diff --git a/wpilibc/wpilibC++/include/Notifier.h b/wpilibc/wpilibC++/include/Notifier.h
index 06e3c87c97..9bb108b97d 100644
--- a/wpilibc/wpilibC++/include/Notifier.h
+++ b/wpilibc/wpilibC++/include/Notifier.h
@@ -14,7 +14,7 @@ typedef void (*TimerEventHandler)(void *param);
 
 class Notifier : public ErrorBase {
  public:
-  Notifier(TimerEventHandler handler, void *param = NULL);
+  Notifier(TimerEventHandler handler, void *param = nullptr);
   virtual ~Notifier();
   void StartSingle(double delay);
   void StartPeriodic(double period);
diff --git a/wpilibc/wpilibC++/include/PIDController.h b/wpilibc/wpilibC++/include/PIDController.h
index 19da382cbe..c60079a4c4 100644
--- a/wpilibc/wpilibC++/include/PIDController.h
+++ b/wpilibc/wpilibC++/include/PIDController.h
@@ -59,7 +59,7 @@ class PIDController : public LiveWindowSendable,
 
   virtual void Reset() override;
 
-  virtual void InitTable(ITable *table);
+  virtual void InitTable(ITable *table) override;
 
  private:
   float m_P;              // factor for "proportional" control
@@ -94,13 +94,13 @@ class PIDController : public LiveWindowSendable,
                   PIDOutput *output, float period = 0.05);
   static void CallCalculate(void *controller);
 
-  virtual ITable *GetTable() const;
-  virtual std::string GetSmartDashboardType() const;
+  virtual ITable *GetTable() const override;
+  virtual std::string GetSmartDashboardType() const override;
   virtual void ValueChanged(ITable *source, const std::string &key,
-                            EntryValue value, bool isNew);
-  virtual void UpdateTable();
-  virtual void StartLiveWindowMode();
-  virtual void StopLiveWindowMode();
+                            EntryValue value, bool isNew) override;
+  virtual void UpdateTable() override;
+  virtual void StartLiveWindowMode() override;
+  virtual void StopLiveWindowMode() override;
 
  protected:
   ITable *m_table;
diff --git a/wpilibc/wpilibC++/include/Utility.h b/wpilibc/wpilibC++/include/Utility.h
index 9b2f1d4f84..345b694c66 100644
--- a/wpilibc/wpilibC++/include/Utility.h
+++ b/wpilibc/wpilibC++/include/Utility.h
@@ -14,18 +14,18 @@
 #include <string>
 
 #define wpi_assert(condition) \
-  wpi_assert_impl(condition, #condition, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assert_impl(condition, #condition, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertWithMessage(condition, message)                     \
   wpi_assert_impl(condition, #condition, message, __FILE__, __LINE__, \
                   __FUNCTION__)
 
 #define wpi_assertEqual(a, b) \
-  wpi_assertEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assertEqual_impl(a, b, #a, #b, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertEqualWithMessage(a, b, message) \
   wpi_assertEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, __FUNCTION__)
 
 #define wpi_assertNotEqual(a, b) \
-  wpi_assertNotEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
+  wpi_assertNotEqual_impl(a, b, #a, #b, nullptr, __FILE__, __LINE__, __FUNCTION__)
 #define wpi_assertNotEqualWithMessage(a, b, message)                 \
   wpi_assertNotEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, \
                           __FUNCTION__)
diff --git a/wpilibc/wpilibC++/include/WPIErrors.h b/wpilibc/wpilibC++/include/WPIErrors.h
index 1a751b631f..25cb5fe7be 100644
--- a/wpilibc/wpilibC++/include/WPIErrors.h
+++ b/wpilibc/wpilibC++/include/WPIErrors.h
@@ -27,7 +27,7 @@ S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range");
 S(NotAllocated, -2, "Attempting to free unallocated resource");
 S(ResourceAlreadyAllocated, -3, "Attempted to reuse an allocated resource");
 S(NoAvailableResources, -4, "No available resources to allocate");
-S(NullParameter, -5, "A pointer parameter to a method is NULL");
+S(NullParameter, -5, "A pointer parameter to a method is nullptr");
 S(Timeout, -6, "A timeout has been exceeded");
 S(CompassManufacturerError, -7, "Compass manufacturer doesn't match HiTechnic");
 S(CompassTypeError, -8,
diff --git a/wpilibc/wpilibC++/src/Buttons/Trigger.cpp b/wpilibc/wpilibC++/src/Buttons/Trigger.cpp
index d605cc2a8a..97cbcc1454 100644
--- a/wpilibc/wpilibC++/src/Buttons/Trigger.cpp
+++ b/wpilibc/wpilibC++/src/Buttons/Trigger.cpp
@@ -13,12 +13,12 @@
 #include "Buttons/ToggleButtonScheduler.h"
 #include "Buttons/CancelButtonScheduler.h"
 
-Trigger::Trigger() { m_table = NULL; }
+Trigger::Trigger() { m_table = nullptr; }
 
 bool Trigger::Grab() {
   if (Get())
     return true;
-  else if (m_table != NULL) {
+  else if (m_table != nullptr) {
     // if (m_table->isConnected())//TODO is connected on button?
     return m_table->GetBoolean("pressed");
     /*else
@@ -28,29 +28,27 @@ bool Trigger::Grab() {
 }
 
 void Trigger::WhenActive(Command *command) {
-  PressedButtonScheduler *pbs =
-      new PressedButtonScheduler(Grab(), this, command);
+  auto pbs = new PressedButtonScheduler(Grab(), this, command);
   pbs->Start();
 }
 
 void Trigger::WhileActive(Command *command) {
-  HeldButtonScheduler *hbs = new HeldButtonScheduler(Grab(), this, command);
+  auto hbs = new HeldButtonScheduler(Grab(), this, command);
   hbs->Start();
 }
 
 void Trigger::WhenInactive(Command *command) {
-  ReleasedButtonScheduler *rbs =
-      new ReleasedButtonScheduler(Grab(), this, command);
+  auto rbs = new ReleasedButtonScheduler(Grab(), this, command);
   rbs->Start();
 }
 
 void Trigger::CancelWhenActive(Command *command) {
-  CancelButtonScheduler *cbs = new CancelButtonScheduler(Grab(), this, command);
+  auto cbs = new CancelButtonScheduler(Grab(), this, command);
   cbs->Start();
 }
 
 void Trigger::ToggleWhenActive(Command *command) {
-  ToggleButtonScheduler *tbs = new ToggleButtonScheduler(Grab(), this, command);
+  auto tbs = new ToggleButtonScheduler(Grab(), this, command);
   tbs->Start();
 }
 
@@ -58,7 +56,7 @@ std::string Trigger::GetSmartDashboardType() const { return "Button"; }
 
 void Trigger::InitTable(ITable *table) {
   m_table = table;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("pressed", Get());
   }
 }
diff --git a/wpilibc/wpilibC++/src/Commands/Command.cpp b/wpilibc/wpilibC++/src/Commands/Command.cpp
index d465681d07..d3ec758a72 100644
--- a/wpilibc/wpilibC++/src/Commands/Command.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Command.cpp
@@ -29,23 +29,23 @@ void Command::InitCommand(const char *name, double timeout) {
   m_interruptible = true;
   m_canceled = false;
   m_runWhenDisabled = false;
-  m_parent = NULL;
-  m_name = name == NULL ? std::string() : name;
-  m_table = NULL;
+  m_parent = nullptr;
+  m_name = name == nullptr ? std::string() : name;
+  m_table = nullptr;
 }
 
 /**
  * Creates a new command.
  * The name of this command will be default.
  */
-Command::Command() { InitCommand(NULL, -1.0); }
+Command::Command() { InitCommand(nullptr, -1.0); }
 
 /**
  * Creates a new command with the given name and no timeout.
  * @param name the name for this command
  */
 Command::Command(const char *name) {
-  if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
+  if (name == nullptr) wpi_setWPIErrorWithContext(NullParameter, "name");
   InitCommand(name, -1.0);
 }
 
@@ -57,7 +57,7 @@ Command::Command(const char *name) {
 Command::Command(double timeout) {
   if (timeout < 0.0)
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-  InitCommand(NULL, timeout);
+  InitCommand(nullptr, timeout);
 }
 
 /**
@@ -67,14 +67,14 @@ Command::Command(double timeout) {
  * @see Command#isTimedOut() isTimedOut()
  */
 Command::Command(const char *name, double timeout) {
-  if (name == NULL) wpi_setWPIErrorWithContext(NullParameter, "name");
+  if (name == nullptr) wpi_setWPIErrorWithContext(NullParameter, "name");
   if (timeout < 0.0)
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
   InitCommand(name, timeout);
 }
 
 Command::~Command() {  // TODO deal with cleaning up all listeners
-  /*if (m_table != NULL){
+  /*if (m_table != nullptr){
           m_table->RemoveChangeListener(kRunning, this);
   }*/
 }
@@ -124,7 +124,7 @@ double Command::TimeSinceInitialized() const {
 void Command::Requires(Subsystem *subsystem) {
   if (!AssertUnlocked("Can not add new requirement to command")) return;
 
-  if (subsystem != NULL)
+  if (subsystem != nullptr)
     m_requirements.insert(subsystem);
   else
     wpi_setWPIErrorWithContext(NullParameter, "subsystem");
@@ -148,7 +148,7 @@ void Command::Removed() {
   m_initialized = false;
   m_canceled = false;
   m_running = false;
-  if (m_table != NULL) m_table->PutBoolean(kRunning, false);
+  if (m_table != nullptr) m_table->PutBoolean(kRunning, false);
 }
 
 /**
@@ -160,7 +160,7 @@ void Command::Removed() {
  */
 void Command::Start() {
   LockChanges();
-  if (m_parent != NULL)
+  if (m_parent != nullptr)
     wpi_setWPIErrorWithContext(
         CommandIllegalUse,
         "Can not start a command that is part of a command group");
@@ -173,7 +173,7 @@ void Command::Start() {
  * @return whether or not the command should stay within the {@link Scheduler}.
  */
 bool Command::Run() {
-  if (!m_runWhenDisabled && m_parent == NULL && RobotState::IsDisabled())
+  if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled())
     Cancel();
 
   if (IsCanceled()) return false;
@@ -255,16 +255,16 @@ bool Command::AssertUnlocked(const char *message) {
  * @param parent the parent
  */
 void Command::SetParent(CommandGroup *parent) {
-  if (parent == NULL) {
+  if (parent == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "parent");
-  } else if (m_parent != NULL) {
+  } else if (m_parent != nullptr) {
     wpi_setWPIErrorWithContext(CommandIllegalUse,
                                "Can not give command to a command group after "
                                "already being put in a command group");
   } else {
     LockChanges();
     m_parent = parent;
-    if (m_table != NULL) {
+    if (m_table != nullptr) {
       m_table->PutBoolean(kIsParented, true);
     }
   }
@@ -285,7 +285,7 @@ void Command::SetParent(CommandGroup *parent) {
 void Command::StartRunning() {
   m_running = true;
   m_startTime = -1;
-  if (m_table != NULL) m_table->PutBoolean(kRunning, true);
+  if (m_table != nullptr) m_table->PutBoolean(kRunning, true);
 }
 
 /**
@@ -308,7 +308,7 @@ bool Command::IsRunning() const { return m_running; }
  * instead.</p>
  */
 void Command::Cancel() {
-  if (m_parent != NULL)
+  if (m_parent != nullptr)
     wpi_setWPIErrorWithContext(
         CommandIllegalUse,
         "Can not cancel a command that is part of a command group");
@@ -348,7 +348,7 @@ void Command::SetInterruptible(bool interruptible) {
 /**
  * Checks if the command requires the given {@link Subsystem}.
  * @param system the system
- * @return whether or not the subsystem is required (false if given NULL)
+ * @return whether or not the subsystem is required (false if given nullptr)
  */
 bool Command::DoesRequire(Subsystem *system) const {
   return m_requirements.count(system) > 0;
@@ -390,12 +390,12 @@ std::string Command::GetName() {
 std::string Command::GetSmartDashboardType() const { return "Command"; }
 
 void Command::InitTable(ITable *table) {
-  if (m_table != NULL) m_table->RemoveTableListener(this);
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
   m_table = table;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutString(kName, GetName());
     m_table->PutBoolean(kRunning, IsRunning());
-    m_table->PutBoolean(kIsParented, m_parent != NULL);
+    m_table->PutBoolean(kIsParented, m_parent != nullptr);
     m_table->AddTableListener(kRunning, this, false);
   }
 }
diff --git a/wpilibc/wpilibC++/src/Commands/CommandGroup.cpp b/wpilibc/wpilibC++/src/Commands/CommandGroup.cpp
index d1058feb63..562c9d7dd8 100644
--- a/wpilibc/wpilibC++/src/Commands/CommandGroup.cpp
+++ b/wpilibc/wpilibC++/src/Commands/CommandGroup.cpp
@@ -39,7 +39,7 @@ CommandGroup::~CommandGroup() {}
  * @param command The {@link Command Command} to be added
  */
 void CommandGroup::AddSequential(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -52,7 +52,7 @@ void CommandGroup::AddSequential(Command *command) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -79,7 +79,7 @@ void CommandGroup::AddSequential(Command *command) {
  * @param timeout The timeout (in seconds)
  */
 void CommandGroup::AddSequential(Command *command, double timeout) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -96,7 +96,7 @@ void CommandGroup::AddSequential(Command *command, double timeout) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -126,7 +126,7 @@ void CommandGroup::AddSequential(Command *command, double timeout) {
  * @param command The command to be added
  */
 void CommandGroup::AddParallel(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -139,7 +139,7 @@ void CommandGroup::AddParallel(Command *command) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -177,7 +177,7 @@ void CommandGroup::AddParallel(Command *command) {
  * @param timeout The timeout (in seconds)
  */
 void CommandGroup::AddParallel(Command *command, double timeout) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -194,7 +194,7 @@ void CommandGroup::AddParallel(Command *command, double timeout) {
   // Iterate through command->GetRequirements() and call Requires() on each
   // required subsystem
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) Requires(*iter);
 }
 
@@ -202,7 +202,7 @@ void CommandGroup::_Initialize() { m_currentCommandIndex = -1; }
 
 void CommandGroup::_Execute() {
   CommandGroupEntry entry;
-  Command *cmd = NULL;
+  Command *cmd = nullptr;
   bool firstRun = false;
 
   if (m_currentCommandIndex == -1) {
@@ -211,7 +211,7 @@ void CommandGroup::_Execute() {
   }
 
   while ((unsigned)m_currentCommandIndex < m_commands.size()) {
-    if (cmd != NULL) {
+    if (cmd != nullptr) {
       if (entry.IsTimedOut()) cmd->_Cancel();
 
       if (cmd->Run()) {
@@ -220,13 +220,13 @@ void CommandGroup::_Execute() {
         cmd->Removed();
         m_currentCommandIndex++;
         firstRun = true;
-        cmd = NULL;
+        cmd = nullptr;
         continue;
       }
     }
 
     entry = m_commands[m_currentCommandIndex];
-    cmd = NULL;
+    cmd = nullptr;
 
     switch (entry.m_state) {
       case CommandGroupEntry::kSequence_InSequence:
@@ -253,7 +253,7 @@ void CommandGroup::_Execute() {
   }
 
   // Run Children
-  CommandList::iterator iter = m_children.begin();
+  auto iter = m_children.begin();
   for (; iter != m_children.end();) {
     entry = *iter;
     Command *child = entry.m_command;
@@ -278,7 +278,7 @@ void CommandGroup::_End() {
     cmd->Removed();
   }
 
-  CommandList::iterator iter = m_children.begin();
+  auto iter = m_children.begin();
   for (; iter != m_children.end(); iter++) {
     Command *cmd = iter->m_command;
     cmd->_Cancel();
@@ -315,7 +315,7 @@ bool CommandGroup::IsInterruptible() const {
     if (!cmd->IsInterruptible()) return false;
   }
 
-  CommandList::const_iterator iter = m_children.cbegin();
+  auto iter = m_children.cbegin();
   for (; iter != m_children.cend(); iter++) {
     if (!iter->m_command->IsInterruptible()) return false;
   }
@@ -324,13 +324,13 @@ bool CommandGroup::IsInterruptible() const {
 }
 
 void CommandGroup::CancelConflicts(Command *command) {
-  CommandList::iterator childIter = m_children.begin();
+  auto childIter = m_children.begin();
   for (; childIter != m_children.end();) {
     Command *child = childIter->m_command;
     bool erased = false;
 
     Command::SubsystemSet requirements = command->GetRequirements();
-    Command::SubsystemSet::iterator requirementIter = requirements.begin();
+    auto requirementIter = requirements.begin();
     for (; requirementIter != requirements.end(); requirementIter++) {
       if (child->DoesRequire(*requirementIter)) {
         child->_Cancel();
diff --git a/wpilibc/wpilibC++/src/Commands/CommandGroupEntry.cpp b/wpilibc/wpilibC++/src/Commands/CommandGroupEntry.cpp
index 10a36dbc3a..7fcaf22d34 100644
--- a/wpilibc/wpilibC++/src/Commands/CommandGroupEntry.cpp
+++ b/wpilibc/wpilibC++/src/Commands/CommandGroupEntry.cpp
@@ -10,7 +10,7 @@
 #include "Commands/Command.h"
 
 CommandGroupEntry::CommandGroupEntry()
-    : m_timeout(-1.0), m_command(NULL), m_state(kSequence_InSequence) {}
+    : m_timeout(-1.0), m_command(nullptr), m_state(kSequence_InSequence) {}
 
 CommandGroupEntry::CommandGroupEntry(Command *command, Sequence state)
     : m_timeout(-1.0), m_command(command), m_state(state) {}
diff --git a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
index eb030eaae7..1515606b3c 100644
--- a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
@@ -16,21 +16,21 @@
 #include <set>
 #include <algorithm>
 
-Scheduler *Scheduler::_instance = NULL;
+Scheduler *Scheduler::_instance = nullptr;
 
 Scheduler::Scheduler()
-    : m_buttonsLock(NULL), m_additionsLock(NULL), m_adding(false) {
+    : m_buttonsLock(nullptr), m_additionsLock(nullptr), m_adding(false) {
   m_buttonsLock = initializeMutexNormal();
   m_additionsLock = initializeMutexNormal();
 
   HLUsageReporting::ReportScheduler();
 
-  m_table = NULL;
+  m_table = nullptr;
   m_enabled = true;
   m_runningCommandsChanged = false;
-  toCancel = NULL;
-  commands = NULL;
-  ids = NULL;
+  toCancel = nullptr;
+  commands = nullptr;
+  ids = nullptr;
 }
 
 Scheduler::~Scheduler() {
@@ -46,7 +46,7 @@ Scheduler::~Scheduler() {
  * @return the {@link Scheduler}
  */
 Scheduler *Scheduler::GetInstance() {
-  if (_instance == NULL) _instance = new Scheduler();
+  if (_instance == nullptr) _instance = new Scheduler();
   return _instance;
 }
 
@@ -73,7 +73,7 @@ void Scheduler::AddButton(ButtonScheduler *button) {
 }
 
 void Scheduler::ProcessCommandAddition(Command *command) {
-  if (command == NULL) return;
+  if (command == nullptr) return;
 
   // Check to make sure no adding during adding
   if (m_adding) {
@@ -83,14 +83,14 @@ void Scheduler::ProcessCommandAddition(Command *command) {
   }
 
   // Only add if not already in
-  CommandSet::iterator found = m_commands.find(command);
+  auto found = m_commands.find(command);
   if (found == m_commands.end()) {
     // Check that the requirements can be had
     Command::SubsystemSet requirements = command->GetRequirements();
     Command::SubsystemSet::iterator iter;
     for (iter = requirements.begin(); iter != requirements.end(); iter++) {
       Subsystem *lock = *iter;
-      if (lock->GetCurrentCommand() != NULL &&
+      if (lock->GetCurrentCommand() != nullptr &&
           !lock->GetCurrentCommand()->IsInterruptible())
         return;
     }
@@ -99,7 +99,7 @@ void Scheduler::ProcessCommandAddition(Command *command) {
     m_adding = true;
     for (iter = requirements.begin(); iter != requirements.end(); iter++) {
       Subsystem *lock = *iter;
-      if (lock->GetCurrentCommand() != NULL) {
+      if (lock->GetCurrentCommand() != nullptr) {
         lock->GetCurrentCommand()->Cancel();
         Remove(lock->GetCurrentCommand());
       }
@@ -133,7 +133,7 @@ void Scheduler::Run() {
     if (!m_enabled) return;
 
     Synchronized sync(m_buttonsLock);
-    ButtonVector::reverse_iterator rButtonIter = m_buttons.rbegin();
+    auto rButtonIter = m_buttons.rbegin();
     for (; rButtonIter != m_buttons.rend(); rButtonIter++) {
       (*rButtonIter)->Execute();
     }
@@ -142,7 +142,7 @@ void Scheduler::Run() {
   m_runningCommandsChanged = false;
 
   // Loop through the commands
-  CommandSet::iterator commandIter = m_commands.begin();
+  auto commandIter = m_commands.begin();
   for (; commandIter != m_commands.end();) {
     Command *command = *commandIter;
     // Increment before potentially removing to keep the iterator valid
@@ -156,7 +156,7 @@ void Scheduler::Run() {
   // Add the new things
   {
     Synchronized sync(m_additionsLock);
-    CommandVector::iterator additionsIter = m_additions.begin();
+    auto additionsIter = m_additions.begin();
     for (; additionsIter != m_additions.end(); additionsIter++) {
       ProcessCommandAddition(*additionsIter);
     }
@@ -164,10 +164,10 @@ void Scheduler::Run() {
   }
 
   // Add in the defaults
-  Command::SubsystemSet::iterator subsystemIter = m_subsystems.begin();
+  auto subsystemIter = m_subsystems.begin();
   for (; subsystemIter != m_subsystems.end(); subsystemIter++) {
     Subsystem *lock = *subsystemIter;
-    if (lock->GetCurrentCommand() == NULL) {
+    if (lock->GetCurrentCommand() == nullptr) {
       ProcessCommandAddition(lock->GetDefaultCommand());
     }
     lock->ConfirmCommand();
@@ -184,7 +184,7 @@ void Scheduler::Run() {
  * @param system the system
  */
 void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
-  if (subsystem == NULL) {
+  if (subsystem == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "subsystem");
     return;
   }
@@ -196,7 +196,7 @@ void Scheduler::RegisterSubsystem(Subsystem *subsystem) {
  * @param command the command to remove
  */
 void Scheduler::Remove(Command *command) {
-  if (command == NULL) {
+  if (command == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "command");
     return;
   }
@@ -204,10 +204,10 @@ void Scheduler::Remove(Command *command) {
   if (!m_commands.erase(command)) return;
 
   Command::SubsystemSet requirements = command->GetRequirements();
-  Command::SubsystemSet::iterator iter = requirements.begin();
+  auto iter = requirements.begin();
   for (; iter != requirements.end(); iter++) {
     Subsystem *lock = *iter;
-    lock->SetCurrentCommand(NULL);
+    lock->SetCurrentCommand(nullptr);
   }
 
   command->Removed();
@@ -228,7 +228,7 @@ void Scheduler::ResetAll() {
   m_buttons.clear();
   m_additions.clear();
   m_commands.clear();
-  m_table = NULL;
+  m_table = nullptr;
 }
 
 /**
@@ -237,7 +237,7 @@ void Scheduler::ResetAll() {
  */
 void Scheduler::UpdateTable() {
   CommandSet::iterator commandIter;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     // Get the list of possible commands to cancel
     m_table->RetrieveValue("Cancel", *toCancel);
     //		m_table->RetrieveValue("Ids", *ids);
diff --git a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
index 45ced0bdf6..b039be0e21 100644
--- a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
@@ -16,12 +16,12 @@
  * @param name the name of the subsystem
  */
 Subsystem::Subsystem(const char *name)
-    : m_currentCommand(NULL),
-      m_defaultCommand(NULL),
+    : m_currentCommand(nullptr),
+      m_defaultCommand(nullptr),
       m_initializedDefaultCommand(false) {
   m_name = name;
   Scheduler::GetInstance()->RegisterSubsystem(this);
-  m_table = NULL;
+  m_table = nullptr;
   m_currentCommandChanged = true;
 }
 /**
@@ -47,12 +47,12 @@ void Subsystem::InitDefaultCommand() {}
  * @param command the default command (or null if there should be none)
  */
 void Subsystem::SetDefaultCommand(Command *command) {
-  if (command == NULL) {
-    m_defaultCommand = NULL;
+  if (command == nullptr) {
+    m_defaultCommand = nullptr;
   } else {
     bool found = false;
     Command::SubsystemSet requirements = command->GetRequirements();
-    Command::SubsystemSet::iterator iter = requirements.begin();
+    auto iter = requirements.begin();
     for (; iter != requirements.end(); iter++) {
       if (*iter == this) {
         found = true;
@@ -68,8 +68,8 @@ void Subsystem::SetDefaultCommand(Command *command) {
 
     m_defaultCommand = command;
   }
-  if (m_table != NULL) {
-    if (m_defaultCommand != NULL) {
+  if (m_table != nullptr) {
+    if (m_defaultCommand != nullptr) {
       m_table->PutBoolean("hasDefault", true);
       m_table->PutString("default", m_defaultCommand->GetName());
     } else {
@@ -115,8 +115,8 @@ Command *Subsystem::GetCurrentCommand() const { return m_currentCommand; }
  */
 void Subsystem::ConfirmCommand() {
   if (m_currentCommandChanged) {
-    if (m_table != NULL) {
-      if (m_currentCommand != NULL) {
+    if (m_table != nullptr) {
+      if (m_currentCommand != nullptr) {
         m_table->PutBoolean("hasCommand", true);
         m_table->PutString("command", m_currentCommand->GetName());
       } else {
@@ -133,14 +133,14 @@ std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
 
 void Subsystem::InitTable(ITable *table) {
   m_table = table;
-  if (m_table != NULL) {
-    if (m_defaultCommand != NULL) {
+  if (m_table != nullptr) {
+    if (m_defaultCommand != nullptr) {
       m_table->PutBoolean("hasDefault", true);
       m_table->PutString("default", m_defaultCommand->GetName());
     } else {
       m_table->PutBoolean("hasDefault", false);
     }
-    if (m_currentCommand != NULL) {
+    if (m_currentCommand != nullptr) {
       m_table->PutBoolean("hasCommand", true);
       m_table->PutString("command", m_currentCommand->GetName());
     } else {
diff --git a/wpilibc/wpilibC++/src/Commands/WaitForChildren.cpp b/wpilibc/wpilibC++/src/Commands/WaitForChildren.cpp
index 527f11ed2d..2ec602fa01 100644
--- a/wpilibc/wpilibC++/src/Commands/WaitForChildren.cpp
+++ b/wpilibc/wpilibC++/src/Commands/WaitForChildren.cpp
@@ -23,5 +23,5 @@ void WaitForChildren::End() {}
 void WaitForChildren::Interrupted() {}
 
 bool WaitForChildren::IsFinished() {
-  return GetGroup() == NULL || GetGroup()->GetSize() == 0;
+  return GetGroup() == nullptr || GetGroup()->GetSize() == 0;
 }
diff --git a/wpilibc/wpilibC++/src/Error.cpp b/wpilibc/wpilibC++/src/Error.cpp
index fd11ba5ae4..a24e5a5f72 100644
--- a/wpilibc/wpilibC++/src/Error.cpp
+++ b/wpilibc/wpilibC++/src/Error.cpp
@@ -20,7 +20,7 @@
 bool Error::m_suspendOnErrorEnabled = false;
 
 Error::Error()
-    : m_code(0), m_lineNumber(0), m_originatingObject(NULL), m_timestamp(0.0) {}
+    : m_code(0), m_lineNumber(0), m_originatingObject(nullptr), m_timestamp(0.0) {}
 
 Error::~Error() {}
 
@@ -71,7 +71,7 @@ void Error::Set(Code code, const char* contextMessage, const char* filename,
     Report();
   }
 
-  if (m_suspendOnErrorEnabled) suspendTask(0);
+  if (m_suspendOnErrorEnabled) suspendTask(nullptr);
 }
 
 void Error::Report() {
@@ -93,6 +93,6 @@ void Error::Clear() {
   m_filename = "";
   m_function = "";
   m_lineNumber = 0;
-  m_originatingObject = NULL;
+  m_originatingObject = nullptr;
   m_timestamp = 0.0;
 }
diff --git a/wpilibc/wpilibC++/src/ErrorBase.cpp b/wpilibc/wpilibC++/src/ErrorBase.cpp
index 363ae9d94c..d0c06d4e69 100644
--- a/wpilibc/wpilibC++/src/ErrorBase.cpp
+++ b/wpilibc/wpilibC++/src/ErrorBase.cpp
@@ -165,7 +165,7 @@ void ErrorBase::SetGlobalError(Error::Code code, const char* contextMessage,
 
     //  Set the current error information for this object.
     _globalError.Set(code, contextMessage, filename, function, lineNumber,
-                     NULL);
+                     nullptr);
   }
 }
 
@@ -180,7 +180,7 @@ void ErrorBase::SetGlobalWPIError(const char* errorMessage,
   if (_globalError.GetCode() != 0) {
     _globalError.Clear();
   }
-  _globalError.Set(-1, err, filename, function, lineNumber, NULL);
+  _globalError.Set(-1, err, filename, function, lineNumber, nullptr);
 }
 
 /**
diff --git a/wpilibc/wpilibC++/src/HLUsageReporting.cpp b/wpilibc/wpilibC++/src/HLUsageReporting.cpp
index 94cd7088f2..bcbc6b6a34 100644
--- a/wpilibc/wpilibC++/src/HLUsageReporting.cpp
+++ b/wpilibc/wpilibC++/src/HLUsageReporting.cpp
@@ -1,20 +1,20 @@
 
 #include "HLUsageReporting.h"
 
-HLUsageReportingInterface* HLUsageReporting::impl = 0;
+HLUsageReportingInterface* HLUsageReporting::impl = nullptr;
 
 void HLUsageReporting::SetImplementation(HLUsageReportingInterface* i) {
   impl = i;
 }
 
 void HLUsageReporting::ReportScheduler() {
-  if (impl != 0) {
+  if (impl != nullptr) {
     impl->ReportScheduler();
   }
 }
 
 void HLUsageReporting::ReportSmartDashboard() {
-  if (impl != 0) {
+  if (impl != nullptr) {
     impl->ReportSmartDashboard();
   }
 }
diff --git a/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp b/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp
index 7243c182a4..61b3cee8f7 100644
--- a/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp
+++ b/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp
@@ -39,16 +39,12 @@ void LiveWindow::SetEnabled(bool enabled) {
     }
     m_scheduler->SetEnabled(false);
     m_scheduler->RemoveAll();
-    for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-             m_components.begin();
-         it != m_components.end(); ++it) {
-      it->first->StartLiveWindowMode();
+    for (auto& elem : m_components) {
+      elem.first->StartLiveWindowMode();
     }
   } else {
-    for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-             m_components.begin();
-         it != m_components.end(); ++it) {
-      it->first->StopLiveWindowMode();
+    for (auto& elem : m_components) {
+      elem.first->StopLiveWindowMode();
     }
     m_scheduler->SetEnabled(true);
   }
@@ -94,7 +90,7 @@ void LiveWindow::AddSensor(std::string type, int channel,
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddSensor("Ungrouped", cc, component);
@@ -111,7 +107,7 @@ void LiveWindow::AddActuator(std::string type, int channel,
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddActuator("Ungrouped", cc, component);
@@ -125,7 +121,7 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
   std::ostringstream oss;
   oss << type << "[" << module << "," << channel << "]";
   std::string types(oss.str());
-  char *cc = new char[types.size() + 1];
+  auto cc = new char[types.size() + 1];
   types.copy(cc, types.size());
   cc[types.size()] = '\0';
   AddActuator("Ungrouped", cc, component);
@@ -137,8 +133,8 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
  * SmartDashboard widgets.
  */
 void LiveWindow::UpdateValues() {
-  for (unsigned int i = 0; i < m_sensors.size(); i++) {
-    m_sensors[i]->UpdateTable();
+  for (auto& elem : m_sensors) {
+    elem->UpdateTable();
   }
 }
 
@@ -164,11 +160,9 @@ void LiveWindow::Run() {
  * addActuator and addSensor.
  */
 void LiveWindow::InitializeLiveWindowComponents() {
-  for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
-           m_components.begin();
-       it != m_components.end(); ++it) {
-    LiveWindowSendable *component = it->first;
-    LiveWindowComponent c = it->second;
+  for (auto& elem : m_components) {
+    LiveWindowSendable *component = elem.first;
+    LiveWindowComponent c = elem.second;
     std::string subsystem = c.subsystem;
     std::string name = c.name;
     m_liveWindowTable->GetSubTable(subsystem)
diff --git a/wpilibc/wpilibC++/src/Resource.cpp b/wpilibc/wpilibC++/src/Resource.cpp
index 6246f08ad6..492e809a31 100644
--- a/wpilibc/wpilibC++/src/Resource.cpp
+++ b/wpilibc/wpilibC++/src/Resource.cpp
@@ -30,8 +30,8 @@ Resource::Resource(uint32_t elements) {
 /**
  * Factory method to create a Resource allocation-tracker *if* needed.
  *
- * @param r -- address of the caller's Resource pointer. If *r == NULL, this
- *    will construct a Resource and make *r point to it. If *r != NULL, i.e.
+ * @param r -- address of the caller's Resource pointer. If *r == nullptr, this
+ *    will construct a Resource and make *r point to it. If *r != nullptr, i.e.
  *    the caller already has a Resource instance, this won't do anything.
  * @param elements -- the number of elements for this Resource allocator to
  *    track, that is, it will allocate resource numbers in the range
@@ -40,7 +40,7 @@ Resource::Resource(uint32_t elements) {
 /*static*/ void Resource::CreateResourceObject(Resource **r,
                                                uint32_t elements) {
   Synchronized sync(m_createLock);
-  if (*r == NULL) {
+  if (*r == nullptr) {
     *r = new Resource(elements);
   }
 }
diff --git a/wpilibc/wpilibC++/src/RobotState.cpp b/wpilibc/wpilibC++/src/RobotState.cpp
index 0e368dfa7d..076c9c8e21 100644
--- a/wpilibc/wpilibC++/src/RobotState.cpp
+++ b/wpilibc/wpilibC++/src/RobotState.cpp
@@ -1,6 +1,6 @@
 #include "RobotState.h"
 
-RobotStateInterface* RobotState::impl = 0;
+RobotStateInterface* RobotState::impl = nullptr;
 
 void RobotState::SetImplementation(RobotStateInterface* i) { impl = i; }
 
diff --git a/wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp b/wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp
index bad9d14fd2..56daed6992 100644
--- a/wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp
+++ b/wpilibc/wpilibC++/src/SmartDashboard/SendableChooser.cpp
@@ -44,13 +44,13 @@ void SendableChooser::AddDefault(const char *name, void *object) {
 /**
  * Returns the selected option.  If there is none selected, it will return the
  * default.  If there is none selected
- * and no default, then it will return {@code NULL}.
+ * and no default, then it will return {@code nullptr}.
  * @return the option selected
  */
 void *SendableChooser::GetSelected() {
   std::string selected = m_table->GetString(kSelected, m_defaultChoice);
   if (selected == "")
-    return NULL;
+    return nullptr;
   else
     return m_choices[selected];
 }
@@ -58,7 +58,7 @@ void *SendableChooser::GetSelected() {
 void SendableChooser::InitTable(ITable *subtable) {
   StringArray keys;
   m_table = subtable;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     std::map<std::string, void *>::iterator iter;
     for (iter = m_choices.begin(); iter != m_choices.end(); iter++) {
       keys.add(iter->first);
diff --git a/wpilibc/wpilibC++/src/SmartDashboard/SmartDashboard.cpp b/wpilibc/wpilibC++/src/SmartDashboard/SmartDashboard.cpp
index 15321352b4..5724a97578 100644
--- a/wpilibc/wpilibC++/src/SmartDashboard/SmartDashboard.cpp
+++ b/wpilibc/wpilibC++/src/SmartDashboard/SmartDashboard.cpp
@@ -13,7 +13,7 @@
 #include "networktables/NetworkTable.h"
 #include "HLUsageReporting.h"
 
-ITable *SmartDashboard::m_table = NULL;
+ITable *SmartDashboard::m_table = nullptr;
 std::map<ITable *, Sendable *> SmartDashboard::m_tablesToData;
 
 void SmartDashboard::init() {
@@ -24,14 +24,14 @@ void SmartDashboard::init() {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
  * @param value the value
  */
 void SmartDashboard::PutData(std::string key, Sendable *data) {
-  if (data == NULL) {
+  if (data == nullptr) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
   }
@@ -50,7 +50,7 @@ void SmartDashboard::PutData(std::string key, Sendable *data) {
  * @param value the value
  */
 void SmartDashboard::PutData(NamedSendable *value) {
-  if (value == NULL) {
+  if (value == nullptr) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
   }
@@ -65,9 +65,9 @@ void SmartDashboard::PutData(NamedSendable *value) {
 Sendable *SmartDashboard::GetData(std::string key) {
   ITable *subtable = m_table->GetSubTable(key);
   Sendable *data = m_tablesToData[subtable];
-  if (data == NULL) {
+  if (data == nullptr) {
     wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key.c_str());
-    return NULL;
+    return nullptr;
   }
   return data;
 }
@@ -75,7 +75,7 @@ Sendable *SmartDashboard::GetData(std::string key) {
 /**
  * Maps the specified key to the specified complex value (such as an array) in
  * this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the RetrieveValue method with a key
  * that is equal to the original key.
  * @param keyName the key
@@ -88,7 +88,7 @@ void SmartDashboard::PutValue(std::string keyName, ComplexData &value) {
 /**
  * Retrieves the complex value (such as an array) in this table into the complex
  * data object
- * The key can not be NULL.
+ * The key can not be nullptr.
  * @param keyName the key
  * @param value the object to retrieve the value into
  */
@@ -98,7 +98,7 @@ void SmartDashboard::RetrieveValue(std::string keyName, ComplexData &value) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
@@ -130,7 +130,7 @@ bool SmartDashboard::GetBoolean(std::string keyName, bool defaultValue) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * The key can not be NULL.
+ * The key can not be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
@@ -162,7 +162,7 @@ double SmartDashboard::GetNumber(std::string keyName, double defaultValue) {
 
 /**
  * Maps the specified key to the specified value in this table.
- * Neither the key nor the value can be NULL.
+ * Neither the key nor the value can be nullptr.
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  * @param keyName the key
diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index b8f08af1cf..ab4f88fd6c 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -66,7 +66,7 @@ class CANTalon : public MotorSafety,
   virtual void SetSetpoint(float value) override;
   virtual void Disable() override;
   virtual void EnableControl();
-  virtual void Enable();
+  virtual void Enable() override;
   virtual void SetP(double p) override;
   virtual void SetI(double i) override;
   virtual void SetD(double d) override;
diff --git a/wpilibc/wpilibC++Devices/include/Compressor.h b/wpilibc/wpilibC++Devices/include/Compressor.h
index e13bd962c9..35571d20c2 100644
--- a/wpilibc/wpilibC++Devices/include/Compressor.h
+++ b/wpilibc/wpilibC++Devices/include/Compressor.h
@@ -49,7 +49,7 @@ class Compressor : public SensorBase,
   void InitTable(ITable *subTable) override;
   ITable *GetTable() const override;
   void ValueChanged(ITable *source, const std::string &key, EntryValue value,
-                    bool isNew);
+                    bool isNew) override;
 
  protected:
   void *m_pcm_pointer;
diff --git a/wpilibc/wpilibC++Devices/include/Jaguar.h b/wpilibc/wpilibC++Devices/include/Jaguar.h
index cf47e69034..228a0c1b71 100644
--- a/wpilibc/wpilibC++Devices/include/Jaguar.h
+++ b/wpilibc/wpilibC++Devices/include/Jaguar.h
@@ -17,9 +17,9 @@ class Jaguar : public SafePWM, public SpeedController {
  public:
   explicit Jaguar(uint32_t channel);
   virtual ~Jaguar();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
diff --git a/wpilibc/wpilibC++Devices/include/NetworkCommunication/CANInterfacePlugin.h b/wpilibc/wpilibC++Devices/include/NetworkCommunication/CANInterfacePlugin.h
index 1dd6404456..8659dac3f7 100644
--- a/wpilibc/wpilibC++Devices/include/NetworkCommunication/CANInterfacePlugin.h
+++ b/wpilibc/wpilibC++Devices/include/NetworkCommunication/CANInterfacePlugin.h
@@ -31,7 +31,7 @@ class CANInterfacePlugin {
    * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can
    * indicate a remote frame.
    * @param data A pointer to a buffer containing between 0 and 8 bytes to send
-   * with the message.  May be NULL if dataSize is 0.
+   * with the message.  May be nullptr if dataSize is 0.
    * @param dataSize The number of bytes to send with the message.
    * @return Return any error code.  On success return 0.
    */
@@ -101,7 +101,7 @@ class CANInterfacePlugin {
  *
  * @param interface A pointer to an object that inherits from CANInterfacePlugin
  * and implements
- * the pure virtual interface.  If NULL, unregister the current plugin.
+ * the pure virtual interface.  If nullptr, unregister the current plugin.
  */
 void FRC_NetworkCommunication_CANSessionMux_registerInterface(
     CANInterfacePlugin *interface);
diff --git a/wpilibc/wpilibC++Devices/include/NetworkCommunication/UsageReporting.h b/wpilibc/wpilibC++Devices/include/NetworkCommunication/UsageReporting.h
index ca73a2fbf2..693d0dc9c1 100644
--- a/wpilibc/wpilibC++Devices/include/NetworkCommunication/UsageReporting.h
+++ b/wpilibc/wpilibC++Devices/include/NetworkCommunication/UsageReporting.h
@@ -128,7 +128,7 @@ typedef enum {
  * change the feature string.
  */
 uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber,
-                            uint8_t context = 0, const char *feature = NULL);
+                            uint8_t context = 0, const char *feature = nullptr);
 }
 
 #ifdef __cplusplus
diff --git a/wpilibc/wpilibC++Devices/include/Talon.h b/wpilibc/wpilibC++Devices/include/Talon.h
index 6ff5c6ecdc..65371f058f 100644
--- a/wpilibc/wpilibC++Devices/include/Talon.h
+++ b/wpilibc/wpilibC++Devices/include/Talon.h
@@ -17,9 +17,9 @@ class Talon : public SafePWM, public SpeedController {
  public:
   explicit Talon(uint32_t channel);
   virtual ~Talon();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
diff --git a/wpilibc/wpilibC++Devices/include/Victor.h b/wpilibc/wpilibC++Devices/include/Victor.h
index 1c59377624..b23023ab1d 100644
--- a/wpilibc/wpilibC++Devices/include/Victor.h
+++ b/wpilibc/wpilibC++Devices/include/Victor.h
@@ -20,9 +20,9 @@ class Victor : public SafePWM, public SpeedController {
  public:
   explicit Victor(uint32_t channel);
   virtual ~Victor();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/wpilibC++Devices/include/VictorSP.h b/wpilibc/wpilibC++Devices/include/VictorSP.h
index 3d5f52f08b..9c4f95b325 100644
--- a/wpilibc/wpilibC++Devices/include/VictorSP.h
+++ b/wpilibc/wpilibC++Devices/include/VictorSP.h
@@ -17,9 +17,9 @@ class VictorSP : public SafePWM, public SpeedController {
  public:
   explicit VictorSP(uint32_t channel);
   virtual ~VictorSP();
-  virtual void Set(float value, uint8_t syncGroup = 0);
-  virtual float Get() const;
-  virtual void Disable();
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/wpilibC++Devices/include/nivision.h b/wpilibc/wpilibC++Devices/include/nivision.h
index 4289922e40..5c569622b2 100644
--- a/wpilibc/wpilibC++Devices/include/nivision.h
+++ b/wpilibc/wpilibC++Devices/include/nivision.h
@@ -54,9 +54,9 @@
 //============================================================================
 #ifndef NULL
 #ifdef __cplusplus
-#define NULL 0
-#else
 #define NULL ((void*)0)
+#else
+#define NULL 0
 #endif
 #endif
 
diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
index 4943c93fad..7d37fbfc1e 100644
--- a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
+++ b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
@@ -40,7 +40,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) {
  */
 ADXL345_I2C::~ADXL345_I2C() {
   // delete m_i2c;
-  // m_i2c = NULL;
+  // m_i2c = nullptr;
 }
 
 /** {@inheritdoc} */
@@ -102,7 +102,7 @@ void ADXL345_I2C::InitTable(ITable *subtable) {
 }
 
 void ADXL345_I2C::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("X", GetX());
     m_table->PutNumber("Y", GetY());
     m_table->PutNumber("Z", GetZ());
diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
index 1f000b8d1b..7e430ced6b 100644
--- a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
+++ b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
@@ -56,7 +56,7 @@ void ADXL345_SPI::Init(Range range) {
  */
 ADXL345_SPI::~ADXL345_SPI() {
   delete m_spi;
-  m_spi = NULL;
+  m_spi = nullptr;
 }
 
 /** {@inheritdoc} */
@@ -136,7 +136,7 @@ void ADXL345_SPI::InitTable(ITable* subtable) {
 }
 
 void ADXL345_SPI::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("X", GetX());
     m_table->PutNumber("Y", GetY());
     m_table->PutNumber("Z", GetZ());
diff --git a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
index 9e685b1045..62f7393561 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
@@ -14,7 +14,7 @@
  * Common function for initializing the accelerometer.
  */
 void AnalogAccelerometer::InitAccelerometer() {
-  m_table = NULL;
+  m_table = nullptr;
   m_voltsPerG = 1.0;
   m_zeroGVoltage = 2.5;
   HALReport(HALUsageReporting::kResourceType_Accelerometer,
@@ -46,7 +46,7 @@ AnalogAccelerometer::AnalogAccelerometer(int32_t channel) {
  * accelerometer is connected to
  */
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel) {
-  if (channel == NULL) {
+  if (channel == nullptr) {
     wpi_setWPIError(NullParameter);
   } else {
     m_AnalogInput = channel;
@@ -107,7 +107,7 @@ void AnalogAccelerometer::SetZero(float zero) { m_zeroGVoltage = zero; }
 double AnalogAccelerometer::PIDGet() const { return GetAcceleration(); }
 
 void AnalogAccelerometer::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetAcceleration());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
index 0ccb60d91b..d2b80d87fa 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
@@ -11,7 +11,7 @@
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
 
-static Resource *inputs = NULL;
+static Resource *inputs = nullptr;
 
 const uint8_t AnalogInput::kAccumulatorModuleNumber;
 const uint32_t AnalogInput::kAccumulatorNumChannels;
@@ -21,7 +21,7 @@ const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
  * Common initialization.
  */
 void AnalogInput::InitAnalogInput(uint32_t channel) {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
   Resource::CreateResourceObject(&inputs, kAnalogInputs);
 
@@ -405,7 +405,7 @@ double AnalogInput::PIDGet() const {
 }
 
 void AnalogInput::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetAverageVoltage());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
index a468b1cb3c..9e5da29165 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
@@ -10,10 +10,10 @@
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
 
-static Resource *outputs = NULL;
+static Resource *outputs = nullptr;
 
 void AnalogOutput::InitAnalogOutput(uint32_t channel) {
-  m_table = NULL;
+  m_table = nullptr;
 
   Resource::CreateResourceObject(&outputs, kAnalogOutputs);
 
@@ -80,7 +80,7 @@ float AnalogOutput::GetVoltage() const {
 }
 
 void AnalogOutput::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetVoltage());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
index 05c9ce07d9..c529fa39a9 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
@@ -103,7 +103,7 @@ void AnalogPotentiometer::InitTable(ITable *subtable) {
 }
 
 void AnalogPotentiometer::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", Get());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp b/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
index f5ffe64651..80be7fe862 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
@@ -156,6 +156,6 @@ bool AnalogTrigger::GetTriggerState() {
  * @return A pointer to a new AnalogTriggerOutput object.
  */
 AnalogTriggerOutput *AnalogTrigger::CreateOutput(AnalogTriggerType type) {
-  if (StatusIsFatal()) return NULL;
+  if (StatusIsFatal()) return nullptr;
   return new AnalogTriggerOutput(this, type);
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp b/wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp
index 87f75c20bc..68348e54fc 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp
@@ -30,11 +30,11 @@ AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger,
 }
 
 AnalogTriggerOutput::~AnalogTriggerOutput() {
-  if (m_interrupt != NULL) {
+  if (m_interrupt != nullptr) {
     int32_t status = 0;
     cleanInterrupts(m_interrupt, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
-    m_interrupt = NULL;
+    m_interrupt = nullptr;
     m_interrupts->Free(m_interruptIndex);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp b/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp
index 4b2a7f5745..8a23749826 100644
--- a/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp
+++ b/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp
@@ -60,7 +60,7 @@ void BuiltInAccelerometer::InitTable(ITable* subtable) {
 }
 
 void BuiltInAccelerometer::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("X", GetX());
     m_table->PutNumber("Y", GetY());
     m_table->PutNumber("Z", GetZ());
diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
index 25782df8c8..b5450eaee6 100644
--- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
@@ -32,7 +32,7 @@ static const uint32_t kFullMessageIDMask =
 
 static const int32_t kReceiveStatusAttempts = 50;
 
-static Resource *allocated = NULL;
+static Resource *allocated = nullptr;
 
 static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data,
                                  uint8_t dataSize, int32_t period) {
@@ -43,9 +43,8 @@ static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data,
 
   int32_t status = 0;
 
-  for (uint8_t i = 0;
-       i < (sizeof(kTrustedMessages) / sizeof(kTrustedMessages[0])); i++) {
-    if ((kFullMessageIDMask & messageID) == kTrustedMessages[i]) {
+  for (auto& kTrustedMessage : kTrustedMessages) {
+    if ((kFullMessageIDMask & messageID) == kTrustedMessage) {
       uint8_t dataBuffer[8];
       dataBuffer[0] = 0;
       dataBuffer[1] = 0;
@@ -74,7 +73,7 @@ static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data,
  * Common initialization code called by all constructors.
  */
 void CANJaguar::InitCANJaguar() {
-  m_table = NULL;
+  m_table = nullptr;
   m_safetyHelper = new MotorSafetyHelper(this);
 
   m_value = 0.0f;
@@ -231,7 +230,7 @@ void CANJaguar::InitCANJaguar() {
 CANJaguar::CANJaguar(uint8_t deviceNumber)
     : m_deviceNumber(deviceNumber),
       m_maxOutputVoltage(kApproxBusVoltage),
-      m_safetyHelper(NULL) {
+      m_safetyHelper(nullptr) {
   char buf[64];
   snprintf(buf, 64, "CANJaguar device number %d", m_deviceNumber);
   Resource::CreateResourceObject(&allocated, 63);
@@ -254,27 +253,27 @@ CANJaguar::~CANJaguar() {
   // Disable periodic setpoints
   if (m_controlMode == kPercentVbus)
     FRC_NetworkCommunication_CANSessionMux_sendMessage(
-        m_deviceNumber | LM_API_VOLT_T_SET, NULL, 0,
+        m_deviceNumber | LM_API_VOLT_T_SET, nullptr, 0,
         CAN_SEND_PERIOD_STOP_REPEATING, &status);
   else if (m_controlMode == kSpeed)
     FRC_NetworkCommunication_CANSessionMux_sendMessage(
-        m_deviceNumber | LM_API_SPD_T_SET, NULL, 0,
+        m_deviceNumber | LM_API_SPD_T_SET, nullptr, 0,
         CAN_SEND_PERIOD_STOP_REPEATING, &status);
   else if (m_controlMode == kPosition)
     FRC_NetworkCommunication_CANSessionMux_sendMessage(
-        m_deviceNumber | LM_API_POS_T_SET, NULL, 0,
+        m_deviceNumber | LM_API_POS_T_SET, nullptr, 0,
         CAN_SEND_PERIOD_STOP_REPEATING, &status);
   else if (m_controlMode == kCurrent)
     FRC_NetworkCommunication_CANSessionMux_sendMessage(
-        m_deviceNumber | LM_API_ICTRL_T_SET, NULL, 0,
+        m_deviceNumber | LM_API_ICTRL_T_SET, nullptr, 0,
         CAN_SEND_PERIOD_STOP_REPEATING, &status);
   else if (m_controlMode == kVoltage)
     FRC_NetworkCommunication_CANSessionMux_sendMessage(
-        m_deviceNumber | LM_API_VCOMP_T_SET, NULL, 0,
+        m_deviceNumber | LM_API_VCOMP_T_SET, nullptr, 0,
         CAN_SEND_PERIOD_STOP_REPEATING, &status);
 
   delete m_safetyHelper;
-  m_safetyHelper = NULL;
+  m_safetyHelper = nullptr;
 }
 
 /**
@@ -478,7 +477,7 @@ void CANJaguar::sendMessage(uint32_t messageID, const uint8_t *data,
  * 	every "period" milliseconds.
  */
 void CANJaguar::requestMessage(uint32_t messageID, int32_t period) {
-  sendMessageHelper(messageID | m_deviceNumber, NULL, 0, period);
+  sendMessageHelper(messageID | m_deviceNumber, nullptr, 0, period);
 }
 
 /**
@@ -2000,19 +1999,19 @@ void CANJaguar::ValueChanged(ITable *source, const std::string &key,
 }
 
 void CANJaguar::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", Get());
   }
 }
 
 void CANJaguar::StartLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void CANJaguar::StopLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 5e4860d754..cf69a7f307 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -1283,19 +1283,19 @@ void CANTalon::ValueChanged(ITable* source, const std::string& key,
 }
 
 void CANTalon::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", Get());
   }
 }
 
 void CANTalon::StartLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void CANTalon::StopLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/CameraServer.cpp b/wpilibc/wpilibC++Devices/src/CameraServer.cpp
index c639a2c004..8a541a08ba 100644
--- a/wpilibc/wpilibC++Devices/src/CameraServer.cpp
+++ b/wpilibc/wpilibC++Devices/src/CameraServer.cpp
@@ -13,7 +13,7 @@ constexpr uint8_t CameraServer::kMagicNumber[];
 CameraServer* CameraServer::s_instance = nullptr;
 
 CameraServer* CameraServer::GetInstance() {
-  if (s_instance == NULL) {
+  if (s_instance == nullptr) {
     s_instance = new CameraServer;
   }
   return s_instance;
@@ -225,7 +225,7 @@ void CameraServer::Serve() {
         std::unique_lock<std::recursive_mutex> lock(m_imageMutex);
         m_newImageVariable.wait(lock);
         imageData = m_imageData;
-        m_imageData = std::make_tuple(nullptr, 0, 0, false);
+        m_imageData = std::make_tuple<uint8_t*>(nullptr, 0, 0, false);
       }
 
       unsigned int size = std::get<1>(imageData);
diff --git a/wpilibc/wpilibC++Devices/src/Compressor.cpp b/wpilibc/wpilibC++Devices/src/Compressor.cpp
index 79c6131f4c..cc965df569 100644
--- a/wpilibc/wpilibC++Devices/src/Compressor.cpp
+++ b/wpilibc/wpilibC++Devices/src/Compressor.cpp
@@ -6,7 +6,7 @@
 #include "WPIErrors.h"
 
 void Compressor::InitCompressor(uint8_t pcmID) {
-  m_table = 0;
+  m_table = nullptr;
   m_pcm_pointer = initializeCompressor(pcmID);
 
   SetClosedLoopControl(true);
diff --git a/wpilibc/wpilibC++Devices/src/Counter.cpp b/wpilibc/wpilibC++Devices/src/Counter.cpp
index b36b2154f5..e92edcf39a 100644
--- a/wpilibc/wpilibC++Devices/src/Counter.cpp
+++ b/wpilibc/wpilibC++Devices/src/Counter.cpp
@@ -21,15 +21,15 @@
  * @param mode The counter mode
  */
 void Counter::InitCounter(Mode mode) {
-  m_table = NULL;
+  m_table = nullptr;
 
   int32_t status = 0;
   m_index = 0;
   m_counter = initializeCounter(mode, &m_index, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
-  m_upSource = NULL;
-  m_downSource = NULL;
+  m_upSource = nullptr;
+  m_downSource = nullptr;
   m_allocatedUpSource = false;
   m_allocatedDownSource = false;
 
@@ -46,7 +46,7 @@ void Counter::InitCounter(Mode mode) {
  *
  * The counter will start counting immediately.
  */
-Counter::Counter() : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+Counter::Counter() : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
 }
 
@@ -63,7 +63,7 @@ Counter::Counter() : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
  * as the Up Source.
  */
 Counter::Counter(DigitalSource *source)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
   SetUpSource(source);
   ClearDownSource();
@@ -82,7 +82,7 @@ Counter::Counter(DigitalSource *source)
  * set as the Up Source.
  */
 Counter::Counter(DigitalSource &source)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
   SetUpSource(&source);
   ClearDownSource();
@@ -97,7 +97,7 @@ Counter::Counter(DigitalSource &source)
  * 10-25 are on the MXP
  */
 Counter::Counter(int32_t channel)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
   SetUpSource(channel);
   ClearDownSource();
@@ -112,7 +112,7 @@ Counter::Counter(int32_t channel)
  * @param trigger The pointer to the existing AnalogTrigger object.
  */
 Counter::Counter(AnalogTrigger *trigger)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
   SetUpSource(trigger->CreateOutput(kState));
   ClearDownSource();
@@ -128,7 +128,7 @@ Counter::Counter(AnalogTrigger *trigger)
  * @param trigger The reference to the existing AnalogTrigger object.
  */
 Counter::Counter(AnalogTrigger &trigger)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   InitCounter();
   SetUpSource(trigger.CreateOutput(kState));
   ClearDownSource();
@@ -146,7 +146,7 @@ Counter::Counter(AnalogTrigger &trigger)
 
 Counter::Counter(EncodingType encodingType, DigitalSource *upSource,
                  DigitalSource *downSource, bool inverted)
-    : m_upSource(NULL), m_downSource(NULL), m_counter(NULL) {
+    : m_upSource(nullptr), m_downSource(nullptr), m_counter(nullptr) {
   if (encodingType != k1X && encodingType != k2X) {
     wpi_setWPIErrorWithContext(
         ParameterOutOfRange,
@@ -177,17 +177,17 @@ Counter::~Counter() {
   SetUpdateWhenEmpty(true);
   if (m_allocatedUpSource) {
     delete m_upSource;
-    m_upSource = NULL;
+    m_upSource = nullptr;
   }
   if (m_allocatedDownSource) {
     delete m_downSource;
-    m_downSource = NULL;
+    m_downSource = nullptr;
   }
 
   int32_t status = 0;
   freeCounter(m_counter, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
-  m_counter = NULL;
+  m_counter = nullptr;
 }
 
 /**
@@ -232,7 +232,7 @@ void Counter::SetUpSource(DigitalSource *source) {
   if (StatusIsFatal()) return;
   if (m_allocatedUpSource) {
     delete m_upSource;
-    m_upSource = NULL;
+    m_upSource = nullptr;
     m_allocatedUpSource = false;
   }
   m_upSource = source;
@@ -261,10 +261,10 @@ void Counter::SetUpSource(DigitalSource &source) { SetUpSource(&source); }
  */
 void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
   if (StatusIsFatal()) return;
-  if (m_upSource == NULL) {
+  if (m_upSource == nullptr) {
     wpi_setWPIErrorWithContext(
         NullParameter,
-        "Must set non-NULL UpSource before setting UpSourceEdge");
+        "Must set non-nullptr UpSource before setting UpSourceEdge");
   }
   int32_t status = 0;
   setCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
@@ -278,7 +278,7 @@ void Counter::ClearUpSource() {
   if (StatusIsFatal()) return;
   if (m_allocatedUpSource) {
     delete m_upSource;
-    m_upSource = NULL;
+    m_upSource = nullptr;
     m_allocatedUpSource = false;
   }
   int32_t status = 0;
@@ -330,7 +330,7 @@ void Counter::SetDownSource(DigitalSource *source) {
   if (StatusIsFatal()) return;
   if (m_allocatedDownSource) {
     delete m_downSource;
-    m_downSource = NULL;
+    m_downSource = nullptr;
     m_allocatedDownSource = false;
   }
   m_downSource = source;
@@ -359,10 +359,10 @@ void Counter::SetDownSource(DigitalSource &source) { SetDownSource(&source); }
  */
 void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
   if (StatusIsFatal()) return;
-  if (m_downSource == NULL) {
+  if (m_downSource == nullptr) {
     wpi_setWPIErrorWithContext(
         NullParameter,
-        "Must set non-NULL DownSource before setting DownSourceEdge");
+        "Must set non-nullptr DownSource before setting DownSourceEdge");
   }
   int32_t status = 0;
   setCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
@@ -376,7 +376,7 @@ void Counter::ClearDownSource() {
   if (StatusIsFatal()) return;
   if (m_allocatedDownSource) {
     delete m_downSource;
-    m_downSource = NULL;
+    m_downSource = nullptr;
     m_allocatedDownSource = false;
   }
   int32_t status = 0;
@@ -597,7 +597,7 @@ void Counter::SetReverseDirection(bool reverseDirection) {
 }
 
 void Counter::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", Get());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
index afa39cac80..e4a2a61d8c 100644
--- a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
+++ b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
@@ -17,7 +17,7 @@
  * constructors.
  */
 void DigitalInput::InitDigitalInput(uint32_t channel) {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
 
   if (!CheckDigitalChannel(channel)) {
@@ -48,11 +48,11 @@ DigitalInput::DigitalInput(uint32_t channel) { InitDigitalInput(channel); }
  */
 DigitalInput::~DigitalInput() {
   if (StatusIsFatal()) return;
-  if (m_interrupt != NULL) {
+  if (m_interrupt != nullptr) {
     int32_t status = 0;
     cleanInterrupts(m_interrupt, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
-    m_interrupt = NULL;
+    m_interrupt = nullptr;
     m_interrupts->Free(m_interruptIndex);
   }
 
@@ -93,7 +93,7 @@ uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
 bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
 
 void DigitalInput::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("Value", Get());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
index 1e597442e6..7594e3305b 100644
--- a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
@@ -15,7 +15,7 @@
  * constructors.
  */
 void DigitalOutput::InitDigitalOutput(uint32_t channel) {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
 
   if (!CheckDigitalChannel(channel)) {
@@ -210,13 +210,13 @@ void DigitalOutput::ValueChanged(ITable *source, const std::string &key,
 void DigitalOutput::UpdateTable() {}
 
 void DigitalOutput::StartLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void DigitalOutput::StopLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
index 2973bbaf4e..376b7b1d80 100644
--- a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
+++ b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
@@ -13,7 +13,7 @@
  * Common function to implement constructor behaviour.
  */
 void DoubleSolenoid::InitSolenoid() {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
   if (!CheckSolenoidModule(m_moduleNumber)) {
     snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
@@ -171,7 +171,7 @@ void DoubleSolenoid::ValueChanged(ITable *source, const std::string &key,
 }
 
 void DoubleSolenoid::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutString(
         "Value", (Get() == kForward ? "Forward"
                                     : (Get() == kReverse ? "Reverse" : "Off")));
@@ -180,14 +180,14 @@ void DoubleSolenoid::UpdateTable() {
 
 void DoubleSolenoid::StartLiveWindowMode() {
   Set(kOff);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void DoubleSolenoid::StopLiveWindowMode() {
   Set(kOff);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index 372383bd2f..829155b579 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -28,7 +28,7 @@ const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
   Log().Get(level)
 
 const uint32_t DriverStation::kJoystickPorts;
-DriverStation* DriverStation::m_instance = NULL;
+DriverStation* DriverStation::m_instance = nullptr;
 
 /**
  * DriverStation constructor.
@@ -82,10 +82,10 @@ DriverStation::DriverStation()
 
 DriverStation::~DriverStation() {
   m_task.Stop();
-  m_instance = NULL;
+  m_instance = nullptr;
   deleteMultiWait(m_waitForDataSem);
   // Unregister our semaphore.
-  HALSetNewDataSem(0);
+  HALSetNewDataSem(nullptr);
   deleteMultiWait(m_packetDataAvailableMultiWait);
   deleteMutex(m_packetDataAvailableMutex);
   deleteMutex(m_waitForDataMutex);
@@ -120,7 +120,7 @@ void DriverStation::Run() {
  * @return Pointer to the DS instance
  */
 DriverStation* DriverStation::GetInstance() {
-  if (m_instance == NULL) {
+  if (m_instance == nullptr) {
     m_instance = new DriverStation();
   }
   return m_instance;
diff --git a/wpilibc/wpilibC++Devices/src/Encoder.cpp b/wpilibc/wpilibC++Devices/src/Encoder.cpp
index 0ff27e251a..0ff68870c8 100644
--- a/wpilibc/wpilibC++Devices/src/Encoder.cpp
+++ b/wpilibc/wpilibC++Devices/src/Encoder.cpp
@@ -31,7 +31,7 @@
  * or be double (2x) the spec'd count.
  */
 void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
-  m_table = NULL;
+  m_table = nullptr;
   m_encodingType = encodingType;
   m_index = 0;
   switch (encodingType) {
@@ -53,7 +53,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
           m_bSource->GetAnalogTriggerForRouting(), reverseDirection, &m_index,
           &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
-      m_counter = NULL;
+      m_counter = nullptr;
       SetMaxPeriod(.5);
       break;
     }
@@ -102,7 +102,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
  */
 Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection,
                  EncodingType encodingType)
-    : m_encoder(NULL), m_counter(NULL) {
+    : m_encoder(nullptr), m_counter(nullptr) {
   m_aSource = new DigitalInput(aChannel);
   m_bSource = new DigitalInput(bChannel);
   InitEncoder(reverseDirection, encodingType);
@@ -137,12 +137,12 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection,
  */
 Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource,
                  bool reverseDirection, EncodingType encodingType)
-    : m_encoder(NULL), m_counter(NULL) {
+    : m_encoder(nullptr), m_counter(nullptr) {
   m_aSource = aSource;
   m_bSource = bSource;
   m_allocatedASource = false;
   m_allocatedBSource = false;
-  if (m_aSource == NULL || m_bSource == NULL)
+  if (m_aSource == nullptr || m_bSource == nullptr)
     wpi_setWPIError(NullParameter);
   else
     InitEncoder(reverseDirection, encodingType);
@@ -175,7 +175,7 @@ Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource,
  */
 Encoder::Encoder(DigitalSource &aSource, DigitalSource &bSource,
                  bool reverseDirection, EncodingType encodingType)
-    : m_encoder(NULL), m_counter(NULL) {
+    : m_encoder(nullptr), m_counter(nullptr) {
   m_aSource = &aSource;
   m_bSource = &bSource;
   m_allocatedASource = false;
@@ -555,7 +555,7 @@ void Encoder::SetIndexSource(DigitalSource &source,
 }
 
 void Encoder::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Speed", GetRate());
     m_table->PutNumber("Distance", GetDistance());
     m_table->PutNumber("Distance per Tick", m_distancePerPulse);
diff --git a/wpilibc/wpilibC++Devices/src/Gyro.cpp b/wpilibc/wpilibC++Devices/src/Gyro.cpp
index becfb6156e..618898457e 100644
--- a/wpilibc/wpilibC++Devices/src/Gyro.cpp
+++ b/wpilibc/wpilibC++Devices/src/Gyro.cpp
@@ -31,13 +31,13 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
  * rest before the competition starts.
  */
 void Gyro::InitGyro() {
-  m_table = NULL;
+  m_table = nullptr;
   if (!m_analog->IsAccumulatorChannel()) {
     wpi_setWPIErrorWithContext(ParameterOutOfRange,
                                " channel (must be accumulator channel)");
     if (m_channelAllocated) {
       delete m_analog;
-      m_analog = NULL;
+      m_analog = nullptr;
     }
     return;
   }
@@ -96,7 +96,7 @@ Gyro::Gyro(int32_t channel) {
 Gyro::Gyro(AnalogInput *channel) {
   m_analog = channel;
   m_channelAllocated = false;
-  if (channel == NULL) {
+  if (channel == nullptr) {
     wpi_setWPIError(NullParameter);
   } else {
     InitGyro();
@@ -230,7 +230,7 @@ double Gyro::PIDGet() const {
 }
 
 void Gyro::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetAngle());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/I2C.cpp b/wpilibc/wpilibC++Devices/src/I2C.cpp
index 50c3ea71c9..258da4ee68 100644
--- a/wpilibc/wpilibC++Devices/src/I2C.cpp
+++ b/wpilibc/wpilibC++Devices/src/I2C.cpp
@@ -72,7 +72,7 @@ bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize,
  */
 bool I2C::AddressOnly() {
   int32_t status = 0;
-  status = Transaction(NULL, 0, NULL, 0);
+  status = Transaction(nullptr, 0, nullptr, 0);
   return status < 0;
 }
 
@@ -131,7 +131,7 @@ bool I2C::Read(uint8_t registerAddress, uint8_t count, uint8_t *buffer) {
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
     return true;
   }
-  if (buffer == NULL) {
+  if (buffer == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "buffer");
     return true;
   }
@@ -160,7 +160,7 @@ bool I2C::ReadOnly(uint8_t count, uint8_t *buffer) {
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
     return true;
   }
-  if (buffer == NULL) {
+  if (buffer == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "buffer");
     return true;
   }
diff --git a/wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp b/wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp
index 4ea14021a0..b5402bbd2a 100644
--- a/wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp
@@ -9,10 +9,10 @@
 #include "Utility.h"
 #include "WPIErrors.h"
 
-Resource *InterruptableSensorBase::m_interrupts = NULL;
+Resource *InterruptableSensorBase::m_interrupts = nullptr;
 
 InterruptableSensorBase::InterruptableSensorBase() {
-  m_interrupt = NULL;
+  m_interrupt = nullptr;
   Resource::CreateResourceObject(&m_interrupts, interrupt_kNumSystems);
 }
 
@@ -74,7 +74,7 @@ void InterruptableSensorBase::RequestInterrupts() {
 }
 
 void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
-  wpi_assert(m_interrupt == NULL);
+  wpi_assert(m_interrupt == nullptr);
   // Expects the calling leaf class to allocate an interrupt index.
   int32_t status = 0;
   m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
@@ -87,11 +87,11 @@ void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
  */
 void InterruptableSensorBase::CancelInterrupts() {
   if (StatusIsFatal()) return;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   cleanInterrupts(m_interrupt, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
-  m_interrupt = NULL;
+  m_interrupt = nullptr;
   m_interrupts->Free(m_interruptIndex);
 }
 
@@ -109,7 +109,7 @@ void InterruptableSensorBase::CancelInterrupts() {
 InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
     float timeout, bool ignorePrevious) {
   if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   uint32_t result;
 
@@ -127,7 +127,7 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
  */
 void InterruptableSensorBase::EnableInterrupts() {
   if (StatusIsFatal()) return;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   enableInterrupts(m_interrupt, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -138,7 +138,7 @@ void InterruptableSensorBase::EnableInterrupts() {
  */
 void InterruptableSensorBase::DisableInterrupts() {
   if (StatusIsFatal()) return;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   disableInterrupts(m_interrupt, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -153,7 +153,7 @@ void InterruptableSensorBase::DisableInterrupts() {
  */
 double InterruptableSensorBase::ReadRisingTimestamp() {
   if (StatusIsFatal()) return 0.0;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   double timestamp = readRisingTimestamp(m_interrupt, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -169,7 +169,7 @@ double InterruptableSensorBase::ReadRisingTimestamp() {
 */
 double InterruptableSensorBase::ReadFallingTimestamp() {
   if (StatusIsFatal()) return 0.0;
-  wpi_assert(m_interrupt != NULL);
+  wpi_assert(m_interrupt != nullptr);
   int32_t status = 0;
   double timestamp = readFallingTimestamp(m_interrupt, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -187,13 +187,13 @@ double InterruptableSensorBase::ReadFallingTimestamp() {
 void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
                                               bool fallingEdge) {
   if (StatusIsFatal()) return;
-  if (m_interrupt == NULL) {
+  if (m_interrupt == nullptr) {
     wpi_setWPIErrorWithContext(
         NullParameter,
         "You must call RequestInterrupts before SetUpSourceEdge");
     return;
   }
-  if (m_interrupt != NULL) {
+  if (m_interrupt != nullptr) {
     int32_t status = 0;
     setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
diff --git a/wpilibc/wpilibC++Devices/src/Joystick.cpp b/wpilibc/wpilibC++Devices/src/Joystick.cpp
index ea18262bb1..dd2cd89b4e 100644
--- a/wpilibc/wpilibC++Devices/src/Joystick.cpp
+++ b/wpilibc/wpilibC++Devices/src/Joystick.cpp
@@ -30,10 +30,10 @@ static bool joySticksInitialized = false;
  * (0-5).
  */
 Joystick::Joystick(uint32_t port)
-    : m_ds(NULL),
+    : m_ds(nullptr),
       m_port(port),
-      m_axes(NULL),
-      m_buttons(NULL),
+      m_axes(nullptr),
+      m_buttons(nullptr),
       m_outputs(0),
       m_leftRumble(0),
       m_rightRumble(0) {
@@ -63,14 +63,13 @@ Joystick::Joystick(uint32_t port)
  */
 Joystick::Joystick(uint32_t port, uint32_t numAxisTypes,
                    uint32_t numButtonTypes)
-    : m_ds(NULL), m_port(port), m_axes(NULL), m_buttons(NULL) {
+    : m_ds(nullptr), m_port(port), m_axes(nullptr), m_buttons(nullptr) {
   InitJoystick(numAxisTypes, numButtonTypes);
 }
 
 void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes) {
   if (!joySticksInitialized) {
-    for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
-      joysticks[i] = NULL;
+    for (auto& joystick : joysticks) joystick = nullptr;
     joySticksInitialized = true;
   }
   if (m_port >= DriverStation::kJoystickPorts) {
@@ -86,7 +85,7 @@ void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes) {
 
 Joystick *Joystick::GetStickForPort(uint32_t port) {
   Joystick *stick = joysticks[port];
-  if (stick == NULL) {
+  if (stick == nullptr) {
     stick = new Joystick(port);
     joysticks[port] = stick;
   }
diff --git a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
index 2fbc04a8f2..9271ee7b3b 100644
--- a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
+++ b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
@@ -14,7 +14,7 @@
 
 #include <stdio.h>
 
-MotorSafetyHelper *MotorSafetyHelper::m_headHelper = NULL;
+MotorSafetyHelper *MotorSafetyHelper::m_headHelper = nullptr;
 ReentrantSemaphore MotorSafetyHelper::m_listMutex;
 
 /**
@@ -46,9 +46,9 @@ MotorSafetyHelper::~MotorSafetyHelper() {
   if (m_headHelper == this) {
     m_headHelper = m_nextHelper;
   } else {
-    MotorSafetyHelper *prev = NULL;
+    MotorSafetyHelper *prev = nullptr;
     MotorSafetyHelper *cur = m_headHelper;
-    while (cur != this && cur != NULL) prev = cur, cur = cur->m_nextHelper;
+    while (cur != this && cur != nullptr) prev = cur, cur = cur->m_nextHelper;
     if (cur == this) prev->m_nextHelper = cur->m_nextHelper;
   }
 }
@@ -141,7 +141,7 @@ bool MotorSafetyHelper::IsSafetyEnabled() const {
  */
 void MotorSafetyHelper::CheckMotors() {
   Synchronized sync(m_listMutex);
-  for (MotorSafetyHelper *msh = m_headHelper; msh != NULL;
+  for (MotorSafetyHelper *msh = m_headHelper; msh != nullptr;
        msh = msh->m_nextHelper) {
     msh->Check();
   }
diff --git a/wpilibc/wpilibC++Devices/src/Notifier.cpp b/wpilibc/wpilibC++Devices/src/Notifier.cpp
index 3511bb3f63..91fb0be00f 100644
--- a/wpilibc/wpilibC++Devices/src/Notifier.cpp
+++ b/wpilibc/wpilibC++Devices/src/Notifier.cpp
@@ -11,9 +11,9 @@
 #include "WPIErrors.h"
 #include "HAL/HAL.hpp"
 
-Notifier *Notifier::timerQueueHead = NULL;
+Notifier *Notifier::timerQueueHead = nullptr;
 ReentrantSemaphore Notifier::queueSemaphore;
-void *Notifier::m_notifier = NULL;
+void *Notifier::m_notifier = nullptr;
 int Notifier::refcount = 0;
 
 /**
@@ -22,14 +22,14 @@ int Notifier::refcount = 0;
  * using StartSingle or StartPeriodic.
  */
 Notifier::Notifier(TimerEventHandler handler, void *param) {
-  if (handler == NULL)
-    wpi_setWPIErrorWithContext(NullParameter, "handler must not be NULL");
+  if (handler == nullptr)
+    wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
   m_handler = handler;
   m_param = param;
   m_periodic = false;
   m_expirationTime = 0;
   m_period = 0;
-  m_nextEvent = NULL;
+  m_nextEvent = nullptr;
   m_queued = false;
   m_handlerSemaphore = initializeSemaphore(SEMAPHORE_FULL);
   {
@@ -79,7 +79,7 @@ Notifier::~Notifier() {
  * that is taking care of synchronizing access to the queue.
  */
 void Notifier::UpdateAlarm() {
-  if (timerQueueHead != NULL) {
+  if (timerQueueHead != nullptr) {
     int32_t status = 0;
     updateNotifierAlarm(m_notifier,
                         (uint32_t)(timerQueueHead->m_expirationTime * 1e6),
@@ -104,7 +104,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params) {
       Synchronized sync(queueSemaphore);
       double currentTime = GetClock();
       current = timerQueueHead;
-      if (current == NULL || current->m_expirationTime > currentTime) {
+      if (current == nullptr || current->m_expirationTime > currentTime) {
         break;  // no more timer events to process
       }
       // need to process this entry
@@ -152,7 +152,7 @@ void Notifier::InsertInQueue(bool reschedule) {
   if (m_expirationTime > Timer::kRolloverTime) {
     m_expirationTime -= Timer::kRolloverTime;
   }
-  if (timerQueueHead == NULL ||
+  if (timerQueueHead == nullptr ||
       timerQueueHead->m_expirationTime >= this->m_expirationTime) {
     // the queue is empty or greater than the new entry
     // the new entry becomes the first element
@@ -167,7 +167,7 @@ void Notifier::InsertInQueue(bool reschedule) {
     for (Notifier **npp = &(timerQueueHead->m_nextEvent);;
          npp = &(*npp)->m_nextEvent) {
       Notifier *n = *npp;
-      if (n == NULL || n->m_expirationTime > this->m_expirationTime) {
+      if (n == nullptr || n->m_expirationTime > this->m_expirationTime) {
         *npp = this;
         this->m_nextEvent = n;
         break;
@@ -189,13 +189,13 @@ void Notifier::InsertInQueue(bool reschedule) {
 void Notifier::DeleteFromQueue() {
   if (m_queued) {
     m_queued = false;
-    wpi_assert(timerQueueHead != NULL);
+    wpi_assert(timerQueueHead != nullptr);
     if (timerQueueHead == this) {
       // remove the first item in the list - update the alarm
       timerQueueHead = this->m_nextEvent;
       UpdateAlarm();
     } else {
-      for (Notifier *n = timerQueueHead; n != NULL; n = n->m_nextEvent) {
+      for (Notifier *n = timerQueueHead; n != nullptr; n = n->m_nextEvent) {
         if (n->m_nextEvent == this) {
           // this element is the next element from *n from the queue
           n->m_nextEvent = this->m_nextEvent;  // point around this one
diff --git a/wpilibc/wpilibC++Devices/src/PIDController.cpp b/wpilibc/wpilibC++Devices/src/PIDController.cpp
index 321db72eec..99800e4862 100644
--- a/wpilibc/wpilibC++Devices/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Devices/src/PIDController.cpp
@@ -58,7 +58,7 @@ PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
 void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
                                PIDSource *source, PIDOutput *output,
                                float period) {
-  m_table = NULL;
+  m_table = nullptr;
 
   m_semaphore = initializeMutexNormal();
 
@@ -140,8 +140,8 @@ void PIDController::Calculate() {
   }
   END_REGION;
 
-  if (pidInput == NULL) return;
-  if (pidOutput == NULL) return;
+  if (pidInput == nullptr) return;
+  if (pidOutput == nullptr) return;
 
   if (enabled) {
     {
@@ -205,7 +205,7 @@ void PIDController::SetPID(double p, double i, double d) {
   }
   END_REGION;
 
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("p", m_P);
     m_table->PutNumber("i", m_I);
     m_table->PutNumber("d", m_D);
@@ -229,7 +229,7 @@ void PIDController::SetPID(double p, double i, double d, double f) {
   }
   END_REGION;
 
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("p", m_P);
     m_table->PutNumber("i", m_I);
     m_table->PutNumber("d", m_D);
@@ -346,7 +346,7 @@ void PIDController::SetSetpoint(float setpoint) {
   }
   END_REGION;
 
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("setpoint", m_setpoint);
   }
 }
@@ -451,7 +451,7 @@ void PIDController::Enable() {
   CRITICAL_REGION(m_semaphore) { m_enabled = true; }
   END_REGION;
 
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("enabled", true);
   }
 }
@@ -466,7 +466,7 @@ void PIDController::Disable() {
   }
   END_REGION;
 
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("enabled", false);
   }
 }
@@ -500,9 +500,9 @@ std::string PIDController::GetSmartDashboardType() const {
 }
 
 void PIDController::InitTable(ITable *table) {
-  if (m_table != NULL) m_table->RemoveTableListener(this);
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
   m_table = table;
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber(kP, GetP());
     m_table->PutNumber(kI, GetI());
     m_table->PutNumber(kD, GetD());
diff --git a/wpilibc/wpilibC++Devices/src/PWM.cpp b/wpilibc/wpilibC++Devices/src/PWM.cpp
index 468db5c0f9..e18324e0d7 100644
--- a/wpilibc/wpilibC++Devices/src/PWM.cpp
+++ b/wpilibc/wpilibC++Devices/src/PWM.cpp
@@ -30,7 +30,7 @@ const int32_t PWM::kPwmDisabled;
  * port
  */
 void PWM::InitPWM(uint32_t channel) {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
 
   if (!CheckPWMChannel(channel)) {
@@ -351,21 +351,21 @@ void PWM::ValueChanged(ITable* source, const std::string& key, EntryValue value,
 }
 
 void PWM::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetSpeed());
   }
 }
 
 void PWM::StartLiveWindowMode() {
   SetSpeed(0);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void PWM::StopLiveWindowMode() {
   SetSpeed(0);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp b/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
index e2daa83534..86b1497721 100644
--- a/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
+++ b/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
@@ -150,7 +150,7 @@ void PowerDistributionPanel::ClearStickyFaults() {
 }
 
 void PowerDistributionPanel::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Chan0", GetCurrent(0));
     m_table->PutNumber("Chan1", GetCurrent(1));
     m_table->PutNumber("Chan2", GetCurrent(2));
diff --git a/wpilibc/wpilibC++Devices/src/Preferences.cpp b/wpilibc/wpilibC++Devices/src/Preferences.cpp
index aadc7c6f01..2d419540fa 100644
--- a/wpilibc/wpilibC++Devices/src/Preferences.cpp
+++ b/wpilibc/wpilibC++Devices/src/Preferences.cpp
@@ -25,12 +25,12 @@ static const char *kValuePrefix = "=\"";
 /** The characters to put after the value */
 static const char *kValueSuffix = "\"\n";
 /** The singleton instance */
-Preferences *Preferences::_instance = NULL;
+Preferences *Preferences::_instance = nullptr;
 
 Preferences::Preferences()
-    : m_fileLock(NULL),
-      m_fileOpStarted(NULL),
-      m_tableLock(NULL),
+    : m_fileLock(nullptr),
+      m_fileOpStarted(nullptr),
+      m_tableLock(nullptr),
       m_readTask("PreferencesReadTask", (FUNCPTR)Preferences::InitReadTask),
       m_writeTask("PreferencesWriteTask", (FUNCPTR)Preferences::InitWriteTask) {
   m_fileLock = initializeMutexRecursive();
@@ -57,7 +57,7 @@ Preferences::~Preferences() {
  * @return pointer to the {@link Preferences}
  */
 Preferences *Preferences::GetInstance() {
-  if (_instance == NULL) _instance = new Preferences;
+  if (_instance == nullptr) _instance = new Preferences;
   return _instance;
 }
 
@@ -106,7 +106,7 @@ int Preferences::GetInt(const char *key, int defaultValue) {
   std::string value = Get(key);
   if (value.empty()) return defaultValue;
 
-  return strtol(value.c_str(), NULL, 0);
+  return strtol(value.c_str(), nullptr, 0);
 }
 
 /**
@@ -120,7 +120,7 @@ double Preferences::GetDouble(const char *key, double defaultValue) {
   std::string value = Get(key);
   if (value.empty()) return defaultValue;
 
-  return strtod(value.c_str(), NULL);
+  return strtod(value.c_str(), nullptr);
 }
 
 /**
@@ -134,7 +134,7 @@ float Preferences::GetFloat(const char *key, float defaultValue) {
   std::string value = Get(key);
   if (value.empty()) return defaultValue;
 
-  return strtod(value.c_str(), NULL);
+  return strtod(value.c_str(), nullptr);
 }
 
 /**
@@ -172,7 +172,7 @@ int64_t Preferences::GetLong(const char *key, int64_t defaultValue) {
   if (value.empty()) return defaultValue;
 
   // Ummm... not available in our VxWorks...
-  // return strtoll(value.c_str(), NULL, 0);
+  // return strtoll(value.c_str(), nullptr, 0);
   int64_t intVal;
   sscanf(value.c_str(), "%lld", &intVal);
   return intVal;
@@ -192,7 +192,7 @@ int64_t Preferences::GetLong(const char *key, int64_t defaultValue) {
  * @param value the value
  */
 void Preferences::PutString(const char *key, const char *value) {
-  if (value == NULL) {
+  if (value == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "value");
     return;
   }
@@ -323,7 +323,7 @@ bool Preferences::ContainsKey(const char *key) { return !Get(key).empty(); }
  */
 void Preferences::Remove(const char *key) {
   m_values.erase(std::string(key));
-  std::vector<std::string>::iterator it = m_keys.begin();
+  auto it = m_keys.begin();
   for (; it != m_keys.end(); it++) {
     if (it->compare(key) == 0) {
       m_keys.erase(it);
@@ -339,7 +339,7 @@ void Preferences::Remove(const char *key) {
  */
 std::string Preferences::Get(const char *key) {
   Synchronized sync(m_tableLock);
-  if (key == NULL) {
+  if (key == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "key");
     return std::string("");
   }
@@ -353,7 +353,7 @@ std::string Preferences::Get(const char *key) {
  */
 void Preferences::Put(const char *key, std::string value) {
   Synchronized sync(m_tableLock);
-  if (key == NULL) {
+  if (key == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "key");
     return;
   }
@@ -385,10 +385,10 @@ void Preferences::ReadTaskRun() {
 
   std::string comment;
 
-  FILE *file = NULL;
+  FILE *file = nullptr;
   file = fopen(kFileName, "r");
 
-  if (file != NULL) {
+  if (file != nullptr) {
     std::string buffer;
     while (true) {
       char value;
@@ -469,7 +469,7 @@ void Preferences::ReadTaskRun() {
     wpi_setErrnoErrorWithContext("Opening preferences file");
   }
 
-  if (file != NULL) fclose(file);
+  if (file != nullptr) fclose(file);
 
   if (!comment.empty()) m_endComment = comment;
 
@@ -486,11 +486,11 @@ void Preferences::WriteTaskRun() {
   Synchronized sync(m_tableLock);
   giveSemaphore(m_fileOpStarted);
 
-  FILE *file = NULL;
+  FILE *file = nullptr;
   file = fopen(kFileName, "w");
 
   fputs("[Preferences]\n", file);
-  std::vector<std::string>::iterator it = m_keys.begin();
+  auto it = m_keys.begin();
   for (; it != m_keys.end(); it++) {
     std::string key = *it;
     std::string value = m_values[key];
@@ -506,14 +506,13 @@ void Preferences::WriteTaskRun() {
 
   if (!m_endComment.empty()) fputs(m_endComment.c_str(), file);
 
-  if (file != NULL) fclose(file);
+  if (file != nullptr) fclose(file);
 
   NetworkTable::GetTable(kTableName)->PutBoolean(kSaveField, false);
 }
 
 static bool isKeyAcceptable(const std::string &value) {
-  for (unsigned int i = 0; i < value.length(); i++) {
-    char letter = value.at(i);
+  for (auto letter : value) {
     switch (letter) {
       case '=':
       case '\n':
@@ -538,7 +537,7 @@ void Preferences::ValueChanged(ITable *table, const std::string &key,
         table->GetString(key, "").find('"') != std::string::npos) {
       if (m_values.find(key) != m_values.end()) {
         m_values.erase(key);
-        std::vector<std::string>::iterator it = m_keys.begin();
+        auto it = m_keys.begin();
         for (; it != m_keys.end(); it++) {
           if (key == *it) {
             m_keys.erase(it);
diff --git a/wpilibc/wpilibC++Devices/src/Relay.cpp b/wpilibc/wpilibC++Devices/src/Relay.cpp
index 2813da5f1f..b91481366b 100644
--- a/wpilibc/wpilibC++Devices/src/Relay.cpp
+++ b/wpilibc/wpilibC++Devices/src/Relay.cpp
@@ -15,7 +15,7 @@
 #include "HAL/HAL.hpp"
 
 // Allocate each direction separately.
-static Resource *relayChannels = NULL;
+static Resource *relayChannels = nullptr;
 
 /**
  * Common relay initialization method.
@@ -25,7 +25,7 @@ static Resource *relayChannels = NULL;
  * lines at 0v.
  */
 void Relay::InitRelay() {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
   Resource::CreateResourceObject(&relayChannels,
                                  dio_kNumSystems * kRelayChannels * 2);
@@ -210,7 +210,7 @@ void Relay::ValueChanged(ITable *source, const std::string &key,
 }
 
 void Relay::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     if (Get() == kOn) {
       m_table->PutString("Value", "On");
     } else if (Get() == kForward) {
@@ -224,13 +224,13 @@ void Relay::UpdateTable() {
 }
 
 void Relay::StartLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void Relay::StopLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/RobotBase.cpp b/wpilibc/wpilibC++Devices/src/RobotBase.cpp
index 1ce3953f9c..fdaa251abb 100644
--- a/wpilibc/wpilibC++Devices/src/RobotBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/RobotBase.cpp
@@ -26,10 +26,10 @@
 #include <taskLib.h>
 #endif
 
-RobotBase *RobotBase::m_instance = NULL;
+RobotBase *RobotBase::m_instance = nullptr;
 
 void RobotBase::setInstance(RobotBase *robot) {
-  wpi_assert(m_instance == NULL);
+  wpi_assert(m_instance == nullptr);
   m_instance = robot;
 }
 
@@ -52,18 +52,18 @@ void RobotBase::robotSetup(RobotBase *robot) {
  * nice to put this code into it's own task that loads on boot so ensure that it
  * runs.
  */
-RobotBase::RobotBase() : m_task(NULL), m_ds(NULL) {
+RobotBase::RobotBase() : m_task(nullptr), m_ds(nullptr) {
   m_ds = DriverStation::GetInstance();
   RobotState::SetImplementation(DriverStation::GetInstance());
   HLUsageReporting::SetImplementation(new HardwareHLReporting());
 
   RobotBase::setInstance(this);
 
-  FILE *file = NULL;
+  FILE *file = nullptr;
   file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
   fputs("2015 C++ 1.2.0", file);
-  if (file != NULL) fclose(file);
+  if (file != nullptr) fclose(file);
 }
 
 /**
@@ -75,8 +75,8 @@ RobotBase::RobotBase() : m_task(NULL), m_ds(NULL) {
 RobotBase::~RobotBase() {
   SensorBase::DeleteSingletons();
   delete m_task;
-  m_task = NULL;
-  m_instance = NULL;
+  m_task = nullptr;
+  m_instance = nullptr;
 }
 
 /**
diff --git a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
index 1c42aedada..0f221ab85b 100644
--- a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
+++ b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
@@ -37,10 +37,10 @@ const int32_t RobotDrive::kMaxNumberOfMotors;
  * robot drive.
  */
 void RobotDrive::InitRobotDrive() {
-  m_frontLeftMotor = NULL;
-  m_frontRightMotor = NULL;
-  m_rearRightMotor = NULL;
-  m_rearLeftMotor = NULL;
+  m_frontLeftMotor = nullptr;
+  m_frontRightMotor = nullptr;
+  m_rearRightMotor = nullptr;
+  m_rearLeftMotor = nullptr;
   m_sensitivity = 0.5;
   m_maxOutput = 1.0;
   m_safetyHelper = new MotorSafetyHelper(this);
@@ -105,9 +105,9 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 RobotDrive::RobotDrive(SpeedController *leftMotor,
                        SpeedController *rightMotor) {
   InitRobotDrive();
-  if (leftMotor == NULL || rightMotor == NULL) {
+  if (leftMotor == nullptr || rightMotor == nullptr) {
     wpi_setWPIError(NullParameter);
-    m_rearLeftMotor = m_rearRightMotor = NULL;
+    m_rearLeftMotor = m_rearRightMotor = nullptr;
     return;
   }
   m_rearLeftMotor = leftMotor;
@@ -141,8 +141,8 @@ RobotDrive::RobotDrive(SpeedController *frontLeftMotor,
                        SpeedController *frontRightMotor,
                        SpeedController *rearRightMotor) {
   InitRobotDrive();
-  if (frontLeftMotor == NULL || rearLeftMotor == NULL ||
-      frontRightMotor == NULL || rearRightMotor == NULL) {
+  if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
+      frontRightMotor == nullptr || rearRightMotor == nullptr) {
     wpi_setWPIError(NullParameter);
     return;
   }
@@ -230,7 +230,7 @@ void RobotDrive::Drive(float outputMagnitude, float curve) {
  */
 void RobotDrive::TankDrive(GenericHID *leftStick, GenericHID *rightStick,
                            bool squaredInputs) {
-  if (leftStick == NULL || rightStick == NULL) {
+  if (leftStick == nullptr || rightStick == nullptr) {
     wpi_setWPIError(NullParameter);
     return;
   }
@@ -255,7 +255,7 @@ void RobotDrive::TankDrive(GenericHID &leftStick, GenericHID &rightStick,
 void RobotDrive::TankDrive(GenericHID *leftStick, uint32_t leftAxis,
                            GenericHID *rightStick, uint32_t rightAxis,
                            bool squaredInputs) {
-  if (leftStick == NULL || rightStick == NULL) {
+  if (leftStick == nullptr || rightStick == nullptr) {
     wpi_setWPIError(NullParameter);
     return;
   }
@@ -591,13 +591,13 @@ void RobotDrive::HolonomicDrive(float magnitude, float direction,
  * @param rightOutput The speed to send to the right side of the robot.
  */
 void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) {
-  wpi_assert(m_rearLeftMotor != NULL && m_rearRightMotor != NULL);
+  wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr);
 
-  if (m_frontLeftMotor != NULL)
+  if (m_frontLeftMotor != nullptr)
     m_frontLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup);
   m_rearLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup);
 
-  if (m_frontRightMotor != NULL)
+  if (m_frontRightMotor != nullptr)
     m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup);
   m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup);
 
@@ -734,9 +734,9 @@ void RobotDrive::GetDescription(char *desc) const {
 }
 
 void RobotDrive::StopMotor() {
-  if (m_frontLeftMotor != NULL) m_frontLeftMotor->Disable();
-  if (m_frontRightMotor != NULL) m_frontRightMotor->Disable();
-  if (m_rearLeftMotor != NULL) m_rearLeftMotor->Disable();
-  if (m_rearRightMotor != NULL) m_rearRightMotor->Disable();
+  if (m_frontLeftMotor != nullptr) m_frontLeftMotor->Disable();
+  if (m_frontRightMotor != nullptr) m_frontRightMotor->Disable();
+  if (m_rearLeftMotor != nullptr) m_rearLeftMotor->Disable();
+  if (m_rearRightMotor != nullptr) m_rearRightMotor->Disable();
   m_safetyHelper->Feed();
 }
diff --git a/wpilibc/wpilibC++Devices/src/SPI.cpp b/wpilibc/wpilibC++Devices/src/SPI.cpp
index 3d00828fd8..c0ac0975d1 100644
--- a/wpilibc/wpilibC++Devices/src/SPI.cpp
+++ b/wpilibc/wpilibC++Devices/src/SPI.cpp
@@ -151,7 +151,7 @@ int32_t SPI::Write(uint8_t* data, uint8_t size) {
 int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size) {
   int32_t retVal = 0;
   if (initiate) {
-    uint8_t* dataToSend = new uint8_t[size];
+    auto dataToSend = new uint8_t[size];
     memset(dataToSend, 0, size);
     retVal = spiTransaction(m_port, dataToSend, dataReceived, size);
   } else
diff --git a/wpilibc/wpilibC++Devices/src/SensorBase.cpp b/wpilibc/wpilibC++Devices/src/SensorBase.cpp
index 991cc950c9..54a84bb788 100644
--- a/wpilibc/wpilibC++Devices/src/SensorBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/SensorBase.cpp
@@ -19,7 +19,7 @@ const uint32_t SensorBase::kPwmChannels;
 const uint32_t SensorBase::kRelayChannels;
 const uint32_t SensorBase::kPDPChannels;
 const uint32_t SensorBase::kChassisSlots;
-SensorBase* SensorBase::m_singletonList = NULL;
+SensorBase* SensorBase::m_singletonList = nullptr;
 
 static bool portsInitialized = false;
 void* SensorBase::m_digital_ports[kDigitalChannels];
@@ -80,12 +80,12 @@ void SensorBase::AddToSingletonList() {
  * their resources can be freed.
  */
 void SensorBase::DeleteSingletons() {
-  for (SensorBase* next = m_singletonList; next != NULL;) {
+  for (SensorBase* next = m_singletonList; next != nullptr;) {
     SensorBase* tmp = next;
     next = next->m_nextSingleton;
     delete tmp;
   }
-  m_singletonList = NULL;
+  m_singletonList = nullptr;
 }
 
 /**
diff --git a/wpilibc/wpilibC++Devices/src/SerialPort.cpp b/wpilibc/wpilibC++Devices/src/SerialPort.cpp
index 80b0089eee..b124a6a071 100644
--- a/wpilibc/wpilibC++Devices/src/SerialPort.cpp
+++ b/wpilibc/wpilibC++Devices/src/SerialPort.cpp
@@ -53,7 +53,7 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits,
 
   // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
   // this);
-  // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+  // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_nullptr);
 
   HALReport(HALUsageReporting::kResourceType_SerialPort, 0);
 }
@@ -226,4 +226,4 @@ void SerialPort::Reset() {
   int32_t status = 0;
   serialClear(m_port, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
\ No newline at end of file
+}
diff --git a/wpilibc/wpilibC++Devices/src/Servo.cpp b/wpilibc/wpilibC++Devices/src/Servo.cpp
index 0ab2c2179d..63a034593c 100644
--- a/wpilibc/wpilibC++Devices/src/Servo.cpp
+++ b/wpilibc/wpilibC++Devices/src/Servo.cpp
@@ -24,7 +24,7 @@ constexpr float Servo::kDefaultMinServoPWM;
  * well as the minimum and maximum PWM values supported by the servo.
  */
 void Servo::InitServo() {
-  m_table = NULL;
+  m_table = nullptr;
   SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
   SetPeriodMultiplier(kPeriodMultiplier_4X);
 
@@ -112,19 +112,19 @@ void Servo::ValueChanged(ITable* source, const std::string& key,
 }
 
 void Servo::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", Get());
   }
 }
 
 void Servo::StartLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void Servo::StopLiveWindowMode() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/Solenoid.cpp b/wpilibc/wpilibC++Devices/src/Solenoid.cpp
index ab84754390..ec9d280518 100644
--- a/wpilibc/wpilibC++Devices/src/Solenoid.cpp
+++ b/wpilibc/wpilibC++Devices/src/Solenoid.cpp
@@ -14,7 +14,7 @@
  * Common function to implement constructor behavior.
  */
 void Solenoid::InitSolenoid() {
-  m_table = NULL;
+  m_table = nullptr;
   char buf[64];
   if (!CheckSolenoidModule(m_moduleNumber)) {
     snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
@@ -113,21 +113,21 @@ void Solenoid::ValueChanged(ITable* source, const std::string& key,
 }
 
 void Solenoid::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutBoolean("Value", Get());
   }
 }
 
 void Solenoid::StartLiveWindowMode() {
   Set(false);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->AddTableListener("Value", this, true);
   }
 }
 
 void Solenoid::StopLiveWindowMode() {
   Set(false);
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->RemoveTableListener(this);
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp b/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
index 8d8dfc3b7a..4bbc7d4a5b 100644
--- a/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
@@ -8,7 +8,7 @@
 #include "SolenoidBase.h"
 
 // Needs to be global since the protected resource spans all Solenoid objects.
-Resource* SolenoidBase::m_allocated = NULL;
+Resource* SolenoidBase::m_allocated = nullptr;
 
 void* SolenoidBase::m_ports[m_maxModules][m_maxPorts];
 /**
diff --git a/wpilibc/wpilibC++Devices/src/Task.cpp b/wpilibc/wpilibC++Devices/src/Task.cpp
index 316eaf8e08..892413c316 100644
--- a/wpilibc/wpilibC++Devices/src/Task.cpp
+++ b/wpilibc/wpilibC++Devices/src/Task.cpp
@@ -41,7 +41,7 @@ Task::Task(const char* name, FUNCPTR function, int32_t priority,
 Task::~Task() {
   if (m_taskID != NULL_TASK) Stop();
   delete[] m_taskName;
-  m_taskName = NULL;
+  m_taskName = nullptr;
 }
 
 /**
@@ -144,7 +144,7 @@ bool Task::SetPriority(int32_t priority) {
 
 /**
  * Returns the name of the task.
- * @returns Pointer to the name of the task or NULL if not allocated
+ * @returns Pointer to the name of the task or nullptr if not allocated
  */
 const char* Task::GetName() const { return m_taskName; }
 
diff --git a/wpilibc/wpilibC++Devices/src/Timer.cpp b/wpilibc/wpilibC++Devices/src/Timer.cpp
index 29440aa83c..1ca792c05e 100644
--- a/wpilibc/wpilibC++Devices/src/Timer.cpp
+++ b/wpilibc/wpilibC++Devices/src/Timer.cpp
@@ -63,7 +63,7 @@ Timer::Timer()
     : m_startTime(0.0),
       m_accumulatedTime(0.0),
       m_running(false),
-      m_semaphore(0) {
+      m_semaphore(nullptr) {
   // Creates a semaphore to control access to critical regions.
   // Initially 'open'
   m_semaphore = initializeMutexNormal();
diff --git a/wpilibc/wpilibC++Devices/src/USBCamera.cpp b/wpilibc/wpilibC++Devices/src/USBCamera.cpp
index 7e577a0f36..edc88ff26c 100644
--- a/wpilibc/wpilibC++Devices/src/USBCamera.cpp
+++ b/wpilibc/wpilibC++Devices/src/USBCamera.cpp
@@ -148,7 +148,7 @@ void USBCamera::UpdateSettings() {
 
   uInt32 count = 0;
   uInt32 currentMode = 0;
-  SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, NULL, &count, &currentMode);
+  SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, nullptr, &count, &currentMode);
   IMAQdxVideoMode modes[count];
   SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, modes, &count, &currentMode);
 
diff --git a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
index 82b8c8713a..e82a656067 100644
--- a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
+++ b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
@@ -28,9 +28,9 @@ Task Ultrasonic::m_task(
     (FUNCPTR)
         UltrasonicChecker);  // task doing the round-robin automatic sensing
 Ultrasonic *Ultrasonic::m_firstSensor =
-    NULL;  // head of the ultrasonic sensor list
+    nullptr;  // head of the ultrasonic sensor list
 bool Ultrasonic::m_automaticEnabled = false;  // automatic round robin mode
-SEMAPHORE_ID Ultrasonic::m_semaphore = 0;
+SEMAPHORE_ID Ultrasonic::m_semaphore = nullptr;
 
 /**
  * Background task that goes through the list of ultrasonic sensors and pings
@@ -45,10 +45,10 @@ SEMAPHORE_ID Ultrasonic::m_semaphore = 0;
  * anything with the sensors!!
  */
 void Ultrasonic::UltrasonicChecker() {
-  Ultrasonic *u = NULL;
+  Ultrasonic *u = nullptr;
   while (m_automaticEnabled) {
-    if (u == NULL) u = m_firstSensor;
-    if (u == NULL) return;
+    if (u == nullptr) u = m_firstSensor;
+    if (u == nullptr) return;
     if (u->IsEnabled()) u->m_pingChannel->Pulse(kPingTime);  // do the ping
     u = u->m_nextSensor;
     Wait(0.1);  // wait for ping to return
@@ -66,9 +66,9 @@ void Ultrasonic::UltrasonicChecker() {
  * restored.
  */
 void Ultrasonic::Initialize() {
-  m_table = NULL;
+  m_table = nullptr;
   bool originalMode = m_automaticEnabled;
-  if (m_semaphore == 0) m_semaphore = initializeSemaphore(SEMAPHORE_FULL);
+  if (m_semaphore == nullptr) m_semaphore = initializeSemaphore(SEMAPHORE_FULL);
   SetAutomaticMode(false);     // kill task when adding a new sensor
   takeSemaphore(m_semaphore);  // link this instance on the list
   {
@@ -124,7 +124,7 @@ Ultrasonic::Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
  */
 Ultrasonic::Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
                        DistanceUnit units) {
-  if (pingChannel == NULL || echoChannel == NULL) {
+  if (pingChannel == nullptr || echoChannel == nullptr) {
     wpi_setWPIError(NullParameter);
     return;
   }
@@ -169,18 +169,18 @@ Ultrasonic::~Ultrasonic() {
     delete m_pingChannel;
     delete m_echoChannel;
   }
-  wpi_assert(m_firstSensor != NULL);
+  wpi_assert(m_firstSensor != nullptr);
 
   takeSemaphore(m_semaphore);
   {
     if (this == m_firstSensor) {
       m_firstSensor = m_nextSensor;
-      if (m_firstSensor == NULL) {
+      if (m_firstSensor == nullptr) {
         SetAutomaticMode(false);
       }
     } else {
-      wpi_assert(m_firstSensor->m_nextSensor != NULL);
-      for (Ultrasonic *s = m_firstSensor; s != NULL; s = s->m_nextSensor) {
+      wpi_assert(m_firstSensor->m_nextSensor != nullptr);
+      for (Ultrasonic *s = m_firstSensor; s != nullptr; s = s->m_nextSensor) {
         if (this == s->m_nextSensor) {
           s->m_nextSensor = s->m_nextSensor->m_nextSensor;
           break;
@@ -189,7 +189,7 @@ Ultrasonic::~Ultrasonic() {
     }
   }
   giveSemaphore(m_semaphore);
-  if (m_firstSensor != NULL && wasAutomaticMode) SetAutomaticMode(true);
+  if (m_firstSensor != nullptr && wasAutomaticMode) SetAutomaticMode(true);
 }
 
 /**
@@ -211,7 +211,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
   if (enabling) {
     // enabling automatic mode.
     // Clear all the counters so no data is valid
-    for (Ultrasonic *u = m_firstSensor; u != NULL; u = u->m_nextSensor) {
+    for (Ultrasonic *u = m_firstSensor; u != nullptr; u = u->m_nextSensor) {
       u->m_counter->Reset();
     }
     // Start round robin task
@@ -225,7 +225,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
                    // stop
 
     // clear all the counters (data now invalid) since automatic mode is stopped
-    for (Ultrasonic *u = m_firstSensor; u != NULL; u = u->m_nextSensor) {
+    for (Ultrasonic *u = m_firstSensor; u != nullptr; u = u->m_nextSensor) {
       u->m_counter->Reset();
     }
     m_task.Stop();
@@ -313,7 +313,7 @@ Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
 }
 
 void Ultrasonic::UpdateTable() {
-  if (m_table != NULL) {
+  if (m_table != nullptr) {
     m_table->PutNumber("Value", GetRangeInches());
   }
 }
diff --git a/wpilibc/wpilibC++Devices/src/Utility.cpp b/wpilibc/wpilibC++Devices/src/Utility.cpp
index ee8b5e6ad4..73bb0ef981 100644
--- a/wpilibc/wpilibC++Devices/src/Utility.cpp
+++ b/wpilibc/wpilibC++Devices/src/Utility.cpp
@@ -62,7 +62,7 @@ bool wpi_assert_impl(bool conditionValue, const char *conditionText,
     std::cout << error << std::endl;
     HALSetErrorData(error.c_str(), error.size(), 100);
 
-    if (suspendOnAssertEnabled) suspendTask(0);
+    if (suspendOnAssertEnabled) suspendTask(nullptr);
   }
 
   return conditionValue;
@@ -99,7 +99,7 @@ void wpi_assertEqual_common_impl(const char *valueA, const char *valueB,
   std::cout << error << std::endl;
   HALSetErrorData(error.c_str(), error.size(), 100);
 
-  if (suspendOnAssertEnabled) suspendTask(0);
+  if (suspendOnAssertEnabled) suspendTask(nullptr);
 }
 
 /**
@@ -200,7 +200,7 @@ static std::string demangle(char const *mangledSymbol) {
   int status;
 
   if (sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
-    char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
+    char *symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
     if (status == 0) {
       return symbol;
     } else {
diff --git a/wpilibc/wpilibC++Devices/src/Vision/AxisCamera.cpp b/wpilibc/wpilibC++Devices/src/Vision/AxisCamera.cpp
index babeeadd55..18be836e96 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/AxisCamera.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/AxisCamera.cpp
@@ -112,7 +112,7 @@ int AxisCamera::GetImage(ColorImage *image) {
  * @return a pointer to an HSLImage object
  */
 HSLImage *AxisCamera::GetImage() {
-  HSLImage *image = new HSLImage();
+  auto image = new HSLImage();
   GetImage(image);
   return image;
 }
@@ -131,22 +131,22 @@ HSLImage *AxisCamera::GetImage() {
 int AxisCamera::CopyJPEG(char **destImage, unsigned int &destImageSize,
                          unsigned int &destImageBufferSize) {
   std::lock_guard<std::mutex> lock(m_imageDataMutex);
-  if (destImage == NULL)
-    wpi_setWPIErrorWithContext(NullParameter, "destImage must not be NULL");
+  if (destImage == nullptr)
+    wpi_setWPIErrorWithContext(NullParameter, "destImage must not be nullptr");
 
   if (m_imageData.size() == 0) return 0;  // if no source image
 
   if (destImageBufferSize <
       m_imageData.size())  // if current destination buffer too small
   {
-    if (*destImage != NULL) delete[] * destImage;
+    if (*destImage != nullptr) delete[] * destImage;
     destImageBufferSize = m_imageData.size() + kImageBufferAllocationIncrement;
     *destImage = new char[destImageBufferSize];
-    if (*destImage == NULL) return 0;
+    if (*destImage == nullptr) return 0;
   }
   // copy this image into destination buffer
-  if (*destImage == NULL) {
-    wpi_setWPIErrorWithContext(NullParameter, "*destImage must not be NULL");
+  if (*destImage == nullptr) {
+    wpi_setWPIErrorWithContext(NullParameter, "*destImage must not be nullptr");
   }
 
   std::copy(m_imageData.begin(), m_imageData.end(), *destImage);
@@ -415,7 +415,7 @@ void AxisCamera::Capture() {
  * This function actually reads the images from the camera.
  */
 void AxisCamera::ReadImagesFromCamera() {
-  char *imgBuffer = NULL;
+  char *imgBuffer = nullptr;
   int imgBufferLength = 0;
 
   // TODO: these recv calls must be non-blocking. Otherwise if the camera
@@ -441,7 +441,7 @@ void AxisCamera::ReadImagesFromCamera() {
       // after
       // there is at least 4 bytes total. Kind of obscure.
       // look for 2 blank lines (\r\n)
-      if (NULL != strstr(trailingPtr, "\r\n\r\n")) {
+      if (nullptr != strstr(trailingPtr, "\r\n\r\n")) {
         --counter;
       }
       if (++trailingCounter >= 4) {
@@ -450,7 +450,7 @@ void AxisCamera::ReadImagesFromCamera() {
     }
     counter = 1;
     char *contentLength = strstr(initialReadBuffer, "Content-Length: ");
-    if (contentLength == NULL) {
+    if (contentLength == nullptr) {
       wpi_setWPIErrorWithContext(IncompatibleMode,
                                  "No content-length token found in packet");
       close(m_cameraSocket);
@@ -464,7 +464,7 @@ void AxisCamera::ReadImagesFromCamera() {
       if (imgBuffer) delete[] imgBuffer;
       imgBufferLength = readLength + kImageBufferAllocationIncrement;
       imgBuffer = new char[imgBufferLength];
-      if (imgBuffer == NULL) {
+      if (imgBuffer == nullptr) {
         imgBufferLength = 0;
         continue;
       }
@@ -567,7 +567,7 @@ bool AxisCamera::WriteParameters() {
  */
 int AxisCamera::CreateCameraSocket(std::string const &requestString,
                                    bool setError) {
-  struct addrinfo *address = 0;
+  struct addrinfo *address = nullptr;
   int camSocket;
 
   /* create socket */
@@ -577,7 +577,7 @@ int AxisCamera::CreateCameraSocket(std::string const &requestString,
     return -1;
   }
 
-  if (getaddrinfo(m_cameraHost.c_str(), "80", 0, &address) == -1) {
+  if (getaddrinfo(m_cameraHost.c_str(), "80", nullptr, &address) == -1) {
     if (setError)
       wpi_setErrnoErrorWithContext("Failed to create the camera socket");
     return -1;
diff --git a/wpilibc/wpilibC++Devices/src/Vision/BaeUtilities.cpp b/wpilibc/wpilibC++Devices/src/Vision/BaeUtilities.cpp
index fe2944a7ed..5059e1e5cc 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/BaeUtilities.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/BaeUtilities.cpp
@@ -129,7 +129,7 @@ void dprintf(const char *tempString, ...) /* Variable argument list */
       break;
     case DEBUG_MOSTLY_OFF:
       if (fatalFlag) {
-        if ((outfile_fd = fopen(filepath, "a+")) != NULL) {
+        if ((outfile_fd = fopen(filepath, "a+")) != nullptr) {
           fwrite(outtext, sizeof(char), strlen(outtext), outfile_fd);
           fclose(outfile_fd);
         }
@@ -139,14 +139,14 @@ void dprintf(const char *tempString, ...) /* Variable argument list */
       printf("%s", outtext);
       break;
     case DEBUG_FILE_ONLY:
-      if ((outfile_fd = fopen(filepath, "a+")) != NULL) {
+      if ((outfile_fd = fopen(filepath, "a+")) != nullptr) {
         fwrite(outtext, sizeof(char), strlen(outtext), outfile_fd);
         fclose(outfile_fd);
       }
       break;
     case DEBUG_SCREEN_AND_FILE:  // BOTH
       printf("%s", outtext);
-      if ((outfile_fd = fopen(filepath, "a+")) != NULL) {
+      if ((outfile_fd = fopen(filepath, "a+")) != nullptr) {
         fwrite(outtext, sizeof(char), strlen(outtext), outfile_fd);
         fclose(outfile_fd);
       }
@@ -223,7 +223,7 @@ double SinPosition(double *period, double sinStart) {
   double sinArg;
 
   // 1st call
-  if (period != NULL) {
+  if (period != nullptr) {
     sinePeriod = *period;
     timestamp = GetTime();
     return 0.0;
@@ -270,7 +270,7 @@ void panInit(double period) {
 void panForTarget(Servo *panServo) { panForTarget(panServo, 0.0); }
 
 void panForTarget(Servo *panServo, double sinStart) {
-  float normalizedSinPosition = (float)SinPosition(NULL, sinStart);
+  float normalizedSinPosition = (float)SinPosition(nullptr, sinStart);
   float newServoPosition = NormalizeToRange(normalizedSinPosition);
   panServo->Set(newServoPosition);
   // ShowActivity ("pan x: normalized %f newServoPosition = %f" ,
@@ -296,13 +296,13 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
 
   if (lineNumber < 0) return (-1);
 
-  if ((infile = fopen(inputFile, "r")) == NULL) {
+  if ((infile = fopen(inputFile, "r")) == nullptr) {
     printf("Fatal error opening file %s\n", inputFile);
     return (0);
   }
 
   while (!feof(infile)) {
-    if (fgets(inputStr, stringSize, infile) != NULL) {
+    if (fgets(inputStr, stringSize, infile) != nullptr) {
       // Skip empty lines
       if (emptyString(inputStr)) continue;
       // Skip comment lines
@@ -339,7 +339,7 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
 int emptyString(char *string) {
   int i, len;
 
-  if (string == NULL) return (1);
+  if (string == nullptr) return (1);
 
   len = strlen(string);
   for (i = 0; i < len; i++) {
@@ -358,7 +358,7 @@ int emptyString(char *string) {
 void stripString(char *string) {
   int i, j, len;
 
-  if (string == NULL) return;
+  if (string == nullptr) return;
 
   len = strlen(string);
   for (i = 0, j = 0; i < len; i++) {
diff --git a/wpilibc/wpilibC++Devices/src/Vision/BinaryImage.cpp b/wpilibc/wpilibC++Devices/src/Vision/BinaryImage.cpp
index 541a69729b..832cec65c4 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/BinaryImage.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/BinaryImage.cpp
@@ -107,8 +107,7 @@ void BinaryImage::GetParticleAnalysisReport(int particleNumber,
  */
 vector<ParticleAnalysisReport> *
 BinaryImage::GetOrderedParticleAnalysisReports() {
-  vector<ParticleAnalysisReport> *particles =
-      new vector<ParticleAnalysisReport>;
+  auto particles = new vector<ParticleAnalysisReport>;
   int particleCount = GetNumberParticles();
   for (int particleIndex = 0; particleIndex < particleCount; particleIndex++) {
     particles->push_back(GetParticleAnalysisReport(particleIndex));
@@ -197,23 +196,23 @@ bool BinaryImage::CompareParticleSizes(ParticleAnalysisReport particle1,
 }
 
 BinaryImage *BinaryImage::RemoveSmallObjects(bool connectivity8, int erosions) {
-  BinaryImage *result = new BinaryImage();
+  auto result = new BinaryImage();
   int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage,
-                               connectivity8, erosions, IMAQ_KEEP_LARGE, NULL);
+                               connectivity8, erosions, IMAQ_KEEP_LARGE, nullptr);
   wpi_setImaqErrorWithContext(success, "Error in RemoveSmallObjects");
   return result;
 }
 
 BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions) {
-  BinaryImage *result = new BinaryImage();
+  auto result = new BinaryImage();
   int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage,
-                               connectivity8, erosions, IMAQ_KEEP_SMALL, NULL);
+                               connectivity8, erosions, IMAQ_KEEP_SMALL, nullptr);
   wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects");
   return result;
 }
 
 BinaryImage *BinaryImage::ConvexHull(bool connectivity8) {
-  BinaryImage *result = new BinaryImage();
+  auto result = new BinaryImage();
   int success =
       imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8);
   wpi_setImaqErrorWithContext(success, "Error in convex hull operation");
@@ -222,12 +221,12 @@ BinaryImage *BinaryImage::ConvexHull(bool connectivity8) {
 
 BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria,
                                          int criteriaCount) {
-  BinaryImage *result = new BinaryImage();
+  auto result = new BinaryImage();
   int numParticles;
   ParticleFilterOptions2 filterOptions = {0, 0, 0, 1};
   int success =
       imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria,
-                          criteriaCount, &filterOptions, NULL, &numParticles);
+                          criteriaCount, &filterOptions, nullptr, &numParticles);
   wpi_setImaqErrorWithContext(success, "Error in particle filter operation");
   return result;
 }
diff --git a/wpilibc/wpilibC++Devices/src/Vision/ColorImage.cpp b/wpilibc/wpilibC++Devices/src/Vision/ColorImage.cpp
index 3a52337a78..f3e4ff617f 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/ColorImage.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/ColorImage.cpp
@@ -22,7 +22,7 @@ ColorImage::~ColorImage() {}
 BinaryImage *ColorImage::ComputeThreshold(ColorMode colorMode, int low1,
                                           int high1, int low2, int high2,
                                           int low3, int high3) {
-  BinaryImage *result = new BinaryImage();
+  auto result = new BinaryImage();
   Range range1 = {low1, high1}, range2 = {low2, high2}, range3 = {low3, high3};
 
   int success = imaqColorThreshold(result->GetImaqImage(), m_imaqImage, 1,
@@ -154,12 +154,12 @@ BinaryImage *ColorImage::ThresholdHSI(Threshold &t) {
  * @returns A pointer to a MonoImage that represents the extracted plane.
  */
 MonoImage *ColorImage::ExtractColorPlane(ColorMode mode, int planeNumber) {
-  MonoImage *result = new MonoImage();
-  if (m_imaqImage == NULL) wpi_setWPIError(NullParameter);
+  auto result = new MonoImage();
+  if (m_imaqImage == nullptr) wpi_setWPIError(NullParameter);
   int success = imaqExtractColorPlanes(
-      m_imaqImage, mode, (planeNumber == 1) ? result->GetImaqImage() : NULL,
-      (planeNumber == 2) ? result->GetImaqImage() : NULL,
-      (planeNumber == 3) ? result->GetImaqImage() : NULL);
+      m_imaqImage, mode, (planeNumber == 1) ? result->GetImaqImage() : nullptr,
+      (planeNumber == 2) ? result->GetImaqImage() : nullptr,
+      (planeNumber == 3) ? result->GetImaqImage() : nullptr);
   wpi_setImaqErrorWithContext(success, "Imaq ExtractColorPlanes failed");
   return result;
 }
@@ -274,9 +274,9 @@ void ColorImage::ReplacePlane(ColorMode mode, MonoImage *plane,
                               int planeNumber) {
   int success =
       imaqReplaceColorPlanes(m_imaqImage, (const Image *)m_imaqImage, mode,
-                             (planeNumber == 1) ? plane->GetImaqImage() : NULL,
-                             (planeNumber == 2) ? plane->GetImaqImage() : NULL,
-                             (planeNumber == 3) ? plane->GetImaqImage() : NULL);
+                             (planeNumber == 1) ? plane->GetImaqImage() : nullptr,
+                             (planeNumber == 2) ? plane->GetImaqImage() : nullptr,
+                             (planeNumber == 3) ? plane->GetImaqImage() : nullptr);
   wpi_setImaqErrorWithContext(success, "Imaq ReplaceColorPlanes failed");
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/Vision/FrcError.cpp b/wpilibc/wpilibC++Devices/src/Vision/FrcError.cpp
index 7cd1fbf512..f0b4725c61 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/FrcError.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/FrcError.cpp
@@ -319,7 +319,7 @@ const char* GetVisionErrorText(int errorCode) {
       break;
     }
     case -1074395269: {
-      errorText = "ERR_NULL_POINTER";
+      errorText = "ERR_nullptr_POINTER";
       break;
     }
     case -1074395270: {
@@ -563,7 +563,7 @@ const char* GetVisionErrorText(int errorCode) {
       break;
     }
     case -1074395343: {
-      errorText = "ERR_FILE_FILENAME_NULL";
+      errorText = "ERR_FILE_FILENAME_nullptr";
       break;
     }
     case -1074395345: {
@@ -2083,7 +2083,7 @@ const char* GetVisionErrorText(int errorCode) {
       break;
     }
     case -1074396098: {
-      errorText = "ERR_RESERVED_MUST_BE_NULL";
+      errorText = "ERR_RESERVED_MUST_BE_nullptr";
       break;
     }
     case -1074396099: {
diff --git a/wpilibc/wpilibC++Devices/src/Vision/HSLImage.cpp b/wpilibc/wpilibC++Devices/src/Vision/HSLImage.cpp
index 11670a8325..7347f01fde 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/HSLImage.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/HSLImage.cpp
@@ -16,7 +16,7 @@ HSLImage::HSLImage() : ColorImage(IMAQ_IMAGE_HSL) {}
  * @param fileName The path of the file to load.
  */
 HSLImage::HSLImage(const char *fileName) : ColorImage(IMAQ_IMAGE_HSL) {
-  int success = imaqReadFile(m_imaqImage, fileName, NULL, NULL);
+  int success = imaqReadFile(m_imaqImage, fileName, nullptr, nullptr);
   wpi_setImaqErrorWithContext(success, "Imaq ReadFile error");
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/Vision/ImageBase.cpp b/wpilibc/wpilibC++Devices/src/Vision/ImageBase.cpp
index 8b6adaf195..f35234adab 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/ImageBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/ImageBase.cpp
@@ -31,7 +31,7 @@ ImageBase::~ImageBase() {
  * @param fileName The name of the file to write
  */
 void ImageBase::Write(const char *fileName) {
-  int success = imaqWriteFile(m_imaqImage, fileName, NULL);
+  int success = imaqWriteFile(m_imaqImage, fileName, nullptr);
   wpi_setImaqErrorWithContext(success, "Imaq Image writeFile error");
 }
 
@@ -41,7 +41,7 @@ void ImageBase::Write(const char *fileName) {
  */
 int ImageBase::GetHeight() {
   int height;
-  imaqGetImageSize(m_imaqImage, NULL, &height);
+  imaqGetImageSize(m_imaqImage, nullptr, &height);
   return height;
 }
 
@@ -51,7 +51,7 @@ int ImageBase::GetHeight() {
  */
 int ImageBase::GetWidth() {
   int width;
-  imaqGetImageSize(m_imaqImage, &width, NULL);
+  imaqGetImageSize(m_imaqImage, &width, nullptr);
   return width;
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/Vision/MonoImage.cpp b/wpilibc/wpilibC++Devices/src/Vision/MonoImage.cpp
index 1351939cba..2706360268 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/MonoImage.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/MonoImage.cpp
@@ -29,8 +29,8 @@ vector<EllipseMatch> *MonoImage::DetectEllipses(
   EllipseMatch *e =
       imaqDetectEllipses(m_imaqImage, ellipseDescriptor, curveOptions,
                          shapeDetectionOptions, roi, &numberOfMatches);
-  vector<EllipseMatch> *ellipses = new vector<EllipseMatch>;
-  if (e == NULL) {
+  auto ellipses = new vector<EllipseMatch>;
+  if (e == nullptr) {
     return ellipses;
   }
   for (int i = 0; i < numberOfMatches; i++) {
@@ -43,6 +43,6 @@ vector<EllipseMatch> *MonoImage::DetectEllipses(
 vector<EllipseMatch> *MonoImage::DetectEllipses(
     EllipseDescriptor *ellipseDescriptor) {
   vector<EllipseMatch> *ellipses =
-      DetectEllipses(ellipseDescriptor, NULL, NULL, NULL);
+      DetectEllipses(ellipseDescriptor, nullptr, nullptr, nullptr);
   return ellipses;
 }
diff --git a/wpilibc/wpilibC++Devices/src/Vision/RGBImage.cpp b/wpilibc/wpilibC++Devices/src/Vision/RGBImage.cpp
index ef2dffe1ad..fe24dfba0e 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/RGBImage.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/RGBImage.cpp
@@ -16,7 +16,7 @@ RGBImage::RGBImage() : ColorImage(IMAQ_IMAGE_RGB) {}
  * @param fileName The path of the file to load.
  */
 RGBImage::RGBImage(const char *fileName) : ColorImage(IMAQ_IMAGE_RGB) {
-  int success = imaqReadFile(m_imaqImage, fileName, NULL, NULL);
+  int success = imaqReadFile(m_imaqImage, fileName, nullptr, nullptr);
   wpi_setImaqErrorWithContext(success, "Imaq ReadFile error");
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/Vision/VisionAPI.cpp b/wpilibc/wpilibC++Devices/src/Vision/VisionAPI.cpp
index 6e0b7ada3a..32bab7f48e 100644
--- a/wpilibc/wpilibC++Devices/src/Vision/VisionAPI.cpp
+++ b/wpilibc/wpilibC++Devices/src/Vision/VisionAPI.cpp
@@ -31,7 +31,7 @@ int VisionAPI_debugFlag = 1;
 *
 * @param type Type of image to create
 * @return Image* On success, this function returns the created image. On
-* failure, it returns NULL.
+* failure, it returns nullptr.
 */
 Image* frcCreateImage(ImageType type) {
   return imaqCreateImage(type, DEFAULT_BORDER_SIZE);
@@ -50,7 +50,7 @@ int frcDispose(void* object) { return imaqDispose(object); }
 *
 * @param functionName The name of the function
 * @param ... A list of pointers to structures that need to be disposed of.
-* The last pointer in the list should always be set to NULL.
+* The last pointer in the list should always be set to nullptr.
 *
 * @return On success: 1. On failure: 0. To get extended error information, call
 * GetLastError().
@@ -63,7 +63,7 @@ int frcDispose(const char* functionName, ...) /* Variable argument list */
 
   va_start(disposalPtrList, functionName); /* start of variable list */
   disposalPtr = va_arg(disposalPtrList, void*);
-  while (disposalPtr != NULL) {
+  while (disposalPtr != nullptr) {
     success = imaqDispose(disposalPtr);
     if (!success) {
       returnValue = 0;
@@ -78,7 +78,7 @@ int frcDispose(const char* functionName, ...) /* Variable argument list */
 * Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_RGB,
 * IMAQ_IMAGE_HSL.
 *
-* @param dest Copy of image. On failure, dest is NULL. Must have already been
+* @param dest Copy of image. On failure, dest is nullptr. Must have already been
 * created using frcCreateImage().
 * When you are finished with the created image, dispose of it by calling
 * frcDispose().
@@ -135,13 +135,13 @@ int frcScale(Image* dest, const Image* source, int xScale, int yScale,
  * IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
  *
  * @param image Image read in
- * @param fileName File to read. Cannot be NULL
+ * @param fileName File to read. Cannot be nullptr
  *
  * @return On success: 1. On failure: 0. To get extended error information, call
  * GetLastError().
  */
 int frcReadImage(Image* image, const char* fileName) {
-  return imaqReadFile(image, fileName, NULL, NULL);
+  return imaqReadFile(image, fileName, nullptr, nullptr);
 }
 
 /**
@@ -168,14 +168,14 @@ int frcReadImage(Image* image, const char* fileName) {
 * 		PNG, TIFF, JPEG2000 		8-bit, 16-bit, RGB, RGBU64
 *
 * @param image Image to write
-* @param fileName File to read. Cannot be NULL. The extension determines the
+* @param fileName File to read. Cannot be nullptr. The extension determines the
 * file format that is written.
 *
 * @return On success: 1. On failure: 0. To get extended error information, call
 * GetLastError().
 */
 int frcWriteImage(const Image* image, const char* fileName) {
-  RGBValue* colorTable = NULL;
+  RGBValue* colorTable = nullptr;
   return imaqWriteFile(image, fileName, colorTable);
 }
 
@@ -214,7 +214,7 @@ int frcWriteImage(const Image* image, const char* fileName) {
 * @return On success, this function returns a report describing the pixel value
 * classification.
 * When you are finished with the report, dispose of it by calling frcDispose().
-* On failure, this function returns NULL. To get extended error information,
+* On failure, this function returns nullptr. To get extended error information,
 * call GetLastError().
 *
 */
@@ -233,24 +233,24 @@ HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
   success = imaqAddRectContour(pRoi, rect);
   if (!success) {
     GetLastVisionError();
-    return NULL;
+    return nullptr;
   }
 
   /* make a mask from the ROI */
   Image* pMask = frcCreateImage(IMAQ_IMAGE_U8);
-  success = imaqROIToMask(pMask, pRoi, fillValue, NULL, NULL);
+  success = imaqROIToMask(pMask, pRoi, fillValue, nullptr, nullptr);
   if (!success) {
     GetLastVisionError();
-    frcDispose(__FUNCTION__, pRoi, NULL);
-    return NULL;
+    frcDispose(__FUNCTION__, pRoi, nullptr);
+    return nullptr;
   }
 
   /* get a histogram report */
-  HistogramReport* pHr = NULL;
+  HistogramReport* pHr = nullptr;
   pHr = imaqHistogram(image, numClasses, min, max, pMask);
 
   /* clean up */
-  frcDispose(__FUNCTION__, pRoi, pMask, NULL);
+  frcDispose(__FUNCTION__, pRoi, pMask, nullptr);
 
   return pHr;
 }
@@ -268,7 +268,7 @@ HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
 * @param mask An optional mask image. This image must be an IMAQ_IMAGE_U8 image.
 * The function calculates the histogram using only those pixels in the image
 * whose
-* corresponding pixels in the mask are non-zero. Set this parameter to NULL to
+* corresponding pixels in the mask are non-zero. Set this parameter to nullptr to
 * calculate
 * the histogram of the entire image, or use the simplified call.
 *
@@ -276,17 +276,17 @@ HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
 * classification
 * of each plane in a HistogramReport.
 * When you are finished with the report, dispose of it by calling frcDispose().
-* On failure, this function returns NULL.
+* On failure, this function returns nullptr.
 * To get extended error information, call imaqGetLastError().
 */
 ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
                                         ColorMode mode) {
-  return frcColorHistogram(image, numClasses, mode, NULL);
+  return frcColorHistogram(image, numClasses, mode, nullptr);
 }
 
 ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
                                         ColorMode mode, Image* mask) {
-  return imaqColorHistogram2((Image*)image, numClasses, mode, NULL, mask);
+  return imaqColorHistogram2((Image*)image, numClasses, mode, nullptr, mask);
 }
 
 /**
@@ -299,7 +299,7 @@ ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
 * @param image The image whose pixel value the function queries
 * @param pixel The coordinates of the pixel that the function queries
 * @param value On return, the value of the specified image pixel. This parameter
-* cannot be NULL.
+* cannot be nullptr.
 * This data structure contains either grayscale, RGB, HSL, Complex or
 * RGBU64Value depending on the type of image.
 * @return On success: 1. On failure: 0. To get extended error information, call
@@ -319,7 +319,7 @@ int frcGetPixelValue(const Image* image, Point pixel, PixelValue* value) {
 * as the Source image. It will contain only the filtered particles.
 * @param source The image containing the particles to filter.
 * @param criteria An array of criteria to apply to the particles in the source
-* image. This array cannot be NULL.
+* image. This array cannot be nullptr.
 * See the NIVisionCVI.chm help file for definitions of criteria.
 * @param criteriaCount The number of elements in the criteria array.
 * @param options Binary filter options, including rejectMatches, rejectBorder,
@@ -371,7 +371,7 @@ int frcParticleFilter(Image* dest, Image* source,
 * GetLastError().
 */
 int frcMorphology(Image* dest, Image* source, MorphologyMethod method) {
-  return imaqMorphology(dest, source, method, NULL);
+  return imaqMorphology(dest, source, method, nullptr);
 }
 
 int frcMorphology(Image* dest, Image* source, MorphologyMethod method,
@@ -539,7 +539,7 @@ int frcParticleAnalysis(Image* image, int particleNumber,
 * will be copied. Only those pixels in the Image Src (Small) image that
 * correspond to an equivalent non-zero pixel in the mask image are copied. All
 * other pixels keep their original values. The entire image is processed if Image
-* Mask is NULL or this parameter is omitted.
+* Mask is nullptr or this parameter is omitted.
 * @return On success: 1. On failure: 0. To get extended error information, call
 * GetLastError().
 *
@@ -548,7 +548,7 @@ int frcParticleAnalysis(Image* image, int particleNumber,
 * 		minMatchScore = DEFAULT_MINMAX_SCORE (800)
 */
 int frcEqualize(Image* dest, const Image* source, float min, float max) {
-  return frcEqualize(dest, source, min, max, NULL);
+  return frcEqualize(dest, source, min, max, nullptr);
 }
 
 int frcEqualize(Image* dest, const Image* source, float min, float max,
@@ -695,11 +695,11 @@ int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
 * @param mode The color space to perform the threshold in. valid values are:
 * IMAQ_RGB, IMAQ_HSL.
 * @param plane1Range The selection range for the first plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 * @param plane2Range The selection range for the second plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 * @param plane3Range The selection range for the third plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 *
 * @return On success: 1. On failure: 0. To get extended error information, call
 * GetLastError().
@@ -726,11 +726,11 @@ int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
 * @param mode The color space to perform the threshold in. valid values are:
 * IMAQ_RGB, IMAQ_HSL.
 * @param plane1Range The selection range for the first plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 * @param plane2Range The selection range for the second plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 * @param plane3Range The selection range for the third plane of the image. Set
-* this parameter to NULL to use a selection range from 0 to 255.
+* this parameter to nullptr to use a selection range from 0 to 255.
 *
 * @return On success: 1. On failure: 0. To get extended error information, call
 * GetLastError().
@@ -784,11 +784,11 @@ int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange,
 * @param image The source image that the function extracts the planes from.
 * @param mode The color space that the function extracts the planes from. Valid
 * values are IMAQ_RGB, IMAQ_HSL, IMAQ_HSV, IMAQ_HSI.
-* @param plane1 On return, the first extracted plane. Set this parameter to NULL
+* @param plane1 On return, the first extracted plane. Set this parameter to nullptr
 * if you do not need this information. RGB-Red, HSL/HSV/HSI-Hue.
 * @param plane2 On return, the second extracted plane. Set this parameter to
-* NULL if you do not need this information. RGB-Green, HSL/HSV/HSI-Saturation.
-* @param plane3 On return, the third extracted plane. Set this parameter to NULL
+* nullptr if you do not need this information. RGB-Green, HSL/HSV/HSI-Saturation.
+* @param plane3 On return, the third extracted plane. Set this parameter to nullptr
 * if you do not need this information. RGB-Blue, HSL-Luminance, HSV-Value,
 * HSI-Intensity.
 *
@@ -816,5 +816,5 @@ int frcExtractHuePlane(const Image* image, Image* huePlane) {
 }
 
 int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation) {
-  return frcExtractColorPlanes(image, IMAQ_HSL, huePlane, NULL, NULL);
+  return frcExtractColorPlanes(image, IMAQ_HSL, huePlane, nullptr, nullptr);
 }
diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
index 5066375458..7d600fcce6 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
@@ -297,9 +297,7 @@ TEST_F(CANJaguarTest, VoltageModeWorks) {
 
   float setpoints[] = {M_PI, 8.0f, -10.0f};
 
-  for (unsigned int i = 0; i < sizeof(setpoints) / sizeof(setpoints[0]); i++) {
-    float setpoint = setpoints[i];
-
+  for (auto setpoint : setpoints) {
     SetJaguar(kMotorTime, setpoint);
     EXPECT_NEAR(setpoint, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
   }
@@ -354,9 +352,9 @@ TEST_F(CANJaguarTest, DISABLED_CurrentModeWorks) {
 
   float setpoints[] = {1.6f, 2.0f, -1.6f};
 
-  for (unsigned int i = 0; i < sizeof(setpoints) / sizeof(setpoints[0]); i++) {
-    float setpoint = setpoints[i];
-    float expectedCurrent = std::abs(setpoints[i]);
+  for (auto& setpoints_i : setpoints) {
+    float setpoint = setpoints_i;
+    float expectedCurrent = std::abs(setpoints_i);
 
     /* It should get to each setpoint within 10 seconds */
     for (int j = 0; j < 10; j++) {
diff --git a/wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp
index 3a920eaf73..8075ed7997 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp
@@ -104,7 +104,7 @@ static void *InterruptTriggerer(void *data) {
   output->Set(false);
   Wait(kSynchronousInterruptTime);
   output->Set(true);
-  return NULL;
+  return nullptr;
 }
 
 TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
@@ -113,7 +113,7 @@ TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
 
   // If we have another thread trigger the interrupt in a few seconds
   pthread_t interruptTriggererLoop;
-  pthread_create(&interruptTriggererLoop, NULL, InterruptTriggerer, m_output);
+  pthread_create(&interruptTriggererLoop, nullptr, InterruptTriggerer, m_output);
 
   // Then this thread should pause and resume after that number of seconds
   Timer timer;
diff --git a/wpilibc/wpilibC++IntegrationTests/src/MotorInvertingTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/MotorInvertingTest.cpp
index 475693fc09..7c4da8aa20 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/MotorInvertingTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/MotorInvertingTest.cpp
@@ -32,7 +32,7 @@ class MotorInvertingTest
  protected:
   SpeedController *m_speedController;
   Encoder *m_encoder;
-  virtual void SetUp() {
+  virtual void SetUp() override {
     switch (GetParam()) {
       case TEST_VICTOR:
         m_speedController = new Victor(TestBench::kVictorChannel);
@@ -53,7 +53,7 @@ class MotorInvertingTest
         break;
     }
   }
-  virtual void TearDown() {
+  virtual void TearDown() override {
     delete m_speedController;
     delete m_encoder;
   }
diff --git a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
index 8258ad1b9d..18f69a63db 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
@@ -19,8 +19,8 @@ void notifierHandler(void *) { notifierCounter++; }
 TEST(NotifierTest, DISABLED_TestTimerNotifications) {
   std::cout << "NotifierTest..." << std::endl;
   notifierCounter = 0;
-  std::cout << "notifier(notifierHandler, NULL)..." << std::endl;
-  Notifier notifier(notifierHandler, NULL);
+  std::cout << "notifier(notifierHandler, nullptr)..." << std::endl;
+  Notifier notifier(notifierHandler, nullptr);
   std::cout << "Start Periodic..." << std::endl;
   notifier.StartPeriodic(1.0);
 
diff --git a/wpilibc/wpilibC++IntegrationTests/src/PreferencesTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/PreferencesTest.cpp
index 69b939cf6e..796f45a0ec 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/PreferencesTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/PreferencesTest.cpp
@@ -63,14 +63,14 @@ TEST(PreferencesTest, WritePreferencesToFile) {
       "testFileGetLong=\"1000000000000000000\""};
 
   std::ifstream preferencesFile(kFileName);
-  for (int i = 0; i < 7; i++) {
+  for (auto& kExpectedFileContent : kExpectedFileContents) {
     ASSERT_FALSE(preferencesFile.eof())
         << "Preferences file prematurely reached EOF";
 
     std::string line;
     std::getline(preferencesFile, line);
 
-    ASSERT_EQ(kExpectedFileContents[i], line)
+    ASSERT_EQ(kExpectedFileContent, line)
         << "A line in wpilib-preferences.ini was not correct";
   }
 }
diff --git a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
index caa5c42b1d..078044332c 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
@@ -58,7 +58,7 @@ class TiltPanCameraTest : public testing::Test {
   }
 };
 
-Gyro *TiltPanCameraTest::m_gyro = 0;
+Gyro *TiltPanCameraTest::m_gyro = nullptr;
 
 /**
  * Test if the gyro angle defaults to 0 immediately after being reset.
diff --git a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
index 9c7ede98ce..c71d15ab45 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp
@@ -44,10 +44,10 @@ class ASubsystem : public Subsystem {
   Command *m_command;
 
  public:
-  ASubsystem(const char *name) : Subsystem(name) { m_command = NULL; }
+  ASubsystem(const char *name) : Subsystem(name) { m_command = nullptr; }
 
   virtual void InitDefaultCommand() override {
-    if (m_command != NULL) {
+    if (m_command != nullptr) {
       SetDefaultCommand(m_command);
     }
   }
@@ -214,7 +214,7 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem) {
 
 // CommandSequentialGroupTest ported from CommandSequentialGroupTest.java
 TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) {
-  ASubsystem *subsystem = new ASubsystem("Command Superseding Test Subsystem");
+  auto subsystem = new ASubsystem("Command Superseding Test Subsystem");
   MockCommand command1;
   command1.Requires(subsystem);
   MockCommand command2;
diff --git a/wpilibc/wpilibC++Sim/include/simulation/MainNode.h b/wpilibc/wpilibC++Sim/include/simulation/MainNode.h
index 12923c893f..82db41d485 100644
--- a/wpilibc/wpilibC++Sim/include/simulation/MainNode.h
+++ b/wpilibc/wpilibC++Sim/include/simulation/MainNode.h
@@ -10,7 +10,7 @@ using namespace gazebo;
 class MainNode {
 public:
 	static MainNode* GetInstance() {
-		if (instance == NULL) {
+		if (instance == nullptr) {
 			instance = new MainNode();
 		}
 		return instance;
diff --git a/wpilibc/wpilibC++Sim/src/AnalogInput.cpp b/wpilibc/wpilibC++Sim/src/AnalogInput.cpp
index 479f586f4c..3be39bb133 100644
--- a/wpilibc/wpilibC++Sim/src/AnalogInput.cpp
+++ b/wpilibc/wpilibC++Sim/src/AnalogInput.cpp
@@ -13,7 +13,7 @@
  */
 void AnalogInput::InitAnalogInput(uint32_t channel)
 {
-    m_table = NULL;
+    m_table = nullptr;
 
 	m_channel = channel;
 	char buffer[50];
@@ -82,7 +82,7 @@ double AnalogInput::PIDGet() const
 }
 
 void AnalogInput::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutNumber("Value", GetAverageVoltage());
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp b/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp
index 97dac4374f..2685cbc98b 100644
--- a/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp
+++ b/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp
@@ -67,7 +67,7 @@ void AnalogPotentiometer::InitTable(ITable *subtable) {
 }
 
 void AnalogPotentiometer::UpdateTable() {
-    if (m_table != NULL) {
+    if (m_table != nullptr) {
         m_table->PutNumber("Value", Get());
     }
 }
diff --git a/wpilibc/wpilibC++Sim/src/DigitalInput.cpp b/wpilibc/wpilibC++Sim/src/DigitalInput.cpp
index cebbf80979..40775660cd 100644
--- a/wpilibc/wpilibC++Sim/src/DigitalInput.cpp
+++ b/wpilibc/wpilibC++Sim/src/DigitalInput.cpp
@@ -14,7 +14,7 @@
  */
 void DigitalInput::InitDigitalInput(uint32_t channel)
 {
-	m_table = NULL;
+	m_table = nullptr;
 	char buf[64];
 	m_channel = channel;
 	int n = sprintf(buf, "dio/%d", channel);
@@ -57,7 +57,7 @@ uint32_t DigitalInput::GetChannel() const
 }
 
 void DigitalInput::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutBoolean("Value", Get());
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp b/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp
index 0d418fc0dc..87e26aebba 100644
--- a/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp
+++ b/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp
@@ -102,21 +102,21 @@ void DoubleSolenoid::ValueChanged(ITable* source, const std::string& key, EntryV
 }
 
 void DoubleSolenoid::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutString("Value", (Get() == kForward ? "Forward" : (Get() == kReverse ? "Reverse" : "Off")));
 	}
 }
 
 void DoubleSolenoid::StartLiveWindowMode() {
 	Set(kOff);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->AddTableListener("Value", this, true);
 	}
 }
 
 void DoubleSolenoid::StopLiveWindowMode() {
 	Set(kOff);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->RemoveTableListener(this);
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/DriverStation.cpp b/wpilibc/wpilibC++Sim/src/DriverStation.cpp
index da75f4249e..63af0f2ebd 100644
--- a/wpilibc/wpilibC++Sim/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Sim/src/DriverStation.cpp
@@ -26,7 +26,7 @@ const uint32_t DriverStation::kBatteryChannel;
 const uint32_t DriverStation::kJoystickPorts;
 const uint32_t DriverStation::kJoystickAxes;
 constexpr float DriverStation::kUpdatePeriod;
-DriverStation* DriverStation::m_instance = NULL;
+DriverStation* DriverStation::m_instance = nullptr;
 uint8_t DriverStation::m_updateNumber = 0;
 
 /**
@@ -77,7 +77,7 @@ DriverStation::DriverStation()
 
 DriverStation::~DriverStation()
 {
-	m_instance = NULL;
+	m_instance = nullptr;
 	deleteMultiWait(m_waitForDataSem);
 	deleteMutex(m_waitForDataMutex);
 	// TODO: Release m_stateSemaphore and m_joystickSemaphore?
@@ -88,7 +88,7 @@ DriverStation::~DriverStation()
  */
 DriverStation* DriverStation::GetInstance()
 {
-	if (m_instance == NULL)
+	if (m_instance == nullptr)
 	{
 		m_instance = new DriverStation();
 	}
@@ -126,7 +126,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 		return 0.0;
 	}
 	CRITICAL_REGION(m_joystickSemaphore)
-	if (joysticks[stick] == NULL || axis >= joysticks[stick]->axes().size())
+	if (joysticks[stick] == nullptr || axis >= joysticks[stick]->axes().size())
 	{
 		return 0.0;
 	}
@@ -150,7 +150,7 @@ bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
 		return false;
 	}
 	CRITICAL_REGION(m_joystickSemaphore)
-	if (joysticks[stick] == NULL || button >= joysticks[stick]->buttons().size())
+	if (joysticks[stick] == nullptr || button >= joysticks[stick]->buttons().size())
 	{
 	        return false;
 	}
@@ -243,7 +243,7 @@ bool DriverStation::GetDigitalOut(uint32_t channel)
 bool DriverStation::IsEnabled() const
 {
     CRITICAL_REGION(m_stateSemaphore)
-    return state != NULL ? state->enabled() : false;
+    return state != nullptr ? state->enabled() : false;
     END_REGION
 }
 
@@ -255,7 +255,7 @@ bool DriverStation::IsDisabled() const
 bool DriverStation::IsAutonomous() const
 {
     CRITICAL_REGION(m_stateSemaphore)
-    return state != NULL ?
+    return state != nullptr ?
       state->state() == msgs::DriverStation_State_AUTO : false;
 	END_REGION;
 }
@@ -268,7 +268,7 @@ bool DriverStation::IsOperatorControl() const
 bool DriverStation::IsTest() const
 {
     CRITICAL_REGION(m_stateSemaphore)
-    return state != NULL ?
+    return state != nullptr ?
       state->state() == msgs::DriverStation_State_TEST : false;
 	END_REGION;
 }
diff --git a/wpilibc/wpilibC++Sim/src/Encoder.cpp b/wpilibc/wpilibC++Sim/src/Encoder.cpp
index fc40ead0e4..8d3d2a5206 100644
--- a/wpilibc/wpilibC++Sim/src/Encoder.cpp
+++ b/wpilibc/wpilibC++Sim/src/Encoder.cpp
@@ -24,7 +24,7 @@
  */
 void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, EncodingType encodingType)
 {
-	m_table = NULL;
+	m_table = nullptr;
 	this->channelA = channelA;
 	this->channelB = channelB;
 	m_encodingType = encodingType;
@@ -92,14 +92,14 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
  * or be double (2x) the spec'd count.
  */
 /* TODO: [Not Supported] Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection, EncodingType encodingType) :
-	m_encoder(NULL),
-	m_counter(NULL)
+	m_encoder(nullptr),
+	m_counter(nullptr)
 {
 	m_aSource = aSource;
 	m_bSource = bSource;
 	m_allocatedASource = false;
 	m_allocatedBSource = false;
-	if (m_aSource == NULL || m_bSource == NULL)
+	if (m_aSource == nullptr || m_bSource == nullptr)
 		wpi_setWPIError(NullParameter);
 	else
 		InitEncoder(reverseDirection, encodingType);
@@ -124,8 +124,8 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
  * or be double (2x) the spec'd count.
  */
 /*// TODO: [Not Supported] Encoder::Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection, EncodingType encodingType) :
-	m_encoder(NULL),
-	m_counter(NULL)
+	m_encoder(nullptr),
+	m_counter(nullptr)
 {
 	m_aSource = &aSource;
 	m_bSource = &bSource;
@@ -342,7 +342,7 @@ double Encoder::PIDGet() const
 }
 
 void Encoder::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
         m_table->PutNumber("Speed", GetRate());
         m_table->PutNumber("Distance", GetDistance());
         m_table->PutNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
diff --git a/wpilibc/wpilibC++Sim/src/Gyro.cpp b/wpilibc/wpilibC++Sim/src/Gyro.cpp
index 63c6427376..fe66793f83 100644
--- a/wpilibc/wpilibC++Sim/src/Gyro.cpp
+++ b/wpilibc/wpilibC++Sim/src/Gyro.cpp
@@ -25,7 +25,7 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
  */
 void Gyro::InitGyro(int channel)
 {
-	m_table = NULL;
+	m_table = nullptr;
 	SetPIDSourceParameter(kAngle);
 
 	char buffer[50];
@@ -116,7 +116,7 @@ double Gyro::PIDGet() const
 }
 
 void Gyro::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutNumber("Value", GetAngle());
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/Joystick.cpp b/wpilibc/wpilibC++Sim/src/Joystick.cpp
index 372f7cc9b1..a116f21248 100644
--- a/wpilibc/wpilibC++Sim/src/Joystick.cpp
+++ b/wpilibc/wpilibC++Sim/src/Joystick.cpp
@@ -26,10 +26,10 @@ static bool joySticksInitialized = false;
  * @param port The port on the driver station that the joystick is plugged into.
  */
 Joystick::Joystick(uint32_t port)
-	: m_ds (NULL)
+	: m_ds (nullptr)
 	, m_port (port)
-	, m_axes (NULL)
-	, m_buttons (NULL)
+	, m_axes (nullptr)
+	, m_buttons (nullptr)
 {
 	InitJoystick(kNumAxisTypes, kNumButtonTypes);
 
@@ -54,10 +54,10 @@ Joystick::Joystick(uint32_t port)
  * @param numButtonTypes The number of button types in the enum.
  */
 Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
-	: m_ds (NULL)
+	: m_ds (nullptr)
 	, m_port (port)
-	, m_axes (NULL)
-	, m_buttons (NULL)
+	, m_axes (nullptr)
+	, m_buttons (nullptr)
 {
 	InitJoystick(numAxisTypes, numButtonTypes);
 }
@@ -67,7 +67,7 @@ void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
 	if ( !joySticksInitialized )
 	{
 		for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
-			joysticks[i] = NULL;
+			joysticks[i] = nullptr;
 		joySticksInitialized = true;
 	}
 	joysticks[m_port] = this;
@@ -80,7 +80,7 @@ void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
 Joystick * Joystick::GetStickForPort(uint32_t port)
 {
 	Joystick *stick = joysticks[port];
-	if (stick == NULL)
+	if (stick == nullptr)
 	{
 		stick = new Joystick(port);
 		joysticks[port] = stick;
diff --git a/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp b/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
index 040ff10edc..8af177a15b 100644
--- a/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
+++ b/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
@@ -13,7 +13,7 @@
 
 #include <stdio.h>
 
-MotorSafetyHelper *MotorSafetyHelper::m_headHelper = NULL;
+MotorSafetyHelper *MotorSafetyHelper::m_headHelper = nullptr;
 ReentrantSemaphore MotorSafetyHelper::m_listMutex;
 
 /**
@@ -47,9 +47,9 @@ MotorSafetyHelper::~MotorSafetyHelper()
 	}
 	else
 	{
-		MotorSafetyHelper *prev = NULL;
+		MotorSafetyHelper *prev = nullptr;
 		MotorSafetyHelper *cur = m_headHelper;
-		while (cur != this && cur != NULL)
+		while (cur != this && cur != nullptr)
 			prev = cur, cur = cur->m_nextHelper;
 		if (cur == this)
 			prev->m_nextHelper = cur->m_nextHelper;
@@ -149,7 +149,7 @@ bool MotorSafetyHelper::IsSafetyEnabled() const
 void MotorSafetyHelper::CheckMotors()
 {
 	Synchronized sync(m_listMutex);
-	for (MotorSafetyHelper *msh = m_headHelper; msh != NULL; msh = msh->m_nextHelper)
+	for (MotorSafetyHelper *msh = m_headHelper; msh != nullptr; msh = msh->m_nextHelper)
 	{
 		msh->Check();
 	}
diff --git a/wpilibc/wpilibC++Sim/src/Notifier.cpp b/wpilibc/wpilibC++Sim/src/Notifier.cpp
index bf16c1002a..4ad630ae15 100644
--- a/wpilibc/wpilibC++Sim/src/Notifier.cpp
+++ b/wpilibc/wpilibC++Sim/src/Notifier.cpp
@@ -9,9 +9,9 @@
 #include "Utility.h"
 #include "WPIErrors.h"
 
-Notifier *Notifier::timerQueueHead = NULL;
+Notifier *Notifier::timerQueueHead = nullptr;
 ReentrantSemaphore Notifier::queueSemaphore;
-Task* Notifier::task = NULL;
+Task* Notifier::task = nullptr;
 int Notifier::refcount = 0;
 
 /**
@@ -21,14 +21,14 @@ int Notifier::refcount = 0;
  */
 Notifier::Notifier(TimerEventHandler handler, void *param)
 {
-	if (handler == NULL)
-		wpi_setWPIErrorWithContext(NullParameter, "handler must not be NULL");
+	if (handler == nullptr)
+		wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
 	m_handler = handler;
 	m_param = param;
 	m_periodic = false;
 	m_expirationTime = 0;
 	m_period = 0;
-	m_nextEvent = NULL;
+	m_nextEvent = nullptr;
 	m_queued = false;
 	m_handlerSemaphore = initializeSemaphore(SEMAPHORE_FULL);
 	{
@@ -95,7 +95,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
 			Synchronized sync(queueSemaphore);
 			double currentTime = GetClock();
 			current = timerQueueHead;
-			if (current == NULL || current->m_expirationTime > currentTime)
+			if (current == nullptr || current->m_expirationTime > currentTime)
 			{
 				break;		// no more timer events to process
 			}
@@ -144,7 +144,7 @@ void Notifier::InsertInQueue(bool reschedule)
 	{
 		m_expirationTime = GetClock() + m_period;
 	}
-	if (timerQueueHead == NULL || timerQueueHead->m_expirationTime >= this->m_expirationTime)
+	if (timerQueueHead == nullptr || timerQueueHead->m_expirationTime >= this->m_expirationTime)
 	{
 		// the queue is empty or greater than the new entry
 		// the new entry becomes the first element
@@ -161,7 +161,7 @@ void Notifier::InsertInQueue(bool reschedule)
 		for (Notifier **npp = &(timerQueueHead->m_nextEvent); ; npp = &(*npp)->m_nextEvent)
 		{
 			Notifier *n = *npp;
-			if (n == NULL || n->m_expirationTime > this->m_expirationTime)
+			if (n == nullptr || n->m_expirationTime > this->m_expirationTime)
 			{
 				*npp = this;
 				this->m_nextEvent = n;
@@ -184,7 +184,7 @@ void Notifier::DeleteFromQueue()
 	if (m_queued)
 	{
 		m_queued = false;
-		wpi_assert(timerQueueHead != NULL);
+		wpi_assert(timerQueueHead != nullptr);
 		if (timerQueueHead == this)
 		{
 			// remove the first item in the list - update the alarm
@@ -193,7 +193,7 @@ void Notifier::DeleteFromQueue()
 		}
 		else
 		{
-			for (Notifier *n = timerQueueHead; n != NULL; n = n->m_nextEvent)
+			for (Notifier *n = timerQueueHead; n != nullptr; n = n->m_nextEvent)
 			{
 				if (n->m_nextEvent == this)
 				{
@@ -253,8 +253,8 @@ void Notifier::Stop()
 
 void Notifier::Run() {
     while (true) {
-        Notifier::ProcessQueue(0, NULL);
-        if (timerQueueHead != NULL)
+        Notifier::ProcessQueue(0, nullptr);
+        if (timerQueueHead != nullptr)
         {
             Wait(timerQueueHead->m_expirationTime - GetClock());
         }
diff --git a/wpilibc/wpilibC++Sim/src/PIDController.cpp b/wpilibc/wpilibC++Sim/src/PIDController.cpp
index 97f5b233b9..e929b594a0 100644
--- a/wpilibc/wpilibC++Sim/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Sim/src/PIDController.cpp
@@ -60,7 +60,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 								PIDSource *source, PIDOutput *output,
 								float period)
 {
-	m_table = NULL;
+	m_table = nullptr;
 
 	m_P = Kp;
 	m_I = Ki;
@@ -211,7 +211,7 @@ void PIDController::SetPID(double p, double i, double d)
 	}
 	END_REGION;
 
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutNumber("p", m_P);
 		m_table->PutNumber("i", m_I);
 		m_table->PutNumber("d", m_D);
@@ -237,7 +237,7 @@ void PIDController::SetPID(double p, double i, double d, double f)
 	}
 	END_REGION;
 
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutNumber("p", m_P);
 		m_table->PutNumber("i", m_I);
 		m_table->PutNumber("d", m_D);
@@ -386,9 +386,9 @@ void PIDController::SetSetpoint(float setpoint)
 			m_setpoint = setpoint;
 		}
 	}
-	END_REGION;
-
-	if (m_table != NULL) {
+	END_REGION;	
+	
+	if (m_table != nullptr) {
 		m_table->PutNumber("setpoint", m_setpoint);
 	}
 }
@@ -504,9 +504,9 @@ void PIDController::Enable()
 	{
 		m_enabled = true;
 	}
-	END_REGION;
-
-	if (m_table != NULL) {
+	END_REGION;	
+	
+	if (m_table != nullptr) {
 		m_table->PutBoolean("enabled", true);
 	}
 }
@@ -522,8 +522,8 @@ void PIDController::Disable()
 		m_enabled = false;
 	}
 	END_REGION;
-
-	if (m_table != NULL) {
+	
+	if (m_table != nullptr) {
 		m_table->PutBoolean("enabled", false);
 	}
 }
@@ -563,10 +563,10 @@ std::string PIDController::GetSmartDashboardType() const {
 }
 
 void PIDController::InitTable(ITable* table){
-	if(m_table!=NULL)
+	if(m_table!=nullptr)
 		m_table->RemoveTableListener(this);
 	m_table = table;
-	if(m_table!=NULL){
+	if(m_table!=nullptr){
 		m_table->PutNumber(kP, GetP());
 		m_table->PutNumber(kI, GetI());
 		m_table->PutNumber(kD, GetD());
diff --git a/wpilibc/wpilibC++Sim/src/PWM.cpp b/wpilibc/wpilibC++Sim/src/PWM.cpp
index 2f63f93abf..eeabbfe886 100644
--- a/wpilibc/wpilibC++Sim/src/PWM.cpp
+++ b/wpilibc/wpilibC++Sim/src/PWM.cpp
@@ -24,7 +24,7 @@ const int32_t PWM::kPwmDisabled;
  */
 void PWM::InitPWM(uint32_t channel)
 {
-	m_table = NULL;
+	m_table = nullptr;
 	char buf[64];
 
 	if (!CheckPWMChannel(channel))
@@ -240,21 +240,21 @@ void PWM::ValueChanged(ITable* source, const std::string& key, EntryValue value,
 }
 
 void PWM::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutNumber("Value", GetSpeed());
 	}
 }
 
 void PWM::StartLiveWindowMode() {
 	SetSpeed(0);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->AddTableListener("Value", this, true);
 	}
 }
 
 void PWM::StopLiveWindowMode() {
 	SetSpeed(0);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->RemoveTableListener(this);
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/Relay.cpp b/wpilibc/wpilibC++Sim/src/Relay.cpp
index bbcd4425ba..ae6f3b8a32 100644
--- a/wpilibc/wpilibC++Sim/src/Relay.cpp
+++ b/wpilibc/wpilibC++Sim/src/Relay.cpp
@@ -17,7 +17,7 @@
  */
 void Relay::InitRelay()
 {
-	m_table = NULL;
+	m_table = nullptr;
 	char buf[64];
 	if (!SensorBase::CheckRelayChannel(m_channel))
 	{
@@ -156,7 +156,7 @@ void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue valu
 }
 
 void Relay::UpdateTable() {
-	if(m_table != NULL){
+	if(m_table != nullptr){
 		if (Get() == kOn) {
 			m_table->PutString("Value", "On");
 		}
@@ -173,13 +173,13 @@ void Relay::UpdateTable() {
 }
 
 void Relay::StartLiveWindowMode() {
-	if(m_table != NULL){
+	if(m_table != nullptr){
 		m_table->AddTableListener("Value", this, true);
 	}
 }
 
 void Relay::StopLiveWindowMode() {
-	if(m_table != NULL){
+	if(m_table != nullptr){
 		m_table->RemoveTableListener(this);
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/RobotBase.cpp b/wpilibc/wpilibC++Sim/src/RobotBase.cpp
index 1fb710a42e..08f8f589d7 100644
--- a/wpilibc/wpilibC++Sim/src/RobotBase.cpp
+++ b/wpilibc/wpilibC++Sim/src/RobotBase.cpp
@@ -10,11 +10,11 @@
 
 #include <cstring>
 
-RobotBase* RobotBase::m_instance = NULL;
+RobotBase* RobotBase::m_instance = nullptr;
 
 void RobotBase::setInstance(RobotBase* robot)
 {
-	wpi_assert(m_instance == NULL);
+	wpi_assert(m_instance == nullptr);
 	m_instance = robot;
 }
 
diff --git a/wpilibc/wpilibC++Sim/src/RobotDrive.cpp b/wpilibc/wpilibC++Sim/src/RobotDrive.cpp
index 58468b73a5..6493afc48a 100644
--- a/wpilibc/wpilibC++Sim/src/RobotDrive.cpp
+++ b/wpilibc/wpilibC++Sim/src/RobotDrive.cpp
@@ -32,10 +32,10 @@ const int32_t RobotDrive::kMaxNumberOfMotors;
  * initialize all the motor assignments. The default timeout is set for the robot drive.
  */
 void RobotDrive::InitRobotDrive() {
-	m_frontLeftMotor = NULL;
-	m_frontRightMotor = NULL;
-	m_rearRightMotor = NULL;
-	m_rearLeftMotor = NULL;
+	m_frontLeftMotor = nullptr;
+	m_frontRightMotor = nullptr;
+	m_rearRightMotor = nullptr;
+	m_rearLeftMotor = nullptr;
 	m_sensitivity = 0.5;
 	m_maxOutput = 1.0;
 	// FIXME: m_safetyHelper = new MotorSafetyHelper(this);
@@ -99,10 +99,10 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 RobotDrive::RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor)
 {
 	InitRobotDrive();
-	if (leftMotor == NULL || rightMotor == NULL)
+	if (leftMotor == nullptr || rightMotor == nullptr)
 	{
 		wpi_setWPIError(NullParameter);
-		m_rearLeftMotor = m_rearRightMotor = NULL;
+		m_rearLeftMotor = m_rearRightMotor = nullptr;
 		return;
 	}
 	m_rearLeftMotor = leftMotor;
@@ -138,7 +138,7 @@ RobotDrive::RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLef
 						SpeedController *frontRightMotor, SpeedController *rearRightMotor)
 {
 	InitRobotDrive();
-	if (frontLeftMotor == NULL || rearLeftMotor == NULL || frontRightMotor == NULL || rearRightMotor == NULL)
+	if (frontLeftMotor == nullptr || rearLeftMotor == nullptr || frontRightMotor == nullptr || rearRightMotor == nullptr)
 	{
 		wpi_setWPIError(NullParameter);
 		return;
@@ -239,7 +239,7 @@ void RobotDrive::Drive(float outputMagnitude, float curve)
  */
 void RobotDrive::TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs)
 {
-	if (leftStick == NULL || rightStick == NULL)
+	if (leftStick == nullptr || rightStick == nullptr)
 	{
 		wpi_setWPIError(NullParameter);
 		return;
@@ -264,7 +264,7 @@ void RobotDrive::TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool s
 void RobotDrive::TankDrive(GenericHID *leftStick, uint32_t leftAxis,
 		GenericHID *rightStick, uint32_t rightAxis, bool squaredInputs)
 {
-	if (leftStick == NULL || rightStick == NULL)
+	if (leftStick == nullptr || rightStick == nullptr)
 	{
 		wpi_setWPIError(NullParameter);
 		return;
@@ -586,15 +586,15 @@ void RobotDrive::HolonomicDrive(float magnitude, float direction, float rotation
  */
 void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput)
 {
-	wpi_assert(m_rearLeftMotor != NULL && m_rearRightMotor != NULL);
+	wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr);
 
 	uint8_t syncGroup = 0x80;
 
-	if (m_frontLeftMotor != NULL)
+	if (m_frontLeftMotor != nullptr)
 		m_frontLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, syncGroup);
 	m_rearLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput, syncGroup);
 
-	if (m_frontRightMotor != NULL)
+	if (m_frontRightMotor != nullptr)
 		m_frontRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput, syncGroup);
 	m_rearRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
 
@@ -725,8 +725,8 @@ void RobotDrive::GetDescription(char *desc) const
 
 void RobotDrive::StopMotor()
 {
-	if (m_frontLeftMotor != NULL) m_frontLeftMotor->Disable();
-	if (m_frontRightMotor != NULL) m_frontRightMotor->Disable();
-	if (m_rearLeftMotor != NULL) m_rearLeftMotor->Disable();
-	if (m_rearRightMotor != NULL) m_rearRightMotor->Disable();
+	if (m_frontLeftMotor != nullptr) m_frontLeftMotor->Disable();
+	if (m_frontRightMotor != nullptr) m_frontRightMotor->Disable();
+	if (m_rearLeftMotor != nullptr) m_rearLeftMotor->Disable();
+	if (m_rearRightMotor != nullptr) m_rearRightMotor->Disable();
 }
diff --git a/wpilibc/wpilibC++Sim/src/SensorBase.cpp b/wpilibc/wpilibC++Sim/src/SensorBase.cpp
index 80db28c5c3..cadf41be36 100644
--- a/wpilibc/wpilibC++Sim/src/SensorBase.cpp
+++ b/wpilibc/wpilibC++Sim/src/SensorBase.cpp
@@ -16,7 +16,7 @@ const uint32_t SensorBase::kPwmChannels;
 const uint32_t SensorBase::kRelayChannels;
 const uint32_t SensorBase::kPDPChannels;
 const uint32_t SensorBase::kChassisSlots;
-SensorBase *SensorBase::m_singletonList = NULL;
+SensorBase *SensorBase::m_singletonList = nullptr;
 
 /**
  * Creates an instance of the sensor base and gets an FPGA handle
@@ -54,13 +54,13 @@ void SensorBase::AddToSingletonList()
  */
 void SensorBase::DeleteSingletons()
 {
-	for (SensorBase *next = m_singletonList; next != NULL;)
+	for (SensorBase *next = m_singletonList; next != nullptr;)
 	{
 		SensorBase *tmp = next;
 		next = next->m_nextSingleton;
 		delete tmp;
 	}
-	m_singletonList = NULL;
+	m_singletonList = nullptr;
 }
 
 /**
diff --git a/wpilibc/wpilibC++Sim/src/Solenoid.cpp b/wpilibc/wpilibC++Sim/src/Solenoid.cpp
index c3622992ab..02d52b33a4 100644
--- a/wpilibc/wpilibC++Sim/src/Solenoid.cpp
+++ b/wpilibc/wpilibC++Sim/src/Solenoid.cpp
@@ -76,21 +76,21 @@ void Solenoid::ValueChanged(ITable* source, const std::string& key, EntryValue v
 }
 
 void Solenoid::UpdateTable() {
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->PutBoolean("Value", Get());
 	}
 }
 
 void Solenoid::StartLiveWindowMode() {
 	Set(false);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->AddTableListener("Value", this, true);
 	}
 }
 
 void Solenoid::StopLiveWindowMode() {
 	Set(false);
-	if (m_table != NULL) {
+	if (m_table != nullptr) {
 		m_table->RemoveTableListener(this);
 	}
 }
diff --git a/wpilibc/wpilibC++Sim/src/Task.cpp b/wpilibc/wpilibC++Sim/src/Task.cpp
index 7b603c470e..80a212e08d 100644
--- a/wpilibc/wpilibC++Sim/src/Task.cpp
+++ b/wpilibc/wpilibC++Sim/src/Task.cpp
@@ -38,7 +38,7 @@ Task::~Task()
 {
 	if (m_taskID != NULL_TASK) Stop();
 	delete [] m_taskName;
-	m_taskName = NULL;
+	m_taskName = nullptr;
 }
 
 /**
@@ -159,7 +159,7 @@ bool Task::SetPriority(int32_t priority)
 
 /**
  * Returns the name of the task.
- * @returns Pointer to the name of the task or NULL if not allocated
+ * @returns Pointer to the name of the task or nullptr if not allocated
  */
 const char* Task::GetName() const
 {
diff --git a/wpilibc/wpilibC++Sim/src/Utility.cpp b/wpilibc/wpilibC++Sim/src/Utility.cpp
index e1bf26d554..c5e78c2d8e 100644
--- a/wpilibc/wpilibC++Sim/src/Utility.cpp
+++ b/wpilibc/wpilibC++Sim/src/Utility.cpp
@@ -71,7 +71,7 @@ bool wpi_assert_impl(bool conditionValue,
 				
 		// If an error message was specified, include it
 		// Build error string
-		if(message != NULL) {
+		if(message != nullptr) {
 			sprintf(error, "Assertion failed: \"%s\", \"%s\" failed in %s() in %s at line %dd\n", 
 							 message, conditionText, funcName, fileName, lineNumber);
 		} else {
@@ -106,7 +106,7 @@ void wpi_assertEqual_common_impl(int valueA,
 			
 	// If an error message was specified, include it
 	// Build error string
-	if(message != NULL) {
+	if(message != nullptr) {
 		sprintf(error, "Assertion failed: \"%s\", \"%d\" %s \"%d\" in %s() in %s at line %d\n", 
 						 message, valueA, equalityType, valueB, funcName, fileName, lineNumber);
 	} else {
@@ -183,7 +183,7 @@ static std::string demangle(char const *mangledSymbol)
 
 	if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
 	{
-		char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
+		char *symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
 
 		if(status == 0)
 		{
diff --git a/wpilibc/wpilibC++Sim/src/simulation/MainNode.cpp b/wpilibc/wpilibC++Sim/src/simulation/MainNode.cpp
index dafbac2ff6..ef00026d6d 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/MainNode.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/MainNode.cpp
@@ -1,3 +1,3 @@
 
 #include "simulation/MainNode.h"
-MainNode* MainNode::instance = NULL;
+MainNode* MainNode::instance = nullptr;
diff --git a/wpilibc/wpilibC++Sim/src/simulation/msgs/bool.pb.cpp b/wpilibc/wpilibC++Sim/src/simulation/msgs/bool.pb.cpp
index de7a6ca657..c22631fed2 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/msgs/bool.pb.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/msgs/bool.pb.cpp
@@ -21,9 +21,9 @@ namespace msgs {
 
 namespace {
 
-const ::google::protobuf::Descriptor* Bool_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* Bool_descriptor_ = nullptr;
 const ::google::protobuf::internal::GeneratedMessageReflection*
-  Bool_reflection_ = NULL;
+  Bool_reflection_ = nullptr;
 
 }  // namespace
 
@@ -33,7 +33,7 @@ void protobuf_AssignDesc_msgs_2fbool_2eproto() {
   const ::google::protobuf::FileDescriptor* file =
     ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
       "msgs/bool.proto");
-  GOOGLE_CHECK(file != NULL);
+  GOOGLE_CHECK(file != nullptr);
   Bool_descriptor_ = file->message_type(0);
   static const int Bool_offsets_[1] = {
     GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Bool, data_),
@@ -141,11 +141,11 @@ const ::google::protobuf::Descriptor* Bool::descriptor() {
 }
 
 const Bool& Bool::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_msgs_2fbool_2eproto();
+  if (default_instance_ == nullptr) protobuf_AddDesc_msgs_2fbool_2eproto();
   return *default_instance_;
 }
 
-Bool* Bool::default_instance_ = NULL;
+Bool* Bool::default_instance_ = nullptr;
 
 Bool* Bool::New() const {
   return new Bool;
@@ -249,7 +249,7 @@ void Bool::MergeFrom(const ::google::protobuf::Message& from) {
   const Bool* source =
     ::google::protobuf::internal::dynamic_cast_if_available<const Bool*>(
       &from);
-  if (source == NULL) {
+  if (source == nullptr) {
     ::google::protobuf::internal::ReflectionOps::Merge(from, this);
   } else {
     MergeFrom(*source);
diff --git a/wpilibc/wpilibC++Sim/src/simulation/msgs/driver-station.pb.cpp b/wpilibc/wpilibC++Sim/src/simulation/msgs/driver-station.pb.cpp
index 01ca2daaa0..4f5289139f 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/msgs/driver-station.pb.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/msgs/driver-station.pb.cpp
@@ -21,10 +21,10 @@ namespace msgs {
 
 namespace {
 
-const ::google::protobuf::Descriptor* DriverStation_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* DriverStation_descriptor_ = nullptr;
 const ::google::protobuf::internal::GeneratedMessageReflection*
-  DriverStation_reflection_ = NULL;
-const ::google::protobuf::EnumDescriptor* DriverStation_State_descriptor_ = NULL;
+  DriverStation_reflection_ = nullptr;
+const ::google::protobuf::EnumDescriptor* DriverStation_State_descriptor_ = nullptr;
 
 }  // namespace
 
@@ -34,7 +34,7 @@ void protobuf_AssignDesc_msgs_2fdriver_2dstation_2eproto() {
   const ::google::protobuf::FileDescriptor* file =
     ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
       "msgs/driver-station.proto");
-  GOOGLE_CHECK(file != NULL);
+  GOOGLE_CHECK(file != nullptr);
   DriverStation_descriptor_ = file->message_type(0);
   static const int DriverStation_offsets_[2] = {
     GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(DriverStation, enabled_),
@@ -172,11 +172,11 @@ const ::google::protobuf::Descriptor* DriverStation::descriptor() {
 }
 
 const DriverStation& DriverStation::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_msgs_2fdriver_2dstation_2eproto();
+  if (default_instance_ == nullptr) protobuf_AddDesc_msgs_2fdriver_2dstation_2eproto();
   return *default_instance_;
 }
 
-DriverStation* DriverStation::default_instance_ = NULL;
+DriverStation* DriverStation::default_instance_ = nullptr;
 
 DriverStation* DriverStation::New() const {
   return new DriverStation;
@@ -320,7 +320,7 @@ void DriverStation::MergeFrom(const ::google::protobuf::Message& from) {
   const DriverStation* source =
     ::google::protobuf::internal::dynamic_cast_if_available<const DriverStation*>(
       &from);
-  if (source == NULL) {
+  if (source == nullptr) {
     ::google::protobuf::internal::ReflectionOps::Merge(from, this);
   } else {
     MergeFrom(*source);
diff --git a/wpilibc/wpilibC++Sim/src/simulation/msgs/float64.pb.cpp b/wpilibc/wpilibC++Sim/src/simulation/msgs/float64.pb.cpp
index e9462c04f4..37701e1dbb 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/msgs/float64.pb.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/msgs/float64.pb.cpp
@@ -21,9 +21,9 @@ namespace msgs {
 
 namespace {
 
-const ::google::protobuf::Descriptor* Float64_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* Float64_descriptor_ = nullptr;
 const ::google::protobuf::internal::GeneratedMessageReflection*
-  Float64_reflection_ = NULL;
+  Float64_reflection_ = nullptr;
 
 }  // namespace
 
@@ -33,7 +33,7 @@ void protobuf_AssignDesc_msgs_2ffloat64_2eproto() {
   const ::google::protobuf::FileDescriptor* file =
     ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
       "msgs/float64.proto");
-  GOOGLE_CHECK(file != NULL);
+  GOOGLE_CHECK(file != nullptr);
   Float64_descriptor_ = file->message_type(0);
   static const int Float64_offsets_[1] = {
     GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Float64, data_),
@@ -141,11 +141,11 @@ const ::google::protobuf::Descriptor* Float64::descriptor() {
 }
 
 const Float64& Float64::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_msgs_2ffloat64_2eproto();
+  if (default_instance_ == nullptr) protobuf_AddDesc_msgs_2ffloat64_2eproto();
   return *default_instance_;
 }
 
-Float64* Float64::default_instance_ = NULL;
+Float64* Float64::default_instance_ = nullptr;
 
 Float64* Float64::New() const {
   return new Float64;
@@ -249,7 +249,7 @@ void Float64::MergeFrom(const ::google::protobuf::Message& from) {
   const Float64* source =
     ::google::protobuf::internal::dynamic_cast_if_available<const Float64*>(
       &from);
-  if (source == NULL) {
+  if (source == nullptr) {
     ::google::protobuf::internal::ReflectionOps::Merge(from, this);
   } else {
     MergeFrom(*source);
diff --git a/wpilibc/wpilibC++Sim/src/simulation/msgs/joystick.pb.cpp b/wpilibc/wpilibC++Sim/src/simulation/msgs/joystick.pb.cpp
index 11a2d5ea3d..8677b26a14 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/msgs/joystick.pb.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/msgs/joystick.pb.cpp
@@ -21,9 +21,9 @@ namespace msgs {
 
 namespace {
 
-const ::google::protobuf::Descriptor* Joystick_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* Joystick_descriptor_ = nullptr;
 const ::google::protobuf::internal::GeneratedMessageReflection*
-  Joystick_reflection_ = NULL;
+  Joystick_reflection_ = nullptr;
 
 }  // namespace
 
@@ -33,7 +33,7 @@ void protobuf_AssignDesc_msgs_2fjoystick_2eproto() {
   const ::google::protobuf::FileDescriptor* file =
     ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
       "msgs/joystick.proto");
-  GOOGLE_CHECK(file != NULL);
+  GOOGLE_CHECK(file != nullptr);
   Joystick_descriptor_ = file->message_type(0);
   static const int Joystick_offsets_[2] = {
     GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Joystick, axes_),
@@ -143,11 +143,11 @@ const ::google::protobuf::Descriptor* Joystick::descriptor() {
 }
 
 const Joystick& Joystick::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_msgs_2fjoystick_2eproto();
+  if (default_instance_ == nullptr) protobuf_AddDesc_msgs_2fjoystick_2eproto();
   return *default_instance_;
 }
 
-Joystick* Joystick::default_instance_ = NULL;
+Joystick* Joystick::default_instance_ = nullptr;
 
 Joystick* Joystick::New() const {
   return new Joystick;
@@ -300,7 +300,7 @@ void Joystick::MergeFrom(const ::google::protobuf::Message& from) {
   const Joystick* source =
     ::google::protobuf::internal::dynamic_cast_if_available<const Joystick*>(
       &from);
-  if (source == NULL) {
+  if (source == nullptr) {
     ::google::protobuf::internal::ReflectionOps::Merge(from, this);
   } else {
     MergeFrom(*source);