From a238cec12bbce3adbe60fe88e36cc0dc27c778ba Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 26 May 2021 00:09:36 -0700
Subject: [PATCH] [wpiutil] Deprecate wpi::math constants in favor of
 wpi::numbers (#3383)

The constants were moved from std::math to std::numbers before
ratification in C++20.
---
 glass/src/lib/native/cpp/hardware/Gyro.cpp    |  6 +-
 glass/src/lib/native/cpp/other/Drive.cpp      | 19 ++---
 .../command/MecanumControllerCommandTest.cpp  |  2 +-
 .../command/SwerveControllerCommandTest.cpp   |  2 +-
 wpilibc/src/main/native/cpp/Joystick.cpp      |  4 +-
 .../main/native/cpp/drive/KilloughDrive.cpp   | 18 ++---
 .../main/native/cpp/drive/MecanumDrive.cpp    |  6 +-
 .../src/main/native/cpp/drive/Vector2d.cpp    |  6 +-
 .../HolonomicDriveControllerTest.cpp          |  5 +-
 .../controller/ProfiledPIDInputOutputTest.cpp | 18 ++---
 .../cpp/controller/RamseteControllerTest.cpp  |  3 +-
 .../cpp/simulation/AnalogEncoderSimTest.cpp   |  4 +-
 .../simulation/SingleJointedArmSimTest.cpp    |  4 +-
 .../cpp/examples/ArmBot/include/Constants.h   |  8 +-
 .../ArmBotOffboard/include/Constants.h        |  8 +-
 .../cpp/examples/ArmSimulation/cpp/Robot.cpp  |  4 +-
 .../DifferentialDriveBot/include/Drivetrain.h |  8 +-
 .../include/Drivetrain.h                      |  8 +-
 .../DriveDistanceOffboard/include/Constants.h |  2 +-
 .../ElevatorProfiledPID/cpp/Robot.cpp         |  4 +-
 .../examples/ElevatorSimulation/cpp/Robot.cpp |  4 +-
 .../ElevatorTrapezoidProfile/cpp/Robot.cpp    |  2 +-
 .../main/cpp/examples/Encoder/cpp/Robot.cpp   |  4 +-
 .../examples/Frisbeebot/include/Constants.h   |  5 +-
 .../GearsBot/cpp/subsystems/DriveTrain.cpp    |  6 +-
 .../GyroDriveCommands/include/Constants.h     |  5 +-
 .../HatchbotInlined/include/Constants.h       |  5 +-
 .../HatchbotTraditional/include/Constants.h   |  5 +-
 .../examples/MecanumBot/include/Drivetrain.h  |  4 +-
 .../include/Constants.h                       |  5 +-
 .../include/Drivetrain.h                      |  4 +-
 .../MotorControlEncoder/cpp/Robot.cpp         |  4 +-
 .../PacGoat/cpp/subsystems/DriveTrain.cpp     |  6 +-
 .../RamseteCommand/include/Constants.h        |  5 +-
 .../RamseteController/include/Drivetrain.h    |  8 +-
 .../cpp/commands/TurnDegrees.cpp              |  4 +-
 .../cpp/subsystems/Drivetrain.cpp             |  6 +-
 .../include/Drivetrain.h                      |  8 +-
 .../cpp/examples/StateSpaceArm/cpp/Robot.cpp  |  7 +-
 .../include/Constants.h                       |  4 +-
 .../examples/StateSpaceElevator/cpp/Robot.cpp |  4 +-
 .../examples/StateSpaceFlywheel/cpp/Robot.cpp |  4 +-
 .../StateSpaceFlywheelSysId/cpp/Robot.cpp     |  4 +-
 .../examples/SwerveBot/cpp/SwerveModule.cpp   | 13 ++--
 .../examples/SwerveBot/include/Drivetrain.h   |  4 +-
 .../examples/SwerveBot/include/SwerveModule.h |  6 +-
 .../cpp/RobotContainer.cpp                    |  4 +-
 .../cpp/subsystems/SwerveModule.cpp           |  8 +-
 .../include/Constants.h                       |  7 +-
 .../include/subsystems/SwerveModule.h         |  6 +-
 .../cpp/SwerveModule.cpp                      | 13 ++--
 .../include/Drivetrain.h                      |  4 +-
 .../include/SwerveModule.h                    |  6 +-
 .../examples/swervebot/SwerveModule.java      |  4 +-
 .../subsystems/SwerveModule.java              |  4 +-
 .../SwerveModule.java                         |  4 +-
 wpimath/src/dev/native/cpp/main.cpp           |  4 +-
 .../src/main/native/include/frc/MathUtil.h    |  7 +-
 .../include/frc/estimator/AngleStatistics.h   |  4 +-
 wpimath/src/main/native/include/units/math.h  |  2 -
 .../test/native/cpp/LinearFilterNoiseTest.cpp |  4 +-
 .../native/cpp/LinearFilterOutputTest.cpp     |  6 +-
 wpimath/src/test/native/cpp/MathUtilTest.cpp  | 27 +++----
 .../cpp/estimator/AngleStatisticsTest.cpp     | 16 ++--
 .../native/cpp/geometry/Rotation2dTest.cpp    | 12 +--
 .../test/native/cpp/geometry/Twist2dTest.cpp  | 10 +--
 .../DifferentialDriveKinematicsTest.cpp       | 18 +++--
 .../DifferentialDriveOdometryTest.cpp         |  4 +-
 .../kinematics/MecanumDriveKinematicsTest.cpp |  6 +-
 .../kinematics/SwerveDriveKinematicsTest.cpp  | 10 +--
 wpiutil/.styleguide                           |  2 +
 wpiutil/src/main/native/include/wpi/math      | 75 ++++---------------
 wpiutil/src/main/native/include/wpi/numbers   | 64 ++++++++++++++++
 73 files changed, 322 insertions(+), 284 deletions(-)
 create mode 100644 wpiutil/src/main/native/include/wpi/numbers

diff --git a/glass/src/lib/native/cpp/hardware/Gyro.cpp b/glass/src/lib/native/cpp/hardware/Gyro.cpp
index 67297e5566..36a3525d66 100644
--- a/glass/src/lib/native/cpp/hardware/Gyro.cpp
+++ b/glass/src/lib/native/cpp/hardware/Gyro.cpp
@@ -10,7 +10,7 @@
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -54,7 +54,7 @@ void glass::DisplayGyro(GyroModel* m) {
 
   // Draw the spokes at every 5 degrees and a "major" spoke every 45 degrees.
   for (int i = -175; i <= 180; i += 5) {
-    double radians = i * 2 * wpi::math::pi / 360.0;
+    double radians = i * 2 * wpi::numbers::pi / 360.0;
     ImVec2 direction(std::sin(radians), -std::cos(radians));
 
     bool major = i % 45 == 0;
@@ -74,7 +74,7 @@ void glass::DisplayGyro(GyroModel* m) {
 
   draw->AddCircleFilled(center, radius * 0.075, secondaryColor, 50);
 
-  double radians = value * 2 * wpi::math::pi / 360.0;
+  double radians = value * 2 * wpi::numbers::pi / 360.0;
   draw->AddLine(
       center - ImVec2(1, 0),
       center + ImVec2(std::sin(radians), -std::cos(radians)) * radius * 0.95f,
diff --git a/glass/src/lib/native/cpp/other/Drive.cpp b/glass/src/lib/native/cpp/other/Drive.cpp
index 39357d4ad6..9dc1675088 100644
--- a/glass/src/lib/native/cpp/other/Drive.cpp
+++ b/glass/src/lib/native/cpp/other/Drive.cpp
@@ -11,7 +11,7 @@
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -55,11 +55,11 @@ void glass::DisplayDrive(DriveModel* m) {
     draw->AddTriangleFilled(
         arrowPos,
         arrowPos + ImRotate(ImVec2(0.0f, 7.5f),
-                            std::cos(angle + wpi::math::pi / 4),
-                            std::sin(angle + wpi::math::pi / 4)),
+                            std::cos(angle + wpi::numbers::pi / 4),
+                            std::sin(angle + wpi::numbers::pi / 4)),
         arrowPos + ImRotate(ImVec2(0.0f, 7.5f),
-                            std::cos(angle - wpi::math::pi / 4),
-                            std::sin(angle - wpi::math::pi / 4)),
+                            std::cos(angle - wpi::numbers::pi / 4),
+                            std::sin(angle - wpi::numbers::pi / 4)),
         color);
   };
 
@@ -88,20 +88,21 @@ void glass::DisplayDrive(DriveModel* m) {
   if (rotation != 0) {
     float radius = 60.0f;
     double a1 = 0.0;
-    double a2 = wpi::math::pi / 2 * rotation;
+    double a2 = wpi::numbers::pi / 2 * rotation;
 
     draw->PathArcTo(center, radius, a1, a2, 20);
     draw->PathStroke(color, false);
-    draw->PathArcTo(center, radius, a1 + wpi::math::pi, a2 + wpi::math::pi, 20);
+    draw->PathArcTo(center, radius, a1 + wpi::numbers::pi,
+                    a2 + wpi::numbers::pi, 20);
     draw->PathStroke(color, false);
 
-    double adder = rotation < 0 ? wpi::math::pi : 0;
+    double adder = rotation < 0 ? wpi::numbers::pi : 0;
 
     auto arrowPos =
         center + ImVec2(radius * -std::cos(a2), radius * -std::sin(a2));
     drawArrow(arrowPos, a2 + adder);
 
-    a2 += wpi::math::pi;
+    a2 += wpi::numbers::pi;
     arrowPos = center + ImVec2(radius * -std::cos(a2), radius * -std::sin(a2));
     drawArrow(arrowPos, a2 + adder);
   }
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
index d9094ea129..e72a41ab38 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
@@ -14,7 +14,7 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index 357dd80be4..60546f63a3 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -15,7 +15,7 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 
diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp
index 71e41f9412..3ca2ff0b5c 100644
--- a/wpilibc/src/main/native/cpp/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -7,7 +7,7 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 using namespace frc;
 
@@ -114,5 +114,5 @@ double Joystick::GetDirectionRadians() const {
 }
 
 double Joystick::GetDirectionDegrees() const {
-  return (180 / wpi::math::pi) * GetDirectionRadians();
+  return (180 / wpi::numbers::pi) * GetDirectionRadians();
 }
diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index 7863eab91b..e2b55caf11 100644
--- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -8,7 +8,7 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/SpeedController.h"
 #include "frc/smartdashboard/SendableBuilder.h"
@@ -37,12 +37,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
     : m_leftMotor(&leftMotor),
       m_rightMotor(&rightMotor),
       m_backMotor(&backMotor) {
-  m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
-               std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
-  m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
-                std::sin(rightMotorAngle * (wpi::math::pi / 180.0))};
-  m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
-               std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
+  m_leftVec = {std::cos(leftMotorAngle * (wpi::numbers::pi / 180.0)),
+               std::sin(leftMotorAngle * (wpi::numbers::pi / 180.0))};
+  m_rightVec = {std::cos(rightMotorAngle * (wpi::numbers::pi / 180.0)),
+                std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
+  m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
+               std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
   auto& registry = SendableRegistry::GetInstance();
   registry.AddChild(this, m_leftMotor);
   registry.AddChild(this, m_rightMotor);
@@ -81,8 +81,8 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
     reported = true;
   }
 
-  DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
-                 magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
+  DriveCartesian(magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
+                 magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
                  zRotation, 0.0);
 }
 
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index 3f4d2c9ea9..c1012557c3 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -8,7 +8,7 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/SpeedController.h"
 #include "frc/drive/Vector2d.h"
@@ -73,8 +73,8 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
     reported = true;
   }
 
-  DriveCartesian(magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
-                 magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
+  DriveCartesian(magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
+                 magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
                  zRotation, 0.0);
 }
 
diff --git a/wpilibc/src/main/native/cpp/drive/Vector2d.cpp b/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
index 58ad6fc5b4..a342dc276d 100644
--- a/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
+++ b/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
@@ -6,7 +6,7 @@
 
 #include <cmath>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 using namespace frc;
 
@@ -16,8 +16,8 @@ Vector2d::Vector2d(double x, double y) {
 }
 
 void Vector2d::Rotate(double angle) {
-  double cosA = std::cos(angle * (wpi::math::pi / 180.0));
-  double sinA = std::sin(angle * (wpi::math::pi / 180.0));
+  double cosA = std::cos(angle * (wpi::numbers::pi / 180.0));
+  double sinA = std::sin(angle * (wpi::numbers::pi / 180.0));
   double out[2];
   out[0] = x * cosA - y * sinA;
   out[1] = x * sinA + y * cosA;
diff --git a/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp b/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
index 388c346c31..0c3a0b6a24 100644
--- a/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
@@ -4,7 +4,7 @@
 
 #include <units/math.h>
 #include <units/time.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/MathUtil.h"
 #include "frc/controller/HolonomicDriveController.h"
@@ -15,7 +15,8 @@
   EXPECT_LE(units::math::abs(val1 - val2), eps)
 
 static constexpr units::meter_t kTolerance{1 / 12.0};
-static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
+static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
+                                                   180.0};
 
 TEST(HolonomicDriveControllerTest, ReachesReference) {
   frc::HolonomicDriveController controller{
diff --git a/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp b/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
index 10de3b9274..24e3daf61f 100644
--- a/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
@@ -5,7 +5,7 @@
 #include <units/angle.h>
 #include <units/angular_acceleration.h>
 #include <units/angular_velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/controller/ProfiledPIDController.h"
 #include "gtest/gtest.h"
@@ -40,8 +40,8 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest1) {
 
 TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
   controller->SetP(1);
-  controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
-                                    units::radian_t{wpi::math::pi});
+  controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
+                                    units::radian_t{wpi::numbers::pi});
 
   static constexpr units::radian_t kSetpoint{-3.4826633343199735};
   static constexpr units::radian_t kMeasurement{-3.1352207333939606};
@@ -52,13 +52,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest2) {
 
   // Error must be less than half the input range at all times
   EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
-            units::radian_t{wpi::math::pi});
+            units::radian_t{wpi::numbers::pi});
 }
 
 TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
   controller->SetP(1);
-  controller->EnableContinuousInput(-units::radian_t{wpi::math::pi},
-                                    units::radian_t{wpi::math::pi});
+  controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
+                                    units::radian_t{wpi::numbers::pi});
 
   static constexpr units::radian_t kSetpoint{-3.5176604690006377};
   static constexpr units::radian_t kMeasurement{3.1191729343822456};
@@ -69,13 +69,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest3) {
 
   // Error must be less than half the input range at all times
   EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
-            units::radian_t{wpi::math::pi});
+            units::radian_t{wpi::numbers::pi});
 }
 
 TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
   controller->SetP(1);
   controller->EnableContinuousInput(0_rad,
-                                    units::radian_t{2.0 * wpi::math::pi});
+                                    units::radian_t{2.0 * wpi::numbers::pi});
 
   static constexpr units::radian_t kSetpoint{2.78};
   static constexpr units::radian_t kMeasurement{3.12};
@@ -86,7 +86,7 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInputTest4) {
 
   // Error must be less than half the input range at all times
   EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
-            units::radian_t{wpi::math::pi});
+            units::radian_t{wpi::numbers::pi});
 }
 
 TEST_F(ProfiledPIDInputOutputTest, ProportionalGainOutputTest) {
diff --git a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp b/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
index e0c5100d8d..101dea2b87 100644
--- a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -13,7 +13,8 @@
   EXPECT_LE(units::math::abs(val1 - val2), eps)
 
 static constexpr units::meter_t kTolerance{1 / 12.0};
-static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
+static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
+                                                   180.0};
 
 TEST(RamseteControllerTest, ReachesReference) {
   frc::RamseteController controller{2.0, 0.7};
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
index 6e3372acc2..9c51f3e201 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
@@ -4,7 +4,7 @@
 
 #include <hal/HAL.h>
 #include <units/math.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/AnalogEncoder.h"
 #include "frc/AnalogInput.h"
@@ -22,6 +22,6 @@ TEST(AnalogEncoderSimTest, TestBasic) {
   encoderSim.SetPosition(180_deg);
   EXPECT_NEAR(encoder.Get().to<double>(), 0.5, 1E-8);
   EXPECT_NEAR(encoderSim.GetTurns().to<double>(), 0.5, 1E-8);
-  EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::math::pi,
+  EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::numbers::pi,
               1E-8);
 }
diff --git a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
index 2c4606ad93..f682fe7867 100644
--- a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/simulation/SingleJointedArmSim.h"
 #include "gtest/gtest.h"
@@ -18,5 +18,5 @@ TEST(SingleJointedArmTest, Disabled) {
   }
 
   // The arm should swing down.
-  EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::math::pi / 2, 0.01);
+  EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::numbers::pi / 2, 0.01);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
index 87cfc72d6c..932875c68f 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
@@ -8,7 +8,7 @@
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +34,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace ArmConstants {
@@ -54,7 +55,8 @@ constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
 
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
-constexpr auto kEncoderDistancePerPulse = 2.0_rad * wpi::math::pi / kEncoderPPR;
+constexpr auto kEncoderDistancePerPulse =
+    2.0_rad * wpi::numbers::pi / kEncoderPPR;
 
 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
index 87cfc72d6c..932875c68f 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
@@ -8,7 +8,7 @@
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +34,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace ArmConstants {
@@ -54,7 +55,8 @@ constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
 
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
-constexpr auto kEncoderDistancePerPulse = 2.0_rad * wpi::math::pi / kEncoderPPR;
+constexpr auto kEncoderDistancePerPulse =
+    2.0_rad * wpi::numbers::pi / kEncoderPPR;
 
 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
index b777af3e2e..d85283c9b2 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -17,7 +17,7 @@
 #include <frc/system/plant/LinearSystemId.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -35,7 +35,7 @@ class Robot : public frc::TimedRobot {
   // distance per pulse = (angle per revolution) / (pulses per revolution)
   //  = (2 * PI rads) / (4096 pulses)
   static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::math::pi / 4096.0;
+      2.0 * wpi::numbers::pi / 4096.0;
 
   // The arm gearbox represents a gerbox containing two Vex 775pro motors.
   frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2);
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
index d7e9e078b6..83832a0ef6 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -16,7 +16,7 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -28,9 +28,9 @@ class Drivetrain {
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -40,7 +40,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
index e9b657be8a..68fa319a94 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -16,7 +16,7 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -29,9 +29,9 @@ class Drivetrain {
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
     m_leftEncoder.SetDistancePerPulse(
-        2 * wpi::math::pi * kWheelRadius.to<double>() / kEncoderResolution);
+        2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
     m_rightEncoder.SetDistancePerPulse(
-        2 * wpi::math::pi * kWheelRadius.to<double>() / kEncoderResolution);
+        2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
 
     m_leftEncoder.Reset();
     m_rightEncoder.Reset();
@@ -40,7 +40,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
index 4e467c9eb9..9d950aa450 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
@@ -9,7 +9,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index 14f34d729f..ebafa75296 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -12,14 +12,14 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 class Robot : public frc::TimedRobot {
  public:
   static constexpr units::second_t kDt = 20_ms;
 
   Robot() {
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
   }
 
   void TeleopPeriodic() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
index 0aa766fb15..fc6e6d1dcb 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -17,7 +17,7 @@
 #include <frc/system/plant/LinearSystemId.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
   // distance per pulse = (distance per revolution) / (pulses per revolution)
   //  = (Pi * D) / ppr
   static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::math::pi * kElevatorDrumRadius.to<double>() / 4096.0;
+      2.0 * wpi::numbers::pi * kElevatorDrumRadius.to<double>() / 4096.0;
 
   // This gearbox represents a gearbox containing 4 Vex 775pro motors.
   frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index cf5fe9906a..d63d84e48d 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -11,7 +11,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "ExampleSmartMotorController.h"
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index 8a74d53556..7db2c8309a 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -5,7 +5,7 @@
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Sample program displaying the value of a quadrature encoder on the
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
      * inch diameter (1.5inch radius) wheel, and that we want to measure
      * distance in inches.
      */
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
 
     /* Defines the lowest rate at which the encoder will not be considered
      * stopped, for the purposes of the GetStopped() method. Units are in
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
index 5023c4138c..9c8105b6be 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
@@ -7,7 +7,7 @@
 #include <units/angle.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -33,7 +33,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace ShooterConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
index 00becede5f..3ca4cefce1 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
@@ -7,7 +7,7 @@
 #include <frc/Joystick.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/length.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 DriveTrain::DriveTrain() {
 // Encoders may measure differently in the real world and in
@@ -21,9 +21,9 @@ DriveTrain::DriveTrain() {
 #else
   // Circumference = diameter * pi. 360 tick simulated encoders.
   m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
-                                    wpi::math::pi / 360.0);
+                                    wpi::numbers::pi / 360.0);
   m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
-                                     wpi::math::pi / 360.0);
+                                     wpi::numbers::pi / 360.0);
 #endif
   SetName("DriveTrain");
   // Let's show everything on the LiveWindow
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
index b77a926f5b..a7f41d4cc4 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
@@ -6,7 +6,7 @@
 
 #include <units/angle.h>
 #include <units/angular_velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -32,7 +32,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 
 constexpr bool kGyroReversed = true;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
index 34c47018c3..9299c5129f 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace HatchConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
index 34c47018c3..9299c5129f 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace HatchConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
index 1b097fe489..0aa30868ba 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -13,7 +13,7 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a mecanum drive style drivetrain.
@@ -32,7 +32,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::PWMSparkMax m_frontLeftMotor{1};
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
index 0b486e0711..c2a3047427 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -12,7 +12,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #pragma once
 
@@ -51,7 +51,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = .15;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterMeters * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
 // These characterization values MUST be determined either experimentally or
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
index ba796d5a0d..d084fa579f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -14,7 +14,7 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a mecanum drive style drivetrain.
@@ -32,7 +32,7 @@ class Drivetrain {
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::PWMSparkMax m_frontLeftMotor{1};
diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
index 5b76a62f80..7d0e9baf96 100644
--- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/TimedRobot.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This sample program shows how to control a motor using a joystick. In the
@@ -35,7 +35,7 @@ class Robot : public frc::TimedRobot {
   void RobotInit() override {
     // Use SetDistancePerPulse to set the multiplier for GetDistance
     // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
-    m_encoder.SetDistancePerPulse((wpi::math::pi * 6) / 360.0);
+    m_encoder.SetDistancePerPulse((wpi::numbers::pi * 6) / 360.0);
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
index e9c878a3e6..68447a902a 100644
--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
@@ -6,7 +6,7 @@
 
 #include <frc/Joystick.h>
 #include <units/length.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "commands/DriveWithJoystick.h"
 
@@ -31,9 +31,9 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
 #else
   // Circumference = diameter * pi. 360 tick simulated encoders.
   m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
-                                     wpi::math::pi / 360.0);
+                                     wpi::numbers::pi / 360.0);
   m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
-                                    wpi::math::pi / 360.0);
+                                    wpi::numbers::pi / 360.0);
 #endif
 
   AddChild("Right Encoder", m_rightEncoder);
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
index a67ae98874..103d8f3137 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -9,7 +9,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #pragma once
 
@@ -40,7 +40,8 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
 // These characterization values MUST be determined either experimentally or
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
index 3cdbd1e4d2..b85cc10117 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
@@ -14,7 +14,7 @@
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -26,9 +26,9 @@ class Drivetrain {
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -38,7 +38,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
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 c59f358a19..2d6c148df1 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
@@ -5,7 +5,7 @@
 #include "commands/TurnDegrees.h"
 
 #include <units/math.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 void TurnDegrees::Initialize() {
   // Set motors to stop, read encoder values for starting point
@@ -26,7 +26,7 @@ bool TurnDegrees::IsFinished() {
   // found here https://www.pololu.com/category/203/romi-chassis-kits, has a
   // wheel placement diameter (149 mm) - width of the wheel (8 mm) = 141 mm
   // or 5.551 inches. We then take into consideration the width of the tires.
-  static auto inchPerDegree = (5.551_in * wpi::math::pi) / 360_deg;
+  static auto inchPerDegree = (5.551_in * wpi::numbers::pi) / 360_deg;
 
   // Compare distance traveled from start to distance based on degree turn.
   return GetAverageTurningDistance() >= inchPerDegree * m_angle;
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 4f43eee18d..ba5b109a63 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -4,7 +4,7 @@
 
 #include "subsystems/Drivetrain.h"
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -16,9 +16,9 @@ using namespace DriveConstants;
 // to use DIO pins 4/5 and 6/7 for the left and right
 Drivetrain::Drivetrain() {
   m_leftEncoder.SetDistancePerPulse(
-      wpi::math::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
+      wpi::numbers::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
   m_rightEncoder.SetDistancePerPulse(
-      wpi::math::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
+      wpi::numbers::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
   ResetEncoders();
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
index f60deefc3e..213b5a51c6 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -22,7 +22,7 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -34,9 +34,9 @@ class Drivetrain {
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -50,7 +50,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index 5841f5fb15..39b9197956 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -18,7 +18,7 @@
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -66,7 +66,8 @@ class Robot : public frc::TimedRobot {
       // qelms. Velocity error tolerance, in radians and radians per second.
       // Decrease this to more heavily penalize state excursion, or make the
       // controller behave more aggressively.
-      {1.0 * 2.0 * wpi::math::pi / 360.0, 10.0 * 2.0 * wpi::math::pi / 360.0},
+      {1.0 * 2.0 * wpi::numbers::pi / 360.0,
+       10.0 * 2.0 * wpi::numbers::pi / 360.0},
       // 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
@@ -95,7 +96,7 @@ class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::math::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
index bc350276d7..8a47ff8bb0 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
@@ -12,7 +12,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #pragma once
 
@@ -43,7 +43,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr auto kWheelDiameter = 6_in;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameter.to<double>() * wpi::math::pi) /
+    (kWheelDiameter.to<double>() * wpi::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index a0d9eaf717..84efd5c1b4 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -19,7 +19,7 @@
 #include <units/length.h>
 #include <units/mass.h>
 #include <units/velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -92,7 +92,7 @@ class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
     // Circumference = pi * d, so distance per click = pi * d / counts
-    m_encoder.SetDistancePerPulse(2.0 * wpi::math::pi *
+    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi *
                                   kDrumRadius.to<double>() / 4096.0);
   }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index b52fc7ca7d..7d542be5c1 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -16,7 +16,7 @@
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
 #include <units/angular_velocity.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -83,7 +83,7 @@ class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::math::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index 26cebd646b..41068ecd1c 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -16,7 +16,7 @@
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -84,7 +84,7 @@ class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::math::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index fb07c15050..33397ebd77 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -5,7 +5,7 @@
 #include "SwerveModule.h"
 
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
@@ -20,18 +20,19 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
   // Set the distance per pulse for the drive encoder. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
-  m_driveEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+  m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
                                      kEncoderResolution);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::math::pi)
+  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
   // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::math::pi / kEncoderResolution);
+  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+                                       kEncoderResolution);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
-  m_turningPIDController.EnableContinuousInput(-units::radian_t(wpi::math::pi),
-                                               units::radian_t(wpi::math::pi));
+  m_turningPIDController.EnableContinuousInput(
+      -units::radian_t(wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
 }
 
 frc::SwerveModuleState SwerveModule::GetState() const {
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
index 496ba7f39c..6ff5b48b38 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -8,7 +8,7 @@
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "SwerveModule.h"
 
@@ -27,7 +27,7 @@ class Drivetrain {
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
index db02c729d5..00a938b83f 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -14,7 +14,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 class SwerveModule {
  public:
@@ -29,9 +29,9 @@ class SwerveModule {
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr auto kModuleMaxAngularVelocity =
-      wpi::math::pi * 1_rad_per_s;  // radians per second
+      wpi::numbers::pi * 1_rad_per_s;  // radians per second
   static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::math::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
   frc::PWMSparkMax m_driveMotor;
   frc::PWMSparkMax m_turningMotor;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 552a5b0c93..1778aefd36 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -67,8 +67,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       AutoConstants::kPThetaController, 0, 0,
       AutoConstants::kThetaControllerConstraints};
 
-  thetaController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
-                                        units::radian_t(wpi::math::pi));
+  thetaController.EnableContinuousInput(units::radian_t(-wpi::numbers::pi),
+                                        units::radian_t(wpi::numbers::pi));
 
   frc2::SwerveControllerCommand<4> swerveControllerCommand(
       exampleTrajectory, [this]() { return m_drive.GetPose(); },
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
index bccafd7b75..f75e475b9f 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
@@ -5,7 +5,7 @@
 #include "subsystems/SwerveModule.h"
 
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -27,15 +27,15 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
       ModuleConstants::kDriveEncoderDistancePerPulse);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::math::pi)
+  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
   // divided by the encoder resolution.
   m_turningEncoder.SetDistancePerPulse(
       ModuleConstants::kTurningEncoderDistancePerPulse);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
-  m_turningPIDController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
-                                               units::radian_t(wpi::math::pi));
+  m_turningPIDController.EnableContinuousInput(
+      units::radian_t(-wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
 }
 
 frc::SwerveModuleState SwerveModule::GetState() {
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
index d41eeda548..96d1c25a6b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -12,7 +12,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #pragma once
 
@@ -77,11 +77,12 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = .15;
 constexpr double kDriveEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterMeters * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 
 constexpr double kTurningEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (wpi::math::pi * 2) / static_cast<double>(kEncoderCPR);
+    (wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
 
 constexpr double kPModuleTurningController = 1;
 constexpr double kPModuleDriveController = 1;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
index 304d8736c6..4208b3551a 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
@@ -11,7 +11,7 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -37,11 +37,11 @@ class SwerveModule {
   // meters per second squared.
 
   static constexpr units::radians_per_second_t kModuleMaxAngularVelocity =
-      units::radians_per_second_t(wpi::math::pi);  // radians per second
+      units::radians_per_second_t(wpi::numbers::pi);  // radians per second
   static constexpr units::unit_t<radians_per_second_squared_t>
       kModuleMaxAngularAcceleration =
           units::unit_t<radians_per_second_squared_t>(
-              wpi::math::pi * 2.0);  // radians per second squared
+              wpi::numbers::pi * 2.0);  // radians per second squared
 
   frc::Spark m_driveMotor;
   frc::Spark m_turningMotor;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
index e7879ff658..3091da8c9e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -5,7 +5,7 @@
 #include "SwerveModule.h"
 
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
@@ -21,17 +21,18 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
   m_driveEncoder.SetDistancePerPulse(
-      2 * wpi::math::pi * kWheelRadius.to<double>() / kEncoderResolution);
+      2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::math::pi)
+  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
   // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::math::pi / kEncoderResolution);
+  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+                                       kEncoderResolution);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
-  m_turningPIDController.EnableContinuousInput(-units::radian_t(wpi::math::pi),
-                                               units::radian_t(wpi::math::pi));
+  m_turningPIDController.EnableContinuousInput(
+      -units::radian_t(wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
 }
 
 frc::SwerveModuleState SwerveModule::GetState() const {
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
index c75002f130..81f8bb7685 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
@@ -9,7 +9,7 @@
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "SwerveModule.h"
 
@@ -27,7 +27,7 @@ class Drivetrain {
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
index 8ce7adea58..7456584730 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
@@ -14,7 +14,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 class SwerveModule {
  public:
@@ -29,9 +29,9 @@ class SwerveModule {
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr auto kModuleMaxAngularVelocity =
-      wpi::math::pi * 1_rad_per_s;  // radians per second
+      wpi::numbers::pi * 1_rad_per_s;  // radians per second
   static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::math::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
   frc::PWMSparkMax m_driveMotor;
   frc::PWMSparkMax m_turningMotor;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 98c636fd2f..5647cfe4c9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -73,8 +73,8 @@ public class SwerveModule {
     m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
 
     // Set the distance (in this case, angle) per pulse for the turning encoder.
-    // This is the the angle through an entire rotation (2 * wpi::math::pi)
-    // divided by the encoder resolution.
+    // This is the the angle through an entire rotation (2 * pi) divided by the
+    // encoder resolution.
     m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
 
     // Limit the PID Controller's input range between -pi and pi and set the input
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 2bc737f42b..fee563f33a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -63,8 +63,8 @@ public class SwerveModule {
     m_driveEncoder.setReverseDirection(driveEncoderReversed);
 
     // Set the distance (in this case, angle) per pulse for the turning encoder.
-    // This is the the angle through an entire rotation (2 * wpi::math::pi)
-    // divided by the encoder resolution.
+    // This is the the angle through an entire rotation (2 * pi) divided by the
+    // encoder resolution.
     m_turningEncoder.setDistancePerPulse(ModuleConstants.kTurningEncoderDistancePerPulse);
 
     // Set whether turning encoder should be reversed or not
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
index d914c95f6f..bc5d89e38d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
@@ -73,8 +73,8 @@ public class SwerveModule {
     m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
 
     // Set the distance (in this case, angle) per pulse for the turning encoder.
-    // This is the the angle through an entire rotation (2 * wpi::math::pi)
-    // divided by the encoder resolution.
+    // This is the the angle through an entire rotation (2 * pi) divided by the
+    // encoder resolution.
     m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
 
     // Limit the PID Controller's input range between -pi and pi and set the input
diff --git a/wpimath/src/dev/native/cpp/main.cpp b/wpimath/src/dev/native/cpp/main.cpp
index e94f09cc01..85398058e9 100644
--- a/wpimath/src/dev/native/cpp/main.cpp
+++ b/wpimath/src/dev/native/cpp/main.cpp
@@ -4,8 +4,8 @@
 
 #include <iostream>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 int main() {
-  std::cout << wpi::math::pi << std::endl;
+  std::cout << wpi::numbers::pi << std::endl;
 }
diff --git a/wpimath/src/main/native/include/frc/MathUtil.h b/wpimath/src/main/native/include/frc/MathUtil.h
index 274f6d5f07..2cef244e57 100644
--- a/wpimath/src/main/native/include/frc/MathUtil.h
+++ b/wpimath/src/main/native/include/frc/MathUtil.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "units/angle.h"
 
@@ -38,8 +38,9 @@ constexpr T InputModulus(T input, T minimumInput, T maximumInput) {
  * @param angle Angle to wrap.
  */
 constexpr units::radian_t AngleModulus(units::radian_t angle) {
-  return InputModulus<units::radian_t>(angle, units::radian_t{-wpi::math::pi},
-                                       units::radian_t{wpi::math::pi});
+  return InputModulus<units::radian_t>(angle,
+                                       units::radian_t{-wpi::numbers::pi},
+                                       units::radian_t{wpi::numbers::pi});
 }
 
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
index 9e2ed8a956..9b4a958f27 100644
--- a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
+++ b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Eigen/Core"
 #include "frc/MathUtil.h"
@@ -59,7 +59,7 @@ Eigen::Matrix<double, States, 1> AngleAdd(
     const Eigen::Matrix<double, States, 1>& b, int angleStateIdx) {
   Eigen::Matrix<double, States, 1> ret = a + b;
   ret[angleStateIdx] =
-      InputModulus(ret[angleStateIdx], -wpi::math::pi, wpi::math::pi);
+      InputModulus(ret[angleStateIdx], -wpi::numbers::pi, wpi::numbers::pi);
   return ret;
 }
 
diff --git a/wpimath/src/main/native/include/units/math.h b/wpimath/src/main/native/include/units/math.h
index cba14c44f0..995335bbb5 100644
--- a/wpimath/src/main/native/include/units/math.h
+++ b/wpimath/src/main/native/include/units/math.h
@@ -28,8 +28,6 @@
 
 #include <cmath>
 
-#include <wpi/math>
-
 #include "units/angle.h"
 #include "units/base.h"
 #include "units/dimensionless.h"
diff --git a/wpimath/src/test/native/cpp/LinearFilterNoiseTest.cpp b/wpimath/src/test/native/cpp/LinearFilterNoiseTest.cpp
index d7cb6e15dc..8d0e613640 100644
--- a/wpimath/src/test/native/cpp/LinearFilterNoiseTest.cpp
+++ b/wpimath/src/test/native/cpp/LinearFilterNoiseTest.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <random>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 #include "units/time.h"
@@ -36,7 +36,7 @@ std::ostream& operator<<(std::ostream& os,
 }
 
 static double GetData(double t) {
-  return 100.0 * std::sin(2.0 * wpi::math::pi * t);
+  return 100.0 * std::sin(2.0 * wpi::numbers::pi * t);
 }
 
 class LinearFilterNoiseTest
diff --git a/wpimath/src/test/native/cpp/LinearFilterOutputTest.cpp b/wpimath/src/test/native/cpp/LinearFilterOutputTest.cpp
index c62a1e82f6..b69d1e5bfc 100644
--- a/wpimath/src/test/native/cpp/LinearFilterOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/LinearFilterOutputTest.cpp
@@ -9,7 +9,7 @@
 #include <memory>
 #include <random>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 #include "units/time.h"
@@ -52,8 +52,8 @@ std::ostream& operator<<(std::ostream& os,
 }
 
 static double GetData(double t) {
-  return 100.0 * std::sin(2.0 * wpi::math::pi * t) +
-         20.0 * std::cos(50.0 * wpi::math::pi * t);
+  return 100.0 * std::sin(2.0 * wpi::numbers::pi * t) +
+         20.0 * std::cos(50.0 * wpi::numbers::pi * t);
 }
 
 static double GetPulseData(double t) {
diff --git a/wpimath/src/test/native/cpp/MathUtilTest.cpp b/wpimath/src/test/native/cpp/MathUtilTest.cpp
index ee4fc6dc86..8ef4f0b455 100644
--- a/wpimath/src/test/native/cpp/MathUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/MathUtilTest.cpp
@@ -51,19 +51,20 @@ TEST(MathUtilTest, InputModulus) {
 
 TEST(MathUtilTest, AngleModulus) {
   EXPECT_UNITS_EQ(
-      frc::AngleModulus(units::radian_t{-2000 * wpi::math::pi / 180}),
-      units::radian_t{160 * wpi::math::pi / 180});
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{358 * wpi::math::pi / 180}),
-                  units::radian_t{-2 * wpi::math::pi / 180});
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{2.0 * wpi::math::pi}),
+      frc::AngleModulus(units::radian_t{-2000 * wpi::numbers::pi / 180}),
+      units::radian_t{160 * wpi::numbers::pi / 180});
+  EXPECT_UNITS_EQ(
+      frc::AngleModulus(units::radian_t{358 * wpi::numbers::pi / 180}),
+      units::radian_t{-2 * wpi::numbers::pi / 180});
+  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t{2.0 * wpi::numbers::pi}),
                   0_rad);
 
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(5 * wpi::math::pi)),
-                  units::radian_t(wpi::math::pi));
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-5 * wpi::math::pi)),
-                  units::radian_t(wpi::math::pi));
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(wpi::math::pi / 2)),
-                  units::radian_t(wpi::math::pi / 2));
-  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-wpi::math::pi / 2)),
-                  units::radian_t(-wpi::math::pi / 2));
+  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(5 * wpi::numbers::pi)),
+                  units::radian_t(wpi::numbers::pi));
+  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-5 * wpi::numbers::pi)),
+                  units::radian_t(wpi::numbers::pi));
+  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(wpi::numbers::pi / 2)),
+                  units::radian_t(wpi::numbers::pi / 2));
+  EXPECT_UNITS_EQ(frc::AngleModulus(units::radian_t(-wpi::numbers::pi / 2)),
+                  units::radian_t(-wpi::numbers::pi / 2));
 }
diff --git a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
index bbbc398414..bd1e30b6d4 100644
--- a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
@@ -4,15 +4,15 @@
 
 #include <gtest/gtest.h>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Eigen/Core"
 #include "frc/estimator/AngleStatistics.h"
 
 TEST(AngleStatisticsTest, TestMean) {
   Eigen::Matrix<double, 3, 3> sigmas;
-  sigmas << 1, 1.2, 0, 359 * wpi::math::pi / 180, 3 * wpi::math::pi / 180, 0, 1,
-      2, 0;
+  sigmas << 1, 1.2, 0, 359 * wpi::numbers::pi / 180, 3 * wpi::numbers::pi / 180,
+      0, 1, 2, 0;
   // Weights need to produce the mean of the sigmas
   Eigen::Vector3d weights{};
   weights.fill(1.0 / sigmas.cols());
@@ -22,16 +22,16 @@ TEST(AngleStatisticsTest, TestMean) {
 }
 
 TEST(AngleStatisticsTest, TestResidual) {
-  Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
-  Eigen::Vector3d b(1, 359 * wpi::math::pi / 180, 1);
+  Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
+  Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
 
   EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
-      Eigen::Vector3d(0, 2 * wpi::math::pi / 180, 1)));
+      Eigen::Vector3d(0, 2 * wpi::numbers::pi / 180, 1)));
 }
 
 TEST(AngleStatisticsTest, TestAdd) {
-  Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
-  Eigen::Vector3d b(1, 359 * wpi::math::pi / 180, 1);
+  Eigen::Vector3d a(1, 1 * wpi::numbers::pi / 180, 2);
+  Eigen::Vector3d b(1, 359 * wpi::numbers::pi / 180, 1);
 
   EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d(2, 0, 3)));
 }
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
index 0597cd3218..006267d2ea 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -4,7 +4,7 @@
 
 #include <cmath>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/geometry/Rotation2d.h"
 #include "gtest/gtest.h"
@@ -14,8 +14,8 @@ using namespace frc;
 static constexpr double kEpsilon = 1E-9;
 
 TEST(Rotation2dTest, RadiansToDegrees) {
-  const Rotation2d rot1{units::radian_t(wpi::math::pi / 3)};
-  const Rotation2d rot2{units::radian_t(wpi::math::pi / 4)};
+  const Rotation2d rot1{units::radian_t(wpi::numbers::pi / 3)};
+  const Rotation2d rot2{units::radian_t(wpi::numbers::pi / 4)};
 
   EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
   EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
@@ -25,15 +25,15 @@ TEST(Rotation2dTest, DegreesToRadians) {
   const auto rot1 = Rotation2d(45.0_deg);
   const auto rot2 = Rotation2d(30.0_deg);
 
-  EXPECT_NEAR(rot1.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
-  EXPECT_NEAR(rot2.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
+  EXPECT_NEAR(rot1.Radians().to<double>(), wpi::numbers::pi / 4.0, kEpsilon);
+  EXPECT_NEAR(rot2.Radians().to<double>(), wpi::numbers::pi / 6.0, kEpsilon);
 }
 
 TEST(Rotation2dTest, RotateByFromZero) {
   const Rotation2d zero;
   auto sum = zero + Rotation2d(90.0_deg);
 
-  EXPECT_NEAR(sum.Radians().to<double>(), wpi::math::pi / 2.0, kEpsilon);
+  EXPECT_NEAR(sum.Radians().to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
   EXPECT_NEAR(sum.Degrees().to<double>(), 90.0, kEpsilon);
 }
 
diff --git a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
index b8760e5fc4..19b56fe183 100644
--- a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
@@ -4,7 +4,7 @@
 
 #include <cmath>
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/geometry/Pose2d.h"
 #include "gtest/gtest.h"
@@ -23,8 +23,8 @@ TEST(Twist2dTest, Straight) {
 }
 
 TEST(Twist2dTest, QuarterCircle) {
-  const Twist2d quarterCircle{5.0_m / 2.0 * wpi::math::pi, 0_m,
-                              units::radian_t(wpi::math::pi / 2.0)};
+  const Twist2d quarterCircle{5.0_m / 2.0 * wpi::numbers::pi, 0_m,
+                              units::radian_t(wpi::numbers::pi / 2.0)};
   const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
 
   EXPECT_NEAR(quarterCirclePose.X().to<double>(), 5.0, kEpsilon);
@@ -60,7 +60,7 @@ TEST(Twist2dTest, Pose2dLog) {
 
   const auto twist = start.Log(end);
 
-  EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::math::pi, kEpsilon);
+  EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
   EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
-  EXPECT_NEAR(twist.dtheta.to<double>(), wpi::math::pi / 2.0, kEpsilon);
+  EXPECT_NEAR(twist.dtheta.to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
 }
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
index 4647b02be4..dea3b5557e 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
@@ -55,22 +55,24 @@ TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
 
 TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
   const DifferentialDriveKinematics kinematics{0.381_m * 2};
-  const ChassisSpeeds chassisSpeeds{0.0_mps, 0.0_mps,
-                                    units::radians_per_second_t{wpi::math::pi}};
+  const ChassisSpeeds chassisSpeeds{
+      0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
   const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
 
-  EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::math::pi, kEpsilon);
-  EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::math::pi, kEpsilon);
+  EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::numbers::pi,
+              kEpsilon);
+  EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::numbers::pi,
+              kEpsilon);
 }
 
 TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
   const DifferentialDriveKinematics kinematics{0.381_m * 2};
   const DifferentialDriveWheelSpeeds wheelSpeeds{
-      units::meters_per_second_t(+0.381 * wpi::math::pi),
-      units::meters_per_second_t(-0.381 * wpi::math::pi)};
+      units::meters_per_second_t(+0.381 * wpi::numbers::pi),
+      units::meters_per_second_t(-0.381 * wpi::numbers::pi)};
   const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
 
   EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
   EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
-  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::math::pi, kEpsilon);
+  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::numbers::pi, kEpsilon);
 }
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
index f7bb4df064..31b1113460 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/DifferentialDriveOdometry.h"
@@ -16,7 +16,7 @@ TEST(DifferentialDriveOdometry, EncoderDistances) {
   DifferentialDriveOdometry odometry{Rotation2d(45_deg)};
 
   const auto& pose = odometry.Update(Rotation2d(135_deg), 0_m,
-                                     units::meter_t(5 * wpi::math::pi));
+                                     units::meter_t(5 * wpi::numbers::pi));
 
   EXPECT_NEAR(pose.X().to<double>(), 5.0, kEpsilon);
   EXPECT_NEAR(pose.Y().to<double>(), 5.0, kEpsilon);
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
index f9eaa8bfef..9834aa0eab 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
@@ -61,7 +61,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
 
 TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t(2 * wpi::math::pi)};
+                       units::radians_per_second_t(2 * wpi::numbers::pi)};
   auto moduleStates = kinematics.ToWheelSpeeds(speeds);
 
   EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.to<double>(), 0.1);
@@ -77,7 +77,7 @@ TEST_F(MecanumDriveKinematicsTest, RotationForwardKinematics) {
 
   EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), 0.1);
   EXPECT_NEAR(0.0, chassisSpeeds.vy.to<double>(), 0.1);
-  EXPECT_NEAR(2 * wpi::math::pi, chassisSpeeds.omega.to<double>(), 0.1);
+  EXPECT_NEAR(2 * wpi::numbers::pi, chassisSpeeds.omega.to<double>(), 0.1);
 }
 
 TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationInverseKinematics) {
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
index 18923a96ba..6e4beca542 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/SwerveDriveKinematics.h"
@@ -75,7 +75,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
 
 TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t(2 * wpi::math::pi)};
+                       units::radians_per_second_t(2 * wpi::numbers::pi)};
   auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
 
   EXPECT_NEAR(fl.speed.to<double>(), 106.63, kEpsilon);
@@ -99,12 +99,12 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
 
   EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
   EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
-  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
+  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::numbers::pi, kEpsilon);
 }
 
 TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
   ChassisSpeeds speeds{0_mps, 0_mps,
-                       units::radians_per_second_t(2 * wpi::math::pi)};
+                       units::radians_per_second_t(2 * wpi::numbers::pi)};
   auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
 
   EXPECT_NEAR(fl.speed.to<double>(), 0.0, kEpsilon);
@@ -128,7 +128,7 @@ TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
 
   EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 75.398, kEpsilon);
   EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -75.398, kEpsilon);
-  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
+  EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::numbers::pi, kEpsilon);
 }
 
 TEST_F(SwerveDriveKinematicsTest,
diff --git a/wpiutil/.styleguide b/wpiutil/.styleguide
index 0b07517c75..f9dddff184 100644
--- a/wpiutil/.styleguide
+++ b/wpiutil/.styleguide
@@ -2,6 +2,8 @@ cppHeaderFileInclude {
   \.h$
   \.inc$
   \.inl$
+  math$
+  numbers$
 }
 
 cppSrcFileInclude {
diff --git a/wpiutil/src/main/native/include/wpi/math b/wpiutil/src/main/native/include/wpi/math
index d9c18c7f68..25f2a64aac 100644
--- a/wpiutil/src/main/native/include/wpi/math
+++ b/wpiutil/src/main/native/include/wpi/math
@@ -1,67 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
-#include <type_traits>
+#include "wpi/numbers"
+
+// clang-format off
+#ifdef _MSC_VER
+#pragma message("warning: Use <wpi/numbers> and wpi::numbers instead to reflect C++20 <numbers> and std::numbers")
+#else
+#warning "Use <wpi/numbers> and wpi::numbers instead to reflect C++20 <numbers> and std::numbers"
+#endif
+
+// clang-format on
 
 namespace wpi::math {
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T e_v = 2.718281828459045235360287471352662498L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T log2e_v = 1.442695040888963407359924681001892137L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T log10e_v = 0.434294481903251827651128918916605082L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T pi_v = 3.141592653589793238462643383279502884L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T inv_pi_v = 0.318309886183790671537767526745028724L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T inv_sqrtpi_v = 0.564189583547756286948079451560772586L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T ln2_v = 0.693147180559945309417232121458176568L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T ln10_v = 2.302585092994045684017991454684364208L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T sqrt2_v = 1.414213562373095048801688724209698078L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T sqrt3_v = 1.732050807568877293527446341505872366L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T inv_sqrt3_v = 0.577350269189625764509148780501957456L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T egamma_v = 0.577215664901532860606512090082402431L;
-
-template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
-inline constexpr T phi_v = 1.618033988749894848204586834365638117L;
-
-inline constexpr double e          = e_v<double>;
-inline constexpr double log2e      = log2e_v<double>;
-inline constexpr double log10e     = log10e_v<double>;
-inline constexpr double pi         = pi_v<double>;
-inline constexpr double inv_pi     = inv_pi_v<double>;
-inline constexpr double inv_sqrtpi = inv_sqrtpi_v<double>;
-inline constexpr double ln2        = ln2_v<double>;
-inline constexpr double ln10       = ln10_v<double>;
-inline constexpr double sqrt2      = sqrt2_v<double>;
-inline constexpr double sqrt3      = sqrt3_v<double>;
-inline constexpr double inv_sqrt3  = inv_sqrt3_v<double>;
-inline constexpr double egamma     = egamma_v<double>;
-inline constexpr double phi        = phi_v<double>;
-
+using namespace wpi::numbers;
 }  // namespace wpi::math
diff --git a/wpiutil/src/main/native/include/wpi/numbers b/wpiutil/src/main/native/include/wpi/numbers
new file mode 100644
index 0000000000..d45aee0420
--- /dev/null
+++ b/wpiutil/src/main/native/include/wpi/numbers
@@ -0,0 +1,64 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <type_traits>
+
+namespace wpi::numbers {
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T e_v = 2.718281828459045235360287471352662498L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T log2e_v = 1.442695040888963407359924681001892137L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T log10e_v = 0.434294481903251827651128918916605082L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T pi_v = 3.141592653589793238462643383279502884L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_pi_v = 0.318309886183790671537767526745028724L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_sqrtpi_v = 0.564189583547756286948079451560772586L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T ln2_v = 0.693147180559945309417232121458176568L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T ln10_v = 2.302585092994045684017991454684364208L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T sqrt2_v = 1.414213562373095048801688724209698078L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T sqrt3_v = 1.732050807568877293527446341505872366L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_sqrt3_v = 0.577350269189625764509148780501957456L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T egamma_v = 0.577215664901532860606512090082402431L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T phi_v = 1.618033988749894848204586834365638117L;
+
+inline constexpr double e = e_v<double>;
+inline constexpr double log2e = log2e_v<double>;
+inline constexpr double log10e = log10e_v<double>;
+inline constexpr double pi = pi_v<double>;
+inline constexpr double inv_pi = inv_pi_v<double>;
+inline constexpr double inv_sqrtpi = inv_sqrtpi_v<double>;
+inline constexpr double ln2 = ln2_v<double>;
+inline constexpr double ln10 = ln10_v<double>;
+inline constexpr double sqrt2 = sqrt2_v<double>;
+inline constexpr double sqrt3 = sqrt3_v<double>;
+inline constexpr double inv_sqrt3 = inv_sqrt3_v<double>;
+inline constexpr double egamma = egamma_v<double>;
+inline constexpr double phi = phi_v<double>;
+
+}  // namespace wpi::numbers