diff --git a/y2023/control_loops/drivetrain/drivetrain_base.h b/y2023/control_loops/drivetrain/drivetrain_base.h
index 98f984e..00d4d0e 100644
--- a/y2023/control_loops/drivetrain/drivetrain_base.h
+++ b/y2023/control_loops/drivetrain/drivetrain_base.h
@@ -3,15 +3,11 @@
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace drivetrain {
+namespace y2023::control_loops::drivetrain {
 
 const ::frc971::control_loops::drivetrain::DrivetrainConfig<double> &
 GetDrivetrainConfig();
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::drivetrain
 
 #endif  // Y2023_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 6153400..2160b38 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -15,10 +15,7 @@
 
 using frc971::control_loops::arm::EKF;
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 
 class Arm {
  public:
@@ -116,9 +113,6 @@
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 };
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
diff --git a/y2023/control_loops/superstructure/arm/arm_constants.h b/y2023/control_loops/superstructure/arm/arm_constants.h
index fc716af..d5b11cb 100644
--- a/y2023/control_loops/superstructure/arm/arm_constants.h
+++ b/y2023/control_loops/superstructure/arm/arm_constants.h
@@ -3,10 +3,7 @@
 
 #include "frc971/control_loops/double_jointed_arm/dynamics.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 
 constexpr double kEfficiencyTweak = 0.95;
 constexpr double kStallTorque = 4.69 * kEfficiencyTweak;
@@ -45,9 +42,6 @@
     .num_distal_motors = 1.0,
 };
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2023/control_loops/superstructure/arm/trajectory.h b/y2023/control_loops/superstructure/arm/trajectory.h
index 7994d60..7b56789 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.h
+++ b/y2023/control_loops/superstructure/arm/trajectory.h
@@ -16,10 +16,7 @@
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 
 using frc971::control_loops::Binomial;
 using frc971::control_loops::GaussianQuadrature5;
@@ -623,9 +620,6 @@
   int failed_solutions_ = 0;
 };
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
diff --git a/y2023/control_loops/superstructure/end_effector.h b/y2023/control_loops/superstructure/end_effector.h
index da0ce5e..04cde94 100644
--- a/y2023/control_loops/superstructure/end_effector.h
+++ b/y2023/control_loops/superstructure/end_effector.h
@@ -9,9 +9,7 @@
 #include "y2023/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2023/vision/game_pieces_generated.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
+namespace y2023::control_loops::superstructure {
 
 class EndEffector {
  public:
@@ -39,8 +37,6 @@
   bool beambreak_;
 };
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_END_EFFECTOR_H_
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index bcee3ea..349131b 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -22,9 +22,7 @@
 using y2023::control_loops::superstructure::arm::ArmTrajectories;
 using y2023::control_loops::superstructure::arm::TrajectoryAndParams;
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
+namespace y2023::control_loops::superstructure {
 
 class Superstructure
     : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
@@ -86,8 +84,6 @@
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_