Upgrade to C++20 (#4239)

* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
2026-06-19 00:41:43 +00:00 · 2022-10-15 16:33:14 -07:00
parent 396143004c
commit fbdc810887
355 changed files with 1659 additions and 2918 deletions
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
@@ -4,11 +4,12 @@

 #pragma once

+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +35,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants

@@ -56,7 +57,7 @@ constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
 constexpr auto kEncoderDistancePerPulse =
-    2.0_rad * wpi::numbers::pi / kEncoderPPR;
+    2.0_rad * std::numbers::pi / kEncoderPPR;

 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
@@ -4,11 +4,12 @@

 #pragma once

+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +35,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants

@@ -56,7 +57,7 @@ constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
 constexpr auto kEncoderDistancePerPulse =
-    2.0_rad * wpi::numbers::pi / kEncoderPPR;
+    2.0_rad * std::numbers::pi / kEncoderPPR;

 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/Preferences.h>
@@ -22,7 +24,6 @@
 #include <frc/util/Color8Bit.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -45,7 +46,7 @@ class Robot : public frc::TimedRobot {
  // distance per pulse = (angle per revolution) / (pulses per revolution)
  //  = (2 * PI rads) / (4096 pulses)
  static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::numbers::pi / 4096.0;
+      2.0 * std::numbers::pi / 4096.0;

  // The arm gearbox represents a gearbox containing two Vex 775pro motors.
  frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2);
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -16,7 +18,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>

 /**
 * Represents a differential drive style drivetrain.
@@ -33,9 +34,9 @@ class Drivetrain {
    // Set the distance per pulse for the drive encoders. We can simply use the
    // distance traveled for one rotation of the wheel divided by the encoder
    // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                      kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);

    m_leftEncoder.Reset();
@@ -45,7 +46,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
  void Drive(units::meters_per_second_t xSpeed,
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -16,7 +18,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>

 /**
 * Represents a differential drive style drivetrain.
@@ -34,9 +35,9 @@ class Drivetrain {
    // distance traveled for one rotation of the wheel divided by the encoder
    // resolution.
    m_leftEncoder.SetDistancePerPulse(
-        2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
+        2 * std::numbers::pi * kWheelRadius.value() / kEncoderResolution);
    m_rightEncoder.SetDistancePerPulse(
-        2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
+        2 * std::numbers::pi * kWheelRadius.value() / kEncoderResolution);

    m_leftEncoder.Reset();
    m_rightEncoder.Reset();
@@ -45,7 +46,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
  void Drive(units::meters_per_second_t xSpeed,
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
@@ -4,12 +4,13 @@

 #pragma once

+#include <numbers>
+
 #include <units/acceleration.h>
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
@@ -12,14 +14,13 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
-#include <wpi/numbers>

 class Robot : public frc::TimedRobot {
 public:
  static constexpr units::second_t kDt = 20_ms;

  Robot() {
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * std::numbers::pi * 1.5);
  }

  void TeleopPeriodic() override {
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/RobotController.h>
@@ -23,7 +25,6 @@
 #include <units/angle.h>
 #include <units/length.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -46,7 +47,7 @@ class Robot : public frc::TimedRobot {
  // distance per pulse = (distance per revolution) / (pulses per revolution)
  //  = (Pi * D) / ppr
  static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
+      2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;

  // This gearbox represents a gearbox containing 4 Vex 775pro motors.
  frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -11,7 +13,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 #include "ExampleSmartMotorController.h"

--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -2,10 +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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/numbers>

 /**
 * Sample program displaying the value of a quadrature encoder on the
@@ -40,7 +41,7 @@ class Robot : public frc::TimedRobot {
     * inch diameter (1.5inch radius) wheel, and that we want to measure
     * distance in inches.
     */
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * std::numbers::pi * 1.5);

    /* Defines the lowest rate at which the encoder will not be considered
     * stopped, for the purposes of the GetStopped() method. Units are in
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
@@ -4,10 +4,11 @@

 #pragma once

+#include <numbers>
+
 #include <units/angle.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -33,7 +34,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants

--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
@@ -4,10 +4,11 @@

 #include "subsystems/Drivetrain.h"

+#include <numbers>
+
 #include <frc/Joystick.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/length.h>
-#include <wpi/numbers>

 Drivetrain::Drivetrain() {
  // We need to invert one side of the drivetrain so that positive voltages
@@ -26,9 +27,9 @@ Drivetrain::Drivetrain() {
 #else
  // Circumference = diameter * pi. 360 tick simulated encoders.
  m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
-                                    wpi::numbers::pi / 360.0);
+                                    std::numbers::pi / 360.0);
  m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
-                                     wpi::numbers::pi / 360.0);
+                                     std::numbers::pi / 360.0);
 #endif
  SetName("Drivetrain");
  // Let's show everything on the LiveWindow
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
@@ -4,9 +4,10 @@

 #pragma once

+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
-#include <wpi/numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -32,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);

 constexpr bool kGyroReversed = true;
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <wpi/numbers>
+#include <numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <wpi/numbers>
+#include <numbers>

 /**
 * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants

--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -13,7 +15,6 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/numbers>

 /**
 * Represents a mecanum drive style drivetrain.
@@ -39,7 +40,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

 private:
  frc::PWMSparkMax m_frontLeftMotor{1};
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
@@ -13,7 +15,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 #pragma once

@@ -52,7 +53,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = 0.15;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::numbers::pi) /
+    (kWheelDiameterMeters * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);

 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -14,7 +16,6 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/numbers>

 /**
 * Represents a mecanum drive style drivetrain.
@@ -39,7 +40,7 @@ class Drivetrain {

  static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

 private:
  frc::PWMSparkMax m_frontLeftMotor{1};
--- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
@@ -2,12 +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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/numbers>

 /**
 * This sample program shows how to control a motor using a joystick. In the
@@ -35,7 +36,7 @@ class Robot : public frc::TimedRobot {
  void RobotInit() override {
    // Use SetDistancePerPulse to set the multiplier for GetDistance
    // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
-    m_encoder.SetDistancePerPulse((wpi::numbers::pi * 6) / 360.0);
+    m_encoder.SetDistancePerPulse((std::numbers::pi * 6) / 360.0);
  }

 private:
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
 #include <units/acceleration.h>
@@ -10,7 +12,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 #pragma once

@@ -41,7 +42,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);

 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -14,7 +16,6 @@
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
-#include <wpi/numbers>

 /**
 * Represents a differential drive style drivetrain.
@@ -32,9 +33,9 @@ class Drivetrain {
    // Set the distance per pulse for the drive encoders. We can simply use the
    // distance traveled for one rotation of the wheel divided by the encoder
    // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                      kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);

    m_leftEncoder.Reset();
@@ -44,7 +45,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
  void Drive(units::meters_per_second_t xSpeed,
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
@@ -4,8 +4,9 @@

 #include "commands/TurnDegrees.h"

+#include <numbers>
+
 #include <units/math.h>
-#include <wpi/numbers>

 void TurnDegrees::Initialize() {
  // Set motors to stop, read encoder values for starting point
@@ -26,7 +27,7 @@ bool TurnDegrees::IsFinished() {
  // found here https://www.pololu.com/category/203/romi-chassis-kits, has a
  // wheel placement diameter (149 mm) - width of the wheel (8 mm) = 141 mm
  // or 5.551 inches. We then take into consideration the width of the tires.
-  static auto inchPerDegree = (5.551_in * wpi::numbers::pi) / 360_deg;
+  static auto inchPerDegree = (5.551_in * std::numbers::pi) / 360_deg;

  // Compare distance traveled from start to distance based on degree turn.
  return GetAverageTurningDistance() >= inchPerDegree * m_angle;
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -4,7 +4,7 @@

 #include "subsystems/Drivetrain.h"

-#include <wpi/numbers>
+#include <numbers>

 #include "Constants.h"

@@ -20,9 +20,9 @@ Drivetrain::Drivetrain() {
  // gearbox is constructed, you might have to invert the left side instead.
  m_rightMotor.SetInverted(true);

-  m_leftEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
+  m_leftEncoder.SetDistancePerPulse(std::numbers::pi * kWheelDiameter.value() /
                                    kCountsPerRevolution);
-  m_rightEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
+  m_rightEncoder.SetDistancePerPulse(std::numbers::pi * kWheelDiameter.value() /
                                     kCountsPerRevolution);
  ResetEncoders();
 }
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -22,7 +24,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>

 /**
 * Represents a differential drive style drivetrain.
@@ -40,9 +41,9 @@ class Drivetrain {
    // Set the distance per pulse for the drive encoders. We can simply use the
    // distance traveled for one rotation of the wheel divided by the encoder
    // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                      kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);

    m_leftEncoder.Reset();
@@ -56,7 +57,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
  void Drive(units::meters_per_second_t xSpeed,
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -15,7 +17,6 @@
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -63,8 +64,8 @@ class Robot : public frc::TimedRobot {
      // qelms. Velocity error tolerance, in radians and radians per second.
      // Decrease this to more heavily penalize state excursion, or make the
      // controller behave more aggressively.
-      {1.0 * 2.0 * wpi::numbers::pi / 360.0,
-       10.0 * 2.0 * wpi::numbers::pi / 360.0},
+      {1.0 * 2.0 * std::numbers::pi / 360.0,
+       10.0 * 2.0 * std::numbers::pi / 360.0},
      // relms. Control effort (voltage) tolerance. Decrease this to more
      // heavily penalize control effort, or make the controller less
      // aggressive. 12 is a good starting point because that is the
@@ -93,7 +94,7 @@ class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
    // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
  }

  void TeleopInit() override {
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
@@ -12,7 +14,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 #pragma once

@@ -43,7 +44,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr auto kWheelDiameter = 6_in;
 constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameter.value() * wpi::numbers::pi) /
+    (kWheelDiameter.value() * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);

 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -17,7 +19,6 @@
 #include <units/length.h>
 #include <units/mass.h>
 #include <units/velocity.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -90,7 +91,7 @@ class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
    // Circumference = pi * d, so distance per click = pi * d / counts
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi * kDrumRadius.value() /
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi * kDrumRadius.value() /
                                  4096.0);
  }

--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
@@ -14,7 +16,6 @@
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
 #include <units/angular_velocity.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -81,7 +82,7 @@ class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
    // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
  }

  void TeleopInit() override {
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
@@ -13,7 +15,6 @@
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
-#include <wpi/numbers>

 /**
 * This is a sample program to demonstrate how to use a state-space controller
@@ -81,7 +82,7 @@ class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
    // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
  }

  void TeleopInit() override {
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -4,8 +4,9 @@

 #include "SwerveModule.h"

+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>

 SwerveModule::SwerveModule(const int driveMotorChannel,
                           const int turningMotorChannel,
@@ -20,19 +21,19 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
  // Set the distance per pulse for the drive encoder. We can simply use the
  // distance traveled for one rotation of the wheel divided by the encoder
  // resolution.
-  m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+  m_driveEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                     kEncoderResolution);

  // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
  // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+  m_turningEncoder.SetDistancePerPulse(2 * std::numbers::pi /
                                       kEncoderResolution);

  // Limit the PID Controller's input range between -pi and pi and set the input
  // to be continuous.
  m_turningPIDController.EnableContinuousInput(
-      -units::radian_t{wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
+      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
 }

 frc::SwerveModuleState SwerveModule::GetState() const {
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -4,11 +4,12 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/numbers>

 #include "SwerveModule.h"

@@ -27,7 +28,7 @@ class Drivetrain {
  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

 private:
  frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -14,7 +16,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 class SwerveModule {
 public:
@@ -29,9 +30,9 @@ class SwerveModule {
  static constexpr int kEncoderResolution = 4096;

  static constexpr auto kModuleMaxAngularVelocity =
-      wpi::numbers::pi * 1_rad_per_s;  // radians per second
+      std::numbers::pi * 1_rad_per_s;  // radians per second
  static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2

  frc::PWMSparkMax m_driveMotor;
  frc::PWMSparkMax m_turningMotor;
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -66,8 +66,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
      AutoConstants::kPThetaController, 0, 0,
      AutoConstants::kThetaControllerConstraints};

-  thetaController.EnableContinuousInput(units::radian_t{-wpi::numbers::pi},
-                                        units::radian_t{wpi::numbers::pi});
+  thetaController.EnableContinuousInput(units::radian_t{-std::numbers::pi},
+                                        units::radian_t{std::numbers::pi});

  frc2::SwerveControllerCommand<4> swerveControllerCommand(
      exampleTrajectory, [this]() { return m_drive.GetPose(); },
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
@@ -4,8 +4,9 @@

 #include "subsystems/SwerveModule.h"

+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>

 #include "Constants.h"

@@ -27,7 +28,7 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
      ModuleConstants::kDriveEncoderDistancePerPulse);

  // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
  // divided by the encoder resolution.
  m_turningEncoder.SetDistancePerPulse(
      ModuleConstants::kTurningEncoderDistancePerPulse);
@@ -35,7 +36,7 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
  // Limit the PID Controller's input range between -pi and pi and set the input
  // to be continuous.
  m_turningPIDController.EnableContinuousInput(
-      units::radian_t{-wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
+      units::radian_t{-std::numbers::pi}, units::radian_t{std::numbers::pi});
 }

 frc::SwerveModuleState SwerveModule::GetState() {
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -2,6 +2,8 @@
 // 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.

+#include <numbers>
+
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
@@ -13,7 +15,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 #pragma once

@@ -77,12 +78,12 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = 0.15;
 constexpr double kDriveEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::numbers::pi) /
+    (kWheelDiameterMeters * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);

 constexpr double kTurningEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
-    (wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
+    (std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);

 constexpr double kPModuleTurningController = 1;
 constexpr double kPModuleDriveController = 1;
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -11,7 +13,6 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/numbers>

 #include "Constants.h"

@@ -33,9 +34,9 @@ class SwerveModule {
  // meters per second squared.

  static constexpr auto kModuleMaxAngularVelocity =
-      units::radians_per_second_t{wpi::numbers::pi};
+      units::radians_per_second_t{std::numbers::pi};
  static constexpr auto kModuleMaxAngularAcceleration =
-      units::radians_per_second_squared_t{wpi::numbers::pi * 2.0};
+      units::radians_per_second_squared_t{std::numbers::pi * 2.0};

  frc::Spark m_driveMotor;
  frc::Spark m_turningMotor;
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -4,8 +4,9 @@

 #include "SwerveModule.h"

+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>

 SwerveModule::SwerveModule(const int driveMotorChannel,
                           const int turningMotorChannel,
@@ -20,19 +21,19 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
  // Set the distance per pulse for the drive encoder. We can simply use the
  // distance traveled for one rotation of the wheel divided by the encoder
  // resolution.
-  m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi *
+  m_driveEncoder.SetDistancePerPulse(2 * std::numbers::pi *
                                     kWheelRadius.value() / kEncoderResolution);

  // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
  // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+  m_turningEncoder.SetDistancePerPulse(2 * std::numbers::pi /
                                       kEncoderResolution);

  // Limit the PID Controller's input range between -pi and pi and set the input
  // to be continuous.
  m_turningPIDController.EnableContinuousInput(
-      -units::radian_t{wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
+      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
 }

 frc::SwerveModuleState SwerveModule::GetState() const {
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
@@ -4,12 +4,13 @@

 #pragma once

+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/estimator/SwerveDrivePoseEstimator.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/numbers>

 #include "SwerveModule.h"

@@ -27,7 +28,7 @@ class Drivetrain {

  static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second

 private:
  frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
@@ -4,6 +4,8 @@

 #pragma once

+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -14,7 +16,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>

 class SwerveModule {
 public:
@@ -29,9 +30,9 @@ class SwerveModule {
  static constexpr int kEncoderResolution = 4096;

  static constexpr auto kModuleMaxAngularVelocity =
-      wpi::numbers::pi * 1_rad_per_s;  // radians per second
+      std::numbers::pi * 1_rad_per_s;  // radians per second
  static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2

  frc::PWMSparkMax m_driveMotor;
  frc::PWMSparkMax m_turningMotor;