SCRIPT namespace replacements

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

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

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

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

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

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

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

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

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

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