SCRIPT namespace replacements

2026-06-24 01:31:46 +00:00 · 2025-11-07 20:00:05 -05:00
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
--- 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);
--- 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);
--- 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:
--- 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:
--- 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:
--- 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);

--- 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>
--- 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);
--- 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:
--- 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:
--- 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:
--- 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);
--- 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>
--- 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>
--- 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
--- 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
--- 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
--- 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);
--- 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);