diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
index b57370cfc5..e0e061a707 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
@@ -137,8 +137,8 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
    * @param max maximum voltage percentage (0-1 range)
    */
   public void setVoltagePercentageRange(double min, double max) {
-    m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
-    m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
+    m_sensorMin = Math.clamp(min, 0.0, 1.0);
+    m_sensorMax = Math.clamp(max, 0.0, 1.0);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index be8e5ca1fd..f18ab988c6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -156,8 +156,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    * @param max maximum duty cycle (0-1 range)
    */
   public void setDutyCycleRange(double min, double max) {
-    m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
-    m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
+    m_sensorMin = Math.clamp(min, 0.0, 1.0);
+    m_sensorMax = Math.clamp(max, 0.0, 1.0);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index 67ac2db26d..78397f2862 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.DriverStationJNI;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.wpilibj.DriverStation.POVDirection;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
@@ -467,7 +466,7 @@ public class GenericHID {
    * @param value The normalized value (0 to 1) to set the rumble to
    */
   public void setRumble(RumbleType type, double value) {
-    value = MathUtil.clamp(value, 0, 1);
+    value = Math.clamp(value, 0, 1);
     int rumbleValue = (int) (value * 65535);
     switch (type) {
       case kLeftRumble -> this.m_leftRumble = rumbleValue;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
index 902a54c031..0d5ece345e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
@@ -9,7 +9,6 @@ import static edu.wpi.first.units.Units.Microsecond;
 import static edu.wpi.first.units.Units.Microseconds;
 import static edu.wpi.first.units.Units.Value;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
 import edu.wpi.first.units.measure.Dimensionless;
 import edu.wpi.first.units.measure.Distance;
@@ -479,9 +478,9 @@ public interface LEDPattern {
 
             writer.setRGB(
                 i,
-                (int) MathUtil.clamp(r * multiplier, 0, 255),
-                (int) MathUtil.clamp(g * multiplier, 0, 255),
-                (int) MathUtil.clamp(b * multiplier, 0, 255));
+                (int) Math.clamp(r * multiplier, 0, 255),
+                (int) Math.clamp(g * multiplier, 0, 255),
+                (int) Math.clamp(b * multiplier, 0, 255));
           });
     };
   }
@@ -526,7 +525,7 @@ public interface LEDPattern {
    */
   static LEDPattern progressMaskLayer(DoubleSupplier progressSupplier) {
     return (reader, writer) -> {
-      double progress = MathUtil.clamp(progressSupplier.getAsDouble(), 0, 1);
+      double progress = Math.clamp(progressSupplier.getAsDouble(), 0, 1);
 
       int bufLen = reader.getLength();
       int max = (int) (bufLen * progress);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
index 4ad3d42f0a..f271ecc369 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -8,7 +8,6 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
@@ -81,7 +80,7 @@ public class Servo implements Sendable, AutoCloseable {
    * @param value Position from 0.0 to 1.0.
    */
   public void set(double value) {
-    value = MathUtil.clamp(value, 0.0, 1.0);
+    value = Math.clamp(value, 0.0, 1.0);
 
     if (m_simPosition != null) {
       m_simPosition.set(value);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
index 9f5464257b..0b86fe3dab 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
@@ -8,7 +8,6 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
@@ -130,12 +129,12 @@ public class SharpIR implements Sendable, AutoCloseable {
    */
   public double getRange() {
     if (m_simRange != null) {
-      return MathUtil.clamp(m_simRange.get(), m_min, m_max);
+      return Math.clamp(m_simRange.get(), m_min, m_max);
     } else {
       // Don't allow zero/negative values
       var v = Math.max(m_sensor.getVoltage(), 0.00001);
 
-      return MathUtil.clamp(m_A * Math.pow(v, m_B) * 1e-2, m_min, m_max);
+      return Math.clamp(m_A * Math.pow(v, m_B) * 1e-2, m_min, m_max);
     }
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index b617a005d8..99fe0f9939 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -254,8 +254,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * @return Wheel speeds [-1.0..1.0].
    */
   public static WheelSpeeds arcadeDriveIK(double xSpeed, double zRotation, boolean squareInputs) {
-    xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
-    zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
+    xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
+    zRotation = Math.clamp(zRotation, -1.0, 1.0);
 
     // Square the inputs (while preserving the sign) to increase fine control
     // while permitting full power.
@@ -295,8 +295,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    */
   public static WheelSpeeds curvatureDriveIK(
       double xSpeed, double zRotation, boolean allowTurnInPlace) {
-    xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
-    zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
+    xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
+    zRotation = Math.clamp(zRotation, -1.0, 1.0);
 
     double leftSpeed;
     double rightSpeed;
@@ -329,8 +329,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * @return Wheel speeds [-1.0..1.0].
    */
   public static WheelSpeeds tankDriveIK(double leftSpeed, double rightSpeed, boolean squareInputs) {
-    leftSpeed = MathUtil.clamp(leftSpeed, -1.0, 1.0);
-    rightSpeed = MathUtil.clamp(rightSpeed, -1.0, 1.0);
+    leftSpeed = Math.clamp(leftSpeed, -1.0, 1.0);
+    rightSpeed = Math.clamp(rightSpeed, -1.0, 1.0);
 
     // Square the inputs (while preserving the sign) to increase fine control
     // while permitting full power.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index e0c19e56f2..0e0b3134f1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -269,8 +269,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    */
   public static WheelSpeeds driveCartesianIK(
       double xSpeed, double ySpeed, double zRotation, Rotation2d gyroAngle) {
-    xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
-    ySpeed = MathUtil.clamp(ySpeed, -1.0, 1.0);
+    xSpeed = Math.clamp(xSpeed, -1.0, 1.0);
+    ySpeed = Math.clamp(ySpeed, -1.0, 1.0);
 
     // Compensate for gyro angle.
     var input = new Translation2d(xSpeed, ySpeed).rotateBy(gyroAngle.unaryMinus());
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
index 02e610cb9f..511921c855 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
@@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.motorcontrol;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
@@ -99,7 +98,7 @@ public abstract class PWMMotorController extends MotorSafety
    */
   protected final void setSpeed(double speed) {
     if (Double.isFinite(speed)) {
-      speed = MathUtil.clamp(speed, -1.0, 1.0);
+      speed = Math.clamp(speed, -1.0, 1.0);
     } else {
       speed = 0.0;
     }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index f18ad7a49d..20f1b67643 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
@@ -135,7 +134,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    * @param velocity New velocity in meters per second.
    */
   public final void setState(double position, double velocity) {
-    setState(VecBuilder.fill(MathUtil.clamp(position, m_minHeight, m_maxHeight), velocity));
+    setState(VecBuilder.fill(Math.clamp(position, m_minHeight, m_maxHeight), velocity));
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index af8a68cc49..18a8d0fce8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
@@ -117,8 +116,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    * @param velocityRadPerSec The new angular velocity in radians per second.
    */
   public final void setState(double angleRadians, double velocityRadPerSec) {
-    setState(
-        VecBuilder.fill(MathUtil.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
+    setState(VecBuilder.fill(Math.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
index 8ab4c3498a..356961aff9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
@@ -152,7 +152,7 @@ public class Color {
   }
 
   private static double roundAndClamp(double value) {
-    return MathUtil.clamp(Math.ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
+    return Math.clamp(Math.ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
   }
 
   // Helper methods
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
index f9983a5ae7..7f70def3e0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.util;
 
-import edu.wpi.first.math.MathUtil;
 import java.util.Objects;
 
 /** Represents colors with 8 bits of precision. */
@@ -34,9 +33,9 @@ public class Color8Bit {
    * @param blue Blue value (0-255)
    */
   public Color8Bit(int red, int green, int blue) {
-    this.red = MathUtil.clamp(red, 0, 255);
-    this.green = MathUtil.clamp(green, 0, 255);
-    this.blue = MathUtil.clamp(blue, 0, 255);
+    this.red = Math.clamp(red, 0, 255);
+    this.green = Math.clamp(green, 0, 255);
+    this.blue = Math.clamp(blue, 0, 255);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
index 239a6a31fb..43b4408fc5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
@@ -13,30 +13,6 @@ public final class MathUtil {
     throw new AssertionError("utility class");
   }
 
-  /**
-   * Returns value clamped between low and high boundaries.
-   *
-   * @param value Value to clamp.
-   * @param low The lower boundary to which to clamp value.
-   * @param high The higher boundary to which to clamp value.
-   * @return The clamped value.
-   */
-  public static int clamp(int value, int low, int high) {
-    return Math.max(low, Math.min(value, high));
-  }
-
-  /**
-   * Returns value clamped between low and high boundaries.
-   *
-   * @param value Value to clamp.
-   * @param low The lower boundary to which to clamp value.
-   * @param high The higher boundary to which to clamp value.
-   * @return The clamped value.
-   */
-  public static double clamp(double value, double low, double high) {
-    return Math.max(low, Math.min(value, high));
-  }
-
   /**
    * Returns 0.0 if the given value is within the specified range around zero. The remaining range
    * between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.
@@ -184,7 +160,7 @@ public final class MathUtil {
    * @return The interpolated value.
    */
   public static double interpolate(double startValue, double endValue, double t) {
-    return startValue + (endValue - startValue) * MathUtil.clamp(t, 0, 1);
+    return startValue + (endValue - startValue) * Math.clamp(t, 0, 1);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index eb49430892..0a9f9c5333 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -152,7 +152,7 @@ public final class StateSpaceUtil {
       Matrix<I, N1> u, Matrix<I, N1> umin, Matrix<I, N1> umax) {
     var result = new Matrix<I, N1>(new SimpleMatrix(u.getNumRows(), 1));
     for (int i = 0; i < u.getNumRows(); i++) {
-      result.set(i, 0, MathUtil.clamp(u.get(i, 0), umin.get(i, 0), umax.get(i, 0)));
+      result.set(i, 0, Math.clamp(u.get(i, 0), umin.get(i, 0), umax.get(i, 0)));
     }
     return result;
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index f2c4e803bb..d1cb1c7be8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -455,7 +455,7 @@ public class PIDController implements Sendable, AutoCloseable {
       m_totalError = 0;
     } else if (m_ki != 0) {
       m_totalError =
-          MathUtil.clamp(
+          Math.clamp(
               m_totalError + m_error * m_period,
               m_minimumIntegral / m_ki,
               m_maximumIntegral / m_ki);
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
index 2cfe982ce3..c68b8f1d9f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
@@ -187,7 +186,7 @@ public class PoseEstimator<T> {
     // the buffer will always use a timestamp between the first and last timestamps)
     double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
     double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
-    timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
+    timestamp = Math.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
 
     // Step 2: If there are no applicable vision updates, use the odometry-only information.
     if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
index 31c97549ff..b3844a2bde 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
@@ -199,7 +198,7 @@ public class PoseEstimator3d<T> {
     // the buffer will always use a timestamp between the first and last timestamps)
     double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
     double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
-    timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
+    timestamp = Math.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
 
     // Step 2: If there are no applicable vision updates, use the odometry-only information.
     if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
index d9eca58419..f963b43f85 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.math.filter;
 
 import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.MathUtil;
 
 /**
  * A class that limits the rate of change of an input value. Useful for implementing voltage,
@@ -56,7 +55,7 @@ public class SlewRateLimiter {
     double currentTime = MathSharedStore.getTimestamp();
     double elapsedTime = currentTime - m_prevTime;
     m_prevVal +=
-        MathUtil.clamp(
+        Math.clamp(
             input - m_prevVal,
             m_negativeRateLimit * elapsedTime,
             m_positiveRateLimit * elapsedTime);
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java
index 4e252b7f57..14183681c6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java
@@ -6,7 +6,6 @@ package edu.wpi.first.math.geometry;
 
 import static edu.wpi.first.units.Units.Meters;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.proto.Rectangle2dProto;
 import edu.wpi.first.math.geometry.struct.Rectangle2dStruct;
 import edu.wpi.first.units.measure.Distance;
@@ -217,9 +216,9 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
     // Find nearest point
     point =
         new Translation2d(
-            MathUtil.clamp(
+            Math.clamp(
                 point.getX(), m_center.getX() - m_xWidth / 2.0, m_center.getX() + m_xWidth / 2.0),
-            MathUtil.clamp(
+            Math.clamp(
                 point.getY(), m_center.getY() - m_yWidth / 2.0, m_center.getY() + m_yWidth / 2.0));
 
     // Undo rotation
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index f8c2b965a8..fce505581f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -12,7 +12,6 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.geometry.proto.Rotation2dProto;
@@ -364,7 +363,7 @@ public class Rotation2d
 
   @Override
   public Rotation2d interpolate(Rotation2d endValue, double t) {
-    return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
+    return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));
   }
 
   /** Rotation2d protobuf for serialization. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index 5d3f479a97..b0a32e2465 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -12,7 +12,6 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
@@ -562,7 +561,7 @@ public class Rotation3d
 
   @Override
   public Rotation3d interpolate(Rotation3d endValue, double t) {
-    return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
+    return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));
   }
 
   /** Rotation3d protobuf for serialization. */
diff --git a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
index 1fcef74d1f..ed9f4ef8f5 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
@@ -18,21 +18,6 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
     super(MathUtil.class);
   }
 
-  @Test
-  void testClamp() {
-    // int
-    assertEquals(5, MathUtil.clamp(10, 1, 5));
-
-    // double
-    assertEquals(5.5, MathUtil.clamp(10.5, 1.5, 5.5));
-
-    // negative int
-    assertEquals(-5, MathUtil.clamp(-10, -5, -1));
-
-    // negative double
-    assertEquals(-5.5, MathUtil.clamp(-10.5, -5.5, -1.5));
-  }
-
   @Test
   void testApplyDeadbandUnityScale() {
     // < 0
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweUKFTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweUKFTest.java
index 70041ebac2..7c3672d406 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweUKFTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweUKFTest.java
@@ -9,7 +9,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.StateSpaceUtil;
@@ -297,7 +296,7 @@ class MerweUKFTest {
     return MatBuilder.fill(
         Nat.N1(),
         Nat.N1(),
-        MathUtil.clamp(
+        Math.clamp(
             8 * Math.sin(Math.PI * Math.sqrt(2.0) * t)
                 + 6 * Math.sin(Math.PI * Math.sqrt(3.0) * t)
                 + 4 * Math.sin(Math.PI * Math.sqrt(5.0) * t),
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/S3UKFTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/S3UKFTest.java
index be9740820e..df485a2cb9 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/S3UKFTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/S3UKFTest.java
@@ -9,7 +9,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.StateSpaceUtil;
@@ -297,7 +296,7 @@ class S3UKFTest {
     return MatBuilder.fill(
         Nat.N1(),
         Nat.N1(),
-        MathUtil.clamp(
+        Math.clamp(
             8 * Math.sin(Math.PI * Math.sqrt(2.0) * t)
                 + 6 * Math.sin(Math.PI * Math.sqrt(3.0) * t)
                 + 4 * Math.sin(Math.PI * Math.sqrt(5.0) * t),
diff --git a/wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java b/wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java
index baf9275dbb..c66a8f388d 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/optimization/SimulatedAnnealingTest.java
@@ -6,7 +6,6 @@ package edu.wpi.first.math.optimization;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MathUtil;
 import java.util.function.DoubleUnaryOperator;
 import org.junit.jupiter.api.Test;
 
@@ -20,7 +19,7 @@ class SimulatedAnnealingTest {
     var simulatedAnnealing =
         new SimulatedAnnealing<Double>(
             2.0,
-            x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, -3, 3),
+            x -> Math.clamp(x + (Math.random() - 0.5) * stepSize, -3, 3),
             function::applyAsDouble);
 
     double solution = simulatedAnnealing.solve(-1.0, 5000);
@@ -37,7 +36,7 @@ class SimulatedAnnealingTest {
     var simulatedAnnealing =
         new SimulatedAnnealing<Double>(
             2.0,
-            x -> MathUtil.clamp(x + (Math.random() - 0.5) * stepSize, 0, 7),
+            x -> Math.clamp(x + (Math.random() - 0.5) * stepSize, 0, 7),
             function::applyAsDouble);
 
     double solution = simulatedAnnealing.solve(-1.0, 5000);