diff --git a/frc971/control_loops/drivetrain/camera.h b/frc971/control_loops/drivetrain/camera.h
index e1d4b76..6e87357 100644
--- a/frc971/control_loops/drivetrain/camera.h
+++ b/frc971/control_loops/drivetrain/camera.h
@@ -6,8 +6,7 @@
 #include "aos/containers/sized_array.h"
 #include "frc971/control_loops/pose.h"
 
-namespace frc971 {
-namespace control_loops {
+namespace frc971::control_loops {
 
 // Represents a target on the field. Currently just consists of a pose and a
 // indicator for whether it is occluded (occlusion is only used by the simulator
@@ -366,7 +365,6 @@
   views->push_back(view);
 }
 
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops
 
 #endif  // Y2019_CONTROL_LOOPS_DRIVETRAIN_CAMERA_H_
diff --git a/frc971/control_loops/drivetrain/distance_spline.h b/frc971/control_loops/drivetrain/distance_spline.h
index 63156fe..5c404a0 100644
--- a/frc971/control_loops/drivetrain/distance_spline.h
+++ b/frc971/control_loops/drivetrain/distance_spline.h
@@ -11,9 +11,7 @@
 #include "frc971/control_loops/drivetrain/trajectory_generated.h"
 #include "frc971/control_loops/fixed_quadrature.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 std::vector<Spline> FlatbufferToSplines(const MultiSpline *fb);
 
@@ -127,8 +125,6 @@
   absl::Span<const float> distances_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DISTANCE_SPLINE_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index c92b7d7..87266f1 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -25,9 +25,7 @@
 #include "frc971/wpilib/imu_batch_generated.h"
 #include "frc971/zeroing/imu_zeroer.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 namespace chrono = std::chrono;
 
@@ -195,8 +193,6 @@
   aos::SendFailureCounter status_failure_counter_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 31c911a..8e0a58d 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -13,9 +13,7 @@
 #include "frc971/control_loops/state_feedback_loop_converters.h"
 #include "frc971/shifter_hall_effect.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 // Configuration for line-following mode.
 struct LineFollowConfig {
@@ -236,8 +234,6 @@
     };
   }
 };
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.h b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
index 4368b00..a79ba72 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.h
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
@@ -15,10 +15,7 @@
 #include "frc971/queues/gyro_generated.h"
 #include "frc971/wpilib/imu_batch_generated.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
-namespace testing {
+namespace frc971::control_loops::drivetrain::testing {
 
 const DrivetrainConfig<double> &GetTestDrivetrainConfig();
 
@@ -174,9 +171,6 @@
   double accel_sin_wave_magnitude_ = 0.0;
 };
 
-}  // namespace testing
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain::testing
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_TEST_LIB_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_uc.q.h b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
index 95a2000..5b0bb83 100644
--- a/frc971/control_loops/drivetrain/drivetrain_uc.q.h
+++ b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
@@ -4,8 +4,7 @@
 
 #include "aos/macros.h"
 
-namespace frc971 {
-namespace control_loops {
+namespace frc971::control_loops {
 
 struct GearLogging {
   GearLogging();
@@ -111,7 +110,6 @@
   DrivetrainQueue_Status status;
 };
 
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 743e494..f784f2e 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -12,17 +12,11 @@
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/runge_kutta.h"
 
-namespace y2019 {
-namespace control_loops {
-namespace testing {
+namespace y2019::control_loops::testing {
 class ParameterizedLocalizerTest;
-}  // namespace testing
-}  // namespace control_loops
-}  // namespace y2019
+}  // namespace y2019::control_loops::testing
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 namespace testing {
 class HybridEkfTest;
@@ -934,8 +928,6 @@
   P_.setZero();
 }
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_HYBRID_EKF_H_
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.h b/frc971/control_loops/drivetrain/improved_down_estimator.h
index b5cc509..c778ad5 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.h
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.h
@@ -12,9 +12,7 @@
 #include "frc971/control_loops/quaternion_utils.h"
 #include "frc971/control_loops/runge_kutta.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 // Generates the sigma points to use in the UKF given the current estimate and
 // covariance.
@@ -256,8 +254,6 @@
       aos::monotonic_clock::time_point now);
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_IMPROVED_DOWN_ESTIMATOR_H_
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index bb2f7ae..245d0e9 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -12,9 +12,7 @@
 #include "frc971/control_loops/profiled_subsystem_generated.h"
 #include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 namespace testing {
 class LineFollowDrivetrainTest;
@@ -93,8 +91,6 @@
   friend class testing::LineFollowDrivetrainTest;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer.h b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
index 9b348a7..a3ebe1d 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer.h
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
@@ -9,9 +9,7 @@
 #include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 // This class handles the localization for the 2022/2023 robots. Rather than
 // actually doing any work on the roborio, we farm all the localization out to a
@@ -104,8 +102,6 @@
       target_selector_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_PUPPET_LOCALIZER_H_
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index 867b3c0..6f5bf3d 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -7,9 +7,7 @@
 #include "frc971/control_loops/drivetrain/hybrid_ekf.h"
 #include "frc971/control_loops/pose.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 // An interface for target selection. This provides an object that will take in
 // state updates and then determine what poes we should be driving to.
@@ -214,8 +212,6 @@
   TrivialTargetSelector target_selector_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_FIELD_ESTIMATOR_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index a9dea7e..f4c608d 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -23,9 +23,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain_states.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 template <typename Scalar = double>
 class PolyDrivetrain {
@@ -457,8 +455,6 @@
   return builder.Finish();
 }
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/spline.h b/frc971/control_loops/drivetrain/spline.h
index 2c000bf..af42040 100644
--- a/frc971/control_loops/drivetrain/spline.h
+++ b/frc971/control_loops/drivetrain/spline.h
@@ -5,9 +5,7 @@
 
 #include "frc971/control_loops/binomial.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 // Class to hold a spline as a function of alpha.  Alpha can only range between
 // 0.0 and 1.0.
@@ -190,8 +188,6 @@
   return ans;
 }
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_SPLINE_H_
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index c528733..f02a5b6 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -17,9 +17,7 @@
 #include "frc971/control_loops/drivetrain/spline.h"
 #include "frc971/control_loops/drivetrain/trajectory.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 class SplineDrivetrain {
  public:
@@ -111,8 +109,6 @@
   bool output_was_capped_ = false;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_SPLINEDRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 77f1e25..7059f15 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -15,9 +15,7 @@
 #include "frc971/control_loops/polytope.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 class DrivetrainMotorsSS {
  public:
@@ -70,8 +68,6 @@
   LocalizerInterface *localizer_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/trajectory.h b/frc971/control_loops/drivetrain/trajectory.h
index b2cecc0..a9f14f6 100644
--- a/frc971/control_loops/drivetrain/trajectory.h
+++ b/frc971/control_loops/drivetrain/trajectory.h
@@ -14,9 +14,7 @@
 #include "frc971/control_loops/runge_kutta.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 template <typename F>
 double IntegrateAccelForDistance(const F &fn, double v, double x, double dx) {
@@ -423,8 +421,6 @@
       .finished();
 }
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_TRAJECTORY_H_
diff --git a/frc971/control_loops/drivetrain/trajectory_generator.h b/frc971/control_loops/drivetrain/trajectory_generator.h
index 234d386..5d638d3 100644
--- a/frc971/control_loops/drivetrain/trajectory_generator.h
+++ b/frc971/control_loops/drivetrain/trajectory_generator.h
@@ -6,9 +6,7 @@
 #include "frc971/control_loops/drivetrain/spline_goal_generated.h"
 #include "frc971/control_loops/drivetrain/trajectory.h"
 
-namespace frc971 {
-namespace control_loops {
-namespace drivetrain {
+namespace frc971::control_loops::drivetrain {
 
 class TrajectoryGenerator {
  public:
@@ -22,8 +20,6 @@
   aos::Sender<fb::Trajectory> trajectory_sender_;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace frc971
+}  // namespace frc971::control_loops::drivetrain
 
 #endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_TRAJECTORY_GENERATOR_H_