackCallback inner{&value.TestProtoInner_msg};
+  wpi::util::PackCallback str{&value.string_msg};
+  wpi::util::PackCallback bytes{&value.bytes_msg};
+  wpi::util::PackCallback inner{&value.TestProtoInner_msg};
   wpi_proto_TestProto msg{
       .double_msg = value.double_msg,
       .float_msg = value.float_msg,
@@ -107,14 +107,14 @@ bool wpi::Protobuf<TestProto>::Pack(OutputStream& stream,
 }
 
 namespace {
-using ProtoType = wpi::Protobuf<TestProto>;
+using ProtoType = wpi::util::Protobuf<TestProto>;
 }  // namespace
 
 TEST(TestProtoTest, RoundtripNanopb) {
   const TestProto kExpectedData = TestProto{};
 
-  wpi::ProtobufMessage<TestProto> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<TestProto> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   std::optional<TestProto> unpacked_data = message.Unpack(buf);
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp b/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
index 2f6b6894a4..2eb47ee3bd 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
@@ -12,9 +12,9 @@
 #include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpiutil.npb.h"
 
-std::optional<TestProtoInner> wpi::Protobuf<TestProtoInner>::Unpack(
-    wpi::ProtoInputStream<TestProtoInner>& stream) {
-  wpi::UnpackCallback<std::string> str;
+std::optional<TestProtoInner> wpi::util::Protobuf<TestProtoInner>::Unpack(
+    wpi::util::ProtoInputStream<TestProtoInner>& stream) {
+  wpi::util::UnpackCallback<std::string> str;
   wpi_proto_TestProtoInner msg{
       .msg = str.Callback(),
   };
@@ -31,10 +31,10 @@ std::optional<TestProtoInner> wpi::Protobuf<TestProtoInner>::Unpack(
   return TestProtoInner{std::move(istr[0])};
 }
 
-bool wpi::Protobuf<TestProtoInner>::Pack(
-    wpi::ProtoOutputStream<TestProtoInner>& stream,
+bool wpi::util::Protobuf<TestProtoInner>::Pack(
+    wpi::util::ProtoOutputStream<TestProtoInner>& stream,
     const TestProtoInner& value) {
-  wpi::PackCallback str{&value.msg};
+  wpi::util::PackCallback str{&value.msg};
   wpi_proto_TestProtoInner msg{
       .msg = str.Callback(),
   };
@@ -42,14 +42,14 @@ bool wpi::Protobuf<TestProtoInner>::Pack(
 }
 
 namespace {
-using ProtoType = wpi::Protobuf<TestProtoInner>;
+using ProtoType = wpi::util::Protobuf<TestProtoInner>;
 }  // namespace
 
 TEST(TestProtoInnerTest, RoundtripNanopb) {
   const TestProtoInner kExpectedData = TestProtoInner{"Hello!"};
 
-  wpi::ProtobufMessage<TestProtoInner> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<TestProtoInner> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   std::optional<TestProtoInner> unpacked_data = message.Unpack(buf);
@@ -60,8 +60,8 @@ TEST(TestProtoInnerTest, RoundtripNanopb) {
 TEST(TestProtoInnerTest, RoundtripNanopbEmpty) {
   const TestProtoInner kExpectedData = TestProtoInner{"Hello!"};
 
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp b/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
index f1d203ea8f..ce9669ad84 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
@@ -14,10 +14,10 @@ struct TestProtoInner {
 };
 
 template <>
-struct wpi::Protobuf<TestProtoInner> {
+struct wpi::util::Protobuf<TestProtoInner> {
   using MessageStruct = wpi_proto_TestProtoInner;
-  using InputStream = wpi::ProtoInputStream<TestProtoInner>;
-  using OutputStream = wpi::ProtoOutputStream<TestProtoInner>;
+  using InputStream = wpi::util::ProtoInputStream<TestProtoInner>;
+  using OutputStream = wpi::util::ProtoOutputStream<TestProtoInner>;
   static std::optional<TestProtoInner> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream, const TestProtoInner& value);
 };
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp b/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
index 638d034042..4f5d988598 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
@@ -25,57 +25,57 @@ struct RepeatedTestProto {
   std::vector<uint64_t> fixed64_msg;
   std::vector<int32_t> sfixed32_msg;
   std::vector<int64_t> sfixed64_msg;
-  wpi::SmallVector<bool, 128> bool_msg;
+  wpi::util::SmallVector<bool, 128> bool_msg;
   std::vector<std::string> string_msg;
   std::vector<std::vector<uint8_t>> bytes_msg;
   std::vector<TestProtoInner> TestProtoInner_msg;
 };
 
 template <>
-struct wpi::Protobuf<RepeatedTestProto> {
+struct wpi::util::Protobuf<RepeatedTestProto> {
   using MessageStruct = wpi_proto_RepeatedTestProto;
-  using InputStream = wpi::ProtoInputStream<RepeatedTestProto>;
-  using OutputStream = wpi::ProtoOutputStream<RepeatedTestProto>;
+  using InputStream = wpi::util::ProtoInputStream<RepeatedTestProto>;
+  using OutputStream = wpi::util::ProtoOutputStream<RepeatedTestProto>;
   static std::optional<RepeatedTestProto> Unpack(InputStream& stream);
   static bool Pack(OutputStream& stream, const RepeatedTestProto& value);
 };
 
-std::optional<RepeatedTestProto> wpi::Protobuf<RepeatedTestProto>::Unpack(
+std::optional<RepeatedTestProto> wpi::util::Protobuf<RepeatedTestProto>::Unpack(
     InputStream& stream) {
   RepeatedTestProto toRet;
 
-  wpi::DirectUnpackCallback<double, std::vector<double>> double_msg{
+  wpi::util::DirectUnpackCallback<double, std::vector<double>> double_msg{
       toRet.double_msg};
-  wpi::DirectUnpackCallback<float, std::vector<float>> float_msg{
+  wpi::util::DirectUnpackCallback<float, std::vector<float>> float_msg{
       toRet.float_msg};
-  wpi::DirectUnpackCallback<int32_t, std::vector<int32_t>> int32_msg{
+  wpi::util::DirectUnpackCallback<int32_t, std::vector<int32_t>> int32_msg{
       toRet.int32_msg};
-  wpi::DirectUnpackCallback<int64_t, std::vector<int64_t>> int64_msg{
+  wpi::util::DirectUnpackCallback<int64_t, std::vector<int64_t>> int64_msg{
       toRet.int64_msg};
-  wpi::DirectUnpackCallback<uint32_t, std::vector<uint32_t>> uint32_msg{
+  wpi::util::DirectUnpackCallback<uint32_t, std::vector<uint32_t>> uint32_msg{
       toRet.uint32_msg};
-  wpi::DirectUnpackCallback<uint64_t, std::vector<uint64_t>> uint64_msg{
+  wpi::util::DirectUnpackCallback<uint64_t, std::vector<uint64_t>> uint64_msg{
       toRet.uint64_msg};
-  wpi::DirectUnpackCallback<int32_t, std::vector<int32_t>> sint32_msg{
+  wpi::util::DirectUnpackCallback<int32_t, std::vector<int32_t>> sint32_msg{
       toRet.sint32_msg};
-  wpi::DirectUnpackCallback<int64_t, std::vector<int64_t>> sint64_msg{
+  wpi::util::DirectUnpackCallback<int64_t, std::vector<int64_t>> sint64_msg{
       toRet.sint64_msg};
-  wpi::DirectUnpackCallback<uint32_t, std::vector<uint32_t>> fixed32_msg{
+  wpi::util::DirectUnpackCallback<uint32_t, std::vector<uint32_t>> fixed32_msg{
       toRet.fixed32_msg};
-  wpi::DirectUnpackCallback<uint64_t, std::vector<uint64_t>> fixed64_msg{
+  wpi::util::DirectUnpackCallback<uint64_t, std::vector<uint64_t>> fixed64_msg{
       toRet.fixed64_msg};
-  wpi::DirectUnpackCallback<int32_t, std::vector<int32_t>> sfixed32_msg{
+  wpi::util::DirectUnpackCallback<int32_t, std::vector<int32_t>> sfixed32_msg{
       toRet.sfixed32_msg};
-  wpi::DirectUnpackCallback<int64_t, std::vector<int64_t>> sfixed64_msg{
+  wpi::util::DirectUnpackCallback<int64_t, std::vector<int64_t>> sfixed64_msg{
       toRet.sfixed64_msg};
-  wpi::DirectUnpackCallback<bool, wpi::SmallVector<bool, 128>> bool_msg{
+  wpi::util::DirectUnpackCallback<bool, wpi::util::SmallVector<bool, 128>> bool_msg{
       toRet.bool_msg};
-  wpi::DirectUnpackCallback<std::string, std::vector<std::string>> string_msg{
+  wpi::util::DirectUnpackCallback<std::string, std::vector<std::string>> string_msg{
       toRet.string_msg};
-  wpi::DirectUnpackCallback<std::vector<uint8_t>,
+  wpi::util::DirectUnpackCallback<std::vector<uint8_t>,
                             std::vector<std::vector<uint8_t>>>
       bytes_msg{toRet.bytes_msg};
-  wpi::DirectUnpackCallback<TestProtoInner, std::vector<TestProtoInner>>
+  wpi::util::DirectUnpackCallback<TestProtoInner, std::vector<TestProtoInner>>
       TestProtoInner_msg{toRet.TestProtoInner_msg};
 
   wpi_proto_RepeatedTestProto msg{
@@ -104,24 +104,24 @@ std::optional<RepeatedTestProto> wpi::Protobuf<RepeatedTestProto>::Unpack(
   return toRet;
 }
 
-bool wpi::Protobuf<RepeatedTestProto>::Pack(OutputStream& stream,
+bool wpi::util::Protobuf<RepeatedTestProto>::Pack(OutputStream& stream,
                                             const RepeatedTestProto& value) {
-  wpi::PackCallback<double> double_msg{value.double_msg};
-  wpi::PackCallback<float> float_msg{value.float_msg};
-  wpi::PackCallback<int32_t> int32_msg{value.int32_msg};
-  wpi::PackCallback<int64_t> int64_msg{value.int64_msg};
-  wpi::PackCallback<uint32_t> uint32_msg{value.uint32_msg};
-  wpi::PackCallback<uint64_t> uint64_msg{value.uint64_msg};
-  wpi::PackCallback<int32_t> sint32_msg{value.sint32_msg};
-  wpi::PackCallback<int64_t> sint64_msg{value.sint64_msg};
-  wpi::PackCallback<uint32_t> fixed32_msg{value.fixed32_msg};
-  wpi::PackCallback<uint64_t> fixed64_msg{value.fixed64_msg};
-  wpi::PackCallback<int32_t> sfixed32_msg{value.sfixed32_msg};
-  wpi::PackCallback<int64_t> sfixed64_msg{value.sfixed64_msg};
-  wpi::PackCallback<bool> bool_msg{value.bool_msg};
-  wpi::PackCallback<std::string> string_msg{value.string_msg};
-  wpi::PackCallback<std::vector<uint8_t>> bytes_msg{value.bytes_msg};
-  wpi::PackCallback<TestProtoInner> TestProtoInner_msg{
+  wpi::util::PackCallback<double> double_msg{value.double_msg};
+  wpi::util::PackCallback<float> float_msg{value.float_msg};
+  wpi::util::PackCallback<int32_t> int32_msg{value.int32_msg};
+  wpi::util::PackCallback<int64_t> int64_msg{value.int64_msg};
+  wpi::util::PackCallback<uint32_t> uint32_msg{value.uint32_msg};
+  wpi::util::PackCallback<uint64_t> uint64_msg{value.uint64_msg};
+  wpi::util::PackCallback<int32_t> sint32_msg{value.sint32_msg};
+  wpi::util::PackCallback<int64_t> sint64_msg{value.sint64_msg};
+  wpi::util::PackCallback<uint32_t> fixed32_msg{value.fixed32_msg};
+  wpi::util::PackCallback<uint64_t> fixed64_msg{value.fixed64_msg};
+  wpi::util::PackCallback<int32_t> sfixed32_msg{value.sfixed32_msg};
+  wpi::util::PackCallback<int64_t> sfixed64_msg{value.sfixed64_msg};
+  wpi::util::PackCallback<bool> bool_msg{value.bool_msg};
+  wpi::util::PackCallback<std::string> string_msg{value.string_msg};
+  wpi::util::PackCallback<std::vector<uint8_t>> bytes_msg{value.bytes_msg};
+  wpi::util::PackCallback<TestProtoInner> TestProtoInner_msg{
       value.TestProtoInner_msg};
   wpi_proto_RepeatedTestProto msg{
       .double_msg = double_msg.Callback(),
@@ -145,7 +145,7 @@ bool wpi::Protobuf<RepeatedTestProto>::Pack(OutputStream& stream,
 }
 
 namespace {
-using ProtoType = wpi::Protobuf<RepeatedTestProto>;
+using ProtoType = wpi::util::Protobuf<RepeatedTestProto>;
 }  // namespace
 
 TEST(RepeatedTestProtoTest, RoundtripNanopb) {
@@ -155,8 +155,8 @@ TEST(RepeatedTestProtoTest, RoundtripNanopb) {
 
   kExpectedData.double_msg.emplace_back(5.05);
 
-  wpi::ProtobufMessage<decltype(kExpectedData)> message;
-  wpi::SmallVector<uint8_t, 64> buf;
+  wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
+  wpi::util::SmallVector<uint8_t, 64> buf;
 
   ASSERT_TRUE(message.Pack(buf, kExpectedData));
   auto unpacked_data = message.Unpack(buf);
diff --git a/wpiutil/src/test/native/cpp/rotated_span_test.cpp b/wpiutil/src/test/native/cpp/rotated_span_test.cpp
index 02752d6666..9dc0d7ca66 100644
--- a/wpiutil/src/test/native/cpp/rotated_span_test.cpp
+++ b/wpiutil/src/test/native/cpp/rotated_span_test.cpp
@@ -27,107 +27,107 @@ static std::vector<int> vec_values{0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
 
 TEST(CircularSpanTest, Constexpr) {
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cesarr_values};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values};
     static_assert(sp[5] == cesarr_values[5]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cearr_values};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cearr_values};
     static_assert(sp[5] == cearr_values[5]);
   }
 }
 
 TEST(CircularSpanTest, ConstructConst) {
   {
-    wpi::rotated_span<const int, 10> sp{csarr_values};
+    wpi::util::rotated_span<const int, 10> sp{csarr_values};
     EXPECT_EQ(sp[5], sarr_values[5]);
   }
   {
-    wpi::rotated_span<const int> sp{csarr_values};
+    wpi::util::rotated_span<const int> sp{csarr_values};
     EXPECT_EQ(sp[5], sarr_values[5]);
   }
   {
-    wpi::rotated_span<const int, 10> sp{carr_values};
+    wpi::util::rotated_span<const int, 10> sp{carr_values};
     EXPECT_EQ(sp[5], arr_values[5]);
   }
   {
-    wpi::rotated_span<const int> sp{carr_values};
+    wpi::util::rotated_span<const int> sp{carr_values};
     EXPECT_EQ(sp[5], arr_values[5]);
   }
   {
-    wpi::rotated_span<const int> sp{cvec_values.begin(), cvec_values.end()};
+    wpi::util::rotated_span<const int> sp{cvec_values.begin(), cvec_values.end()};
     EXPECT_EQ(sp[5], vec_values[5]);
   }
   {
-    wpi::rotated_span<const int> sp{cvec_values.data(), cvec_values.size()};
+    wpi::util::rotated_span<const int> sp{cvec_values.data(), cvec_values.size()};
     EXPECT_EQ(sp[5], vec_values[5]);
   }
 }
 
 TEST(CircularSpanTest, ConstructNonConst) {
   {
-    wpi::rotated_span<int, 10> sp{sarr_values};
+    wpi::util::rotated_span<int, 10> sp{sarr_values};
     EXPECT_EQ(sp[5], sarr_values[5]);
   }
   {
-    wpi::rotated_span<int> sp{sarr_values};
+    wpi::util::rotated_span<int> sp{sarr_values};
     EXPECT_EQ(sp[5], sarr_values[5]);
   }
   {
-    wpi::rotated_span<int, 10> sp{arr_values};
+    wpi::util::rotated_span<int, 10> sp{arr_values};
     EXPECT_EQ(sp[5], arr_values[5]);
   }
   {
-    wpi::rotated_span<int> sp{arr_values};
+    wpi::util::rotated_span<int> sp{arr_values};
     EXPECT_EQ(sp[5], arr_values[5]);
   }
   {
-    wpi::rotated_span<int> sp{vec_values.begin(), vec_values.end()};
+    wpi::util::rotated_span<int> sp{vec_values.begin(), vec_values.end()};
     EXPECT_EQ(sp[5], vec_values[5]);
   }
   {
-    wpi::rotated_span<int> sp{vec_values.data(), vec_values.size()};
+    wpi::util::rotated_span<int> sp{vec_values.data(), vec_values.size()};
     EXPECT_EQ(sp[5], vec_values[5]);
   }
 }
 
 TEST(CircularSpanTest, ConstructRotated) {
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cesarr_values, 1};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values, 1};
     static_assert(sp[5] == cesarr_values[6]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cesarr_values, 9};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values, 9};
     static_assert(sp[5] == cesarr_values[4]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cesarr_values, 10};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values, 10};
     static_assert(sp[5] == cesarr_values[5]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cesarr_values, 11};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values, 11};
     static_assert(sp[5] == cesarr_values[6]);
   }
 
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cearr_values, -1};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cearr_values, -1};
     static_assert(sp[5] == cearr_values[4]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cearr_values, -9};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cearr_values, -9};
     static_assert(sp[5] == cearr_values[6]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cearr_values, -10};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cearr_values, -10};
     static_assert(sp[5] == cearr_values[5]);
   }
   {
-    constexpr wpi::rotated_span<const int, 10> sp{cearr_values, -11};
+    constexpr wpi::util::rotated_span<const int, 10> sp{cearr_values, -11};
     static_assert(sp[5] == cearr_values[4]);
   }
 }
 
 TEST(CircularSpanTest, Rotate) {
-  constexpr wpi::rotated_span<const int, 10> sp{cesarr_values, 1};
+  constexpr wpi::util::rotated_span<const int, 10> sp{cesarr_values, 1};
   static_assert(sp[5] == cesarr_values[6]);
   static_assert(sp.rotate(2)[5] == cesarr_values[8]);
   static_assert(sp.rotate(9)[5] == cesarr_values[5]);
@@ -140,10 +140,10 @@ TEST(CircularSpanTest, Rotate) {
   static_assert(sp.rotate(-11)[5] == cesarr_values[5]);
 }
 
-void unsized_func(wpi::rotated_span<int>) {}
-void const_unsized_func(wpi::rotated_span<const int>) {}
-void sized_func(wpi::rotated_span<int, 10>) {}
-void const_sized_func(wpi::rotated_span<const int, 10>) {}
+void unsized_func(wpi::util::rotated_span<int>) {}
+void const_unsized_func(wpi::util::rotated_span<const int>) {}
+void sized_func(wpi::util::rotated_span<int, 10>) {}
+void const_sized_func(wpi::util::rotated_span<const int, 10>) {}
 
 TEST(CircularSpanTest, Implicit) {
   // unsized_func(csarr_values);  // error
@@ -168,7 +168,7 @@ TEST(CircularSpanTest, Implicit) {
 }
 
 TEST(CircularSpanTest, IteratorConst) {
-  wpi::rotated_span<const int> sp_sarr{csarr_values};
+  wpi::util::rotated_span<const int> sp_sarr{csarr_values};
 
   // iterator
   int i = 0;
@@ -186,7 +186,7 @@ TEST(CircularSpanTest, IteratorConst) {
 }
 
 TEST(CircularSpanTest, IteratorNonConst) {
-  wpi::rotated_span<int> sp_sarr{sarr_values};
+  wpi::util::rotated_span<int> sp_sarr{sarr_values};
 
   // iterator
   int i = 0;
diff --git a/wpiutil/src/test/native/cpp/sha1Test.cpp b/wpiutil/src/test/native/cpp/sha1Test.cpp
index 1af32c4961..d2327006d3 100644
--- a/wpiutil/src/test/native/cpp/sha1Test.cpp
+++ b/wpiutil/src/test/native/cpp/sha1Test.cpp
@@ -25,7 +25,7 @@
 
 #include "wpi/util/sha1.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 /*
  * The 3 test vectors from FIPS PUB 180-1
@@ -87,4 +87,4 @@ TEST(SHA1Test, Concurrent) {
             "a9993e364706816aba3e25717850c26c9cd0d89d"); /* "abc" */
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp b/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
index a4e1b2d871..2ebd828960 100644
--- a/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
@@ -37,7 +37,7 @@ SOFTWARE.
 
 #include <gtest/gtest.h>
 
-using namespace wpi::sig::trait;
+using namespace wpi::util::sig::trait;
 
 namespace {
 
@@ -114,7 +114,7 @@ static_assert(is_callable_v<t, o8>, "");
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalTest, FunctionTraits) {
   auto l1 = [](int, char, float) {};
@@ -129,4 +129,4 @@ TEST(SignalTest, FunctionTraits) {
   f2(0, '0', 0.0);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/recursive.cpp b/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
index ce63b4717e..da5a65afd5 100644
--- a/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
@@ -56,12 +56,12 @@ struct object {
   }
 
   T v;
-  wpi::sig::Signal_r<T> sig;
+  wpi::util::sig::Signal_r<T> sig;
 };
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalTest, Recursive) {
   object<int> i1(-1);
@@ -78,7 +78,7 @@ TEST(SignalTest, Recursive) {
 TEST(SignalTest, SelfRecursive) {
   int i = 0;
 
-  wpi::sig::Signal_r<int> s;
+  wpi::util::sig::Signal_r<int> s;
   s.connect([&](int v) {
     if (i < 10) {
       i++;
@@ -91,4 +91,4 @@ TEST(SignalTest, SelfRecursive) {
   ASSERT_EQ(i, 10);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
index 290ee71466..7666e0758e 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
@@ -35,7 +35,7 @@ SOFTWARE.
 
 #include <gtest/gtest.h>
 
-using namespace wpi::sig;
+using namespace wpi::util::sig;
 
 namespace {
 
@@ -66,7 +66,7 @@ struct o {
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalExtendedTest, FreeConnection) {
   sum = 0;
@@ -134,4 +134,4 @@ TEST(SignalExtendedTest, LambdaConnection) {
   ASSERT_EQ(sum, 3);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
index 76abf0cba1..90865de56d 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
@@ -39,7 +39,7 @@ SOFTWARE.
 
 #include <gtest/gtest.h>
 
-using namespace wpi::sig;
+using namespace wpi::util::sig;
 
 namespace {
 
@@ -66,7 +66,7 @@ void connect_emit(Signal_mt<int>& sig) {
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalTest, ThreadedMix) {
   sum = 0;
@@ -101,4 +101,4 @@ TEST(SignalTest, ThreadedEmission) {
   ASSERT_EQ(sum, 100000);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
index 21ec4e5d09..b72badc86c 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
@@ -40,7 +40,7 @@ SOFTWARE.
 
 #include <gtest/gtest.h>
 
-using namespace wpi::sig;
+using namespace wpi::util::sig;
 
 namespace {
 
@@ -71,7 +71,7 @@ static_assert(trait::is_callable_v<trait::typelist<int>, decltype(&s::f1),
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalTest, TrackShared) {
   sum = 0;
@@ -178,4 +178,4 @@ TEST(SignalTest, TrackGenericLambda) {
   ASSERT_EQ(s.str(), "1foo4.1");
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal.cpp b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
index 936f2ce696..c421772fa6 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
@@ -40,7 +40,7 @@ SOFTWARE.
 
 #include <gtest/gtest.h>
 
-using namespace wpi::sig;
+using namespace wpi::util::sig;
 
 namespace {
 
@@ -99,7 +99,7 @@ struct o8 {
 
 }  // namespace
 
-namespace wpi {
+namespace wpi::util {
 
 TEST(SignalTest, FreeConnection) {
   sum = 0;
@@ -539,4 +539,4 @@ TEST(SignalTest, Loop) {
   ASSERT_EQ(i2.val(), 1);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/native/cpp/spinlock_bench.cpp b/wpiutil/src/test/native/cpp/spinlock_bench.cpp
index 14d982b8c3..928c83a784 100644
--- a/wpiutil/src/test/native/cpp/spinlock_bench.cpp
+++ b/wpiutil/src/test/native/cpp/spinlock_bench.cpp
@@ -15,12 +15,12 @@
 
 static std::mutex std_mutex;
 static std::recursive_mutex std_recursive_mutex;
-static wpi::mutex wpi_mutex;
-static wpi::recursive_mutex wpi_recursive_mutex;
-static wpi::spinlock spinlock;
-static wpi::recursive_spinlock1 recursive_spinlock1;
-static wpi::recursive_spinlock2 recursive_spinlock2;
-static wpi::recursive_spinlock recursive_spinlock;
+static wpi::util::mutex wpi_mutex;
+static wpi::util::recursive_mutex wpi_recursive_mutex;
+static wpi::util::spinlock spinlock;
+static wpi::util::recursive_spinlock1 recursive_spinlock1;
+static wpi::util::recursive_spinlock2 recursive_spinlock2;
+static wpi::util::recursive_spinlock recursive_spinlock;
 
 TEST(SpinlockTest, Benchmark) {
   using std::chrono::duration_cast;
@@ -52,7 +52,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("std::mutex sizeof: {} time: {} value: {}\n", sizeof(std_mutex),
+    wpi::util::print("std::mutex sizeof: {} time: {} value: {}\n", sizeof(std_mutex),
                duration_cast<microseconds>(stop - start).count(), value);
   });
   thrb.join();
@@ -66,7 +66,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("std::recursive_mutex sizeof: {} time: {} value: {}\n",
+    wpi::util::print("std::recursive_mutex sizeof: {} time: {} value: {}\n",
                sizeof(std_recursive_mutex),
                duration_cast<microseconds>(stop - start).count(), value);
   });
@@ -81,7 +81,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("wpi::mutex sizeof: {} time: {} value: {}\n", sizeof(wpi_mutex),
+    wpi::util::print("wpi::util::mutex sizeof: {} time: {} value: {}\n", sizeof(wpi_mutex),
                duration_cast<microseconds>(stop - start).count(), value);
   });
   thr2.join();
@@ -95,7 +95,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("wpi::recursive_mutex sizeof: {} time: {} value: {}\n",
+    wpi::util::print("wpi::util::recursive_mutex sizeof: {} time: {} value: {}\n",
                sizeof(wpi_recursive_mutex),
                duration_cast<microseconds>(stop - start).count(), value);
   });
@@ -110,7 +110,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("spinlock sizeof: {} time: {} value: {}\n", sizeof(spinlock),
+    wpi::util::print("spinlock sizeof: {} time: {} value: {}\n", sizeof(spinlock),
                duration_cast<microseconds>(stop - start).count(), value);
   });
   thr3.join();
@@ -124,7 +124,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("recursive_spinlock1 sizeof: {} time: {} value: {}\n",
+    wpi::util::print("recursive_spinlock1 sizeof: {} time: {} value: {}\n",
                sizeof(recursive_spinlock1),
                duration_cast<microseconds>(stop - start).count(), value);
   });
@@ -139,7 +139,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("recursive_spinlock2 sizeof: {} time: {} value: {}\n",
+    wpi::util::print("recursive_spinlock2 sizeof: {} time: {} value: {}\n",
                sizeof(recursive_spinlock2),
                duration_cast<microseconds>(stop - start).count(), value);
   });
@@ -154,7 +154,7 @@ TEST(SpinlockTest, Benchmark) {
       ++value;
     }
     auto stop = high_resolution_clock::now();
-    wpi::print("recursive_spinlock sizeof: {} time: {} value: {}\n",
+    wpi::util::print("recursive_spinlock sizeof: {} time: {} value: {}\n",
                sizeof(recursive_spinlock),
                duration_cast<microseconds>(stop - start).count(), value);
   });
diff --git a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
index 955871c1ec..fe380f0d65 100644
--- a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
+++ b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
@@ -13,7 +13,7 @@
 
 #include <gtest/gtest.h>
 
-using namespace wpi;
+using namespace wpi::util;
 
 class DynamicStructTest : public ::testing::Test {
  protected:
@@ -299,7 +299,7 @@ TEST_F(DynamicStructTest, StringAllZeros) {
   uint8_t data[32];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_EQ(dynamic.GetStringField(field), "");
 }
@@ -309,7 +309,7 @@ TEST_F(DynamicStructTest, StringRoundTrip) {
   uint8_t data[32];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_TRUE(dynamic.SetStringField(field, "abc"));
   EXPECT_EQ(dynamic.GetStringField(field), "abc");
@@ -320,7 +320,7 @@ TEST_F(DynamicStructTest, StringRoundTripEmbeddedNull) {
   uint8_t data[32];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   std::string check{"ab\0c", 4};
   ASSERT_EQ(check.size(), 4u);
@@ -335,7 +335,7 @@ TEST_F(DynamicStructTest, StringRoundTripTooLong) {
   uint8_t data[2];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, "abc"));
   auto get = dynamic.GetStringField(field);
@@ -348,7 +348,7 @@ TEST_F(DynamicStructTest, StringRoundTripPartial2ByteUtf8) {
   uint8_t data[2];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, "a\u0234"));
   auto get = dynamic.GetStringField(field);
@@ -361,7 +361,7 @@ TEST_F(DynamicStructTest, StringRoundTrip2ByteUtf8) {
   uint8_t data[3];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_TRUE(dynamic.SetStringField(field, "a\u0234"));
   auto get = dynamic.GetStringField(field);
@@ -374,7 +374,7 @@ TEST_F(DynamicStructTest, StringRoundTrip3ByteUtf8) {
   uint8_t data[4];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_TRUE(dynamic.SetStringField(field, "a\u1234"));
   auto get = dynamic.GetStringField(field);
@@ -387,7 +387,7 @@ TEST_F(DynamicStructTest, StringRoundTrip3ByteUtf8PartialFirstByte) {
   uint8_t data[2];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, "a\u1234"));
   auto get = dynamic.GetStringField(field);
@@ -400,7 +400,7 @@ TEST_F(DynamicStructTest, StringRoundTrip3ByteUtf8PartialSecondByte) {
   uint8_t data[3];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, "a\u1234"));
   auto get = dynamic.GetStringField(field);
@@ -420,7 +420,7 @@ TEST_F(DynamicStructTest, StringRoundTrip4ByteUtf8) {
   uint8_t data[5];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_TRUE(dynamic.SetStringField(field, fourByteUtf8String));
   auto get = dynamic.GetStringField(field);
@@ -433,7 +433,7 @@ TEST_F(DynamicStructTest, StringRoundTrip4ByteUtf8PartialFirstByte) {
   uint8_t data[2];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, fourByteUtf8String));
   auto get = dynamic.GetStringField(field);
@@ -446,7 +446,7 @@ TEST_F(DynamicStructTest, StringRoundTrip4ByteUtf8PartialSecondByte) {
   uint8_t data[3];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, fourByteUtf8String));
   auto get = dynamic.GetStringField(field);
@@ -459,7 +459,7 @@ TEST_F(DynamicStructTest, StringRoundTrip4ByteUtf8PartialThirdByte) {
   uint8_t data[4];
   std::memset(data, 0, sizeof(data));
   ASSERT_EQ(desc->GetSize(), sizeof(data) / sizeof(data[0]));
-  wpi::MutableDynamicStruct dynamic{desc, data};
+  wpi::util::MutableDynamicStruct dynamic{desc, data};
   auto field = desc->FindFieldByName("a");
   EXPECT_FALSE(dynamic.SetStringField(field, fourByteUtf8String));
   auto get = dynamic.GetStringField(field);
@@ -559,7 +559,7 @@ TEST_P(DynamicSimpleStructTest, IntRoundTrip) {
   std::vector<uint8_t> dest(desc->GetSize());
   auto field = desc->FindFieldByName("a");
   ASSERT_TRUE(field);
-  wpi::MutableDynamicStruct dynamic(desc, dest);
+  wpi::util::MutableDynamicStruct dynamic(desc, dest);
   if (GetParam().isInt) {
     {
       int64_t value = SignExtend(GetParam().minVal, field->GetSize());
diff --git a/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp b/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
index 18c2be50ea..e42986f7b3 100644
--- a/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
+++ b/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-using namespace wpi::structparser;
+using namespace wpi::util::structparser;
 
 TEST(StructParserTest, Empty) {
   Parser p{""};
diff --git a/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp b/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
index 583f8993c5..7b29142611 100644
--- a/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
+++ b/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
@@ -17,7 +17,7 @@
 
 #include "wpi/util/TestPrinters.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename T>
 class SpanMatcher : public ::testing::MatcherInterface<std::span<T>> {
@@ -68,7 +68,7 @@ void SpanMatcher<T>::DescribeNegationTo(::std::ostream* os) const {
   PrintTo(std::span<T>{good}, os);
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
 
 inline std::span<const uint8_t> operator""_us(const char* str, size_t len) {
   return {reinterpret_cast<const uint8_t*>(str), len};
diff --git a/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp b/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
index 1ae78ebeef..eefb5bb9b3 100644
--- a/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
+++ b/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
@@ -13,7 +13,7 @@
 
 #include "wpi/util/json.hpp"
 
-namespace wpi {
+namespace wpi::util {
 
 inline void PrintTo(std::string_view str, ::std::ostream* os) {
   ::testing::internal::PrintStringTo(std::string{str}, os);
@@ -38,4 +38,4 @@ inline void PrintTo(const json& val, ::std::ostream* os) {
   *os << val.dump();
 }
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/test/python/cpp/wpiutil_test/module.cpp b/wpiutil/src/test/python/cpp/wpiutil_test/module.cpp
index ca045a8a0c..8eb61211ea 100644
--- a/wpiutil/src/test/python/cpp/wpiutil_test/module.cpp
+++ b/wpiutil/src/test/python/cpp/wpiutil_test/module.cpp
@@ -18,11 +18,11 @@
 /*
 array tests
 */
-wpi::array<int, 4> load_array_int(wpi::array<int, 4> data) {
+wpi::util::array<int, 4> load_array_int(wpi::util::array<int, 4> data) {
     return data;
 }
 
-wpi::array<int, 1> load_array_int1(wpi::array<int, 1> data) {
+wpi::util::array<int, 1> load_array_int1(wpi::util::array<int, 1> data) {
     return data;
 }
 
@@ -84,12 +84,12 @@ void modify_span_buffer(std::span<uint8_t> ref) {
 SmallSet tests
 */
 
-wpi::SmallSet<int, 4> load_smallset_int(wpi::SmallSet<int, 4> ref) {
+wpi::util::SmallSet<int, 4> load_smallset_int(wpi::util::SmallSet<int, 4> ref) {
     return ref;
 }
 
-wpi::SmallSet<int, 4> cast_smallset() {
-    static wpi::SmallSet<int, 4> set;
+wpi::util::SmallSet<int, 4> cast_smallset() {
+    static wpi::util::SmallSet<int, 4> set;
     set.insert(1);
     set.insert(2);
     set.insert(3);
@@ -101,12 +101,12 @@ wpi::SmallSet<int, 4> cast_smallset() {
 SmallVector tests
 */
 
-wpi::SmallVector<int, 4> load_smallvec_int(wpi::SmallVector<int, 4> ref) {
+wpi::util::SmallVector<int, 4> load_smallvec_int(wpi::util::SmallVector<int, 4> ref) {
     return ref;
 }
 
-wpi::SmallVector<int, 4> cast_smallvec() {
-    static wpi::SmallVector<int, 4> set;
+wpi::util::SmallVector<int, 4> cast_smallvec() {
+    static wpi::util::SmallVector<int, 4> set;
     set.append({1, 2, 3, 4});
     return set;
 }
@@ -117,36 +117,36 @@ SmallVectorImpl tests
 .. seems like references are the only useful things to do with them
 */
 
-wpi::SmallVectorImpl<int>&  load_smallvecimpl_int(wpi::SmallVectorImpl<int>& ref) {
-    static wpi::SmallVector<int, 4> set(ref.begin(), ref.end());
+wpi::util::SmallVectorImpl<int>&  load_smallvecimpl_int(wpi::util::SmallVectorImpl<int>& ref) {
+    static wpi::util::SmallVector<int, 4> set(ref.begin(), ref.end());
     return set;
 }
 
 /*
 StringMap tests
 */
-wpi::StringMap<int> load_stringmap_int(wpi::StringMap<int> ref) {
+wpi::util::StringMap<int> load_stringmap_int(wpi::util::StringMap<int> ref) {
     return ref;
 }
 
-wpi::StringMap<int> cast_stringmap() {
-    static wpi::StringMap<int> m;
+wpi::util::StringMap<int> cast_stringmap() {
+    static wpi::util::StringMap<int> m;
     m["one"] = 1;
     m["two"] = 2;
     return m;
 }
 
 /* JSON tests */
-wpi::json cast_json_arg(const wpi::json &j) {
+wpi::util::json cast_json_arg(const wpi::util::json &j) {
     return j;
 }
 
-wpi::json cast_json_val(std::function<wpi::json()> fn) {
+wpi::util::json cast_json_val(std::function<wpi::util::json()> fn) {
     return fn();
 }
 
 constexpr auto const_string() {
-    return wpi::ct_string<char, std::char_traits<char>, 3>{{'#', '1', '2'}};
+    return wpi::util::ct_string<char, std::char_traits<char>, 3>{{'#', '1', '2'}};
 }
 
 void sendable_test(py::module &m);
diff --git a/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp b/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
index 4d6cb87a31..6f28fb85e0 100644
--- a/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
+++ b/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
@@ -5,7 +5,7 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-class MySendableBuilder : public wpi::SendableBuilder {
+class MySendableBuilder : public wpi::util::SendableBuilder {
 public:
   MySendableBuilder(py::dict keys) : keys(keys) {}
 
@@ -94,49 +94,49 @@ public:
 
   void AddSmallStringProperty(
       std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char> &buf)> getter,
+      std::function<std::string_view(wpi::util::SmallVectorImpl<char> &buf)> getter,
       std::function<void(std::string_view)> setter) override {}
 
   void AddSmallBooleanArrayProperty(
       std::string_view key,
-      std::function<std::span<const int>(wpi::SmallVectorImpl<int> &buf)>
+      std::function<std::span<const int>(wpi::util::SmallVectorImpl<int> &buf)>
           getter,
       std::function<void(std::span<const int>)> setter) override {}
 
   void AddSmallIntegerArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const int64_t>(wpi::SmallVectorImpl<int64_t> &buf)>
+          std::span<const int64_t>(wpi::util::SmallVectorImpl<int64_t> &buf)>
           getter,
       std::function<void(std::span<const int64_t>)> setter) override {}
 
   void AddSmallFloatArrayProperty(
       std::string_view key,
-      std::function<std::span<const float>(wpi::SmallVectorImpl<float> &buf)>
+      std::function<std::span<const float>(wpi::util::SmallVectorImpl<float> &buf)>
           getter,
       std::function<void(std::span<const float>)> setter) override {}
 
   void AddSmallDoubleArrayProperty(
       std::string_view key,
-      std::function<std::span<const double>(wpi::SmallVectorImpl<double> &buf)>
+      std::function<std::span<const double>(wpi::util::SmallVectorImpl<double> &buf)>
           getter,
       std::function<void(std::span<const double>)> setter) override {}
 
   void AddSmallStringArrayProperty(
       std::string_view key,
       std::function<
-          std::span<const std::string>(wpi::SmallVectorImpl<std::string> &buf)>
+          std::span<const std::string>(wpi::util::SmallVectorImpl<std::string> &buf)>
           getter,
       std::function<void(std::span<const std::string>)> setter) override {}
 
   void AddSmallRawProperty(
       std::string_view key, std::string_view typeString,
-      std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t> &buf)>
+      std::function<std::span<uint8_t>(wpi::util::SmallVectorImpl<uint8_t> &buf)>
           getter,
       std::function<void(std::span<const uint8_t>)> setter) override {}
 
-  wpi::SendableBuilder::BackendKind GetBackendKind() const override {
-    return wpi::SendableBuilder::BackendKind::kUnknown;
+  wpi::util::SendableBuilder::BackendKind GetBackendKind() const override {
+    return wpi::util::SendableBuilder::BackendKind::kUnknown;
   }
 
   bool IsPublished() const override { return false; }
@@ -146,9 +146,9 @@ public:
   py::dict keys;
 };
 
-void Publish(wpi::SendableRegistry::UID sendableUid, py::dict keys) {
+void Publish(wpi::util::SendableRegistry::UID sendableUid, py::dict keys) {
   auto builder = std::make_unique<MySendableBuilder>(keys);
-  wpi::SendableRegistry::Publish(sendableUid, std::move(builder));
+  wpi::util::SendableRegistry::Publish(sendableUid, std::move(builder));
 }
 
 void sendable_test(py::module &m) { m.def("publish", Publish); }
\ No newline at end of file
diff --git a/wpiutil/src/test/python/cpp/wpiutil_test/struct_test.cpp b/wpiutil/src/test/python/cpp/wpiutil_test/struct_test.cpp
index 200822e9f0..89080e75c8 100644
--- a/wpiutil/src/test/python/cpp/wpiutil_test/struct_test.cpp
+++ b/wpiutil/src/test/python/cpp/wpiutil_test/struct_test.cpp
@@ -15,7 +15,7 @@ struct ThingA {
   bool operator==(const ThingA &other) const { return x == other.x; }
 };
 
-template <> struct wpi::Struct<ThingA> {
+template <> struct wpi::util::Struct<ThingA> {
   static constexpr std::string_view GetTypeName() { return "ThingA"; }
   static constexpr size_t GetSize() { return 1; }
   static constexpr std::string_view GetSchema() { return "uint8 value"; }
@@ -40,26 +40,26 @@ struct Outer {
 };
 
 template <>
-struct wpi::Struct<Outer> {
+struct wpi::util::Struct<Outer> {
   static constexpr std::string_view GetTypeName() { return "Outer"; }
-  static constexpr size_t GetSize() { return wpi::GetStructSize<ThingA>() + 4; }
+  static constexpr size_t GetSize() { return wpi::util::GetStructSize<ThingA>() + 4; }
   static constexpr std::string_view GetSchema() {
     return "ThingA inner; int32 c";
   }
 
   static Outer Unpack(std::span<const uint8_t> data) {
-    constexpr size_t innerSize = wpi::GetStructSize<ThingA>();
-    return {wpi::UnpackStruct<ThingA, 0>(data),
-            wpi::UnpackStruct<int32_t, innerSize>(data)};
+    constexpr size_t innerSize = wpi::util::GetStructSize<ThingA>();
+    return {wpi::util::UnpackStruct<ThingA, 0>(data),
+            wpi::util::UnpackStruct<int32_t, innerSize>(data)};
   }
   static void Pack(std::span<uint8_t> data, const Outer& value) {
-    constexpr size_t innerSize = wpi::GetStructSize<ThingA>();
-    wpi::PackStruct<0>(data, value.inner);
-    wpi::PackStruct<innerSize>(data, value.c);
+    constexpr size_t innerSize = wpi::util::GetStructSize<ThingA>();
+    wpi::util::PackStruct<0>(data, value.inner);
+    wpi::util::PackStruct<innerSize>(data, value.c);
   }
   static void ForEachNested(
       std::invocable<std::string_view, std::string_view> auto fn) {
-    wpi::ForEachStructSchema<ThingA>(fn);
+    wpi::util::ForEachStructSchema<ThingA>(fn);
   }
 };
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
index 1876e91c16..e5922ec4aa 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
@@ -7,7 +7,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
 XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
   if (m_simDevice) {
@@ -27,61 +27,61 @@ XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
   }
 }
 
-units::radian_t XRPGyro::GetAngle() const {
+wpi::units::radian_t XRPGyro::GetAngle() const {
   return GetAngleZ();
 }
 
-frc::Rotation2d XRPGyro::GetRotation2d() const {
-  return frc::Rotation2d{GetAngle()};
+wpi::math::Rotation2d XRPGyro::GetRotation2d() const {
+  return wpi::math::Rotation2d{GetAngle()};
 }
 
-units::radians_per_second_t XRPGyro::GetRate() const {
+wpi::units::radians_per_second_t XRPGyro::GetRate() const {
   return GetRateZ();
 }
 
-units::radians_per_second_t XRPGyro::GetRateX() const {
+wpi::units::radians_per_second_t XRPGyro::GetRateX() const {
   if (m_simRateX) {
-    return units::degrees_per_second_t{m_simRateX.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateX.Get()};
   }
 
   return 0_rad_per_s;
 }
 
-units::radians_per_second_t XRPGyro::GetRateY() const {
+wpi::units::radians_per_second_t XRPGyro::GetRateY() const {
   if (m_simRateY) {
-    return units::degrees_per_second_t{m_simRateY.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateY.Get()};
   }
 
   return 0_rad_per_s;
 }
 
-units::radians_per_second_t XRPGyro::GetRateZ() const {
+wpi::units::radians_per_second_t XRPGyro::GetRateZ() const {
   if (m_simRateZ) {
-    return units::degrees_per_second_t{m_simRateZ.Get()};
+    return wpi::units::degrees_per_second_t{m_simRateZ.Get()};
   }
 
   return 0_rad_per_s;
 }
 
-units::radian_t XRPGyro::GetAngleX() const {
+wpi::units::radian_t XRPGyro::GetAngleX() const {
   if (m_simAngleX) {
-    return units::degree_t{m_simAngleX.Get()} - m_angleXOffset;
+    return wpi::units::degree_t{m_simAngleX.Get()} - m_angleXOffset;
   }
 
   return 0_rad;
 }
 
-units::radian_t XRPGyro::GetAngleY() const {
+wpi::units::radian_t XRPGyro::GetAngleY() const {
   if (m_simAngleY) {
-    return units::degree_t{m_simAngleY.Get()} - m_angleYOffset;
+    return wpi::units::degree_t{m_simAngleY.Get()} - m_angleYOffset;
   }
 
   return 0_rad;
 }
 
-units::radian_t XRPGyro::GetAngleZ() const {
+wpi::units::radian_t XRPGyro::GetAngleZ() const {
   if (m_simAngleZ) {
-    return units::degree_t{m_simAngleZ.Get()} - m_angleZOffset;
+    return wpi::units::degree_t{m_simAngleZ.Get()} - m_angleZOffset;
   }
 
   return 0_rad;
@@ -89,8 +89,8 @@ units::radian_t XRPGyro::GetAngleZ() const {
 
 void XRPGyro::Reset() {
   if (m_simAngleX) {
-    m_angleXOffset = units::degree_t{m_simAngleX.Get()};
-    m_angleYOffset = units::degree_t{m_simAngleY.Get()};
-    m_angleZOffset = units::degree_t{m_simAngleZ.Get()};
+    m_angleXOffset = wpi::units::degree_t{m_simAngleX.Get()};
+    m_angleYOffset = wpi::units::degree_t{m_simAngleY.Get()};
+    m_angleZOffset = wpi::units::degree_t{m_simAngleZ.Get()};
   }
 }
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
index 916d9867ca..2ad05cdb20 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
@@ -10,7 +10,7 @@
 
 #include "wpi/system/Errors.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
 std::map<int, std::string> XRPMotor::s_simDeviceMap = {
     {0, "motorL"}, {1, "motorR"}, {2, "motor3"}, {3, "motor4"}};
@@ -19,12 +19,12 @@ std::set<int> XRPMotor::s_registeredDevices = {};
 
 void XRPMotor::CheckDeviceAllocation(int deviceNum) {
   if (s_simDeviceMap.count(deviceNum) == 0) {
-    throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
+    throw FRC_MakeError(wpi::err::ChannelIndexOutOfRange, "Channel {}",
                         deviceNum);
   }
 
   if (s_registeredDevices.count(deviceNum) > 0) {
-    throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
+    throw FRC_MakeError(wpi::err::ResourceAlreadyAllocated, "Channel {}",
                         deviceNum);
   }
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
index d7039a098f..2497ddf436 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
@@ -9,7 +9,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/Timer.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
 bool XRPOnBoardIO::GetUserButtonPressed() {
   return m_userButton.Get();
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
index 2704ff3a6c..d8201d772d 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
@@ -4,8 +4,8 @@
 
 #include "wpi/xrp/XRPRangefinder.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
-units::meter_t XRPRangefinder::GetDistance() const {
-  return units::meter_t{m_rangefinder.GetVoltage() / 5.0 * 4.0};
+wpi::units::meter_t XRPRangefinder::GetDistance() const {
+  return wpi::units::meter_t{m_rangefinder.GetVoltage() / 5.0 * 4.0};
 }
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
index b38d3c7da9..91d2919b82 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/xrp/XRPReflectanceSensor.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
 double XRPReflectanceSensor::GetLeftReflectanceValue() const {
   return m_leftSensor.GetVoltage() / 5.0;
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
index a7df9cc481..4cf0400c07 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
@@ -12,7 +12,7 @@
 #include "wpi/system/Errors.hpp"
 #include "wpi/units/angle.hpp"
 
-using namespace frc;
+using namespace wpi::xrp;
 
 std::map<int, std::string> XRPServo::s_simDeviceMap = {
     {4, "servo1"}, {5, "servo2"}, {6, "servo3"}, {7, "servo4"}};
@@ -21,12 +21,12 @@ std::set<int> XRPServo::s_registeredDevices = {};
 
 void XRPServo::CheckDeviceAllocation(int deviceNum) {
   if (s_simDeviceMap.count(deviceNum) == 0) {
-    throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
+    throw FRC_MakeError(wpi::err::ChannelIndexOutOfRange, "Channel {}",
                         deviceNum);
   }
 
   if (s_registeredDevices.count(deviceNum) > 0) {
-    throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
+    throw FRC_MakeError(wpi::err::ResourceAlreadyAllocated, "Channel {}",
                         deviceNum);
   }
 
@@ -46,8 +46,8 @@ XRPServo::XRPServo(int deviceNum) {
   }
 }
 
-void XRPServo::SetAngle(units::radian_t angle) {
-  angle = std::clamp<units::radian_t>(angle, 0_deg, 180_deg);
+void XRPServo::SetAngle(wpi::units::radian_t angle) {
+  angle = std::clamp<wpi::units::radian_t>(angle, 0_deg, 180_deg);
   double pos = angle.value() / std::numbers::pi;
 
   if (m_simPosition) {
@@ -55,9 +55,9 @@ void XRPServo::SetAngle(units::radian_t angle) {
   }
 }
 
-units::radian_t XRPServo::GetAngle() const {
+wpi::units::radian_t XRPServo::GetAngle() const {
   if (m_simPosition) {
-    return units::radian_t{m_simPosition.Get() * std::numbers::pi};
+    return wpi::units::radian_t{m_simPosition.Get() * std::numbers::pi};
   }
 
   return 90_deg;
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
index ff954033a9..18b3770adb 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
@@ -9,7 +9,7 @@
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 /**
  * @ingroup xrp_api
@@ -41,14 +41,14 @@ class XRPGyro {
    *
    * @return the current heading of the robot in radians.
    */
-  units::radian_t GetAngle() const;
+  wpi::units::radian_t GetAngle() const;
 
   /**
    * Gets the angle the robot is facing.
    *
-   * @return A Rotation2d with the current heading.
+   * @return A wpi::math::Rotation2d with the current heading.
    */
-  frc::Rotation2d GetRotation2d() const;
+  wpi::math::Rotation2d GetRotation2d() const;
 
   /**
    * Return the rate of rotation of the gyro
@@ -57,49 +57,49 @@ class XRPGyro {
    *
    * @return the current rate in radians per second
    */
-  units::radians_per_second_t GetRate() const;
+  wpi::units::radians_per_second_t GetRate() const;
 
   /**
    * Gets the rate of turn in radians-per-second around the X-axis.
    *
    * @return rate of turn in radians-per-second
    */
-  units::radians_per_second_t GetRateX() const;
+  wpi::units::radians_per_second_t GetRateX() const;
 
   /**
    * Gets the rate of turn in radians-per-second around the Y-axis.
    *
    * @return rate of turn in radians-per-second
    */
-  units::radians_per_second_t GetRateY() const;
+  wpi::units::radians_per_second_t GetRateY() const;
 
   /**
    * Gets the rate of turn in radians-per-second around the Z-axis.
    *
    * @return rate of turn in radians-per-second
    */
-  units::radians_per_second_t GetRateZ() const;
+  wpi::units::radians_per_second_t GetRateZ() const;
 
   /**
    * Gets the currently reported angle around the X-axis.
    *
    * @return current angle around X-axis in radians
    */
-  units::radian_t GetAngleX() const;
+  wpi::units::radian_t GetAngleX() const;
 
   /**
    * Gets the currently reported angle around the Y-axis.
    *
    * @return current angle around Y-axis in radians
    */
-  units::radian_t GetAngleY() const;
+  wpi::units::radian_t GetAngleY() const;
 
   /**
    * Gets the currently reported angle around the Z-axis.
    *
    * @return current angle around Z-axis in radians
    */
-  units::radian_t GetAngleZ() const;
+  wpi::units::radian_t GetAngleZ() const;
 
   /**
    * Reset the gyro angles to 0.
@@ -115,11 +115,11 @@ class XRPGyro {
   hal::SimDouble m_simAngleY;
   hal::SimDouble m_simAngleZ;
 
-  units::radian_t m_angleXOffset = 0_rad;
-  units::radian_t m_angleYOffset = 0_rad;
-  units::radian_t m_angleZOffset = 0_rad;
+  wpi::units::radian_t m_angleXOffset = 0_rad;
+  wpi::units::radian_t m_angleYOffset = 0_rad;
+  wpi::units::radian_t m_angleZOffset = 0_rad;
 };
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
index 79b020e43a..3ac3aec220 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
@@ -13,7 +13,7 @@
 #include "wpi/hardware/motor/MotorSafety.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 WPI_IGNORE_DEPRECATED
 
@@ -27,7 +27,7 @@ WPI_IGNORE_DEPRECATED
  *
  * <p>A SimDevice based motor controller representing the motors on an XRP robot
  */
-class XRPMotor : public frc::MotorController, public frc::MotorSafety {
+class XRPMotor : public wpi::MotorController, public wpi::MotorSafety {
  public:
   /**
    * Constructs an XRPMotor.
@@ -64,4 +64,4 @@ class XRPMotor : public frc::MotorController, public frc::MotorSafety {
 
 WPI_UNIGNORE_DEPRECATED
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
index a0c6b4a160..3e9c17b84d 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
@@ -10,7 +10,7 @@
 #include "wpi/hardware/discrete/DigitalOutput.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 /**
  * @ingroup xrp_api
@@ -30,7 +30,7 @@ class XRPOnBoardIO {
   XRPOnBoardIO() {}  // No need to do anything. No configurable IO
 
   static constexpr auto kMessageInterval = 1_s;
-  units::second_t m_nextMessageTime = 0_s;
+  wpi::units::second_t m_nextMessageTime = 0_s;
 
   /**
    * Gets if the USER button is pressed.
@@ -54,10 +54,10 @@ class XRPOnBoardIO {
   bool GetLed() const;
 
  private:
-  frc::DigitalInput m_userButton{0};
-  frc::DigitalOutput m_led{1};
+  wpi::DigitalInput m_userButton{0};
+  wpi::DigitalOutput m_led{1};
 };
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
index 69d76b517f..89e1014c04 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
@@ -7,7 +7,7 @@
 #include "wpi/hardware/discrete/AnalogInput.hpp"
 #include "wpi/units/length.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 /**
  * @ingroup xrp_api
@@ -23,12 +23,12 @@ class XRPRangefinder {
    *
    * @return distance in meters
    */
-  units::meter_t GetDistance() const;
+  wpi::units::meter_t GetDistance() const;
 
  private:
-  frc::AnalogInput m_rangefinder{2};
+  wpi::AnalogInput m_rangefinder{2};
 };
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
index cd774f4691..77dd37fe2f 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
@@ -6,7 +6,7 @@
 
 #include "wpi/hardware/discrete/AnalogInput.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 /**
  * @ingroup xrp_api
@@ -31,10 +31,10 @@ class XRPReflectanceSensor {
   double GetRightReflectanceValue() const;
 
  private:
-  frc::AnalogInput m_leftSensor{0};
-  frc::AnalogInput m_rightSensor{1};
+  wpi::AnalogInput m_leftSensor{0};
+  wpi::AnalogInput m_rightSensor{1};
 };
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
index fbec073ede..c1a710c046 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
@@ -11,7 +11,7 @@
 #include "wpi/hal/SimDevice.h"
 #include "wpi/units/angle.hpp"
 
-namespace frc {
+namespace wpi::xrp {
 
 /**
  * @ingroup xrp_api
@@ -37,14 +37,14 @@ class XRPServo {
    *
    * @param angle Desired angle in radians
    */
-  void SetAngle(units::radian_t angle);
+  void SetAngle(wpi::units::radian_t angle);
 
   /**
    * Get the servo angle.
    *
    * @return Current servo angle in radians
    */
-  units::radian_t GetAngle() const;
+  wpi::units::radian_t GetAngle() const;
 
   /**
    * Set the servo position.
@@ -78,4 +78,4 @@ class XRPServo {
 
 /** @} */
 
-}  // namespace frc
+}  // namespace wpi::xrp
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPGyro.yml b/xrpVendordep/src/main/python/semiwrap/XRPGyro.yml
index e5726f2529..4f83b7806a 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPGyro.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPGyro.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::XRPGyro:
+  wpi::xrp::XRPGyro:
     methods:
       XRPGyro:
       GetAngle:
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml b/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
index a534dc9996..5845840c2d 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPMotor.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::XRPMotor:
+  wpi::xrp::XRPMotor:
     methods:
       XRPMotor:
       Set:
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPOnBoardIO.yml b/xrpVendordep/src/main/python/semiwrap/XRPOnBoardIO.yml
index 3ea7645c37..cb60a5a291 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPOnBoardIO.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPOnBoardIO.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::XRPOnBoardIO:
+  wpi::xrp::XRPOnBoardIO:
     attributes:
       kMessageInterval:
       m_nextMessageTime:
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPRangefinder.yml b/xrpVendordep/src/main/python/semiwrap/XRPRangefinder.yml
index 1a7a05365f..4b8e880af6 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPRangefinder.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPRangefinder.yml
@@ -1,4 +1,4 @@
 classes:
-  frc::XRPRangefinder:
+  wpi::xrp::XRPRangefinder:
     methods:
       GetDistance:
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPReflectanceSensor.yml b/xrpVendordep/src/main/python/semiwrap/XRPReflectanceSensor.yml
index 5052c03650..1d70286dfd 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPReflectanceSensor.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPReflectanceSensor.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::XRPReflectanceSensor:
+  wpi::xrp::XRPReflectanceSensor:
     methods:
       GetLeftReflectanceValue:
       GetRightReflectanceValue:
diff --git a/xrpVendordep/src/main/python/semiwrap/XRPServo.yml b/xrpVendordep/src/main/python/semiwrap/XRPServo.yml
index 5fc8e1bf62..01890a062a 100644
--- a/xrpVendordep/src/main/python/semiwrap/XRPServo.yml
+++ b/xrpVendordep/src/main/python/semiwrap/XRPServo.yml
@@ -1,5 +1,5 @@
 classes:
-  frc::XRPServo:
+  wpi::xrp::XRPServo:
     methods:
       XRPServo:
       SetAngle: