diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
index c344b09d4c..e1dc37281b 100644
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -36,7 +36,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.57
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -78,7 +78,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.57
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
diff --git a/shared/bazel/rules/robotpy/generate_pybind_build_file.py b/shared/bazel/rules/robotpy/generate_pybind_build_file.py
index f1fd27344f..f7d912b3c7 100644
--- a/shared/bazel/rules/robotpy/generate_pybind_build_file.py
+++ b/shared/bazel/rules/robotpy/generate_pybind_build_file.py
@@ -70,7 +70,7 @@ class HeaderToDatConfig:
         include_root = str(args[3]).replace("\\", "/")
         root_dir = find_root_dir(include_root)
         if "native" in include_root:
-            base_include_root = pathlib.Path(*args[3].relative_to(root_dir).parts[3:])
+            # base_include_root = pathlib.Path(*args[3].relative_to(root_dir).parts[3:])
             base_include_file = args[2].relative_to(include_root)
             base_library = re.search("native/(.*?)/", include_root).groups(1)[0]
 
@@ -205,7 +205,6 @@ class BazelExtensionModule:
         dynamic_dependencies = set()
         for dep_name in all_dependencies:
             if "native" in dep_name:
-
                 transitive_deps = set()
                 self._get_transitive_native_dependencies(dep_name, transitive_deps)
                 for d in transitive_deps:
@@ -416,7 +415,7 @@ def generate_pybind_build_file(
         version_file = raw_config["tool"]["hatch"]["build"]["hooks"]["robotpy"][
             "version_file"
         ]
-    except:
+    except KeyError:
         version_file = None
 
     # The entry points defined above are implicit to how the project is broken down in the toml files.
diff --git a/shared/bazel/rules/robotpy/hatchlib_native_port/generate_native_lib_files.py b/shared/bazel/rules/robotpy/hatchlib_native_port/generate_native_lib_files.py
index cf80f60c47..8baaac894f 100644
--- a/shared/bazel/rules/robotpy/hatchlib_native_port/generate_native_lib_files.py
+++ b/shared/bazel/rules/robotpy/hatchlib_native_port/generate_native_lib_files.py
@@ -282,7 +282,7 @@ def _write_libinit_py(
 
             contents += [
                 "    except FileNotFoundError:",
-                f"        if not exists(lib_path):",
+                "        if not exists(lib_path):",
                 f'            raise FileNotFoundError("{lib.name} was not found on your system. Is this package correctly installed?")',
             ]
 
diff --git a/shared/bazel/rules/robotpy/hatchlib_native_port/validate.py b/shared/bazel/rules/robotpy/hatchlib_native_port/validate.py
index f1949ed166..cbd8e6f4fd 100644
--- a/shared/bazel/rules/robotpy/hatchlib_native_port/validate.py
+++ b/shared/bazel/rules/robotpy/hatchlib_native_port/validate.py
@@ -18,7 +18,6 @@ def _convert_validation_error(
 
     e: typing.Optional[BaseException] = ve
     while e is not None:
-
         if isinstance(e, errors.WrongFieldError):
             locs.append(f".{e.wrong_field}")
         elif isinstance(e, errors.WrongListItemError):
diff --git a/upstream_utils/apriltag.py b/upstream_utils/apriltag.py
index 05ca40655e..5cb2942aa1 100755
--- a/upstream_utils/apriltag.py
+++ b/upstream_utils/apriltag.py
@@ -38,21 +38,25 @@ def copy_upstream_src(wpilib_root: Path):
 
     # Copy apriltag source files into allwpilib
     src_files = walk_cwd_and_copy_if(
-        lambda dp, f: (f.endswith(".c") or f.endswith(".cpp"))
-        and not has_prefix(dp, Path("example"))
-        and not has_prefix(dp, Path("test"))
-        and not f == "getopt.c"
-        and not "py" in f
-        and not remove_tag(f),
+        lambda dp, f: (
+            (f.endswith(".c") or f.endswith(".cpp"))
+            and not has_prefix(dp, Path("example"))
+            and not has_prefix(dp, Path("test"))
+            and not f == "getopt.c"
+            and "py" not in f
+            and not remove_tag(f)
+        ),
         apriltag / "src/main/native/thirdparty/apriltag/src",
     )
 
     # Copy apriltag header files into allwpilib
     walk_cwd_and_copy_if(
-        lambda dp, f: f.endswith(".h")
-        and not f == "getopt.h"
-        and not f == "postscript_utils.h"
-        and not remove_tag(f),
+        lambda dp, f: (
+            f.endswith(".h")
+            and not f == "getopt.h"
+            and not f == "postscript_utils.h"
+            and not remove_tag(f)
+        ),
         apriltag / "src/main/native/thirdparty/apriltag/include",
     )
 
diff --git a/upstream_utils/argparse_lib.py b/upstream_utils/argparse_lib.py
index 62668667ff..389d1f30e0 100755
--- a/upstream_utils/argparse_lib.py
+++ b/upstream_utils/argparse_lib.py
@@ -11,7 +11,7 @@ def copy_upstream_src(wpilib_root: Path):
 
     # Copy header into allwpilib
     dest_filename = (
-        wpiutil / f"src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp"
+        wpiutil / "src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp"
     )
     shutil.copyfile("include/argparse/argparse.hpp", dest_filename)
     # Rename namespace from argparse to wpi
diff --git a/upstream_utils/catch2.py b/upstream_utils/catch2.py
index 4692584e0a..517b4852b3 100755
--- a/upstream_utils/catch2.py
+++ b/upstream_utils/catch2.py
@@ -22,14 +22,15 @@ def copy_upstream_src(wpilib_root: Path):
     )
     os.chdir(upstream_root / "src")
     walk_cwd_and_copy_if(
-        lambda dp, f: f.endswith(".cpp")
-        and "catch2" in dp.parts
-        and f != "catch_main.cpp",
+        lambda dp, f: (
+            f.endswith(".cpp") and "catch2" in dp.parts and f != "catch_main.cpp"
+        ),
         catch2 / "src/main/native/cpp",
     )
     walk_cwd_and_copy_if(
-        lambda dp, f: f.endswith(".hpp")
-        and ("third_party" in dp.parts or "catch2" in dp.parts),
+        lambda dp, f: (
+            f.endswith(".hpp") and ("third_party" in dp.parts or "catch2" in dp.parts)
+        ),
         catch2 / "src/main/native/include",
     )
 
diff --git a/upstream_utils/fmt.py b/upstream_utils/fmt.py
index 86c16b8da5..dfbe208890 100755
--- a/upstream_utils/fmt.py
+++ b/upstream_utils/fmt.py
@@ -18,9 +18,9 @@ def copy_upstream_src(wpilib_root: Path):
 
     # Copy fmt source files into allwpilib
     walk_cwd_and_copy_if(
-        lambda dp, f: has_prefix(dp, Path("src"))
-        and f.endswith(".cc")
-        and f != "fmt.cc",
+        lambda dp, f: (
+            has_prefix(dp, Path("src")) and f.endswith(".cc") and f != "fmt.cc"
+        ),
         wpiutil / "src/main/native/thirdparty/fmtlib",
     )
 
diff --git a/upstream_utils/glfw.py b/upstream_utils/glfw.py
index ddd65c0df4..351d22ebef 100755
--- a/upstream_utils/glfw.py
+++ b/upstream_utils/glfw.py
@@ -32,7 +32,7 @@ def copy_upstream_src(wpilib_root: Path):
 
         return False
 
-    src_files = walk_cwd_and_copy_if(
+    walk_cwd_and_copy_if(
         src_filter,
         glfw,
     )
diff --git a/upstream_utils/googletest.py b/upstream_utils/googletest.py
index 50d38fbb07..0fb1ef2c22 100755
--- a/upstream_utils/googletest.py
+++ b/upstream_utils/googletest.py
@@ -27,14 +27,16 @@ def copy_upstream_src(wpilib_root: Path):
         shutil.rmtree(third_party_root / d, ignore_errors=True)
 
     walk_cwd_and_copy_if(
-        lambda dp, f: has_prefix(dp, Path("googlemock/src"))
-        and f not in EXCLUDED_FILES,
+        lambda dp, f: (
+            has_prefix(dp, Path("googlemock/src")) and f not in EXCLUDED_FILES
+        ),
         third_party_root / "src",
     )
 
     walk_cwd_and_copy_if(
-        lambda dp, f: has_prefix(dp, Path("googletest/src"))
-        and f not in EXCLUDED_FILES,
+        lambda dp, f: (
+            has_prefix(dp, Path("googletest/src")) and f not in EXCLUDED_FILES
+        ),
         third_party_root / "src",
     )
 
diff --git a/upstream_utils/mrcal.py b/upstream_utils/mrcal.py
index 2d490cb8d2..6f77d4131c 100755
--- a/upstream_utils/mrcal.py
+++ b/upstream_utils/mrcal.py
@@ -17,28 +17,32 @@ def copy_upstream_src(wpilib_root: Path):
         shutil.rmtree(wpical / d, ignore_errors=True)
 
     files = walk_cwd_and_copy_if(
-        lambda dp, f: (f.endswith(".h") or f.endswith(".hh"))
-        and not f == "heap.h"
-        and not f == "stereo-matching-libelas.h"
-        and not has_prefix(dp, Path("test")),
+        lambda dp, f: (
+            (f.endswith(".h") or f.endswith(".hh"))
+            and not f == "heap.h"
+            and not f == "stereo-matching-libelas.h"
+            and not has_prefix(dp, Path("test"))
+        ),
         wpical / "src/main/native/thirdparty/mrcal/include",
     )
     files = files + walk_cwd_and_copy_if(
         lambda dp, f: (
-            f.endswith(".c")
-            or f.endswith(".cc")
-            or f.endswith(".cpp")
-            or f.endswith(".pl")
-        )
-        and not f == "heap.cc"
-        and not f == "mrcal-pywrap.c"
-        and not f == "image.c"
-        and not f == "stereo.c"
-        and not f == "stereo-matching-libelas.cc"
-        and not f == "uncertainty.c"
-        and not f == "traverse-sensor-links.c"
-        and not has_prefix(dp, Path("doc"))
-        and not has_prefix(dp, Path("test")),
+            (
+                f.endswith(".c")
+                or f.endswith(".cc")
+                or f.endswith(".cpp")
+                or f.endswith(".pl")
+            )
+            and not f == "heap.cc"
+            and not f == "mrcal-pywrap.c"
+            and not f == "image.c"
+            and not f == "stereo.c"
+            and not f == "stereo-matching-libelas.cc"
+            and not f == "uncertainty.c"
+            and not f == "traverse-sensor-links.c"
+            and not has_prefix(dp, Path("doc"))
+            and not has_prefix(dp, Path("test"))
+        ),
         wpical / "src/main/native/thirdparty/mrcal/src",
     )
 
diff --git a/upstream_utils/nanopb.py b/upstream_utils/nanopb.py
index 543b19befa..1ddefd5906 100755
--- a/upstream_utils/nanopb.py
+++ b/upstream_utils/nanopb.py
@@ -50,7 +50,7 @@ def copy_upstream_src(wpilib_root: Path):
         wpiutil / "src/main/native/thirdparty/nanopb/include",
     )
 
-    generator_files = walk_cwd_and_copy_if(
+    walk_cwd_and_copy_if(
         lambda dp, f: has_prefix(dp, Path("generator")),
         wpiutil / "src/main/native/thirdparty/nanopb",
     )
diff --git a/upstream_utils/sleipnir.py b/upstream_utils/sleipnir.py
index d05aa96aea..54e0c75099 100755
--- a/upstream_utils/sleipnir.py
+++ b/upstream_utils/sleipnir.py
@@ -18,7 +18,7 @@ def copy_upstream_src(wpilib_root: Path):
 
     # Copy Sleipnir files into allwpilib
     walk_cwd_and_copy_if(
-        lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src"))),
+        lambda dp, f: has_prefix(dp, Path("include")) or has_prefix(dp, Path("src")),
         wpimath / "src/main/native/thirdparty/sleipnir",
     )
 
diff --git a/upstream_utils/upb.py b/upstream_utils/upb.py
index 8d7b73ecee..56dc9d0b0b 100755
--- a/upstream_utils/upb.py
+++ b/upstream_utils/upb.py
@@ -40,32 +40,34 @@ def copy_upstream_src(wpilib_root: Path):
     os.chdir(upstream_root / "upb")
     include_files = walk_cwd_and_copy_if(
         lambda dp, f: (
-            len(dp.parts) >= 1
-            and (
-                dp.parts[0] == "base"
-                or dp.parts[0] == "hash"
-                or dp.parts[0] == "mem"
-                or (
-                    dp.parts[0] == "message"
-                    and "compare" not in f
-                    and "promote" not in f
-                    and "accessors_split64" not in f
-                )
-                or dp.parts[0] == "mini_descriptor"
-                or (dp.parts[0] == "mini_table" and "compat" not in f)
-                or dp.parts[0] == "port"
-                or dp.parts[0] == "reflection"
-                or (
-                    dp.parts[0] == "wire"
-                    and "byte_size" not in f
-                    and "decode_fast" not in dp.parts
-                    and "test_util" not in dp.parts
+            (
+                len(dp.parts) >= 1
+                and (
+                    dp.parts[0] == "base"
+                    or dp.parts[0] == "hash"
+                    or dp.parts[0] == "mem"
+                    or (
+                        dp.parts[0] == "message"
+                        and "compare" not in f
+                        and "promote" not in f
+                        and "accessors_split64" not in f
+                    )
+                    or dp.parts[0] == "mini_descriptor"
+                    or (dp.parts[0] == "mini_table" and "compat" not in f)
+                    or dp.parts[0] == "port"
+                    or dp.parts[0] == "reflection"
+                    or (
+                        dp.parts[0] == "wire"
+                        and "byte_size" not in f
+                        and "decode_fast" not in dp.parts
+                        and "test_util" not in dp.parts
+                    )
                 )
+                and "cmake" not in dp.parts
             )
-            and "cmake" not in dp.parts
-        )
-        and (f.endswith(".h") or f.endswith(".inc"))
-        or f == "generated_code_support.h",
+            and (f.endswith(".h") or f.endswith(".inc"))
+            or f == "generated_code_support.h"
+        ),
         wpiutil / "src/main/native/thirdparty/upb/include/upb",
     )
     for f in include_files:
@@ -75,29 +77,31 @@ def copy_upstream_src(wpilib_root: Path):
 
     walk_cwd_and_copy_if(
         lambda dp, f: (
-            len(dp.parts) >= 1
-            and (
-                dp.parts[0] == "base"
-                or dp.parts[0] == "hash"
-                or dp.parts[0] == "mem"
-                or (
-                    dp.parts[0] == "message"
-                    and "compare" not in f
-                    and "promote" not in f
-                )
-                or dp.parts[0] == "mini_descriptor"
-                or (dp.parts[0] == "mini_table" and "compat" not in f)
-                or dp.parts[0] == "port"
-                or dp.parts[0] == "reflection"
-                or (
-                    dp.parts[0] == "wire"
-                    and "byte_size" not in f
-                    and "decode_fast" not in dp.parts
+            (
+                len(dp.parts) >= 1
+                and (
+                    dp.parts[0] == "base"
+                    or dp.parts[0] == "hash"
+                    or dp.parts[0] == "mem"
+                    or (
+                        dp.parts[0] == "message"
+                        and "compare" not in f
+                        and "promote" not in f
+                    )
+                    or dp.parts[0] == "mini_descriptor"
+                    or (dp.parts[0] == "mini_table" and "compat" not in f)
+                    or dp.parts[0] == "port"
+                    or dp.parts[0] == "reflection"
+                    or (
+                        dp.parts[0] == "wire"
+                        and "byte_size" not in f
+                        and "decode_fast" not in dp.parts
+                    )
                 )
             )
-        )
-        and f.endswith(".c")
-        and not f == "descriptor.upb_minitable.c",
+            and f.endswith(".c")
+            and not f == "descriptor.upb_minitable.c"
+        ),
         wpiutil / "src/main/native/thirdparty/upb/src",
     )
 
diff --git a/wpimath/algorithms/ExponentialProfileModel.py b/wpimath/algorithms/ExponentialProfileModel.py
old mode 100644
new mode 100755
index cc8fbc06cc..6d1978eb2e
--- a/wpimath/algorithms/ExponentialProfileModel.py
+++ b/wpimath/algorithms/ExponentialProfileModel.py
@@ -1,5 +1,18 @@
-from sympy import *
-from sympy.logic.boolalg import *
+#!/usr/bin/env python3
+
+from sympy import (
+    Eq,
+    Function,
+    dsolve,
+    exp,
+    expand,
+    init_printing,
+    log,
+    simplify,
+    solve,
+    symbols,
+)
+from sympy.logic.boolalg import SOPform
 
 init_printing()
 
diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
index 3b7a8f0e2c..8eb4c26492 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -256,12 +256,16 @@ UNIT_CONFIGURATIONS = {
     "Velocity": {
         "base_unit": "unit()",
         "generics": {"D": {"extends": "Unit"}},
-        "multiply": {"Time": {"implementation": inspect.cleandoc("""
+        "multiply": {
+            "Time": {
+                "implementation": inspect.cleandoc("""
                   @Override
                   public Measure<D> times(Time multiplier) {
                     return (Measure<D>) unit().numerator().ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
                   }
-                """)}},
+                """)
+            }
+        },
         "divide": {},
     },
     "Voltage": {