diff --git a/README-CMAKE.md b/README-CMAKE.md
index d7096283cd..1ea782dce8 100644
--- a/README-CMAKE.md
+++ b/README-CMAKE.md
@@ -176,7 +176,7 @@ After that, run `cmake --build .` to create your JAR file. To execute the JAR fi
 
 ## Using vendordeps
 
-Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVenderdep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java b/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java
index e7697cdae2..752f2a69dd 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java
@@ -11,7 +11,7 @@ import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.Consumer;
 
 /**
- * An event listener. This calls back to a desigated callback function when an event matching the
+ * An event listener. This calls back to a designated callback function when an event matching the
  * specified mask is generated by the library.
  */
 public class VideoListener implements AutoCloseable {
diff --git a/cscore/src/main/native/include/cscore_cv.h b/cscore/src/main/native/include/cscore_cv.h
index aec10d4a55..237c3946af 100644
--- a/cscore/src/main/native/include/cscore_cv.h
+++ b/cscore/src/main/native/include/cscore_cv.h
@@ -230,7 +230,7 @@ inline void CvSource::PutFrame(cv::Mat& image) {
   int channels = finalImage.channels();
   VideoMode::PixelFormat format;
   if (channels == 1) {
-    // 1 channel is assumed Graysacle
+    // 1 channel is assumed Grayscale
     format = VideoMode::PixelFormat::kGray;
   } else if (channels == 2) {
     // 2 channels is assumed YUYV
diff --git a/cscore/src/main/native/include/cscore_oo.h b/cscore/src/main/native/include/cscore_oo.h
index 950fa688ee..8fb8f4be32 100644
--- a/cscore/src/main/native/include/cscore_oo.h
+++ b/cscore/src/main/native/include/cscore_oo.h
@@ -524,7 +524,7 @@ class VideoCamera : public VideoSource {
   void SetWhiteBalanceManual(int value);
 
   /**
-   * Set the exposure to auto aperature.
+   * Set the exposure to auto aperture.
    */
   void SetExposureAuto();
 
@@ -1148,7 +1148,7 @@ class VideoEvent : public RawEvent {
 };
 
 /**
- * An event listener.  This calls back to a desigated callback function when
+ * An event listener.  This calls back to a designated callback function when
  * an event matching the specified mask is generated by the library.
  */
 class VideoListener {
diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
index a7a355237b..c9a2185bf0 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
@@ -7,7 +7,7 @@ package edu.wpi.first.hal;
 /**
  * Addressable LED HAL JNI Methods.
  *
- * @see "hal/AdressableLED.h"
+ * @see "hal/AddressableLED.h"
  */
 public class AddressableLEDJNI extends JNIWrapper {
   /**
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
index 5d483f9c8a..f1a4c5ecf2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
@@ -111,7 +111,7 @@ public class AnalogGyroJNI extends JNIWrapper {
    * <p>Can be used to not repeat a calibration but reconstruct the gyro object.
    *
    * @param handle the gyro handle
-   * @return the gryo offset
+   * @return the gyro offset
    * @see "HAL_GetAnalogGyroOffset"
    */
   public static native double getAnalogGyroOffset(int handle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index 2884b8c95f..f2996f60c2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -514,7 +514,7 @@ public class AnalogJNI extends JNIWrapper {
   public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type);
 
   /**
-   * Get the FPGA index for the AnlogTrigger.
+   * Get the FPGA index for the AnalogTrigger.
    *
    * @param analogTriggerHandle the trigger handle
    * @return the FPGA index
diff --git a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
index 33cbac62fc..580dcd1d32 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
@@ -243,7 +243,7 @@ public class DriverStationJNI extends JNIWrapper {
    * @param rawAxesArray all joystick axes as int
    * @param povsArray all povs
    * @param buttonsAndMetadata array of long joystick axes count, long joystick povs count, long
-   *     jostick buttons count, long joystick buttons values
+   *     joystick buttons count, long joystick buttons values
    * @see "HAL_GetAllJoystickData"
    */
   public static native void getAllJoystickData(
diff --git a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
index e0ee27eb2e..29d33664f8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
@@ -27,7 +27,7 @@ public class REVPHJNI extends JNIWrapper {
    *
    * @param module the CAN ID to initialize
    * @return the created PH handle
-   * @see "HAL_InitializeREVP"
+   * @see "HAL_InitializeREVPH"
    */
   public static native int initialize(int module);
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
index 81de150a05..e4301abe88 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
@@ -5,7 +5,7 @@
 package edu.wpi.first.hal.util;
 
 /**
- * Exception indicating that the resource is already allocated This is meant to be thrown by the
+ * Exception indicating that the resource is already allocated. This is meant to be thrown by the
  * resource class.
  */
 public class CheckedAllocationException extends Exception {
diff --git a/hal/src/main/native/athena/DMA.cpp b/hal/src/main/native/athena/DMA.cpp
index f46969d4fb..259281fa8c 100644
--- a/hal/src/main/native/athena/DMA.cpp
+++ b/hal/src/main/native/athena/DMA.cpp
@@ -159,8 +159,8 @@ void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) {
 
 void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double seconds,
                             int32_t* status) {
-  constexpr double baseMultipler = kSystemClockTicksPerMicrosecond * 1000000;
-  uint32_t cycles = static_cast<uint32_t>(baseMultipler * seconds);
+  constexpr double baseMultiplier = kSystemClockTicksPerMicrosecond * 1000000;
+  uint32_t cycles = static_cast<uint32_t>(baseMultiplier * seconds);
   HAL_SetDMATimedTriggerCycles(handle, cycles, status);
 }
 
@@ -564,7 +564,7 @@ int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
   if (!success) {
     *status = PARAMETER_OUT_OF_RANGE;
     hal::SetLastError(status,
-                      "Digital Source unabled to be mapped properly. Likely "
+                      "Digital Source unable to be mapped properly. Likely "
                       "invalid handle passed.");
     return 0;
   }
diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp
index fb0cf98083..13fa560d19 100644
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -47,7 +47,7 @@ namespace detail {
 wpi::mutex& UnsafeGetDIOMutex() {
   return digitalDIOMutex;
 }
-tDIO* UnsafeGetDigialSystem() {
+tDIO* UnsafeGetDigitalSystem() {
   return digitalSystem.get();
 }
 int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 91bb93be1f..7c5f1f64a9 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -479,7 +479,7 @@ HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
 static bool killExistingProgram(int timeout, int mode) {
   // Kill any previous robot programs
   std::fstream fs;
-  // By making this both in/out, it won't give us an error if it doesnt exist
+  // By making this both in/out, it won't give us an error if it doesn't exist
   fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
   if (fs.bad()) {
     return false;
diff --git a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
index c938abf55f..d0aa97f1de 100644
--- a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
+++ b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
@@ -18,7 +18,7 @@ DEFINE_CAPI(double, X, 0)
 DEFINE_CAPI(double, Y, 0)
 DEFINE_CAPI(double, Z, 0)
 
-void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index,
+void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index,
                                                  HAL_NotifyCallback callback,
                                                  void* param,
                                                  HAL_Bool initialNotify) {}
diff --git a/hal/src/main/native/include/hal/AnalogGyro.h b/hal/src/main/native/include/hal/AnalogGyro.h
index 6dd948a326..4f5f73331c 100644
--- a/hal/src/main/native/include/hal/AnalogGyro.h
+++ b/hal/src/main/native/include/hal/AnalogGyro.h
@@ -129,7 +129,7 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
  *
  * @param[in] handle the gyro handle
  * @param[out] status Error status variable. 0 on success.
- * @return the gryo offset
+ * @return the gyro offset
  */
 double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
 
diff --git a/hal/src/main/native/include/hal/AnalogTrigger.h b/hal/src/main/native/include/hal/AnalogTrigger.h
index e678b6864e..1a35eea4aa 100644
--- a/hal/src/main/native/include/hal/AnalogTrigger.h
+++ b/hal/src/main/native/include/hal/AnalogTrigger.h
@@ -172,7 +172,7 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
                                     int32_t* status);
 
 /**
- * Get the FPGA index for the AnlogTrigger.
+ * Get the FPGA index for the AnalogTrigger.
  *
  * @param[in] analogTriggerHandle the trigger handle
  * @param[out] status              Error status variable. 0 on success.
diff --git a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
index e7f286bb54..d79265ec92 100644
--- a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
+++ b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
@@ -57,7 +57,7 @@ struct DIOSetProxy {
 };
 namespace detail {
 wpi::mutex& UnsafeGetDIOMutex();
-tDIO* UnsafeGetDigialSystem();
+tDIO* UnsafeGetDigitalSystem();
 int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status);
 }  // namespace detail
 
@@ -81,7 +81,7 @@ void UnsafeManipulateDIO(HAL_DigitalHandle handle, int32_t* status,
     return;
   }
   wpi::mutex& dioMutex = detail::UnsafeGetDIOMutex();
-  tDIO* dSys = detail::UnsafeGetDigialSystem();
+  tDIO* dSys = detail::UnsafeGetDigitalSystem();
   auto mask = detail::ComputeDigitalMask(handle, status);
   if (*status != 0) {
     return;
diff --git a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
index 406798f125..2018a40023 100644
--- a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
+++ b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
@@ -50,7 +50,7 @@ void HALSIM_CancelSPIAccelerometerZCallback(int32_t index, int32_t uid);
 double HALSIM_GetSPIAccelerometerZ(int32_t index);
 void HALSIM_SetSPIAccelerometerZ(int32_t index, double z);
 
-void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index,
+void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index,
                                                  HAL_NotifyCallback callback,
                                                  void* param,
                                                  HAL_Bool initialNotify);
diff --git a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
index 0ec10cf8a2..fa44500651 100644
--- a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
+++ b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
@@ -42,7 +42,7 @@ DEFINE_CAPI(double, Z, z)
   SimSPIAccelerometerData[index].NAME.RegisterCallback(callback, param, \
                                                        initialNotify)
 
-void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index,
+void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index,
                                                  HAL_NotifyCallback callback,
                                                  void* param,
                                                  HAL_Bool initialNotify) {
diff --git a/ntcore/doc/networktables4.adoc b/ntcore/doc/networktables4.adoc
index 29e74a14e6..318afac7f8 100644
--- a/ntcore/doc/networktables4.adoc
+++ b/ntcore/doc/networktables4.adoc
@@ -12,7 +12,7 @@ A pub/sub WebSockets protocol based on NetworkTables concepts.
 
 While NetworkTables 4.0 made a large number of improvements to the 3.0 protocol, a few weaknesses have been discovered in "real world" use:
 
-* Keep alives are not required. This can result in very long timeframes before a disconnect is detected.
+* Keepalives are not required. This can result in very long timeframes before a disconnect is detected.
 * Periodic synchronization of timestamps is impacted by high variability of round trip time measurements on a stream connection shared with other data (due to network queueing in adverse network connections), resulting in values being "too old" even if actually more recent due to a change in base time
 * Disconnect loops can be caused by large amounts of data values being sent in response to a "subscribe all" type of message (e.g. subscribe with empty or `$` prefix), resulting in data transmission being blocked for an excessive amount of time
 * Publishing operations are not clearly subscriber-driven; the information is available via metatopics but not automatically sent to clients when clients publish
diff --git a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
index 17d15c1754..628006c264 100644
--- a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
+++ b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
@@ -448,7 +448,7 @@ public final class NetworkTablesJNI {
   public static native void releaseEntry(int entry);
 
   /**
-   * Relesaes pubsub entry.
+   * Releases pubsub entry.
    *
    * @param pubsubentry Pubsub entry handle.
    */
@@ -1002,7 +1002,7 @@ public final class NetworkTablesJNI {
   /**
    * Returns the current timestamp in microseconds.
    *
-   * @return The current timestsamp in microseconds.
+   * @return The current timestamp in microseconds.
    */
   public static native long now();
 
diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
index 4741f7642a..d47add6046 100644
--- a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
+++ b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
@@ -448,7 +448,7 @@ public final class NetworkTablesJNI {
   public static native void releaseEntry(int entry);
 
   /**
-   * Relesaes pubsub entry.
+   * Releases pubsub entry.
    *
    * @param pubsubentry Pubsub entry handle.
    */
@@ -1542,7 +1542,7 @@ public final class NetworkTablesJNI {
   /**
    * Returns the current timestamp in microseconds.
    *
-   * @return The current timestsamp in microseconds.
+   * @return The current timestamp in microseconds.
    */
   public static native long now();
 
diff --git a/ntcore/src/test/native/cpp/LocalStorageTest.cpp b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
index cdb52727d8..5ea4ec5c8e 100644
--- a/ntcore/src/test/native/cpp/LocalStorageTest.cpp
+++ b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
@@ -759,7 +759,7 @@ TEST_F(LocalStorageNumberVariantsTest, GetEntryPubAfter) {
   EXPECT_EQ(storage.GetEntryValue(sub2), Value::MakeInteger(1, 50));
   EXPECT_EQ(storage.GetEntryValue(sub3), Value::MakeFloat(1.0, 50));
   EXPECT_EQ(storage.GetEntryValue(sub4), Value{});
-  // entrys just get whatever the value is
+  // entries just get whatever the value is
   EXPECT_EQ(storage.GetEntryValue(entry), Value::MakeDouble(1.0, 50));
 }
 
@@ -781,7 +781,7 @@ TEST_F(LocalStorageNumberVariantsTest, GetEntryPubBefore) {
   EXPECT_EQ(storage.GetEntryValue(sub2), Value::MakeInteger(1, 50));
   EXPECT_EQ(storage.GetEntryValue(sub3), Value::MakeFloat(1.0, 50));
   EXPECT_EQ(storage.GetEntryValue(sub4), Value{});
-  // entrys just get whatever the value is
+  // entries just get whatever the value is
   EXPECT_EQ(storage.GetEntryValue(entry), Value::MakeDouble(1.0, 50));
 }
 
diff --git a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h b/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h
index 6dfe51cb35..766b8b78f6 100644
--- a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h
+++ b/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h
@@ -254,7 +254,7 @@ class AnalysisManager {
   std::string_view GetUnit() const { return m_data.distanceUnit; }
 
   /**
-   * Returns a reference to the iterator of the currently selected raw datset.
+   * Returns a reference to the iterator of the currently selected raw dataset.
    * Unfortunately, due to ImPlot internals, the reference cannot be const so
    * the user should be careful not to change any data.
    *
@@ -264,7 +264,7 @@ class AnalysisManager {
 
   /**
    * Returns a reference to the iterator of the currently selected filtered
-   * datset. Unfortunately, due to ImPlot internals, the reference cannot be
+   * dataset. Unfortunately, due to ImPlot internals, the reference cannot be
    * const so the user should be careful not to change any data.
    *
    * @return A reference to the filtered internal data.
diff --git a/sysid/src/main/native/include/sysid/analysis/OLS.h b/sysid/src/main/native/include/sysid/analysis/OLS.h
index 43f447a803..28b6d5704a 100644
--- a/sysid/src/main/native/include/sysid/analysis/OLS.h
+++ b/sysid/src/main/native/include/sysid/analysis/OLS.h
@@ -12,7 +12,7 @@
 namespace sysid {
 
 struct OLSResult {
-  /// Regression coeficients.
+  /// Regression coefficients.
   std::vector<double> coeffs;
 
   /// R² (coefficient of determination)
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index e64044cab3..7d71676ce4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -319,7 +319,7 @@ public abstract class Command implements Sendable {
    * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
    * returned from this method can be further decorated without issue.
    *
-   * @param parallel the commands to run in parallel. Note the parallel commands will be interupted
+   * @param parallel the commands to run in parallel. Note the parallel commands will be interrupted
    *     when the deadline command ends
    * @return the decorated command
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
index 0d2178f6b5..3632c1100a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -200,7 +200,7 @@ public final class Commands {
    * @param supplier the command supplier
    * @return the command
    * @deprecated The ProxyCommand supplier constructor has been deprecated in favor of directly
-   *     proxying a {@link DeferredCommand}, see ProxyCommand documentaion for more details. As a
+   *     proxying a {@link DeferredCommand}, see ProxyCommand documentation for more details. As a
    *     replacement, consider using `defer(supplier).asProxy()`.
    * @see ProxyCommand
    */
diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index ab402ed37a..06e37a4a3a 100644
--- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -148,7 +148,7 @@ void PneumaticHub::EnableCompressorAnalog(
     units::pounds_per_square_inch_t maxPressure) {
   if (minPressure >= maxPressure) {
     throw FRC_MakeError(err::InvalidParameter,
-                        "maxPressure must be greater than minPresure");
+                        "maxPressure must be greater than minPressure");
   }
   if (minPressure < 0_psi || minPressure > 120_psi) {
     throw FRC_MakeError(err::ParameterOutOfRange,
@@ -178,7 +178,7 @@ void PneumaticHub::EnableCompressorHybrid(
     units::pounds_per_square_inch_t maxPressure) {
   if (minPressure >= maxPressure) {
     throw FRC_MakeError(err::InvalidParameter,
-                        "maxPressure must be greater than minPresure");
+                        "maxPressure must be greater than minPressure");
   }
   if (minPressure < 0_psi || minPressure > 120_psi) {
     throw FRC_MakeError(err::ParameterOutOfRange,
diff --git a/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h b/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
index 88bd6c3cab..fe22403efb 100644
--- a/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
+++ b/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
@@ -35,7 +35,7 @@ class AnalogTrigger;
  * / down counter or to interrupts. Because the outputs generate a pulse, they
  * cannot be read directly. To help ensure that a rollover condition is not
  * missed, there is an average rejection filter available that operates on the
- * upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples.
+ * upper 8 bits of a 12 bit number and selects the nearest outlier of 3 samples.
  * This will reject a sample that is (due to averaging or sampling) errantly
  * between the two limits. This filter will fail if more than one sample in a
  * row is errantly in between the two limits. You may see this problem if
diff --git a/wpilibc/src/main/native/include/frc/Counter.h b/wpilibc/src/main/native/include/frc/Counter.h
index 3720dde31b..3f79a707f4 100644
--- a/wpilibc/src/main/native/include/frc/Counter.h
+++ b/wpilibc/src/main/native/include/frc/Counter.h
@@ -47,8 +47,8 @@ class Counter : public CounterBase,
   /**
    * Create an instance of a counter where no sources are selected.
    *
-   * They all must be selected by calling functions to specify the upsource and
-   * the downsource independently.
+   * They all must be selected by calling functions to specify the up source and
+   * the down source independently.
    *
    * This creates a ChipObject counter and initializes status variables
    * appropriately.
@@ -148,7 +148,7 @@ class Counter : public CounterBase,
   Counter& operator=(Counter&&) = default;
 
   /**
-   * Set the upsource for the counter as a digital input channel.
+   * Set the up source for the counter as a digital input channel.
    *
    * @param channel The DIO channel to use as the up source. 0-9 are on-board,
    *                10-25 are on the MXP
diff --git a/wpilibc/src/main/native/include/frc/SerialPort.h b/wpilibc/src/main/native/include/frc/SerialPort.h
index b7784da794..a504a1e510 100644
--- a/wpilibc/src/main/native/include/frc/SerialPort.h
+++ b/wpilibc/src/main/native/include/frc/SerialPort.h
@@ -34,7 +34,7 @@ class SerialPort {
     kOnboard = 0,
     /// MXP (roboRIO MXP) serial port.
     kMXP = 1,
-    /// USB serial port (same as KUSB1).
+    /// USB serial port (same as kUSB1).
     kUSB = 2,
     /// USB serial port 1.
     kUSB1 = 2,
diff --git a/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
index 328645d25d..6a29b800df 100644
--- a/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp
@@ -13,7 +13,7 @@
 
 namespace frc::sim {
 
-TEST(AcclerometerSimTest, ActiveCallback) {
+TEST(AccelerometerSimTest, ActiveCallback) {
   HAL_Initialize(500, 0);
 
   BuiltInAccelerometerSim sim;
@@ -39,7 +39,7 @@ TEST(AcclerometerSimTest, ActiveCallback) {
   EXPECT_TRUE(sim.GetActive());
 }
 
-TEST(AcclerometerSimTest, SetX) {
+TEST(AccelerometerSimTest, SetX) {
   HAL_Initialize(500, 0);
   BuiltInAccelerometerSim sim;
   sim.ResetData();
@@ -56,7 +56,7 @@ TEST(AcclerometerSimTest, SetX) {
   EXPECT_EQ(kTestValue, callback.GetLastValue());
 }
 
-TEST(AcclerometerSimTest, SetY) {
+TEST(AccelerometerSimTest, SetY) {
   HAL_Initialize(500, 0);
   BuiltInAccelerometerSim sim;
   sim.ResetData();
@@ -73,7 +73,7 @@ TEST(AcclerometerSimTest, SetY) {
   EXPECT_EQ(kTestValue, callback.GetLastValue());
 }
 
-TEST(AcclerometerSimTest, SetZ) {
+TEST(AccelerometerSimTest, SetZ) {
   HAL_Initialize(500, 0);
 
   BuiltInAccelerometer accel;
@@ -91,7 +91,7 @@ TEST(AcclerometerSimTest, SetZ) {
   EXPECT_EQ(kTestValue, callback.GetLastValue());
 }
 
-TEST(AcclerometerSimTest, SetRange) {
+TEST(AccelerometerSimTest, SetRange) {
   HAL_Initialize(500, 0);
 
   BuiltInAccelerometerSim sim;
diff --git a/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp b/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp
index 200ce111e3..c48515bc2b 100644
--- a/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp
@@ -12,7 +12,7 @@
 
 namespace frc::sim {
 
-TEST(RelaySimTest, InitializationBidrectional) {
+TEST(RelaySimTest, InitializationBidirectional) {
   HAL_Initialize(500, 0);
 
   RelaySim sim(0);
diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
index fd5b2a2e37..5a4e18d628 100644
--- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot {
 
     // Set setpoint and measurement of the bang-bang controller
     units::volt_t bangOutput =
-        m_bangBangControler.Calculate(m_encoder.GetRate(), setpoint.value()) *
+        m_bangBangController.Calculate(m_encoder.GetRate(), setpoint.value()) *
         12_V;
 
     // Controls a motor with the output of the BangBang controller and a
@@ -41,8 +41,8 @@ class Robot : public frc::TimedRobot {
   }
 
   Robot() {
-    // Add bang-bang controler to SmartDashboard and networktables.
-    frc::SmartDashboard::PutData("BangBangControler", &m_bangBangControler);
+    // Add bang-bang controller to SmartDashboard and networktables.
+    frc::SmartDashboard::PutData("BangBangController", &m_bangBangController);
   }
 
   /**
@@ -72,7 +72,7 @@ class Robot : public frc::TimedRobot {
   frc::PWMSparkMax m_flywheelMotor{kMotorPort};
   frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
-  frc::BangBangController m_bangBangControler;
+  frc::BangBangController m_bangBangController;
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index 440f758559..5ea91bdee0 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -58,7 +58,7 @@ if(WITH_JAVA_SOURCE)
     # Generate version file if it wasn't generated already
     if(NOT WITH_JAVA)
         configure_file(
-            src/generate/WPILi1bVersion.java.in
+            src/generate/WPILibVersion.java.in
             generated/main/java/edu/wpi/first/wpilibj/WPILibVersion.java
         )
     endif()
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
index eca3dd5a8f..c4bc173877 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -90,7 +90,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
 
   /**
    * Create an instance of a counter where no sources are selected. Then they all must be selected
-   * by calling functions to specify the upsource and the downsource independently.
+   * by calling functions to specify the up source and the down source independently.
    *
    * <p>The counter will start counting immediately.
    */
@@ -212,7 +212,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
   }
 
   /**
-   * Set the upsource for the counter as a digital input channel.
+   * Set the up source for the counter as a digital input channel.
    *
    * @param channel the DIO channel to count 0-9 are on-board, 10-25 are on the MXP
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
index d978d783da..92f835d3da 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -19,7 +19,7 @@ public class SerialPort implements AutoCloseable {
     kOnboard(0),
     /** MXP (roboRIO MXP) serial port. */
     kMXP(1),
-    /** USB serial port (same as KUSB1). */
+    /** USB serial port (same as kUSB1). */
     kUSB(2),
     /** USB serial port 1. */
     kUSB1(2),
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
index a952b2ecaa..5250d321e6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
@@ -32,7 +32,7 @@ public abstract class RobotDriveBase extends MotorSafety {
     kFrontRight(1),
     /** Rear left motor. */
     kRearLeft(2),
-    /** Reat right motor. */
+    /** Rear right motor. */
     kRearRight(3),
     /** Left motor. */
     kLeft(0),
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index a1216598f2..6e25b34439 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -102,7 +102,7 @@ public class DifferentialDrivetrainSim {
    * @param driveMotor A {@link DCMotor} representing the drivetrain.
    * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same
    *     ratio as the ratio used to identify or create the drivetrainPlant.
-   * @param trackWidthMeters The distance between the two sides of the drivetrian. Can be found with
+   * @param trackWidthMeters The distance between the two sides of the drivetrain. Can be found with
    *     SysId.
    * @param wheelRadiusMeters The radius of the wheels on the drivetrain, in meters.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
index b62c90077a..abba8a7365 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
@@ -41,7 +41,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_flywheelMotor = new PWMSparkMax(kMotorPort);
   private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
 
-  private final BangBangController m_bangBangControler = new BangBangController();
+  private final BangBangController m_bangBangController = new BangBangController();
 
   // Gains are for example purposes only - must be determined for your own robot!
   public static final double kFlywheelKs = 0.0001; // V
@@ -69,8 +69,8 @@ public class Robot extends TimedRobot {
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
 
   public Robot() {
-    // Add bang-bang controler to SmartDashboard and networktables.
-    SmartDashboard.putData(m_bangBangControler);
+    // Add bang-bang controller to SmartDashboard and networktables.
+    SmartDashboard.putData(m_bangBangController);
   }
 
   /** Controls flywheel to a set speed (RPM) controlled by a joystick. */
@@ -84,7 +84,7 @@ public class Robot extends TimedRobot {
                 * Units.rotationsPerMinuteToRadiansPerSecond(kMaxSetpointValue));
 
     // Set setpoint and measurement of the bang-bang controller
-    double bangOutput = m_bangBangControler.calculate(m_encoder.getRate(), setpoint) * 12.0;
+    double bangOutput = m_bangBangController.calculate(m_encoder.getRate(), setpoint) * 12.0;
 
     // Controls a motor with the output of the BangBang controller and a
     // feedforward. The feedforward is reduced slightly to avoid overspeeding
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
index 66a0e6c487..bb7b913b65 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
  */
 public class Robot extends TimedRobot {
   private static final double kAngleSetpoint = 0.0;
-  private static final double kP = 0.005; // propotional turning constant
+  private static final double kP = 0.005; // proportional turning constant
 
   // gyro calibration constant, may need to be adjusted;
   // gyro value of 360 is set to correspond to one full revolution
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
index 24fa771f33..7c378dff47 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
@@ -19,7 +19,7 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>States is the dimensionality of the state. 2*States+1 weights will be generated.
  *
- * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic
+ * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic
  * State-Space Models" (Doctoral dissertation)
  *
  * @param <S> The dimensionality of the state. 2 * States + 1 weights will be generated.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
index 644250f611..72f3db7171 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
@@ -22,7 +22,7 @@ public final class DAREJNI extends WPIMathJNI {
    * </ul>
    *
    * <p>Only use this function if you're sure the preconditions are met. Solves the discrete
-   * alegebraic Riccati equation.
+   * algebraic Riccati equation.
    *
    * @param A Array containing elements of A in row-major order.
    * @param B Array containing elements of B in row-major order.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index 5ad8f36c5b..44628733e3 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -159,7 +159,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   /**
    * Discretizes a continuous-time chassis speed.
    *
-   * <p>This function converts a continous-time chassis speed into a discrete-time one such that
+   * <p>This function converts a continuous-time chassis speed into a discrete-time one such that
    * when the discrete-time chassis speed is applied for one timestep, the robot moves as if the
    * velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt
    * along the y-axis, and omega * dt around the z-axis).
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index d97285f646..24f3070847 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -23,11 +23,11 @@ public class DifferentialDriveWheelPositions
   /** Distance measured by the right side. */
   public double rightMeters;
 
-  /** DifferentialDriveWheelPostions struct for serialization. */
+  /** DifferentialDriveWheelPositions struct for serialization. */
   public static final DifferentialDriveWheelPositionsStruct struct =
       new DifferentialDriveWheelPositionsStruct();
 
-  /** DifferentialDriveWheelPostions struct for serialization. */
+  /** DifferentialDriveWheelPositions struct for serialization. */
   public static final DifferentialDriveWheelPositionsProto proto =
       new DifferentialDriveWheelPositionsProto();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
index 36d7bcb7a7..feddf66e0a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -88,7 +88,7 @@ public final class NumericalIntegration {
   /**
    * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
    *
-   * @param <States> A Num prepresenting the states of the system.
+   * @param <States> A Num representing the states of the system.
    * @param f The function to integrate. It must take one argument x.
    * @param x The initial value of x.
    * @param dtSeconds The time over which to integrate.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
index 896ba6bdc5..db6f8f7a1c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
@@ -96,7 +96,7 @@ public class ExponentialProfile {
     /**
      * Computes the max achievable velocity for an Exponential Profile.
      *
-     * @return The seady-state velocity achieved by this profile.
+     * @return The steady-state velocity achieved by this profile.
      */
     public double maxVelocity() {
       return -maxInput * B / A;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
index 355981ed2b..234d725f00 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -50,7 +50,7 @@ public class TrapezoidProfile {
 
   private double m_endAccel;
   private double m_endFullSpeed;
-  private double m_endDeccel;
+  private double m_endDecel;
 
   /** Profile constraints. */
   public static class Constraints {
@@ -185,7 +185,7 @@ public class TrapezoidProfile {
 
     m_endAccel = accelerationTime - cutoffBegin;
     m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
-    m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+    m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd;
     State result = new State(m_current.position, m_current.velocity);
 
     if (t < m_endAccel) {
@@ -196,9 +196,9 @@ public class TrapezoidProfile {
       result.position +=
           (m_current.velocity + m_endAccel * m_constraints.maxAcceleration / 2.0) * m_endAccel
               + m_constraints.maxVelocity * (t - m_endAccel);
-    } else if (t <= m_endDeccel) {
-      result.velocity = goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
-      double timeLeft = m_endDeccel - t;
+    } else if (t <= m_endDecel) {
+      result.velocity = goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration;
+      double timeLeft = m_endDecel - t;
       result.position =
           goal.position
               - (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * timeLeft;
@@ -232,7 +232,7 @@ public class TrapezoidProfile {
     endFullSpeed = Math.max(endFullSpeed, 0);
 
     final double acceleration = m_constraints.maxAcceleration;
-    final double decceleration = -m_constraints.maxAcceleration;
+    final double deceleration = -m_constraints.maxAcceleration;
 
     double distToTarget = Math.abs(target - position);
     if (distToTarget < 1e-6) {
@@ -241,40 +241,39 @@ public class TrapezoidProfile {
 
     double accelDist = velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;
 
-    double deccelVelocity;
+    double decelVelocity;
     if (endAccel > 0) {
-      deccelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist));
+      decelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist));
     } else {
-      deccelVelocity = velocity;
+      decelVelocity = velocity;
     }
 
     double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
-    double deccelDist;
+    double decelDist;
 
     if (accelDist > distToTarget) {
       accelDist = distToTarget;
       fullSpeedDist = 0;
-      deccelDist = 0;
+      decelDist = 0;
     } else if (accelDist + fullSpeedDist > distToTarget) {
       fullSpeedDist = distToTarget - accelDist;
-      deccelDist = 0;
+      decelDist = 0;
     } else {
-      deccelDist = distToTarget - fullSpeedDist - accelDist;
+      decelDist = distToTarget - fullSpeedDist - accelDist;
     }
 
     double accelTime =
         (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist)))
             / acceleration;
 
-    double deccelTime =
-        (-deccelVelocity
-                + Math.sqrt(
-                    Math.abs(deccelVelocity * deccelVelocity + 2 * decceleration * deccelDist)))
-            / decceleration;
+    double decelTime =
+        (-decelVelocity
+                + Math.sqrt(Math.abs(decelVelocity * decelVelocity + 2 * deceleration * decelDist)))
+            / deceleration;
 
     double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
 
-    return accelTime + fullSpeedTime + deccelTime;
+    return accelTime + fullSpeedTime + decelTime;
   }
 
   /**
@@ -283,7 +282,7 @@ public class TrapezoidProfile {
    * @return The total time the profile takes to reach the goal.
    */
   public double totalTime() {
-    return m_endDeccel;
+    return m_endDecel;
   }
 
   /**
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
index d84e3cee8d..108d590b9b 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
@@ -59,7 +59,7 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
       units::radians_per_second_squared_t maxAngularAccel);
 
   /**
-   * Returns the next voltage pair subject to acceleraiton constraints.
+   * Returns the next voltage pair subject to acceleration constraints.
    *
    * @param leftVelocity The left wheel velocity.
    * @param rightVelocity The right wheel velocity.
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
index b93d614f01..faa67f6274 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
@@ -59,7 +59,7 @@ class KalmanFilterLatencyCompensator {
    * @param observer  The observer.
    * @param u         The input at the timestamp.
    * @param localY    The local output at the timestamp
-   * @param timestamp The timesnap of the state.
+   * @param timestamp The timestamp of the state.
    */
   void AddObserverState(const KalmanFilterType& observer, Vectord<Inputs> u,
                         Vectord<Outputs> localY, units::second_t timestamp) {
diff --git a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
index 6395d8d3f1..ffc65eee85 100644
--- a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
+++ b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
@@ -18,7 +18,7 @@ namespace frc {
  * version seen in most publications. Unless you know better, this should be
  * your default choice.
  *
- * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic
+ * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic
  *     Inference in Dynamic State-Space Models" (Doctoral dissertation)
  *
  * @tparam States The dimensionality of the state. 2 * States + 1 weights will
diff --git a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
index 0604541561..c63e5802c6 100644
--- a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
@@ -48,7 +48,7 @@ class SteadyStateKalmanFilter {
   using OutputArray = wpi::array<double, Outputs>;
 
   /**
-   * Constructs a staeady-state Kalman filter with the given plant.
+   * Constructs a steady-state Kalman filter with the given plant.
    *
    * See
    * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h b/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h
index bec3bc841d..4a99e90157 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h
@@ -30,7 +30,7 @@ namespace frc {
  *                     vectors using a given set of weights.
  * @param residualFunc A function that computes the residual of two state
  *                     vectors (i.e. it subtracts them.)
- * @param squareRootR  Square-root of the noise covaraince of the sigma points.
+ * @param squareRootR  Square-root of the noise covariance of the sigma points.
  *
  * @return Tuple of x, mean of sigma points; S, square-root covariance of
  * sigmas.
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index dc490e9b41..299e18a28b 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -50,7 +50,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   }
 
   /**
-   * Disretizes a continuous-time chassis speed.
+   * Discretizes a continuous-time chassis speed.
    *
    * This function converts a continuous-time chassis speed into a discrete-time
    * one such that when the discrete-time chassis speed is applied for one
@@ -85,7 +85,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   }
 
   /**
-   * Disretizes a continuous-time chassis speed.
+   * Discretizes a continuous-time chassis speed.
    *
    * This function converts a continuous-time chassis speed into a discrete-time
    * one such that when the discrete-time chassis speed is applied for one
diff --git a/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h b/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h
index 9f836c1036..b5e8952b68 100644
--- a/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h
+++ b/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h
@@ -103,7 +103,7 @@ class ExponentialProfile {
     /**
      * Computes the max achievable velocity for an Exponential Profile.
      *
-     * @return The seady-state velocity achieved by this profile.
+     * @return The steady-state velocity achieved by this profile.
      */
     Velocity_t MaxVelocity() const { return -maxInput * B / A; }
 
diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
index 0f4c65ec88..08df10c8d9 100644
--- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
+++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -132,7 +132,7 @@ class TrapezoidProfile {
    *
    * @return The total time the profile takes to reach the goal.
    */
-  units::second_t TotalTime() const { return m_endDeccel; }
+  units::second_t TotalTime() const { return m_endDecel; }
 
   /**
    * Returns true if the profile has reached the goal.
@@ -174,7 +174,7 @@ class TrapezoidProfile {
 
   units::second_t m_endAccel;
   units::second_t m_endFullSpeed;
-  units::second_t m_endDeccel;
+  units::second_t m_endDecel;
 };
 }  // namespace frc
 
diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
index 75e76d9eee..4b1eff72b6 100644
--- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
+++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
@@ -58,7 +58,7 @@ TrapezoidProfile<Distance>::Calculate(units::second_t t, State current,
 
   m_endAccel = accelerationTime - cutoffBegin;
   m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
-  m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+  m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd;
   State result = m_current;
 
   if (t < m_endAccel) {
@@ -71,10 +71,10 @@ TrapezoidProfile<Distance>::Calculate(units::second_t t, State current,
                         m_endAccel * m_constraints.maxAcceleration / 2.0) *
                            m_endAccel +
                        m_constraints.maxVelocity * (t - m_endAccel);
-  } else if (t <= m_endDeccel) {
+  } else if (t <= m_endDecel) {
     result.velocity =
-        goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
-    units::second_t timeLeft = m_endDeccel - t;
+        goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration;
+    units::second_t timeLeft = m_endDecel - t;
     result.position =
         goal.position -
         (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) *
@@ -105,7 +105,7 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
   endFullSpeed = units::math::max(endFullSpeed, 0_s);
 
   const Acceleration_t acceleration = m_constraints.maxAcceleration;
-  const Acceleration_t decceleration = -m_constraints.maxAcceleration;
+  const Acceleration_t deceleration = -m_constraints.maxAcceleration;
 
   Distance_t distToTarget = units::math::abs(target - position);
 
@@ -116,26 +116,26 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
   Distance_t accelDist =
       velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;
 
-  Velocity_t deccelVelocity;
+  Velocity_t decelVelocity;
   if (endAccel > 0_s) {
-    deccelVelocity = units::math::sqrt(
+    decelVelocity = units::math::sqrt(
         units::math::abs(velocity * velocity + 2 * acceleration * accelDist));
   } else {
-    deccelVelocity = velocity;
+    decelVelocity = velocity;
   }
 
   Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
-  Distance_t deccelDist;
+  Distance_t decelDist;
 
   if (accelDist > distToTarget) {
     accelDist = distToTarget;
     fullSpeedDist = Distance_t{0};
-    deccelDist = Distance_t{0};
+    decelDist = Distance_t{0};
   } else if (accelDist + fullSpeedDist > distToTarget) {
     fullSpeedDist = distToTarget - accelDist;
-    deccelDist = Distance_t{0};
+    decelDist = Distance_t{0};
   } else {
-    deccelDist = distToTarget - fullSpeedDist - accelDist;
+    decelDist = distToTarget - fullSpeedDist - accelDist;
   }
 
   units::second_t accelTime =
@@ -143,14 +143,14 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
                        velocity * velocity + 2 * acceleration * accelDist))) /
       acceleration;
 
-  units::second_t deccelTime =
-      (-deccelVelocity +
-       units::math::sqrt(units::math::abs(deccelVelocity * deccelVelocity +
-                                          2 * decceleration * deccelDist))) /
-      decceleration;
+  units::second_t decelTime =
+      (-decelVelocity +
+       units::math::sqrt(units::math::abs(decelVelocity * decelVelocity +
+                                          2 * deceleration * decelDist))) /
+      deceleration;
 
   units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
 
-  return accelTime + fullSpeedTime + deccelTime;
+  return accelTime + fullSpeedTime + decelTime;
 }
 }  // namespace frc
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java
index b553fb0da3..d33af05d33 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java
@@ -90,13 +90,13 @@ class ArmFeedforwardTest {
   }
 
   @Test
-  void testAcheviableVelocity() {
+  void testAchievableVelocity() {
     assertEquals(6, m_armFF.maxAchievableVelocity(12, Math.PI / 3, 1), 0.002);
     assertEquals(-9, m_armFF.minAchievableVelocity(11.5, Math.PI / 3, 1), 0.002);
   }
 
   @Test
-  void testAcheviableAcceleration() {
+  void testAchievableAcceleration() {
     assertEquals(4.75, m_armFF.maxAchievableAcceleration(12, Math.PI / 3, 1), 0.002);
     assertEquals(6.75, m_armFF.maxAchievableAcceleration(12, Math.PI / 3, -1), 0.002);
     assertEquals(-7.25, m_armFF.minAchievableAcceleration(12, Math.PI / 3, 1), 0.002);
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
index 4ec558d4e7..f67136faed 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
@@ -171,7 +171,7 @@ class DifferentialDriveAccelerationLimiterTest {
   }
 
   @Test
-  void testSeperateMinMaxLowLimits() {
+  void testSeparateMinMaxLowLimits() {
     final double trackwidth = 0.9;
     final double dt = 0.005;
     final double minA = -1.0;
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java
index 90344937b3..a963d507bd 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java
@@ -43,13 +43,13 @@ class ElevatorFeedforwardTest {
   }
 
   @Test
-  void testAcheviableVelocity() {
+  void testAchievableVelocity() {
     assertEquals(5, m_elevatorFF.maxAchievableVelocity(11, 1), 0.002);
     assertEquals(-9, m_elevatorFF.minAchievableVelocity(11, 1), 0.002);
   }
 
   @Test
-  void testAcheviableAcceleration() {
+  void testAchievableAcceleration() {
     assertEquals(3.75, m_elevatorFF.maxAchievableAcceleration(12, 2), 0.002);
     assertEquals(7.25, m_elevatorFF.maxAchievableAcceleration(12, -2), 0.002);
     assertEquals(-8.25, m_elevatorFF.minAchievableAcceleration(12, 2), 0.002);
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
index 0fdcfc3114..221c98be03 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
@@ -220,7 +220,7 @@ class DifferentialDrivePoseEstimatorTest {
 
   @Test
   void testSimultaneousVisionMeasurements() {
-    // This tests for multiple vision measurements appled at the same time. The expected behavior
+    // This tests for multiple vision measurements applied at the same time. The expected behavior
     // is that all measurements affect the estimated pose. The alternative result is that only one
     // vision measurement affects the outcome. If that were the case, after 1000 measurements, the
     // estimated pose would converge to that measurement.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
index d65cf25675..0dba2bbe67 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
@@ -229,7 +229,7 @@ class MecanumDrivePoseEstimatorTest {
 
   @Test
   void testSimultaneousVisionMeasurements() {
-    // This tests for multiple vision measurements appled at the same time. The expected behavior
+    // This tests for multiple vision measurements applied at the same time. The expected behavior
     // is that all measurements affect the estimated pose. The alternative result is that only one
     // vision measurement affects the outcome. If that were the case, after 1000 measurements, the
     // estimated pose would converge to that measurement.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
index 0abdd5de6a..54398902f7 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
@@ -245,7 +245,7 @@ class SwerveDrivePoseEstimatorTest {
 
   @Test
   void testSimultaneousVisionMeasurements() {
-    // This tests for multiple vision measurements appled at the same time. The expected behavior
+    // This tests for multiple vision measurements applied at the same time. The expected behavior
     // is that all measurements affect the estimated pose. The alternative result is that only one
     // vision measurement affects the outcome. If that were the case, after 1000 measurements, the
     // estimated pose would converge to that measurement.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
index c055f9bd31..22d8f33e8f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
@@ -20,7 +20,7 @@ class Twist2dTest {
   }
 
   @Test
-  void testQuarterCirle() {
+  void testQuarterCircle() {
     var quarterCircle = new Twist2d(5.0 / 2.0 * Math.PI, 0, Math.PI / 2.0);
     var quarterCirclePose = Pose2d.kZero.exp(quarterCircle);
 
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java
index c7ef787724..03ac6100dc 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java
@@ -40,7 +40,7 @@ class Twist3dTest {
   }
 
   @Test
-  void testQuarterCirle() {
+  void testQuarterCircle() {
     var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
 
     var quarterCircle = new Twist3d(5.0 / 2.0 * Math.PI, 0.0, 0.0, 0.0, 0.0, Math.PI / 2.0);
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
index ab8359c6ed..452e017ecc 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
@@ -171,7 +171,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   }
 }
 
-TEST(DifferentialDriveAccelerationLimiterTest, SeperateMinMaxLowLimits) {
+TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   constexpr auto trackwidth = 0.9_m;
   constexpr auto dt = 5_ms;
   constexpr auto minA = -1_mps_sq;
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
index 3fb42f9c9c..fbc2d21233 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
@@ -212,7 +212,7 @@ TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
-  // This tests for multiple vision measurements appled at the same time.
+  // This tests for multiple vision measurements applied at the same time.
   // The expected behavior is that all measurements affect the estimated pose.
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
index 1132866b77..8ba38c2325 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
@@ -211,7 +211,7 @@ TEST(MecanumDrivePoseEstimatorTest, BadInitialPose) {
 }
 
 TEST(MecanumDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
-  // This tests for multiple vision measurements appled at the same time.
+  // This tests for multiple vision measurements applied at the same time.
   // The expected behavior is that all measurements affect the estimated pose.
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
index 6296ee36d1..9619e6a30f 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
@@ -220,7 +220,7 @@ TEST(SwerveDrivePoseEstimatorTest, BadInitialPose) {
 }
 
 TEST(SwerveDrivePoseEstimatorTest, SimultaneousVisionMeasurements) {
-  // This tests for multiple vision measurements appled at the same time.
+  // This tests for multiple vision measurements applied at the same time.
   // The expected behavior is that all measurements affect the estimated pose.
   // The alternative result is that only one vision measurement affects the
   // outcome. If that were the case, after 1000 measurements, the estimated
diff --git a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
index 9657543de4..aabd6ad0c3 100644
--- a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
@@ -39,7 +39,7 @@ TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
   EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
 }
 
-TEST_F(SlewRateLimiterTest, SlewRatePositveNegativeLimit) {
+TEST_F(SlewRateLimiterTest, SlewRatePositiveNegativeLimit) {
   frc::SlewRateLimiter<units::meters> limiter(1_mps, -0.5_mps);
 
   now += 1_s;
diff --git a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
index e4ecb51873..8bb39cecdb 100644
--- a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
@@ -65,7 +65,7 @@ TEST(ExponentialProfileTest, ReachesGoal) {
 
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
-TEST(ExponentialProfileTest, PosContinousUnderVelChange) {
+TEST(ExponentialProfileTest, PosContinuousUnderVelChange) {
   frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
   frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
@@ -88,7 +88,7 @@ TEST(ExponentialProfileTest, PosContinousUnderVelChange) {
 
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
-TEST(ExponentialProfileTest, PosContinousUnderVelChangeBackward) {
+TEST(ExponentialProfileTest, PosContinuousUnderVelChangeBackward) {
   frc::ExponentialProfile<units::meter, units::volts>::Constraints constraints{
       12_V, -kV / kA, 1 / kA};
   frc::ExponentialProfile<units::meter, units::volts> profile{constraints};
diff --git a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
index 09c1ed54bd..39cbc3b0ea 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -41,7 +41,7 @@ TEST(TrapezoidProfileTest, ReachesGoal) {
 
 // Tests that decreasing the maximum velocity in the middle when it is already
 // moving faster than the new max is handled correctly
-TEST(TrapezoidProfileTest, PosContinousUnderVelChange) {
+TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) {
   frc::TrapezoidProfile<units::meter>::Constraints constraints{1.75_mps,
                                                                0.75_mps_sq};
   frc::TrapezoidProfile<units::meter>::State goal{12_m, 0_mps};
diff --git a/wpinet/src/main/native/include/wpinet/UrlParser.h b/wpinet/src/main/native/include/wpinet/UrlParser.h
index 92fd330ce7..1a962e2cff 100644
--- a/wpinet/src/main/native/include/wpinet/UrlParser.h
+++ b/wpinet/src/main/native/include/wpinet/UrlParser.h
@@ -14,7 +14,7 @@
 namespace wpi {
 
 /**
- * Parses a URL into its constiuent components.
+ * Parses a URL into its constituent components.
  * `schema://userinfo@host:port/the/path?query#fragment`
  */
 class UrlParser {
diff --git a/wpinet/src/main/native/include/wpinet/uv/Async.h b/wpinet/src/main/native/include/wpinet/uv/Async.h
index 2eb13d7308..56a735dfb6 100644
--- a/wpinet/src/main/native/include/wpinet/uv/Async.h
+++ b/wpinet/src/main/native/include/wpinet/uv/Async.h
@@ -30,7 +30,7 @@ namespace wpi::uv {
  * template parameters.  If data parameters are used, the async callback will
  * be called once for every call to Send().  If no data parameters are used,
  * the async callback may or may not be called for every call to Send() (e.g.
- * the calls may be coaleasced).
+ * the calls may be coalesced).
  */
 template <typename... T>
 class Async final : public HandleImpl<Async<T...>, uv_async_t> {
@@ -132,7 +132,7 @@ class Async final : public HandleImpl<Async<T...>, uv_async_t> {
 
 /**
  * Async specialization for no data parameters.  The async callback may or may
- * not be called for every call to Send() (e.g. the calls may be coaleasced).
+ * not be called for every call to Send() (e.g. the calls may be coalesced).
  */
 template <>
 class Async<> final : public HandleImpl<Async<>, uv_async_t> {
diff --git a/wpinet/src/main/native/include/wpinet/uv/Loop.h b/wpinet/src/main/native/include/wpinet/uv/Loop.h
index 0897c87f2b..2c885d3c24 100644
--- a/wpinet/src/main/native/include/wpinet/uv/Loop.h
+++ b/wpinet/src/main/native/include/wpinet/uv/Loop.h
@@ -102,7 +102,7 @@ class Loop final : public std::enable_shared_from_this<Loop> {
    * * `Loop::kDefault`: Run the event loop until there are no
    *                     active and referenced handles or requests.
    * * `Loop::kOnce`: Run a single event loop iteration. Note that this
-   *                  function blocksif there are no pending callbacks.
+   *                  function blocks if there are no pending callbacks.
    * * `Loop::kNoWait`: Run a single event loop iteration, but don't block
    *                    if there are no pending callbacks.
    *
diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
index b5d25ac070..244144fb47 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java
@@ -7,7 +7,7 @@ package edu.wpi.first.units;
 import static edu.wpi.first.units.Units.Watts;
 
 /**
- * Unit of electic current dimension.
+ * Unit of electric current dimension.
  *
  * <p>This is the base type for units of current dimension. It is also used to specify the dimension
  * for {@link Measure}: <code>Measure&lt;Current&gt;</code>.
diff --git a/wpiutil/doc/struct.adoc b/wpiutil/doc/struct.adoc
index cac4d4a967..8a55e9bfac 100644
--- a/wpiutil/doc/struct.adoc
+++ b/wpiutil/doc/struct.adoc
@@ -202,7 +202,7 @@ results in a 5-byte encoding:
 [[layout-bit-field]]
 === Bit-Field Data Layout
 
-Multiple adjacant bit-fields of the same integer type width are packed together to fit in the minimum number of multiples of that type. The bit-fields are packed, starting from the least significant bit, in the order they appear in the schema. Individual bit-fields must not span across multiple underlying types; if a bit-field is larger than the remaining space in the data type, a new element of that type is started and the bit-field starts from the least significant bit of the new element. Unused bits should be set to 0 during serialization and must be ignored during deserialization.
+Multiple adjacent bit-fields of the same integer type width are packed together to fit in the minimum number of multiples of that type. The bit-fields are packed, starting from the least significant bit, in the order they appear in the schema. Individual bit-fields must not span across multiple underlying types; if a bit-field is larger than the remaining space in the data type, a new element of that type is started and the bit-field starts from the least significant bit of the new element. Unused bits should be set to 0 during serialization and must be ignored during deserialization.
 
 Boolean bit-fields are always a single bit wide. The underlying data type is by default uint8, but if a boolean bit-field immediately follows a bit-field of another integer type (and fits), it is packed into that type.
 
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
index 58e69c34bc..bc04257091 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
@@ -138,7 +138,7 @@ public class WPIUtilJNI {
    * multiple-consumer scenario.
    *
    * @param initialCount initial value for the semaphore's internal counter
-   * @param maximumCount maximum value for the samephore's internal counter
+   * @param maximumCount maximum value for the semaphore's internal counter
    * @return Semaphore handle
    */
   public static native int createSemaphore(int initialCount, int maximumCount);
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
index e834d8e324..e6fda0bee0 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
@@ -103,10 +103,10 @@ public interface Protobuf<T, MessageType extends ProtoMessage<?>> {
   }
 
   /**
-   * Returns whether or not objects are cloneable using the clone() method. Clonable objects must
+   * Returns whether or not objects are cloneable using the clone() method. Cloneable objects must
    * also be comparable using the equals() method. Default implementation returns false.
    *
-   * @return True if object is clonable
+   * @return True if object is cloneable
    */
   default boolean isCloneable() {
     return false;
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java
index 763d61e829..8e408ceb31 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java
@@ -203,10 +203,10 @@ public interface Struct<T> {
   }
 
   /**
-   * Returns whether or not objects are cloneable using the clone() method. Clonable objects must
+   * Returns whether or not objects are cloneable using the clone() method. Cloneable objects must
    * also be comparable using the equals() method. Default implementation returns false.
    *
-   * @return True if object is clonable
+   * @return True if object is cloneable
    */
   default boolean isCloneable() {
     return false;
diff --git a/wpiutil/src/main/native/include/wpi/Synchronization.h b/wpiutil/src/main/native/include/wpi/Synchronization.h
index 62a79efd98..7b98322139 100644
--- a/wpiutil/src/main/native/include/wpi/Synchronization.h
+++ b/wpiutil/src/main/native/include/wpi/Synchronization.h
@@ -90,7 +90,7 @@ void ResetEvent(WPI_EventHandle handle);
  * multiple-consumer scenario.
  *
  * @param initialCount initial value for the semaphore's internal counter
- * @param maximumCount maximum value for the samephore's internal counter
+ * @param maximumCount maximum value for the semaphore's internal counter
  * @return Semaphore handle
  */
 WPI_SemaphoreHandle CreateSemaphore(int initialCount = 0,
@@ -318,7 +318,7 @@ class Semaphore final {
    * Constructor.
    *
    * @param initialCount initial value for the semaphore's internal counter
-   * @param maximumCount maximum value for the samephore's internal counter
+   * @param maximumCount maximum value for the semaphore's internal counter
    */
   explicit Semaphore(int initialCount = 0, int maximumCount = INT_MAX)
       : m_handle{CreateSemaphore(initialCount, maximumCount)} {}
@@ -491,7 +491,7 @@ void WPI_ResetEvent(WPI_EventHandle handle);
  * multiple-consumer scenario.
  *
  * @param initial_count initial value for the semaphore's internal counter
- * @param maximum_count maximum value for the samephore's internal counter
+ * @param maximum_count maximum value for the semaphore's internal counter
  * @return Semaphore handle
  */
 WPI_SemaphoreHandle WPI_CreateSemaphore(int initial_count, int maximum_count);
diff --git a/wpiutil/src/main/native/include/wpi/string.h b/wpiutil/src/main/native/include/wpi/string.h
index a001b7be17..b84fdd439c 100644
--- a/wpiutil/src/main/native/include/wpi/string.h
+++ b/wpiutil/src/main/native/include/wpi/string.h
@@ -55,7 +55,7 @@ void WPI_InitString(struct WPI_String* wpiString, const char* utf8String);
 
 /**
  * Initializes a WPI_String from a UTF-8 string and length.
- * If input string is null or 0 length, initilizes output to 0 length.
+ * If input string is null or 0 length, initializes output to 0 length.
  * The input string does not need to be null terminated.
  *
  * The lifetime of the output string is the lifetime of the input string.
diff --git a/wpiutil/src/main/native/include/wpi/struct/Struct.h b/wpiutil/src/main/native/include/wpi/struct/Struct.h
index 0de507e743..3070ac5746 100644
--- a/wpiutil/src/main/native/include/wpi/struct/Struct.h
+++ b/wpiutil/src/main/native/include/wpi/struct/Struct.h
@@ -166,7 +166,7 @@ inline T UnpackStruct(std::span<const uint8_t> data, const I&... info) {
  * @tparam Offset starting offset
  * @tparam N number of objects
  * @param data raw struct data
- * @return Desrialized array
+ * @return Deserialized array
  */
 template <StructSerializable T, size_t Offset, size_t N>
 inline wpi::array<T, N> UnpackStructArray(std::span<const uint8_t> data) {