SCRIPT Run java package replacements

wpimath/src/test/java/org/wpilib/ProtoTestBase.java

@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package org.wpilib;
 
-import edu.wpi.first.util.protobuf.Protobuf;
+import org.wpilib.util.protobuf.Protobuf;
 import org.junit.jupiter.api.Test;
 import us.hebi.quickbuf.ProtoMessage;
 

wpimath/src/test/java/org/wpilib/StructTestBase.java

@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package org.wpilib;
 
-import edu.wpi.first.util.struct.Struct;
+import org.wpilib.util.struct.Struct;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/UtilityClassTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package org.wpilib;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
@@ -24,7 +24,7 @@ import org.junit.jupiter.api.TestFactory;
 //
 // org.junit.jupiter.api.extension.ParameterResolutionException: No ParameterResolver registered
 // for parameter [java.lang.Class<T> arg0] in constructor [protected
-// edu.wpi.first.wpilibj.UtilityClassTest(java.lang.Class<T>)].
+// org.wpilib.UtilityClassTest(java.lang.Class<T>)].
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class UtilityClassTest<T> {
   private final Class<T> m_clazz;

wpimath/src/test/java/org/wpilib/math/controller/ArmFeedforwardTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.system.NumericalIntegration;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.system.NumericalIntegration;
 import java.util.function.BiFunction;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/controller/BangBangInputOutputTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 

wpimath/src/test/java/org/wpilib/math/controller/BangBangToleranceTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;

wpimath/src/test/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforwardTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
 import org.junit.jupiter.api.Test;
 
 class ControlAffinePlantInversionFeedforwardTest {

wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiterTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.system.plant.LinearSystemId;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.system.plant.LinearSystemId;
 import org.junit.jupiter.api.Test;
 
 class DifferentialDriveAccelerationLimiterTest {

wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveFeedforwardTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.system.LinearSystem;
-import edu.wpi.first.math.system.plant.LinearSystemId;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.system.LinearSystem;
+import org.wpilib.math.system.plant.LinearSystemId;
 import org.junit.jupiter.api.Test;
 
 class DifferentialDriveFeedforwardTest {

wpimath/src/test/java/org/wpilib/math/controller/ElevatorFeedforwardTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
 import org.junit.jupiter.api.Test;
 
 class ElevatorFeedforwardTest {

wpimath/src/test/java/org/wpilib/math/controller/ImplicitModelFollowerTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.system.plant.LinearSystemId;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.system.plant.LinearSystemId;
 import org.junit.jupiter.api.Test;
 
 class ImplicitModelFollowerTest {

wpimath/src/test/java/org/wpilib/math/controller/LTVDifferentialDriveControllerTest.java

@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-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.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.numbers.N5;
-import edu.wpi.first.math.system.LinearSystem;
-import edu.wpi.first.math.system.NumericalIntegration;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.util.MathUtil;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.numbers.N5;
+import org.wpilib.math.system.LinearSystem;
+import org.wpilib.math.system.NumericalIntegration;
+import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.ArrayList;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/controller/LTVUnicycleControllerTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Twist2d;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.util.MathUtil;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Twist2d;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.ArrayList;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/controller/LinearPlantInversionFeedforwardTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
 import org.junit.jupiter.api.Test;
 
 class LinearPlantInversionFeedforwardTest {

wpimath/src/test/java/org/wpilib/math/controller/LinearQuadraticRegulatorTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.Num;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.system.Discretization;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.util.Num;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.system.Discretization;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.plant.LinearSystemId;
 import org.junit.jupiter.api.Test;
 
 class LinearQuadraticRegulatorTest {

wpimath/src/test/java/org/wpilib/math/controller/LinearSystemLoopTest.java

@@ -2,22 +2,22 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.estimator.KalmanFilter;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.system.LinearSystem;
-import edu.wpi.first.math.system.LinearSystemLoop;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.estimator.KalmanFilter;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.system.LinearSystem;
+import org.wpilib.math.system.LinearSystemLoop;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.trajectory.TrapezoidProfile;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/controller/PIDInputOutputTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 

wpimath/src/test/java/org/wpilib/math/controller/PIDToleranceTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;

wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDControllerTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import org.wpilib.math.trajectory.TrapezoidProfile;
 import org.junit.jupiter.api.Test;
 
 class ProfiledPIDControllerTest {

wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDInputOutputTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import org.wpilib.math.trajectory.TrapezoidProfile;
 import org.junit.jupiter.api.Test;
 
 class ProfiledPIDInputOutputTest {

wpimath/src/test/java/org/wpilib/math/controller/SimpleMotorFeedforwardTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller;
+package org.wpilib.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.numbers.N1;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.numbers.N1;
 import org.junit.jupiter.api.Test;
 
 class SimpleMotorFeedforwardTest {

wpimath/src/test/java/org/wpilib/math/controller/proto/ArmFeedforwardProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.proto;
+package org.wpilib.math.controller.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.ArmFeedforward;
-import edu.wpi.first.math.proto.Controller.ProtobufArmFeedforward;
+import org.wpilib.math.controller.ArmFeedforward;
+import org.wpilib.math.proto.Controller.ProtobufArmFeedforward;
 import org.junit.jupiter.api.Test;
 
 class ArmFeedforwardProtoTest {

wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.proto;
+package org.wpilib.math.controller.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.DifferentialDriveFeedforward;
-import edu.wpi.first.math.proto.Controller.ProtobufDifferentialDriveFeedforward;
-import edu.wpi.first.wpilibj.ProtoTestBase;
+import org.wpilib.math.controller.DifferentialDriveFeedforward;
+import org.wpilib.math.proto.Controller.ProtobufDifferentialDriveFeedforward;
+import org.wpilib.ProtoTestBase;
 
 @SuppressWarnings("PMD.TestClassWithoutTestCases")
 class DifferentialDriveFeedforwardProtoTest

wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveWheelVoltagesProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.proto;
+package org.wpilib.math.controller.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.DifferentialDriveWheelVoltages;
-import edu.wpi.first.math.proto.Controller.ProtobufDifferentialDriveWheelVoltages;
+import org.wpilib.math.controller.DifferentialDriveWheelVoltages;
+import org.wpilib.math.proto.Controller.ProtobufDifferentialDriveWheelVoltages;
 import org.junit.jupiter.api.Test;
 
 class DifferentialDriveWheelVoltagesProtoTest {

wpimath/src/test/java/org/wpilib/math/controller/proto/ElevatorFeedforwardProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.proto;
+package org.wpilib.math.controller.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.ElevatorFeedforward;
-import edu.wpi.first.math.proto.Controller.ProtobufElevatorFeedforward;
+import org.wpilib.math.controller.ElevatorFeedforward;
+import org.wpilib.math.proto.Controller.ProtobufElevatorFeedforward;
 import org.junit.jupiter.api.Test;
 
 class ElevatorFeedforwardProtoTest {

wpimath/src/test/java/org/wpilib/math/controller/proto/SimpleMotorFeedforwardProtoTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.proto;
+package org.wpilib.math.controller.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.proto.Controller.ProtobufSimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.ProtoTestBase;
+import org.wpilib.math.controller.SimpleMotorFeedforward;
+import org.wpilib.math.proto.Controller.ProtobufSimpleMotorFeedforward;
+import org.wpilib.ProtoTestBase;
 
 @SuppressWarnings("PMD.TestClassWithoutTestCases")
 class SimpleMotorFeedforwardProtoTest

wpimath/src/test/java/org/wpilib/math/controller/struct/ArmFeedforwardStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.struct;
+package org.wpilib.math.controller.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.ArmFeedforward;
+import org.wpilib.math.controller.ArmFeedforward;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.struct;
+package org.wpilib.math.controller.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.DifferentialDriveFeedforward;
-import edu.wpi.first.wpilibj.StructTestBase;
+import org.wpilib.math.controller.DifferentialDriveFeedforward;
+import org.wpilib.StructTestBase;
 
 @SuppressWarnings("PMD.TestClassWithoutTestCases")
 class DifferentialDriveFeedforwardStructTest extends StructTestBase<DifferentialDriveFeedforward> {

wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.struct;
+package org.wpilib.math.controller.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.DifferentialDriveWheelVoltages;
+import org.wpilib.math.controller.DifferentialDriveWheelVoltages;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.struct;
+package org.wpilib.math.controller.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.ElevatorFeedforward;
+import org.wpilib.math.controller.ElevatorFeedforward;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStructTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.controller.struct;
+package org.wpilib.math.controller.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.StructTestBase;
+import org.wpilib.math.controller.SimpleMotorFeedforward;
+import org.wpilib.StructTestBase;
 
 @SuppressWarnings("PMD.TestClassWithoutTestCases")
 class SimpleMotorFeedforwardStructTest extends StructTestBase<SimpleMotorFeedforward> {

wpimath/src/test/java/org/wpilib/math/estimator/AngleStatisticsTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
 import org.junit.jupiter.api.Test;
 
 class AngleStatisticsTest {

wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3dTest.java

@@ -2,25 +2,25 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.DifferentialDriveKinematics;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimatorTest.java

@@ -2,22 +2,22 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.DifferentialDriveKinematics;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/estimator/ExtendedKalmanFilterTest.java

@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.StateSpaceUtil;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.numbers.N5;
-import edu.wpi.first.math.system.NumericalIntegration;
-import edu.wpi.first.math.system.NumericalJacobian;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.util.StateSpaceUtil;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.numbers.N5;
+import org.wpilib.math.system.NumericalIntegration;
+import org.wpilib.math.system.NumericalJacobian;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/estimator/KalmanFilterTest.java

@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.numbers.N6;
-import edu.wpi.first.math.system.LinearSystem;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.numbers.N6;
+import org.wpilib.math.system.LinearSystem;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Random;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3dTest.java

@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
-import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.MecanumDriveKinematics;
+import org.wpilib.math.kinematics.MecanumDriveWheelPositions;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimatorTest.java

@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
-import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.MecanumDriveKinematics;
+import org.wpilib.math.kinematics.MecanumDriveWheelPositions;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/estimator/MerweScaledSigmaPointsTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
 import org.junit.jupiter.api.Test;
 
 class MerweScaledSigmaPointsTest {

wpimath/src/test/java/org/wpilib/math/estimator/MerweUKFTest.java

@@ -2,31 +2,31 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 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.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.StateSpaceUtil;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.numbers.N4;
-import edu.wpi.first.math.numbers.N5;
-import edu.wpi.first.math.system.Discretization;
-import edu.wpi.first.math.system.NumericalIntegration;
-import edu.wpi.first.math.system.NumericalJacobian;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.util.StateSpaceUtil;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.numbers.N4;
+import org.wpilib.math.numbers.N5;
+import org.wpilib.math.system.Discretization;
+import org.wpilib.math.system.NumericalIntegration;
+import org.wpilib.math.system.NumericalJacobian;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;

wpimath/src/test/java/org/wpilib/math/estimator/S3SigmaPointsTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 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.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.Vector;
-import edu.wpi.first.math.numbers.N2;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.linalg.Vector;
+import org.wpilib.math.numbers.N2;
 import org.junit.jupiter.api.Test;
 
 class S3SigmaPointsTest {

wpimath/src/test/java/org/wpilib/math/estimator/S3UKFTest.java

@@ -2,31 +2,31 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 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.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.StateSpaceUtil;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N2;
-import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.math.numbers.N4;
-import edu.wpi.first.math.numbers.N5;
-import edu.wpi.first.math.system.Discretization;
-import edu.wpi.first.math.system.NumericalIntegration;
-import edu.wpi.first.math.system.NumericalJacobian;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.util.StateSpaceUtil;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.numbers.N1;
+import org.wpilib.math.numbers.N2;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.numbers.N4;
+import org.wpilib.math.numbers.N5;
+import org.wpilib.math.system.Discretization;
+import org.wpilib.math.system.NumericalIntegration;
+import org.wpilib.math.system.NumericalJacobian;
+import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.math.system.plant.LinearSystemId;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;

wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3dTest.java

@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimatorTest.java

@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.estimator;
+package org.wpilib.math.estimator;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.math.trajectory.Trajectory;
-import edu.wpi.first.math.trajectory.TrajectoryConfig;
-import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.ChassisSpeeds;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.trajectory.Trajectory;
+import org.wpilib.math.trajectory.TrajectoryConfig;
+import org.wpilib.math.trajectory.TrajectoryGenerator;
 import java.util.List;
 import java.util.Optional;
 import java.util.Random;

wpimath/src/test/java/org/wpilib/math/filter/DebouncerTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.filter;
+package org.wpilib.math.filter;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.util.WPIUtilJNI;
+import org.wpilib.util.WPIUtilJNI;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/filter/LinearFilterTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.filter;
+package org.wpilib.math.filter;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;

wpimath/src/test/java/org/wpilib/math/filter/MedianFilterTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.filter;
+package org.wpilib.math.filter;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 

wpimath/src/test/java/org/wpilib/math/filter/SlewRateLimiterTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.filter;
+package org.wpilib.math.filter;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.util.WPIUtilJNI;
+import org.wpilib.util.WPIUtilJNI;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class CoordinateSystemTest {

wpimath/src/test/java/org/wpilib/math/geometry/Ellipse2dTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;

wpimath/src/test/java/org/wpilib/math/geometry/Pose2dTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.units.Units;
+import org.wpilib.units.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/geometry/Pose3dTest.java

@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/geometry/QuaternionTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class QuaternionTest {

wpimath/src/test/java/org/wpilib/math/geometry/Rectangle2dTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;

wpimath/src/test/java/org/wpilib/math/geometry/Rotation2dTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.units.Units;
+import org.wpilib.units.Units;
 import org.junit.jupiter.api.Test;
 
 class Rotation2dTest {

wpimath/src/test/java/org/wpilib/math/geometry/Rotation3dTest.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.Nat;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class Rotation3dTest {

wpimath/src/test/java/org/wpilib/math/geometry/Transform2dTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.units.Units;
+import org.wpilib.units.Units;
 import org.junit.jupiter.api.Test;
 
 class Transform2dTest {

wpimath/src/test/java/org/wpilib/math/geometry/Transform3dTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class Transform3dTest {

wpimath/src/test/java/org/wpilib/math/geometry/Translation2dTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.math.VecBuilder;
+import org.wpilib.math.linalg.VecBuilder;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/geometry/Translation3dTest.java

@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
-import static edu.wpi.first.units.Units.Inches;
+import static org.wpilib.units.Units.Inches;
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 

wpimath/src/test/java/org/wpilib/math/geometry/Twist2dTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;

wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry;
+package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.linalg.VecBuilder;
+import org.wpilib.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class Twist3dTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Ellipse2dProtoTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Ellipse2d;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufEllipse2d;
+import org.wpilib.math.geometry.Ellipse2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufEllipse2d;
 import org.junit.jupiter.api.Test;
 
 class Ellipse2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose2dProtoTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufPose2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufPose2d;
 import org.junit.jupiter.api.Test;
 
 class Pose2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose3dProtoTest.java

@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufPose3d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.proto.Geometry3D.ProtobufPose3d;
 import org.junit.jupiter.api.Test;
 
 class Pose3dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/QuaternionProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufQuaternion;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.proto.Geometry3D.ProtobufQuaternion;
 import org.junit.jupiter.api.Test;
 
 class QuaternionProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Rectangle2dProtoTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rectangle2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufRectangle2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rectangle2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufRectangle2d;
 import org.junit.jupiter.api.Test;
 
 class Rectangle2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation2dProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufRotation2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufRotation2d;
 import org.junit.jupiter.api.Test;
 
 class Rotation2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation3dProtoTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufRotation3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.proto.Geometry3D.ProtobufRotation3d;
 import org.junit.jupiter.api.Test;
 
 class Rotation3dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform2dProtoTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufTransform2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufTransform2d;
 import org.junit.jupiter.api.Test;
 
 class Transform2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform3dProtoTest.java

@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufTransform3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.proto.Geometry3D.ProtobufTransform3d;
 import org.junit.jupiter.api.Test;
 
 class Transform3dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation2dProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufTranslation2d;
+import org.wpilib.math.geometry.Translation2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufTranslation2d;
 import org.junit.jupiter.api.Test;
 
 class Translation2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation3dProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufTranslation3d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.proto.Geometry3D.ProtobufTranslation3d;
 import org.junit.jupiter.api.Test;
 
 class Translation3dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist2dProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Twist2d;
-import edu.wpi.first.math.proto.Geometry2D.ProtobufTwist2d;
+import org.wpilib.math.geometry.Twist2d;
+import org.wpilib.math.proto.Geometry2D.ProtobufTwist2d;
 import org.junit.jupiter.api.Test;
 
 class Twist2dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist3dProtoTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.proto;
+package org.wpilib.math.geometry.proto;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Twist3d;
-import edu.wpi.first.math.proto.Geometry3D.ProtobufTwist3d;
+import org.wpilib.math.geometry.Twist3d;
+import org.wpilib.math.proto.Geometry3D.ProtobufTwist3d;
 import org.junit.jupiter.api.Test;
 
 class Twist3dProtoTest {

wpimath/src/test/java/org/wpilib/math/geometry/struct/Ellipse2dStructTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Ellipse2d;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Ellipse2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose2dStructTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Translation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose3dStructTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/QuaternionStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Quaternion;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Rectangle2dStructTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rectangle2d;
-import edu.wpi.first.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rectangle2d;
+import org.wpilib.math.geometry.Rotation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation2dStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation3dStructTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform2dStructTest.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Transform2d;
+import org.wpilib.math.geometry.Translation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform3dStructTest.java

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
+import org.wpilib.math.geometry.Quaternion;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Translation3d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation2dStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Translation2d;
+import org.wpilib.math.geometry.Translation2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation3dStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Translation3d;
+import org.wpilib.math.geometry.Translation3d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist2dStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Twist2d;
+import org.wpilib.math.geometry.Twist2d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist3dStructTest.java

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.geometry.struct;
+package org.wpilib.math.geometry.struct;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Twist3d;
+import org.wpilib.math.geometry.Twist3d;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

wpimath/src/test/java/org/wpilib/math/interpolation/InterpolatingDoubleTreeMapTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.interpolation;
+package org.wpilib.math.interpolation;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 

wpimath/src/test/java/org/wpilib/math/interpolation/InterpolatingTreeMapTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.interpolation;
+package org.wpilib.math.interpolation;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 

wpimath/src/test/java/org/wpilib/math/interpolation/TimeInterpolatableBufferTest.java

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.interpolation;
+package org.wpilib.math.interpolation;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
 import org.junit.jupiter.api.Test;
 
 class TimeInterpolatableBufferTest {

wpimath/src/test/java/org/wpilib/math/jni/ArmFeedforwardJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/DAREJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/EigenJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/Ellipse2dJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/StateSpaceUtilJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/Transform3dJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/jni/Twist3dJNITest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.jni;
+package org.wpilib.math.jni;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 

wpimath/src/test/java/org/wpilib/math/kinematics/ChassisSpeedsTest.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.kinematics;
+package org.wpilib.math.kinematics;
 
-import static edu.wpi.first.units.Units.InchesPerSecond;
-import static edu.wpi.first.units.Units.RPM;
+import static org.wpilib.units.Units.InchesPerSecond;
+import static org.wpilib.units.Units.RPM;
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Twist2d;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Twist2d;
 import org.junit.jupiter.api.Test;
 
 class ChassisSpeedsTest {

wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveKinematicsTest.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.math.kinematics;
+package org.wpilib.math.kinematics;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;