diff --git a/hal/include/HAL/cpp/priority_mutex.h b/hal/include/HAL/cpp/priority_mutex.h
index 719c4df4f7..16e88f64ab 100644
--- a/hal/include/HAL/cpp/priority_mutex.h
+++ b/hal/include/HAL/cpp/priority_mutex.h
@@ -1,6 +1,6 @@
 #pragma once
 
-// Allows usage with std::unique_lock without including <mutex> separately
+// Allows usage with std::lock_guard without including <mutex> separately
 #include <mutex>
 
 #ifdef FRC_SIMULATOR
diff --git a/hal/lib/Athena/Analog.cpp b/hal/lib/Athena/Analog.cpp
index 02d52b9873..9c644f91c3 100644
--- a/hal/lib/Athena/Analog.cpp
+++ b/hal/lib/Athena/Analog.cpp
@@ -41,7 +41,7 @@ bool analogSystemInitialized = false;
  * Initialize the analog System.
  */
 void initializeAnalog(int32_t *status) {
-  std::unique_lock<priority_recursive_mutex> sync(analogRegisterWindowMutex);
+  std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
   if (analogSystemInitialized) return;
   analogInputSystem = tAI::create(status);
   analogOutputSystem = tAO::create(status);
@@ -265,7 +265,7 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
   readSelect.Averaged = false;
 
   {
-    std::unique_lock<priority_recursive_mutex> sync(analogRegisterWindowMutex);
+    std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
     analogInputSystem->writeReadSelect(readSelect, status);
     analogInputSystem->strobeLatchOutput(status);
     value = (int16_t) analogInputSystem->readOutput(status);
@@ -296,7 +296,7 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
   readSelect.Averaged = true;
 
   {
-    std::unique_lock<priority_recursive_mutex> sync(analogRegisterWindowMutex);
+    std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
     analogInputSystem->writeReadSelect(readSelect, status);
     analogInputSystem->strobeLatchOutput(status);
     value = (int32_t) analogInputSystem->readOutput(status);
diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index d095d7523a..fdbd61a329 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -284,7 +284,7 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
   float rawDutyCycle = 256.0 * dutyCycle;
   if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
   {
-	std::unique_lock<priority_recursive_mutex> sync(digitalPwmMutex);
+	std::lock_guard<priority_recursive_mutex> sync(digitalPwmMutex);
     uint8_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
     if (pwmPeriodPower < 4) {
 	  // The resolution of the duty cycle drops close to the highest frequencies.
@@ -318,7 +318,7 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
   DigitalPort* port = (DigitalPort*) digital_port_pointer;
   checkRelayChannel(port);
   {
-    std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
+    std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
     uint8_t forwardRelays = relaySystem->readValue_Forward(status);
     if (on)
       forwardRelays |= 1 << port->port.pin;
@@ -337,7 +337,7 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
   DigitalPort* port = (DigitalPort*) digital_port_pointer;
   checkRelayChannel(port);
   {
-    std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
+    std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
     uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
     if (on)
       reverseRelays |= 1 << port->port.pin;
@@ -384,7 +384,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
   }
 
   {
-    std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
+    std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
 
     tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
 
@@ -468,7 +468,7 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
       value = 1;
   }
   {
-    std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
+    std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
     tDIO::tDO currentDIO = digitalSystem->readDO(status);
 
     if(port->port.pin < kNumHeaders) {
@@ -1146,7 +1146,7 @@ void spiInitialize(uint8_t port, int32_t *status) {
  */
 int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size)
 {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	return spilib_writeread(spiGetHandle(port), (const char*) dataToSend, (char*) dataReceived, (int32_t) size);
 }
 
@@ -1162,7 +1162,7 @@ int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived,
  */
 int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
 {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	return spilib_write(spiGetHandle(port), (const char*) dataToSend, (int32_t) sendSize);
 }
 
@@ -1180,7 +1180,7 @@ int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
  */
 int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
 {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	return spilib_read(spiGetHandle(port), (char*) buffer, (int32_t) count);
 }
 
@@ -1190,7 +1190,7 @@ int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
  * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
  */
 void spiClose(uint8_t port) {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	spilib_close(spiGetHandle(port));
 	spiSetHandle(port, 0);
 	return;
@@ -1203,7 +1203,7 @@ void spiClose(uint8_t port) {
  * @param speed The speed in Hz (0-1MHz)
  */
 void spiSetSpeed(uint8_t port, uint32_t speed) {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	spilib_setspeed(spiGetHandle(port), speed);
 }
 
@@ -1216,7 +1216,7 @@ void spiSetSpeed(uint8_t port, uint32_t speed) {
  * @param clk_idle_high True to set the clock to active low, False to set the clock active high
  */
 void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high) {
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	spilib_setopts(spiGetHandle(port), msb_first, sample_on_trailing, clk_idle_high);
 }
 
@@ -1226,7 +1226,7 @@ void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idl
  * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
  */
 void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	if(port < 4)
 	{
 		spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) | (1<<port), status);
@@ -1243,7 +1243,7 @@ void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
  * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
  */
 void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	if(port < 4)
 	{
 		spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1<<port), status);
@@ -1261,7 +1261,7 @@ void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
  * @return The stored handle for the SPI port. 0 represents no stored handle.
  */
 int32_t spiGetHandle(uint8_t port){
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	switch(port){
 	case 0:
 		return m_spiCS0Handle;
@@ -1285,7 +1285,7 @@ int32_t spiGetHandle(uint8_t port){
  * @param handle The value of the handle for the port.
  */
 void spiSetHandle(uint8_t port, int32_t handle){
-	std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
+	std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
 	switch(port){
 	case 0:
 		m_spiCS0Handle = handle;
@@ -1336,7 +1336,7 @@ void i2CInitialize(uint8_t port, int32_t *status) {
 
 	priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
 	{
-		std::unique_lock<priority_recursive_mutex> sync(lock);
+		std::lock_guard<priority_recursive_mutex> sync(lock);
 		if(port == 0) {
 			i2COnboardObjCount++;
 			if (i2COnBoardHandle > 0) return;
@@ -1375,7 +1375,7 @@ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend,
 	priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
 
 	{
-		std::unique_lock<priority_recursive_mutex> sync(lock);
+		std::lock_guard<priority_recursive_mutex> sync(lock);
 		return i2clib_writeread(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize, (char*) dataReceived, (int32_t) receiveSize);
 	}
 }
@@ -1400,7 +1400,7 @@ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8
 	int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
 	priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
 	{
-		std::unique_lock<priority_recursive_mutex> sync(lock);
+		std::lock_guard<priority_recursive_mutex> sync(lock);
 		return i2clib_write(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize);
 	}
 }
@@ -1427,7 +1427,7 @@ int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t co
 	int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
 	priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
 	{
-		std::unique_lock<priority_recursive_mutex> sync(lock);
+		std::lock_guard<priority_recursive_mutex> sync(lock);
 		return i2clib_read(handle, deviceAddress, (char*) buffer, (int32_t) count);
 	}
 
@@ -1440,7 +1440,7 @@ void i2CClose(uint8_t port) {
 	}
 	priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
 	{
-		std::unique_lock<priority_recursive_mutex> sync(lock);
+		std::lock_guard<priority_recursive_mutex> sync(lock);
 		if((port == 0 ? i2COnboardObjCount--:i2CMXPObjCount--) == 0) {
 			int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
 			i2clib_close(handle);
diff --git a/hal/lib/Athena/cpp/Resource.cpp b/hal/lib/Athena/cpp/Resource.cpp
index 41146ce526..3e7e86d171 100644
--- a/hal/lib/Athena/cpp/Resource.cpp
+++ b/hal/lib/Athena/cpp/Resource.cpp
@@ -19,7 +19,7 @@ priority_recursive_mutex Resource::m_createLock;
  * have been allocated yet. The indicies of the resources are [0 .. elements - 1].
  */
 Resource::Resource(uint32_t elements) {
-  std::unique_lock<priority_recursive_mutex> sync(m_createLock);
+  std::lock_guard<priority_recursive_mutex> sync(m_createLock);
   m_isAllocated = std::vector<bool>(elements, false);
 }
 
@@ -35,7 +35,7 @@ Resource::Resource(uint32_t elements) {
  */
 /*static*/ void Resource::CreateResourceObject(Resource **r, uint32_t elements)
 {
-	std::unique_lock<priority_recursive_mutex> sync(m_createLock);
+	std::lock_guard<priority_recursive_mutex> sync(m_createLock);
 	if (*r == NULL)
 	{
 		*r = new Resource(elements);
@@ -49,7 +49,7 @@ Resource::Resource(uint32_t elements) {
  */
 uint32_t Resource::Allocate(const char *resourceDesc)
 {
-	std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);
+	std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
 	for (uint32_t i=0; i < m_isAllocated.size(); i++)
 	{
 		if (!m_isAllocated[i])
@@ -69,7 +69,7 @@ uint32_t Resource::Allocate(const char *resourceDesc)
  */
 uint32_t Resource::Allocate(uint32_t index, const char *resourceDesc)
 {
-	std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);
+	std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
 	if (index >= m_isAllocated.size())
 	{
 		// TODO: wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, resourceDesc);
@@ -92,7 +92,7 @@ uint32_t Resource::Allocate(uint32_t index, const char *resourceDesc)
  */
 void Resource::Free(uint32_t index)
 {
-	std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);
+	std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
 	if (index == ~0ul) return;
 	if (index >= m_isAllocated.size())
 	{
diff --git a/hal/lib/Athena/cpp/Semaphore.cpp b/hal/lib/Athena/cpp/Semaphore.cpp
index e92eccbccf..458ca6e721 100644
--- a/hal/lib/Athena/cpp/Semaphore.cpp
+++ b/hal/lib/Athena/cpp/Semaphore.cpp
@@ -11,7 +11,7 @@ Semaphore::Semaphore(uint32_t count) {
 }
 
 void Semaphore::give() {
-  std::unique_lock<priority_mutex> lock(m_mutex);
+  std::lock_guard<priority_mutex> lock(m_mutex);
   ++m_count;
   m_condition.notify_one();
 }
@@ -23,7 +23,7 @@ void Semaphore::take() {
 }
 
 bool Semaphore::tryTake() {
-  std::unique_lock<priority_mutex> lock(m_mutex);
+  std::lock_guard<priority_mutex> lock(m_mutex);
   if (m_count) {
     --m_count;
     return true;
diff --git a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
index 2980f233a0..0b796e3b27 100644
--- a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
@@ -38,7 +38,7 @@ void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; }
  * @param command The command to be scheduled
  */
 void Scheduler::AddCommand(Command *command) {
-  std::unique_lock<priority_mutex> sync(m_additionsLock);
+  std::lock_guard<priority_mutex> sync(m_additionsLock);
   if (std::find(m_additions.begin(), m_additions.end(), command) !=
       m_additions.end())
     return;
@@ -46,7 +46,7 @@ void Scheduler::AddCommand(Command *command) {
 }
 
 void Scheduler::AddButton(ButtonScheduler *button) {
-  std::unique_lock<priority_mutex> sync(m_buttonsLock);
+  std::lock_guard<priority_mutex> sync(m_buttonsLock);
   m_buttons.push_back(button);
 }
 
@@ -110,7 +110,7 @@ void Scheduler::Run() {
   {
     if (!m_enabled) return;
 
-    std::unique_lock<priority_mutex> sync(m_buttonsLock);
+    std::lock_guard<priority_mutex> sync(m_buttonsLock);
     auto rButtonIter = m_buttons.rbegin();
     for (; rButtonIter != m_buttons.rend(); rButtonIter++) {
       (*rButtonIter)->Execute();
@@ -133,7 +133,7 @@ void Scheduler::Run() {
 
   // Add the new things
   {
-    std::unique_lock<priority_mutex> sync(m_additionsLock);
+    std::lock_guard<priority_mutex> sync(m_additionsLock);
     auto additionsIter = m_additions.begin();
     for (; additionsIter != m_additions.end(); additionsIter++) {
       ProcessCommandAddition(*additionsIter);
diff --git a/wpilibc/wpilibC++/src/ErrorBase.cpp b/wpilibc/wpilibC++/src/ErrorBase.cpp
index aab413a9d7..ecde2a04ad 100644
--- a/wpilibc/wpilibC++/src/ErrorBase.cpp
+++ b/wpilibc/wpilibC++/src/ErrorBase.cpp
@@ -58,7 +58,7 @@ void ErrorBase::SetErrnoError(const std::string& contextMessage,
   m_error.Set(-1, err, filename, function, lineNumber, this);
 
   // Update the global error if there is not one already set.
-  std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+  std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
   if (_globalError.GetCode() == 0) {
     _globalError.Clone(m_error);
   }
@@ -87,7 +87,7 @@ void ErrorBase::SetImaqError(int success, const std::string& contextMessage,
     m_error.Set(success, err.str(), filename, function, lineNumber, this);
 
     // Update the global error if there is not one already set.
-    std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+    std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
     if (_globalError.GetCode() == 0) {
       _globalError.Clone(m_error);
     }
@@ -113,7 +113,7 @@ void ErrorBase::SetError(Error::Code code, const std::string& contextMessage,
     m_error.Set(code, contextMessage, filename, function, lineNumber, this);
 
     // Update the global error if there is not one already set.
-    std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+    std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
     if (_globalError.GetCode() == 0) {
       _globalError.Clone(m_error);
     }
@@ -140,7 +140,7 @@ void ErrorBase::SetWPIError(const std::string& errorMessage, Error::Code code,
   m_error.Set(code, err, filename, function, lineNumber, this);
 
   // Update the global error if there is not one already set.
-  std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+  std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
   if (_globalError.GetCode() == 0) {
     _globalError.Clone(m_error);
   }
@@ -164,7 +164,7 @@ void ErrorBase::SetGlobalError(Error::Code code,
                                uint32_t lineNumber) {
   //  If there was an error
   if (code != 0) {
-    std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+    std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
 
     //  Set the current error information for this object.
     _globalError.Set(code, contextMessage, filename, function, lineNumber,
@@ -179,7 +179,7 @@ void ErrorBase::SetGlobalWPIError(const std::string& errorMessage,
                                   uint32_t lineNumber) {
   std::string err = errorMessage + ": " + contextMessage;
 
-  std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+  std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
   if (_globalError.GetCode() != 0) {
     _globalError.Clear();
   }
@@ -190,6 +190,6 @@ void ErrorBase::SetGlobalWPIError(const std::string& errorMessage,
   * Retrieve the current global error.
 */
 Error& ErrorBase::GetGlobalError() {
-  std::unique_lock<priority_mutex> mutex(_globalErrorMutex);
+  std::lock_guard<priority_mutex> mutex(_globalErrorMutex);
   return _globalError;
 }
diff --git a/wpilibc/wpilibC++/src/Resource.cpp b/wpilibc/wpilibC++/src/Resource.cpp
index d155e28dfd..7f9e476cf1 100644
--- a/wpilibc/wpilibC++/src/Resource.cpp
+++ b/wpilibc/wpilibC++/src/Resource.cpp
@@ -19,7 +19,7 @@ priority_recursive_mutex Resource::m_createLock;
  * 1].
  */
 Resource::Resource(uint32_t elements) {
-  std::unique_lock<priority_recursive_mutex> sync(m_createLock);
+  std::lock_guard<priority_recursive_mutex> sync(m_createLock);
   m_isAllocated = std::vector<bool>(elements, false);
 }
 
@@ -35,7 +35,7 @@ Resource::Resource(uint32_t elements) {
  */
 /*static*/ void Resource::CreateResourceObject(std::unique_ptr<Resource>& r,
                                                uint32_t elements) {
-  std::unique_lock<priority_recursive_mutex> sync(m_createLock);
+  std::lock_guard<priority_recursive_mutex> sync(m_createLock);
   if (!r) {
     r = std::make_unique<Resource>(elements);
   }
@@ -48,7 +48,7 @@ Resource::Resource(uint32_t elements) {
  * within the range is located and returned after it is marked allocated.
  */
 uint32_t Resource::Allocate(const std::string &resourceDesc) {
-  std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);
+  std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
   for (uint32_t i = 0; i < m_isAllocated.size(); i++) {
     if (!m_isAllocated[i]) {
       m_isAllocated[i] = true;
@@ -66,7 +66,7 @@ uint32_t Resource::Allocate(const std::string &resourceDesc) {
  * unallocated, then returned.
  */
 uint32_t Resource::Allocate(uint32_t index, const std::string &resourceDesc) {
-  std::unique_lock<priority_recursive_mutex> sync(m_allocateLock);
+  std::lock_guard<priority_recursive_mutex> sync(m_allocateLock);
   if (index >= m_isAllocated.size()) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, resourceDesc);
     return std::numeric_limits<uint32_t>::max();
diff --git a/wpilibc/wpilibC++Devices/src/CameraServer.cpp b/wpilibc/wpilibC++Devices/src/CameraServer.cpp
index fad86586f4..8565edad7b 100644
--- a/wpilibc/wpilibC++Devices/src/CameraServer.cpp
+++ b/wpilibc/wpilibC++Devices/src/CameraServer.cpp
@@ -35,14 +35,14 @@ void CameraServer::FreeImageData(
   if (std::get<3>(imageData))
     imaqDispose(std::get<0>(imageData));
   else if (std::get<0>(imageData) != nullptr) {
-    std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+    std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
     m_dataPool.push_back(std::get<0>(imageData));
   }
 }
 
 void CameraServer::SetImageData(uint8_t* data, unsigned int size,
                                 unsigned int start, bool imaqData) {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   FreeImageData(m_imageData);
   m_imageData = std::make_tuple(data, size, start, imaqData);
   m_newImageVariable.notify_all();
@@ -58,7 +58,7 @@ void CameraServer::SetImage(Image const* image) {
   bool hwClient;
   {
     // Make a local copy of the hwClient variable so that we can safely use it.
-    std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+    std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
     hwClient = m_hwClient;
   }
   unsigned int start = 0;
@@ -83,7 +83,7 @@ void CameraServer::AutoCapture() {
     bool hwClient;
     uint8_t* data = nullptr;
     {
-      std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+      std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
       hwClient = m_hwClient;
       if (hwClient) {
         data = m_dataPool.back();
@@ -109,7 +109,7 @@ void CameraServer::StartAutomaticCapture(char const* cameraName) {
 }
 
 void CameraServer::StartAutomaticCapture(std::shared_ptr<USBCamera> camera) {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   if (m_autoCaptureStarted) return;
 
   m_camera = camera;
@@ -121,12 +121,12 @@ void CameraServer::StartAutomaticCapture(std::shared_ptr<USBCamera> camera) {
 }
 
 bool CameraServer::IsAutoCaptureStarted() {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   return m_autoCaptureStarted;
 }
 
 void CameraServer::SetSize(unsigned int size) {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   if (!m_camera) return;
   if (size == kSize160x120)
     m_camera->SetSize(160, 120);
@@ -137,12 +137,12 @@ void CameraServer::SetSize(unsigned int size) {
 }
 
 void CameraServer::SetQuality(unsigned int quality) {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   m_quality = quality > 100 ? 100 : quality;
 }
 
 unsigned int CameraServer::GetQuality() {
-  std::unique_lock<priority_recursive_mutex> lock(m_imageMutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_imageMutex);
   return m_quality;
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
index e4fb035fd3..60bba3068b 100644
--- a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
+++ b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
@@ -37,12 +37,12 @@ MotorSafetyHelper::MotorSafetyHelper(MotorSafety *safeObject)
   m_expiration = DEFAULT_SAFETY_EXPIRATION;
   m_stopTime = Timer::GetFPGATimestamp();
 
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   m_helperList.insert(this);
 }
 
 MotorSafetyHelper::~MotorSafetyHelper() {
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   m_helperList.erase(this);
 }
 
@@ -51,7 +51,7 @@ MotorSafetyHelper::~MotorSafetyHelper() {
  * Resets the timer on this object that is used to do the timeouts.
  */
 void MotorSafetyHelper::Feed() {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
 }
 
@@ -60,7 +60,7 @@ void MotorSafetyHelper::Feed() {
  * @param expirationTime The timeout value in seconds.
  */
 void MotorSafetyHelper::SetExpiration(float expirationTime) {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_expiration = expirationTime;
 }
 
@@ -69,7 +69,7 @@ void MotorSafetyHelper::SetExpiration(float expirationTime) {
  * @return the timeout value in seconds.
  */
 float MotorSafetyHelper::GetExpiration() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return m_expiration;
 }
 
@@ -79,7 +79,7 @@ float MotorSafetyHelper::GetExpiration() const {
  * timed out.
  */
 bool MotorSafetyHelper::IsAlive() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
 }
 
@@ -95,7 +95,7 @@ void MotorSafetyHelper::Check() {
   DriverStation &ds = DriverStation::GetInstance();
   if (!m_enabled || ds.IsDisabled() || ds.IsTest()) return;
 
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   if (m_stopTime < Timer::GetFPGATimestamp()) {
     std::ostringstream desc;
     m_safeObject->GetDescription(desc);
@@ -111,7 +111,7 @@ void MotorSafetyHelper::Check() {
  * @param enabled True if motor safety is enforced for this object
  */
 void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_enabled = enabled;
 }
 
@@ -121,7 +121,7 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
  * @return True if motor safety is enforced for this device
  */
 bool MotorSafetyHelper::IsSafetyEnabled() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return m_enabled;
 }
 
@@ -132,7 +132,7 @@ bool MotorSafetyHelper::IsSafetyEnabled() const {
  * timed out.
  */
 void MotorSafetyHelper::CheckMotors() {
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   for (auto elem : m_helperList) {
     elem->Check();
   }
diff --git a/wpilibc/wpilibC++Devices/src/Notifier.cpp b/wpilibc/wpilibC++Devices/src/Notifier.cpp
index 19016107c7..02a1a47d80 100644
--- a/wpilibc/wpilibC++Devices/src/Notifier.cpp
+++ b/wpilibc/wpilibC++Devices/src/Notifier.cpp
@@ -27,7 +27,7 @@ Notifier::Notifier(TimerEventHandler handler, void *param) {
   m_handler = handler;
   m_param = param;
   {
-    std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+    std::lock_guard<priority_recursive_mutex> sync(queueMutex);
     // do the first time intialization of static variables
     if (refcount == 0) {
       int32_t status = 0;
@@ -45,7 +45,7 @@ Notifier::Notifier(TimerEventHandler handler, void *param) {
  */
 Notifier::~Notifier() {
   {
-    std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+    std::lock_guard<priority_recursive_mutex> sync(queueMutex);
     DeleteFromQueue();
 
     // Delete the static variables when the last one is going away
@@ -58,7 +58,7 @@ Notifier::~Notifier() {
 
   // Acquire the mutex; this makes certain that the handler is
   // not being executed by the interrupt manager.
-  std::unique_lock<priority_mutex> lock(m_handlerMutex);
+  std::lock_guard<priority_mutex> lock(m_handlerMutex);
 }
 
 /**
@@ -93,7 +93,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params) {
   while (true)  // keep processing past events until no more
   {
     {
-      std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+      std::lock_guard<priority_recursive_mutex> sync(queueMutex);
       double currentTime = GetClock();
       current = timerQueueHead;
       if (current == nullptr || current->m_expirationTime > currentTime) {
@@ -118,7 +118,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params) {
     current->m_handlerMutex.unlock();
   }
   // reschedule the first item in the queue
-  std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+  std::lock_guard<priority_recursive_mutex> sync(queueMutex);
   UpdateAlarm();
 }
 
@@ -203,7 +203,7 @@ void Notifier::DeleteFromQueue() {
  * @param delay Seconds to wait before the handler is called.
  */
 void Notifier::StartSingle(double delay) {
-  std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+  std::lock_guard<priority_recursive_mutex> sync(queueMutex);
   m_periodic = false;
   m_period = delay;
   DeleteFromQueue();
@@ -219,7 +219,7 @@ void Notifier::StartSingle(double delay) {
  * the call to this method.
  */
 void Notifier::StartPeriodic(double period) {
-  std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+  std::lock_guard<priority_recursive_mutex> sync(queueMutex);
   m_periodic = true;
   m_period = period;
   DeleteFromQueue();
@@ -237,10 +237,10 @@ void Notifier::StartPeriodic(double period) {
  */
 void Notifier::Stop() {
   {
-    std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+    std::lock_guard<priority_recursive_mutex> sync(queueMutex);
     DeleteFromQueue();
   }
   // Wait for a currently executing handler to complete before returning from
   // Stop()
-  std::unique_lock<priority_mutex> sync(m_handlerMutex);
+  std::lock_guard<priority_mutex> sync(m_handlerMutex);
 }
diff --git a/wpilibc/wpilibC++Devices/src/PIDController.cpp b/wpilibc/wpilibC++Devices/src/PIDController.cpp
index e9a25f752a..ed73b54700 100644
--- a/wpilibc/wpilibC++Devices/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Devices/src/PIDController.cpp
@@ -103,7 +103,7 @@ void PIDController::Calculate() {
   PIDOutput *pidOutput;
 
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     pidInput = m_pidInput;
     pidOutput = m_pidOutput;
     enabled = m_enabled;
@@ -114,74 +114,72 @@ void PIDController::Calculate() {
   if (pidOutput == nullptr) return;
 
   if (enabled) {
-    {
-      std::unique_lock<priority_mutex> sync(m_mutex);
-      float input = pidInput->PIDGet();
-      float result;
-      PIDOutput *pidOutput;
+    std::lock_guard<priority_mutex> sync(m_mutex);
+    float input = pidInput->PIDGet();
+    float result;
+    PIDOutput *pidOutput;
 
-      m_error = m_setpoint - input;
-      if (m_continuous) {
-        if (fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
-          if (m_error > 0) {
-            m_error = m_error - m_maximumInput + m_minimumInput;
-          } else {
-            m_error = m_error + m_maximumInput - m_minimumInput;
-          }
+    m_error = m_setpoint - input;
+    if (m_continuous) {
+      if (fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
+        if (m_error > 0) {
+          m_error = m_error - m_maximumInput + m_minimumInput;
+        } else {
+          m_error = m_error + m_maximumInput - m_minimumInput;
+        }
+      }
+    }
+
+    if (m_pidInput->GetPIDSourceType() == PIDSourceType::kRate) {
+      if (m_P != 0) {
+        double potentialPGain = (m_totalError + m_error) * m_P;
+        if (potentialPGain < m_maximumOutput) {
+          if (potentialPGain > m_minimumOutput)
+            m_totalError += m_error;
+          else
+            m_totalError = m_minimumOutput / m_P;
+        } else {
+          m_totalError = m_maximumOutput / m_P;
         }
       }
 
-      if (m_pidInput->GetPIDSourceType() == PIDSourceType::kRate) {
-        if (m_P != 0) {
-          double potentialPGain = (m_totalError + m_error) * m_P;
-          if (potentialPGain < m_maximumOutput) {
-            if (potentialPGain > m_minimumOutput)
-              m_totalError += m_error;
-            else
-              m_totalError = m_minimumOutput / m_P;
-          } else {
-            m_totalError = m_maximumOutput / m_P;
-          }
+      m_result = m_D * m_error + m_P * m_totalError + m_setpoint * m_F;
+    }
+    else {
+      if (m_I != 0) {
+        double potentialIGain = (m_totalError + m_error) * m_I;
+        if (potentialIGain < m_maximumOutput) {
+          if (potentialIGain > m_minimumOutput)
+            m_totalError += m_error;
+          else
+            m_totalError = m_minimumOutput / m_I;
+        } else {
+          m_totalError = m_maximumOutput / m_I;
         }
-
-        m_result = m_D * m_error + m_P * m_totalError + m_setpoint * m_F;
       }
-      else {
-        if (m_I != 0) {
-          double potentialIGain = (m_totalError + m_error) * m_I;
-          if (potentialIGain < m_maximumOutput) {
-            if (potentialIGain > m_minimumOutput)
-              m_totalError += m_error;
-            else
-              m_totalError = m_minimumOutput / m_I;
-          } else {
-            m_totalError = m_maximumOutput / m_I;
-          }
-        }
 
-        m_result = m_P * m_error + m_I * m_totalError +
-                   m_D * (m_prevInput - input) + m_setpoint * m_F;
-      }
-      m_prevInput = input;
+      m_result = m_P * m_error + m_I * m_totalError +
+                 m_D * (m_prevInput - input) + m_setpoint * m_F;
+    }
+    m_prevInput = input;
 
-      if (m_result > m_maximumOutput)
-        m_result = m_maximumOutput;
-      else if (m_result < m_minimumOutput)
-        m_result = m_minimumOutput;
+    if (m_result > m_maximumOutput)
+      m_result = m_maximumOutput;
+    else if (m_result < m_minimumOutput)
+      m_result = m_minimumOutput;
 
-      pidOutput = m_pidOutput;
-      result = m_result;
+    pidOutput = m_pidOutput;
+    result = m_result;
 
-      pidOutput->PIDWrite(result);
+    pidOutput->PIDWrite(result);
 
-      // Update the buffer.
-      m_buf.push(m_error);
-      m_bufTotal += m_error;
-      // Remove old elements when buffer is full.
-      if (m_buf.size() > m_bufLength) {
-        m_bufTotal -= m_buf.front();
-        m_buf.pop();
-      }
+    // Update the buffer.
+    m_buf.push(m_error);
+    m_bufTotal += m_error;
+    // Remove old elements when buffer is full.
+    if (m_buf.size() > m_bufLength) {
+      m_bufTotal -= m_buf.front();
+      m_buf.pop();
     }
   }
 }
@@ -195,7 +193,7 @@ void PIDController::Calculate() {
  */
 void PIDController::SetPID(double p, double i, double d) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_P = p;
     m_I = i;
     m_D = d;
@@ -218,7 +216,7 @@ void PIDController::SetPID(double p, double i, double d) {
  */
 void PIDController::SetPID(double p, double i, double d, double f) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_P = p;
     m_I = i;
     m_D = d;
@@ -238,7 +236,7 @@ void PIDController::SetPID(double p, double i, double d, double f) {
  * @return proportional coefficient
  */
 double PIDController::GetP() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_P;
 }
 
@@ -247,7 +245,7 @@ double PIDController::GetP() const {
  * @return integral coefficient
  */
 double PIDController::GetI() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_I;
 }
 
@@ -256,7 +254,7 @@ double PIDController::GetI() const {
  * @return differential coefficient
  */
 double PIDController::GetD() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_D;
 }
 
@@ -265,7 +263,7 @@ double PIDController::GetD() const {
  * @return Feed forward coefficient
  */
 double PIDController::GetF() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_F;
 }
 
@@ -275,7 +273,7 @@ double PIDController::GetF() const {
  * @return the latest calculated output
  */
 float PIDController::Get() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_result;
 }
 
@@ -287,7 +285,7 @@ float PIDController::Get() const {
  * @param continuous Set to true turns on continuous, false turns off continuous
  */
 void PIDController::SetContinuous(bool continuous) {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   m_continuous = continuous;
 }
 
@@ -299,7 +297,7 @@ void PIDController::SetContinuous(bool continuous) {
  */
 void PIDController::SetInputRange(float minimumInput, float maximumInput) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_minimumInput = minimumInput;
     m_maximumInput = maximumInput;
   }
@@ -315,7 +313,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput) {
  */
 void PIDController::SetOutputRange(float minimumOutput, float maximumOutput) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_minimumOutput = minimumOutput;
     m_maximumOutput = maximumOutput;
   }
@@ -328,7 +326,7 @@ void PIDController::SetOutputRange(float minimumOutput, float maximumOutput) {
  */
 void PIDController::SetSetpoint(float setpoint) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     if (m_maximumInput > m_minimumInput) {
       if (setpoint > m_maximumInput)
         m_setpoint = m_maximumInput;
@@ -354,7 +352,7 @@ void PIDController::SetSetpoint(float setpoint) {
  * @return the current setpoint
  */
 double PIDController::GetSetpoint() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_setpoint;
 }
 
@@ -365,7 +363,7 @@ double PIDController::GetSetpoint() const {
 float PIDController::GetError() const {
   double pidInput;
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     pidInput = m_pidInput->PIDGet();
   }
   return GetSetpoint() - pidInput;
@@ -394,7 +392,7 @@ PIDSourceType PIDController::GetPIDSourceType() const {
 float PIDController::GetAvgError() const {
   float avgError = 0;
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     // Don't divide by zero.
     if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
   }
@@ -408,7 +406,7 @@ float PIDController::GetAvgError() const {
  */
 void PIDController::SetTolerance(float percent) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_toleranceType = kPercentTolerance;
     m_tolerance = percent;
   }
@@ -421,7 +419,7 @@ void PIDController::SetTolerance(float percent) {
  */
 void PIDController::SetPercentTolerance(float percent) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_toleranceType = kPercentTolerance;
     m_tolerance = percent;
   }
@@ -434,7 +432,7 @@ void PIDController::SetPercentTolerance(float percent) {
  */
 void PIDController::SetAbsoluteTolerance(float absTolerance) {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_toleranceType = kAbsoluteTolerance;
     m_tolerance = absTolerance;
   }
@@ -471,7 +469,7 @@ void PIDController::SetToleranceBuffer(unsigned bufLength) {
 bool PIDController::OnTarget() const {
   double error = GetAvgError();
 
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   switch (m_toleranceType) {
     case kPercentTolerance:
       return fabs(error) < m_tolerance / 100 * (m_maximumInput - m_minimumInput);
@@ -491,7 +489,7 @@ bool PIDController::OnTarget() const {
  */
 void PIDController::Enable() {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_enabled = true;
   }
 
@@ -505,7 +503,7 @@ void PIDController::Enable() {
  */
 void PIDController::Disable() {
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     m_pidOutput->PIDWrite(0);
     m_enabled = false;
   }
@@ -519,7 +517,7 @@ void PIDController::Disable() {
  * Return true if PIDController is enabled.
  */
 bool PIDController::IsEnabled() const {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   return m_enabled;
 }
 
@@ -529,7 +527,7 @@ bool PIDController::IsEnabled() const {
 void PIDController::Reset() {
   Disable();
 
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   m_prevInput = 0;
   m_totalError = 0;
   m_result = 0;
diff --git a/wpilibc/wpilibC++Devices/src/Timer.cpp b/wpilibc/wpilibC++Devices/src/Timer.cpp
index 9486db1328..53631e778f 100644
--- a/wpilibc/wpilibC++Devices/src/Timer.cpp
+++ b/wpilibc/wpilibC++Devices/src/Timer.cpp
@@ -79,7 +79,7 @@ double Timer::Get() const {
   double result;
   double currentTime = GetFPGATimestamp();
 
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   if (m_running) {
     // If the current time is before the start time, then the FPGA clock
     // rolled over.  Compensate by adding the ~71 minutes that it takes
@@ -103,7 +103,7 @@ double Timer::Get() const {
  * now
  */
 void Timer::Reset() {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   m_accumulatedTime = 0;
   m_startTime = GetFPGATimestamp();
 }
@@ -114,7 +114,7 @@ void Timer::Reset() {
  * relative to the system clock.
  */
 void Timer::Start() {
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   if (!m_running) {
     m_startTime = GetFPGATimestamp();
     m_running = true;
@@ -130,7 +130,7 @@ void Timer::Start() {
 void Timer::Stop() {
   double temp = Get();
 
-  std::unique_lock<priority_mutex> sync(m_mutex);
+  std::lock_guard<priority_mutex> sync(m_mutex);
   if (m_running) {
     m_accumulatedTime = temp;
     m_running = false;
@@ -147,7 +147,7 @@ void Timer::Stop() {
  */
 bool Timer::HasPeriodPassed(double period) {
   if (Get() > period) {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     // Advance the start time by the period.
     m_startTime += period;
     // Don't set it to the current time... we want to avoid drift.
diff --git a/wpilibc/wpilibC++Devices/src/USBCamera.cpp b/wpilibc/wpilibC++Devices/src/USBCamera.cpp
index eb61eca9b4..0c57d85e95 100644
--- a/wpilibc/wpilibC++Devices/src/USBCamera.cpp
+++ b/wpilibc/wpilibC++Devices/src/USBCamera.cpp
@@ -77,7 +77,7 @@ USBCamera::USBCamera(std::string name, bool useJpeg)
       m_useJpeg(useJpeg) {}
 
 void USBCamera::OpenCamera() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   for (unsigned int i = 0; i < 3; i++) {
     uInt32 id = 0;
     // Can't use SAFE_IMAQ_CALL here because we only error on the third time
@@ -97,7 +97,7 @@ void USBCamera::OpenCamera() {
 }
 
 void USBCamera::CloseCamera() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (!m_open) return;
   SAFE_IMAQ_CALL(IMAQdxCloseCamera, m_id);
   m_id = 0;
@@ -105,7 +105,7 @@ void USBCamera::CloseCamera() {
 }
 
 void USBCamera::StartCapture() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (!m_open || m_active) return;
   SAFE_IMAQ_CALL(IMAQdxConfigureGrab, m_id);
   SAFE_IMAQ_CALL(IMAQdxStartAcquisition, m_id);
@@ -113,7 +113,7 @@ void USBCamera::StartCapture() {
 }
 
 void USBCamera::StopCapture() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (!m_open || !m_active) return;
   SAFE_IMAQ_CALL(IMAQdxStopAcquisition, m_id);
   SAFE_IMAQ_CALL(IMAQdxUnconfigureAcquisition, m_id);
@@ -121,7 +121,7 @@ void USBCamera::StopCapture() {
 }
 
 void USBCamera::UpdateSettings() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   bool wasActive = m_active;
 
   if (wasActive) StopCapture();
@@ -215,7 +215,7 @@ void USBCamera::UpdateSettings() {
 }
 
 void USBCamera::SetFPS(double fps) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (m_fps != fps) {
     m_needSettingsUpdate = true;
     m_fps = fps;
@@ -223,7 +223,7 @@ void USBCamera::SetFPS(double fps) {
 }
 
 void USBCamera::SetSize(unsigned int width, unsigned int height) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (m_width != width || m_height != height) {
     m_needSettingsUpdate = true;
     m_width = width;
@@ -232,7 +232,7 @@ void USBCamera::SetSize(unsigned int width, unsigned int height) {
 }
 
 void USBCamera::SetBrightness(unsigned int brightness) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (m_brightness != brightness) {
     m_needSettingsUpdate = true;
     m_brightness = brightness;
@@ -240,12 +240,12 @@ void USBCamera::SetBrightness(unsigned int brightness) {
 }
 
 unsigned int USBCamera::GetBrightness() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   return m_brightness;
 }
 
 void USBCamera::SetWhiteBalanceAuto() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_whiteBalance = AUTO;
   m_whiteBalanceValue = 0;
   m_whiteBalanceValuePresent = false;
@@ -253,7 +253,7 @@ void USBCamera::SetWhiteBalanceAuto() {
 }
 
 void USBCamera::SetWhiteBalanceHoldCurrent() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_whiteBalance = MANUAL;
   m_whiteBalanceValue = 0;
   m_whiteBalanceValuePresent = false;
@@ -261,7 +261,7 @@ void USBCamera::SetWhiteBalanceHoldCurrent() {
 }
 
 void USBCamera::SetWhiteBalanceManual(unsigned int whiteBalance) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_whiteBalance = MANUAL;
   m_whiteBalanceValue = whiteBalance;
   m_whiteBalanceValuePresent = true;
@@ -269,7 +269,7 @@ void USBCamera::SetWhiteBalanceManual(unsigned int whiteBalance) {
 }
 
 void USBCamera::SetExposureAuto() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_exposure = AUTO;
   m_exposureValue = 0;
   m_exposureValuePresent = false;
@@ -277,7 +277,7 @@ void USBCamera::SetExposureAuto() {
 }
 
 void USBCamera::SetExposureHoldCurrent() {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_exposure = MANUAL;
   m_exposureValue = 0;
   m_exposureValuePresent = false;
@@ -285,7 +285,7 @@ void USBCamera::SetExposureHoldCurrent() {
 }
 
 void USBCamera::SetExposureManual(unsigned int level) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   m_exposure = MANUAL;
   if (level > 100)
     m_exposureValue = 100;
@@ -296,7 +296,7 @@ void USBCamera::SetExposureManual(unsigned int level) {
 }
 
 void USBCamera::GetImage(Image* image) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (m_needSettingsUpdate || m_useJpeg) {
     m_needSettingsUpdate = false;
     m_useJpeg = false;
@@ -309,7 +309,7 @@ void USBCamera::GetImage(Image* image) {
 }
 
 unsigned int USBCamera::GetImageData(void* buffer, unsigned int bufferSize) {
-  std::unique_lock<priority_recursive_mutex> lock(m_mutex);
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
   if (m_needSettingsUpdate || !m_useJpeg) {
     m_needSettingsUpdate = false;
     m_useJpeg = true;
diff --git a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
index c7bfa24934..c2a53f3fd5 100644
--- a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
+++ b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp
@@ -67,7 +67,7 @@ void Ultrasonic::Initialize() {
   SetAutomaticMode(false);     // kill task when adding a new sensor
   // link this instance on the list
   {
-    std::unique_lock<priority_mutex> lock(m_mutex);
+    std::lock_guard<priority_mutex> lock(m_mutex);
     m_nextSensor = m_firstSensor;
     m_firstSensor = this;
   }
@@ -188,7 +188,7 @@ Ultrasonic::~Ultrasonic() {
   wpi_assert(m_firstSensor != nullptr);
 
   {
-    std::unique_lock<priority_mutex> lock(m_mutex);
+    std::lock_guard<priority_mutex> lock(m_mutex);
     if (this == m_firstSensor) {
       m_firstSensor = m_nextSensor;
       if (m_firstSensor == nullptr) {
diff --git a/wpilibc/wpilibC++IntegrationTests/src/MutexTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/MutexTest.cpp
index ad3ecbbbb5..1e80ec9aa1 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/MutexTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/MutexTest.cpp
@@ -24,7 +24,7 @@ class Notification {
   }
   // Sets the condition to true, and wakes all waiting threads.
   void Notify() {
-    std::unique_lock<priority_mutex> lock(m_mutex);
+    std::lock_guard<priority_mutex> lock(m_mutex);
     m_set = true;
     m_condition.notify_all();
   }
diff --git a/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp b/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
index fa1b7096e9..87f5352169 100644
--- a/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
+++ b/wpilibc/wpilibC++Sim/src/MotorSafetyHelper.cpp
@@ -37,12 +37,12 @@ MotorSafetyHelper::MotorSafetyHelper(MotorSafety *safeObject)
   m_expiration = DEFAULT_SAFETY_EXPIRATION;
   m_stopTime = Timer::GetFPGATimestamp();
 
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   m_helperList.insert(this);
 }
 
 MotorSafetyHelper::~MotorSafetyHelper() {
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   m_helperList.erase(this);
 }
 
@@ -51,7 +51,7 @@ MotorSafetyHelper::~MotorSafetyHelper() {
  * Resets the timer on this object that is used to do the timeouts.
  */
 void MotorSafetyHelper::Feed() {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
 }
 
@@ -60,7 +60,7 @@ void MotorSafetyHelper::Feed() {
  * @param expirationTime The timeout value in seconds.
  */
 void MotorSafetyHelper::SetExpiration(float expirationTime) {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_expiration = expirationTime;
 }
 
@@ -69,7 +69,7 @@ void MotorSafetyHelper::SetExpiration(float expirationTime) {
  * @return the timeout value in seconds.
  */
 float MotorSafetyHelper::GetExpiration() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return m_expiration;
 }
 
@@ -79,7 +79,7 @@ float MotorSafetyHelper::GetExpiration() const {
  * timed out.
  */
 bool MotorSafetyHelper::IsAlive() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
 }
 
@@ -96,7 +96,7 @@ void MotorSafetyHelper::Check()
 	DriverStation &ds = DriverStation::GetInstance();
 	if (!m_enabled || ds.IsDisabled() || ds.IsTest()) return;
 
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   if (m_stopTime < Timer::GetFPGATimestamp()) {
     std::ostringstream desc;
     m_safeObject->GetDescription(desc);
@@ -112,7 +112,7 @@ void MotorSafetyHelper::Check()
  * @param enabled True if motor safety is enforced for this object
  */
 void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   m_enabled = enabled;
 }
 
@@ -122,7 +122,7 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
  * @return True if motor safety is enforced for this device
  */
 bool MotorSafetyHelper::IsSafetyEnabled() const {
-  std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
   return m_enabled;
 }
 
@@ -133,7 +133,7 @@ bool MotorSafetyHelper::IsSafetyEnabled() const {
  * timed out.
  */
 void MotorSafetyHelper::CheckMotors() {
-  std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
+  std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
   for (auto elem : m_helperList) {
     elem->Check();
   }
diff --git a/wpilibc/wpilibC++Sim/src/Notifier.cpp b/wpilibc/wpilibC++Sim/src/Notifier.cpp
index 00856fe275..8442f6b4b3 100644
--- a/wpilibc/wpilibC++Sim/src/Notifier.cpp
+++ b/wpilibc/wpilibC++Sim/src/Notifier.cpp
@@ -32,7 +32,7 @@ Notifier::Notifier(TimerEventHandler handler, void *param)
 	m_nextEvent = nullptr;
 	m_queued = false;
 	{
-		std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+		std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 		// do the first time intialization of static variables
 		if (refcount == 0)
 		{
@@ -50,7 +50,7 @@ Notifier::Notifier(TimerEventHandler handler, void *param)
 Notifier::~Notifier()
 {
 	{
-		std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+		std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 		DeleteFromQueue();
 
 		// Delete the static variables when the last one is going away
@@ -63,7 +63,7 @@ Notifier::~Notifier()
 
 	// Acquire the semaphore; this makes certain that the handler is
 	// not being executed by the interrupt manager.
-	std::unique_lock<priority_mutex> lock(m_handlerMutex);
+	std::lock_guard<priority_mutex> lock(m_handlerMutex);
 }
 
 /**
@@ -89,7 +89,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
 	while (true)				// keep processing past events until no more
 	{
 		{
-			std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+			std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 			double currentTime = GetClock();
 			current = timerQueueHead;
 			if (current == nullptr || current->m_expirationTime > currentTime)
@@ -118,7 +118,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
 		current->m_handlerMutex.unlock();
 	}
 	// reschedule the first item in the queue
-	std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+	std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 	UpdateAlarm();
 }
 
@@ -209,7 +209,7 @@ void Notifier::DeleteFromQueue()
  */
 void Notifier::StartSingle(double delay)
 {
-	std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+	std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 	m_periodic = false;
 	m_period = delay;
 	DeleteFromQueue();
@@ -224,7 +224,7 @@ void Notifier::StartSingle(double delay)
  */
 void Notifier::StartPeriodic(double period)
 {
-	std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+	std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 	m_periodic = true;
 	m_period = period;
 	DeleteFromQueue();
@@ -241,11 +241,11 @@ void Notifier::StartPeriodic(double period)
 void Notifier::Stop()
 {
 	{
-		std::unique_lock<priority_recursive_mutex> sync(queueMutex);
+		std::lock_guard<priority_recursive_mutex> sync(queueMutex);
 		DeleteFromQueue();
 	}
 	// Wait for a currently executing handler to complete before returning from Stop()
-	std::unique_lock<priority_mutex> sync(m_handlerMutex);
+	std::lock_guard<priority_mutex> sync(m_handlerMutex);
 }
 
 void Notifier::Run() {
diff --git a/wpilibc/wpilibC++Sim/src/PIDController.cpp b/wpilibc/wpilibC++Sim/src/PIDController.cpp
index cd2a5e4073..03beb5c119 100644
--- a/wpilibc/wpilibC++Sim/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Sim/src/PIDController.cpp
@@ -121,7 +121,7 @@ void PIDController::Calculate()
 	PIDSource *pidInput;
 
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		if (m_pidInput == 0) return;
 		if (m_pidOutput == 0) return;
 		enabled = m_enabled;
@@ -135,7 +135,7 @@ void PIDController::Calculate()
 		PIDOutput *pidOutput;
 
 		{
-			std::unique_lock<priority_mutex> sync(m_mutex);
+			std::lock_guard<priority_mutex> sync(m_mutex);
 			m_error = m_setpoint - input;
 			if (m_continuous)
 			{
@@ -211,7 +211,7 @@ void PIDController::Calculate()
 void PIDController::SetPID(double p, double i, double d)
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		m_P = p;
 		m_I = i;
 		m_D = d;
@@ -235,7 +235,7 @@ void PIDController::SetPID(double p, double i, double d)
 void PIDController::SetPID(double p, double i, double d, double f)
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		m_P = p;
 		m_I = i;
 		m_D = d;
@@ -256,7 +256,7 @@ void PIDController::SetPID(double p, double i, double d, double f)
  */
 double PIDController::GetP() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_P;
 }
 
@@ -266,7 +266,7 @@ double PIDController::GetP() const
  */
 double PIDController::GetI() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_I;
 }
 
@@ -276,7 +276,7 @@ double PIDController::GetI() const
  */
 double PIDController::GetD() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_D;
 }
 
@@ -286,7 +286,7 @@ double PIDController::GetD() const
  */
 double PIDController::GetF() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_F;
 }
 
@@ -297,7 +297,7 @@ double PIDController::GetF() const
  */
 float PIDController::Get() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_result;
 }
 
@@ -310,7 +310,7 @@ float PIDController::Get() const
  */
 void PIDController::SetContinuous(bool continuous)
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_continuous = continuous;
 }
 
@@ -323,7 +323,7 @@ void PIDController::SetContinuous(bool continuous)
 void PIDController::SetInputRange(float minimumInput, float maximumInput)
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		m_minimumInput = minimumInput;
 		m_maximumInput = maximumInput;
 	}
@@ -339,7 +339,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
  */
 void PIDController::SetOutputRange(float minimumOutput, float maximumOutput)
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_minimumOutput = minimumOutput;
 	m_maximumOutput = maximumOutput;
 }
@@ -351,7 +351,7 @@ void PIDController::SetOutputRange(float minimumOutput, float maximumOutput)
 void PIDController::SetSetpoint(float setpoint)
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		if (m_maximumInput > m_minimumInput)
 		{
 			if (setpoint > m_maximumInput)
@@ -378,7 +378,7 @@ void PIDController::SetSetpoint(float setpoint)
  */
 double PIDController::GetSetpoint() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_setpoint;
 }
 
@@ -390,7 +390,7 @@ float PIDController::GetError() const
 {
 	double pidInput;
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		pidInput = m_pidInput->PIDGet();
 	}
 	return GetSetpoint() - pidInput;
@@ -420,7 +420,7 @@ PIDSourceType PIDController::GetPIDSourceType() const {
 float PIDController::GetAvgError() const {
   float avgError = 0;
   {
-    std::unique_lock<priority_mutex> sync(m_mutex);
+    std::lock_guard<priority_mutex> sync(m_mutex);
     // Don't divide by zero.
     if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
   }
@@ -434,7 +434,7 @@ float PIDController::GetAvgError() const {
  */
 void PIDController::SetTolerance(float percent)
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_toleranceType = kPercentTolerance;
 	m_tolerance = percent;
 }
@@ -446,7 +446,7 @@ void PIDController::SetTolerance(float percent)
  */
 void PIDController::SetPercentTolerance(float percent)
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_toleranceType = kPercentTolerance;
 	m_tolerance = percent;
 }
@@ -458,7 +458,7 @@ void PIDController::SetPercentTolerance(float percent)
  */
 void PIDController::SetAbsoluteTolerance(float absTolerance)
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_toleranceType = kAbsoluteTolerance;
 	m_tolerance = absTolerance;
 }
@@ -493,7 +493,7 @@ bool PIDController::OnTarget() const
 {
 	double error = GetError();
 
-	std::unique_lock<priority_mutex> sync(m_mutex);
+	std::lock_guard<priority_mutex> sync(m_mutex);
 	switch (m_toleranceType) {
 	case kPercentTolerance:
 		return fabs(error) < m_tolerance / 100 * (m_maximumInput - m_minimumInput);
@@ -513,7 +513,7 @@ bool PIDController::OnTarget() const
 void PIDController::Enable()
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		m_enabled = true;
 	}
 
@@ -528,7 +528,7 @@ void PIDController::Enable()
 void PIDController::Disable()
 {
 	{
-		std::unique_lock<priority_mutex> lock(m_mutex);
+		std::lock_guard<priority_mutex> lock(m_mutex);
 		m_pidOutput->PIDWrite(0);
 		m_enabled = false;
 	}
@@ -543,7 +543,7 @@ void PIDController::Disable()
  */
 bool PIDController::IsEnabled() const
 {
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	return m_enabled;
 }
 
@@ -554,7 +554,7 @@ void PIDController::Reset()
 {
 	Disable();
 
-	std::unique_lock<priority_mutex> lock(m_mutex);
+	std::lock_guard<priority_mutex> lock(m_mutex);
 	m_prevInput = 0;
 	m_totalError = 0;
 	m_result = 0;
diff --git a/wpilibc/wpilibC++Sim/src/Timer.cpp b/wpilibc/wpilibC++Sim/src/Timer.cpp
index bf0e7b83cb..b4734dbb89 100644
--- a/wpilibc/wpilibC++Sim/src/Timer.cpp
+++ b/wpilibc/wpilibC++Sim/src/Timer.cpp
@@ -96,7 +96,7 @@ double Timer::Get() const
 	double result;
 	double currentTime = GetFPGATimestamp();
 
-	std::unique_lock<priority_mutex> sync(m_mutex);
+	std::lock_guard<priority_mutex> sync(m_mutex);
 	if(m_running)
 	{
 		// This math won't work if the timer rolled over (71 minutes after boot).
@@ -118,7 +118,7 @@ double Timer::Get() const
  */
 void Timer::Reset()
 {
-	std::unique_lock<priority_mutex> sync(m_mutex);
+	std::lock_guard<priority_mutex> sync(m_mutex);
 	m_accumulatedTime = 0;
 	m_startTime = GetFPGATimestamp();
 }
@@ -130,7 +130,7 @@ void Timer::Reset()
  */
 void Timer::Start()
 {
-	std::unique_lock<priority_mutex> sync(m_mutex);
+	std::lock_guard<priority_mutex> sync(m_mutex);
 	if (!m_running)
 	{
 		m_startTime = GetFPGATimestamp();
@@ -148,7 +148,7 @@ void Timer::Stop()
 {
 	double temp = Get();
 
-	std::unique_lock<priority_mutex> sync(m_mutex);
+	std::lock_guard<priority_mutex> sync(m_mutex);
 	if (m_running)
 	{
 		m_accumulatedTime = temp;
@@ -168,7 +168,7 @@ bool Timer::HasPeriodPassed(double period)
 {
 	if (Get() > period)
 	{
-		std::unique_lock<priority_mutex> sync(m_mutex);
+		std::lock_guard<priority_mutex> sync(m_mutex);
 		// Advance the start time by the period.
 		// Don't set it to the current time... we want to avoid drift.
 		m_startTime += period;