diff --git a/.styleguide b/.styleguide
index 18dc8e9ca6..71becc3ccf 100644
--- a/.styleguide
+++ b/.styleguide
@@ -43,20 +43,13 @@ includeOtherLibs {
   ^fmt/
   ^glass/
   ^gtest/
-  ^hal/
   ^imgui
   ^implot
   ^mockdata/
-  ^networktables/
-  ^ntcore
   ^opencv2/
   ^support/
   ^units/
   ^unsupported/
   ^upb/
   ^vision/
-  ^wpi/
-  ^wpigui
-  ^wpimath/
-  ^wpinet/
 }
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 10960e5129..e9118a6fe1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -321,13 +321,13 @@ if(WITH_GUI)
     add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
-    add_subdirectory(outlineviewer)
-    add_subdirectory(sysid)
+    add_subdirectory(tools/outlineviewer)
+    add_subdirectory(tools/sysid)
     if(WITH_WPICAL)
-        add_subdirectory(wpical)
+        add_subdirectory(tools/wpical)
     endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(datalogtool)
+        add_subdirectory(tools/datalogtool)
     endif()
 endif()
 
@@ -349,7 +349,7 @@ if(WITH_WPILIB)
     set(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
     set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(commandsv2)")
+    set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
diff --git a/apriltag/build.gradle b/apriltag/build.gradle
index 311779f842..b6322f7360 100644
--- a/apriltag/build.gradle
+++ b/apriltag/build.gradle
@@ -4,7 +4,7 @@ apply plugin: 'c'
 
 ext {
     nativeName = 'apriltag'
-    devMain = 'edu.wpi.first.apriltag.DevMain'
+    devMain = 'org.wpilib.vision.apriltag.DevMain'
     useJava = true
     useCpp = true
     sharedCvConfigs = [
diff --git a/cameraserver/.styleguide b/cameraserver/.styleguide
index 951f083e20..db5b6737b8 100644
--- a/cameraserver/.styleguide
+++ b/cameraserver/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
 }
 
@@ -14,11 +15,8 @@ repoRootNameOverride {
 includeOtherLibs {
   ^fmt/
   ^gtest/
-  ^hal/
-  ^networktables/
   ^opencv2/
   ^support/
-  ^wpi/
 }
 
 includeGuardRoots {
diff --git a/commandsv2/.styleguide b/commandsv2/.styleguide
index 7dde46fc2b..0198969b56 100644
--- a/commandsv2/.styleguide
+++ b/commandsv2/.styleguide
@@ -17,19 +17,12 @@ generatedFileExclude {
 }
 
 includeOtherLibs {
-  ^cameraserver/
-  ^cscore
-  ^fmt/
-  ^frc/
   ^gtest/
-  ^hal/
   ^imgui
   ^mockdata/
   ^networktables/
-  ^ntcore
   ^opencv2/
   ^support/
   ^units/
   ^vision/
-  ^wpi/
 }
diff --git a/cscore/.styleguide b/cscore/.styleguide
index 2737ace2a7..b0e2be473c 100644
--- a/cscore/.styleguide
+++ b/cscore/.styleguide
@@ -18,7 +18,7 @@ modifiableFileExclude {
 }
 
 licenseUpdateExclude {
-  src/main/native/cpp/default_init_allocator\.h$
+  src/main/native/cpp/default_init_allocator\.hpp$
 }
 
 includeGuardRoots {
@@ -41,7 +41,5 @@ includeOtherLibs {
   ^imgui
   ^support/
   ^tcpsockets/
-  ^wpi/
-  ^wpigui
-  ^wpinet/
+  ^wpi/net/
 }
diff --git a/datalog/.styleguide b/datalog/.styleguide
index 3916f30045..91b25b9cc5 100644
--- a/datalog/.styleguide
+++ b/datalog/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
 }
 
 cppSrcFileInclude {
@@ -27,5 +28,4 @@ includeOtherLibs {
   ^fmt/
   ^gtest/
   ^upb/
-  ^wpi/(?!datalog)
 }
diff --git a/docs/build.gradle b/docs/build.gradle
index 72bcbd0e43..d9494b7d15 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -89,24 +89,24 @@ doxygen.sourceSets.main {
         exclude 'apriltag_pose.h'
 
         // LLVM
-        exclude 'wpi/Compiler.h'
-        exclude 'wpi/ErrorHandling.h'
-        exclude 'wpi/bit.h'
-        exclude 'wpi/raw_ostream.h'
-        exclude 'wpi/SmallVector.h'
-        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/util/Compiler.hpp'
+        exclude 'wpi/util/ErrorHandling.hpp'
+        exclude 'wpi/util/bit.hpp'
+        exclude 'wpi/util/raw_ostream.hpp'
+        exclude 'wpi/util/SmallVector.hpp'
+        exclude 'wpi/util/StringExtras.hpp'
 
         // libuv
         exclude 'uv/**'
 
         // json
-        exclude 'wpi/detail/**'
+        exclude 'wpi/util/detail/**'
 
         // mpack
-        exclude 'wpi/mpack.h'
+        exclude 'wpi/util/mpack.h'
 
         // units
-        exclude 'units/**'
+        exclude 'wpi/units/**'
     }
 
     exclude '*.pb.h'
@@ -152,29 +152,31 @@ task generateJavaDocs(type: Javadoc) {
     options.addStringOption("tag", "pre:a:Pre-Condition")
     options.addBooleanOption("Xdoclint/package:" +
             // TODO: v Document these, then remove them from the list
-            "-edu.wpi.first.hal," +
-            "-edu.wpi.first.hal.simulation," +
+            "-org.wpilib.hardware.hal," +
+            "-org.wpilib.hardware.hal.simulation," +
             // TODO: ^ Document these, then remove them from the list
-            "-edu.wpi.first.math.proto," +
-            "-edu.wpi.first.math.struct," +
-            "-edu.wpi.first.math.controller.proto," +
-            "-edu.wpi.first.math.controller.struct," +
-            "-edu.wpi.first.math.geometry.proto," +
-            "-edu.wpi.first.math.geometry.struct," +
-            "-edu.wpi.first.math.kinematics.proto," +
-            "-edu.wpi.first.math.kinematics.struct," +
-            "-edu.wpi.first.math.spline.proto," +
-            "-edu.wpi.first.math.spline.struct," +
-            "-edu.wpi.first.math.system.proto," +
-            "-edu.wpi.first.math.system.struct," +
-            "-edu.wpi.first.math.system.plant.proto," +
-            "-edu.wpi.first.math.system.plant.struct," +
-            "-edu.wpi.first.math.trajectory.proto," +
-            "-edu.wpi.first.math.trajectory.struct," +
-            "-org.wpilib.commands3.proto," +
+            "-org.wpilib.math.proto," +
+            "-org.wpilib.math.struct," +
+            "-org.wpilib.math.controller.proto," +
+            "-org.wpilib.math.controller.struct," +
+            "-org.wpilib.math.geometry.proto," +
+            "-org.wpilib.math.geometry.struct," +
+            "-org.wpilib.math.kinematics.proto," +
+            "-org.wpilib.math.kinematics.struct," +
+            "-org.wpilib.math.linalg.proto," +
+            "-org.wpilib.math.linalg.struct," +
+            "-org.wpilib.math.spline.proto," +
+            "-org.wpilib.math.spline.struct," +
+            "-org.wpilib.math.system.proto," +
+            "-org.wpilib.math.system.struct," +
+            "-org.wpilib.math.system.plant.proto," +
+            "-org.wpilib.math.system.plant.struct," +
+            "-org.wpilib.math.trajectory.proto," +
+            "-org.wpilib.math.trajectory.struct," +
+            "-org.wpilib.command3.proto," +
             // The .measure package contains generated source files for which automatic javadoc
             // generation is very difficult to do meaningfully.
-            "-edu.wpi.first.units.measure", true)
+            "-org.wpilib.units.measure", true)
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)
diff --git a/glass/.styleguide b/glass/.styleguide
index c72e55d59c..bb70965dc0 100644
--- a/glass/.styleguide
+++ b/glass/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -20,17 +21,12 @@ repoRootNameOverride {
 
 includeOtherLibs {
   ^GLFW
-  ^cscore
   ^fmt/
-  ^fields/
-  ^frc/
   ^imgui
-  portable-file-dialogs.h
-  ^networktables/
-  ^ntcore
-  ^units
   ^upb/
-  ^wpi/
-  ^wpigui
-  ^wpimath/
+}
+
+includeProject {
+  wpi/gui/portable-file-dialogs.h
+  wpi/util/expected
 }
diff --git a/hal/.styleguide b/hal/.styleguide
index 86d583b857..d4e5130759 100644
--- a/hal/.styleguide
+++ b/hal/.styleguide
@@ -34,18 +34,13 @@ repoRootNameOverride {
 }
 
 includeOtherLibs {
-  ^FRC_FPGA_ChipObject/
-  ^FRC_NetworkCommunication/
   ^fmt/
   ^gtest/
   ^i2clib/
   ^llvm/
-  ^networktables/
-  ^ntcore
   ^opencv2/
   ^spilib/
   ^support/
-  ^wpi/
 }
 
 includeProject {
diff --git a/hal/build.gradle b/hal/build.gradle
index c0e66354a3..d22e5aed60 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -9,7 +9,7 @@ ext {
 
     nativeName = 'hal'
     setBaseName = 'wpiHal'
-    devMain = 'edu.wpi.first.hal.DevMain'
+    devMain = 'org.wpilib.hardware.hal.DevMain'
     generatedHeaders = "src/generated/main/native/include"
     splitSetup = {
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
diff --git a/ntcore/.styleguide b/ntcore/.styleguide
index 7715fa6362..1c714627fe 100644
--- a/ntcore/.styleguide
+++ b/ntcore/.styleguide
@@ -4,6 +4,7 @@ cHeaderFileInclude {
 
 cppHeaderFileInclude {
   (?<!_c)\.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -35,6 +36,4 @@ includeOtherLibs {
   ^fmt/
   ^gtest/
   ^support/
-  ^wpi/
-  ^wpinet/
 }
diff --git a/ntcoreffi/.styleguide b/ntcoreffi/.styleguide
index ba1380489a..9615445369 100644
--- a/ntcoreffi/.styleguide
+++ b/ntcoreffi/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
 }
 
 cppSrcFileInclude {
@@ -18,8 +19,6 @@ includeOtherLibs {
   ^fmt/
   ^gmock/
   ^gtest/
-  ^networktables/
-  ^wpi/
 }
 
 includeGuardRoots {
diff --git a/romiVendordep/.styleguide b/romiVendordep/.styleguide
index b9403ec6a1..1813a0972c 100644
--- a/romiVendordep/.styleguide
+++ b/romiVendordep/.styleguide
@@ -18,19 +18,10 @@ repoRootNameOverride {
 }
 
 includeOtherLibs {
-  ^cameraserver/
-  ^cscore
   ^fmt/
-  ^frc/
   ^gtest/
-  ^hal/
   ^imgui
   ^mockdata/
-  ^networktables/
-  ^ntcore
   ^opencv2/
   ^support/
-  ^units/
-  ^vision/
-  ^wpi/
 }
diff --git a/settings.gradle b/settings.gradle
index be9e140212..966c228595 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -36,9 +36,9 @@ include 'wpiannotations'
 include 'wpiunits'
 include 'fields'
 include 'glass'
-include 'outlineviewer'
-include 'datalogtool'
-include 'sysid'
+include 'tools:outlineviewer'
+include 'tools:datalogtool'
+include 'tools:sysid'
 include 'simulation:halsim_ds_socket'
 include 'simulation:halsim_gui'
 include 'simulation:halsim_ws_core'
@@ -57,13 +57,13 @@ include 'docs'
 include 'msvcruntime'
 include 'ntcoreffi'
 include 'apriltag'
-include 'processstarter'
+include 'tools:processstarter'
 include 'epilogue-processor'
 include 'epilogue-runtime'
 include 'thirdparty:catch2'
 include 'thirdparty:googletest'
 include 'thirdparty:imgui_suite'
-include 'wpical'
+include 'tools:wpical'
 include 'datalog'
 
 buildCache {
diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml
index c97ab738f4..fd8f6c0464 100644
--- a/styleguide/pmd-ruleset.xml
+++ b/styleguide/pmd-ruleset.xml
@@ -15,7 +15,7 @@
   <exclude-pattern>.*/*IntegrationTests.*</exclude-pattern>
   <exclude-pattern>.*/*JNI.*</exclude-pattern>
   <exclude-pattern>.*/math/proto.*</exclude-pattern>
-  <exclude-pattern>.*/commands3/proto.*</exclude-pattern>
+  <exclude-pattern>.*/command3/proto.*</exclude-pattern>
 
   <rule ref="category/java/bestpractices.xml">
     <exclude name="AccessorClassGeneration" />
diff --git a/tools/datalogtool/.styleguide b/tools/datalogtool/.styleguide
index 886b930536..12c61d6718 100644
--- a/tools/datalogtool/.styleguide
+++ b/tools/datalogtool/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -21,10 +22,6 @@ repoRootNameOverride {
 includeOtherLibs {
   ^GLFW
   ^fmt/
-  ^glass/
   ^imgui
   ^libssh/
-  ^portable-file-dialog
-  ^wpi/
-  ^wpigui
 }
diff --git a/tools/outlineviewer/.styleguide b/tools/outlineviewer/.styleguide
index cdbb90b85f..691afcb248 100644
--- a/tools/outlineviewer/.styleguide
+++ b/tools/outlineviewer/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -21,15 +22,7 @@ repoRootNameOverride {
 includeOtherLibs {
   ^GLFW
   ^fmt/
-  ^frc/
-  ^glass/
   ^gtest/
   ^imgui
   ^implot\.h$
-  ^networktables/
-  ^portable-file-dialogs\.h$
-  ^ntcore
-  ^units/
-  ^wpi/
-  ^wpigui
 }
diff --git a/tools/sysid/.styleguide b/tools/sysid/.styleguide
index 8506bf193e..b6eba5b64b 100644
--- a/tools/sysid/.styleguide
+++ b/tools/sysid/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -21,15 +22,7 @@ repoRootNameOverride {
 includeOtherLibs {
   ^GLFW
   ^fmt/
-  ^frc/
-  ^glass/
   ^gtest/
   ^imgui
   ^implot\.h$
-  ^networktables/
-  ^portable-file-dialogs\.h$
-  ^ntcore
-  ^units/
-  ^wpi/
-  ^wpigui
 }
diff --git a/tools/wpical/.styleguide b/tools/wpical/.styleguide
index e2401dc33d..6cf8aba880 100644
--- a/tools/wpical/.styleguide
+++ b/tools/wpical/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -24,13 +25,9 @@ includeOtherLibs {
   ^GLFW
   ^ceres/
   ^fmt/
-  ^frc/
   ^gtest/
   ^imgui
   ^implot\.h$
   ^mrcal_wrapper\.h$
   ^opencv2\.h$
-  ^portable-file-dialogs\.h$
-  ^wpi/
-  ^wpigui
 }
diff --git a/tools/wpical/build.gradle b/tools/wpical/build.gradle
index daf85a6595..862ffa5450 100644
--- a/tools/wpical/build.gradle
+++ b/tools/wpical/build.gradle
@@ -120,7 +120,7 @@ nativeUtils.platformConfigs.each {
         it.cppCompiler.args.add("-fpermissive")
     }
 }
-def testResources = "\"$rootDir/wpical/src/main/native/assets\"".replace("\\", "/")
+def testResources = "\"$rootDir/tools/wpical/src/main/native/assets\"".replace("\\", "/")
 model {
     components {
         "${nativeName}"(NativeExecutableSpec) {
diff --git a/wpigui/.styleguide b/wpigui/.styleguide
index 9a462a3759..a29a3c113c 100644
--- a/wpigui/.styleguide
+++ b/wpigui/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
 }
 
 cppSrcFileInclude {
@@ -8,7 +9,7 @@ cppSrcFileInclude {
 
 generatedFileExclude {
   wpigui/src/main/native/cpp/portable-file-dialogs\.cpp$
-  wpigui/src/main/native/include/portable-file-dialogs\.h$
+  wpigui/src/main/native/include/wpi/gui/portable-file-dialogs\.h$
 }
 
 repoRootNameOverride {
diff --git a/wpilibcExamples/.styleguide b/wpilibcExamples/.styleguide
index 50ebdc9830..e8f0eaf6ba 100644
--- a/wpilibcExamples/.styleguide
+++ b/wpilibcExamples/.styleguide
@@ -9,18 +9,8 @@ cppSrcFileInclude {
 }
 
 includeOtherLibs {
-  ^cameraserver/
-  ^cscore
   ^fmt/
-  ^frc/
-  ^frc2/
   ^gtest/
-  ^hal/
-  ^networktables/
-  ^ntcore
   ^opencv2/
-  ^support/
-  ^units/
-  ^vision/
   ^wpi/
 }
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index 9cb11761dc..a8785b9f30 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -19,7 +19,7 @@ if(WITH_JAVA)
 
     configure_file(
         src/generate/WPILibVersion.java.in
-        generated/main/java/org/wpilib/WPILibVersion.java
+        generated/main/java/org/wpilib/system/WPILibVersion.java
     )
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
@@ -29,7 +29,7 @@ if(WITH_JAVA)
     add_jar(
         wpilibj_jar
         ${JAVA_SOURCES}
-        ${CMAKE_CURRENT_BINARY_DIR}/generated/main/java/org/wpilib/WPILibVersion.java
+        ${CMAKE_CURRENT_BINARY_DIR}/generated/main/java/org/wpilib/system/WPILibVersion.java
         INCLUDE_JARS
             hal_jar
             ntcore_jar
@@ -60,7 +60,7 @@ if(WITH_JAVA_SOURCE)
     if(NOT WITH_JAVA)
         configure_file(
             src/generate/WPILibVersion.java.in
-            generated/main/java/org/wpilib/WPILibVersion.java
+            generated/main/java/org/wpilib/system/WPILibVersion.java
         )
     endif()
     add_source_jar(
diff --git a/wpilibj/build.gradle b/wpilibj/build.gradle
index 07f5df67da..0e5620c10d 100644
--- a/wpilibj/build.gradle
+++ b/wpilibj/build.gradle
@@ -12,7 +12,7 @@ ext {
 apply from: "${rootDir}/shared/java/javacommon.gradle"
 
 def wpilibVersionFileInput = file("src/generate/WPILibVersion.java.in")
-def wpilibVersionFileOutput = file("$buildDir/generated/java/edu/wpi/first/wpilibj/util/WPILibVersion.java")
+def wpilibVersionFileOutput = file("$buildDir/generated/java/org/wpilib/system/WPILibVersion.java")
 
 task generateJavaVersion() {
     description = 'Generates the wpilib version class'
@@ -155,7 +155,7 @@ model {
     }
 }
 
-def oldWpilibVersionFile = file('src/main/java/edu/wpi/first/wpilibj/util/WPILibVersion.java')
+def oldWpilibVersionFile = file('src/main/java/org/wpilib/system/WPILibVersion.java')
 
 clean {
     delete oldWpilibVersionFile
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 8f5bcab7d7..9abcdd4414 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -79,14 +79,14 @@ tasks.register('buildDesktopJava') {
 apply from: 'publish.gradle'
 
 ext {
-    templateDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/templates/")
-    templateFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/templates/templates.json")
-    exampleDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/")
-    exampleFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/examples.json")
-    commandDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/")
-    commandFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/commands.json")
-    snippetsDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/snippets/")
-    snippetsFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json")
+    templateDirectory = new File("$projectDir/src/main/java/org/wpilib/templates/")
+    templateFile = new File("$projectDir/src/main/java/org/wpilib/templates/templates.json")
+    exampleDirectory = new File("$projectDir/src/main/java/org/wpilib/examples/")
+    exampleFile = new File("$projectDir/src/main/java/org/wpilib/examples/examples.json")
+    commandDirectory = new File("$projectDir/src/main/java/org/wpilib/commands/")
+    commandFile = new File("$projectDir/src/main/java/org/wpilib/commands/commands.json")
+    snippetsDirectory = new File("$projectDir/src/main/java/org/wpilib/snippets/")
+    snippetsFile = new File("$projectDir/src/main/java/org/wpilib/snippets/snippets.json")
 }
 
 apply plugin: 'cpp'
@@ -174,7 +174,7 @@ model {
                             new groovy.json.JsonSlurper().parseText(exampleFile.text).each { entry ->
                                 project.tasks.create("run${entry.foldername}", JavaExec) { run ->
                                     run.group = "run examples"
-                                    run.mainClass = "edu.wpi.first.wpilibj.examples." + entry.foldername + "." + entry.mainclass
+                                    run.mainClass = "org.wpilib.examples." + entry.foldername + "." + entry.mainclass
                                     run.classpath = sourceSets.main.runtimeClasspath
                                     run.dependsOn it.tasks.install
                                     run.systemProperty 'java.library.path', filePath
@@ -188,15 +188,15 @@ model {
                                     testTask.group = "verification"
                                     testTask.useJUnitPlatform()
                                     testTask.filter {
-                                        includeTestsMatching("edu.wpi.first.wpilibj.examples.${entry.foldername}.*")
+                                        includeTestsMatching("org.wpilib.examples.${entry.foldername}.*")
                                         // armsimulation regularly fails on CI Win64Debug
                                         if (project.hasProperty('ciDebugOnly')) {
-                                            excludeTestsMatching("edu.wpi.first.wpilibj.examples.armsimulation.*")
+                                            excludeTestsMatching("org.wpilib.examples.armsimulation.*")
                                         }
                                         setFailOnNoMatchingTests(false)
                                     }
                                     test.filter {
-                                        excludeTestsMatching("edu.wpi.first.wpilibj.examples.${entry.foldername}.*")
+                                        excludeTestsMatching("org.wpilib.examples.${entry.foldername}.*")
                                         setFailOnNoMatchingTests(false)
                                     }
                                     testTask.testClassesDirs = sourceSets.test.output.classesDirs
@@ -219,7 +219,7 @@ model {
                             new groovy.json.JsonSlurper().parseText(snippetsFile.text).each { entry ->
                                 project.tasks.create("runSnippet${entry.foldername}", JavaExec) { run ->
                                     run.group = "run snippets"
-                                    run.mainClass = "edu.wpi.first.wpilibj.snippets." + entry.foldername + "." + entry.mainclass
+                                    run.mainClass = "org.wpilib.snippets." + entry.foldername + "." + entry.mainclass
                                     run.classpath = sourceSets.main.runtimeClasspath
                                     run.dependsOn it.tasks.install
                                     run.systemProperty 'java.library.path', filePath
@@ -233,11 +233,11 @@ model {
                                     testTask.group = "verification"
                                     testTask.useJUnitPlatform()
                                     testTask.filter {
-                                        includeTestsMatching("edu.wpi.first.wpilibj.snippets.${entry.foldername}.*")
+                                        includeTestsMatching("org.wpilib.snippets.${entry.foldername}.*")
                                         setFailOnNoMatchingTests(false)
                                     }
                                     test.filter {
-                                        excludeTestsMatching("edu.wpi.first.wpilibj.snippets.${entry.foldername}.*")
+                                        excludeTestsMatching("org.wpilib.snippets.${entry.foldername}.*")
                                         setFailOnNoMatchingTests(false)
                                     }
                                     testTask.testClassesDirs = sourceSets.test.output.classesDirs
diff --git a/wpimath/.styleguide b/wpimath/.styleguide
index 9da1a35166..54f810c398 100644
--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -14,9 +14,8 @@ modifiableFileExclude {
 }
 
 generatedFileExclude {
-  src/main/native/include/units/base\.h$
-  src/main/native/include/units/units\.h$
-  src/main/native/include/unsupported/
+  src/main/native/include/wpi/units/base\.hpp$
+  src/main/native/include/wpi/units/units\.hpp$
   src/main/native/thirdparty/
   src/test/native/cpp/UnitsTest\.cpp$
   src/generated/main/java/org/wpilib/math/proto
@@ -43,9 +42,8 @@ includeOtherLibs {
   ^gtest/
   ^sleipnir/
   ^unsupported/
-  ^wpi/
 }
 
 includeProject {
-  ^units/
+  wpi/util/expected
 }
diff --git a/wpimath/build.gradle b/wpimath/build.gradle
index 6f7dbc3fa1..b16e9e2826 100644
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -5,7 +5,7 @@ ext {
     groupId = 'edu.wpi.first.wpimath'
 
     nativeName = 'wpimath'
-    devMain = 'edu.wpi.first.math.DevMain'
+    devMain = 'org.wpilib.math.DevMain'
 
     splitSetup = {
         it.sources {
diff --git a/wpinet/.styleguide b/wpinet/.styleguide
index 82e0172d37..b6c3200ffb 100644
--- a/wpinet/.styleguide
+++ b/wpinet/.styleguide
@@ -1,5 +1,6 @@
 cppHeaderFileInclude {
   \.h$
+  \.hpp$
   \.inc$
   \.inl$
 }
@@ -12,7 +13,7 @@ generatedFileExclude {
   src/main/native/thirdparty/
 
   src/main/native/cpp/http_parser\.cpp$
-  src/main/native/include/wpinet/http_parser\.h$
+  src/main/native/include/wpi/net/http_parser\.hpp$
   src/main/native/resources/
   src/main/native/linux/AvahiClient
 
@@ -37,5 +38,4 @@ includeOtherLibs {
   ^fmt/
   ^gmock/
   ^gtest/
-  ^wpi/
 }
diff --git a/wpiutil/.styleguide b/wpiutil/.styleguide
index 9867571b16..f908152948 100644
--- a/wpiutil/.styleguide
+++ b/wpiutil/.styleguide
@@ -14,7 +14,7 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
-  src/main/native/include/wpi/MulticastServiceAnnouncer\.h$
+  src/main/native/include/wpi/util/MulticastServiceAnnouncer\.h$
 }
 
 generatedFileExclude {
@@ -23,8 +23,8 @@ generatedFileExclude {
   src/main/python/
   src/test/python/
 
-  src/main/native/include/wpi/fs\.h$
-  src/main/native/include/wpi/FastQueue\.h$
+  src/main/native/include/wpi/util/fs\.hpp$
+  src/main/native/include/wpi/util/FastQueue\.hpp$
   src/main/native/cpp/fs\.cpp$
   src/main/native/resources/
   src/main/native/windows/StackWalker
@@ -37,7 +37,7 @@ generatedFileExclude {
 licenseUpdateExclude {
   src/main/native/cpp/Base64\.cpp$
   src/main/native/cpp/sha1\.cpp$
-  src/main/native/include/wpi/sha1\.h$
+  src/main/native/include/wpi/util/sha1\.hpp$
 }
 
 repoRootNameOverride {
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index d6d61b0bd2..ddeb8f1784 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -4,13 +4,13 @@ apply plugin: 'c'
 ext {
     noWpiutil = true
     skipJniSymbols = [
-        'Java_edu_wpi_first_util_CombinedRuntimeLoader_setDllDirectory'
+        'Java_org_wpilib_util_CombinedRuntimeLoader_setDllDirectory'
     ]
     baseId = 'wpiutil'
     groupId = 'edu.wpi.first.wpiutil'
 
     nativeName = 'wpiutil'
-    devMain = 'edu.wpi.first.util.DevMain'
+    devMain = 'org.wpilib.util.DevMain'
     def generateTask = createGenerateResourcesTask('main', 'WPI', 'wpi', project)
 
     splitSetup = {