diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index c58353e..551a5d5 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -14,9 +14,7 @@
 
 namespace chrono = ::std::chrono;
 
-namespace y2022 {
-namespace control_loops {
-namespace drivetrain {
+namespace y2022::control_loops::drivetrain {
 
 using ::frc971::constants::ShifterHallEffect;
 
@@ -66,6 +64,4 @@
   return kDrivetrainConfig;
 };
 
-}  // namespace drivetrain
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::drivetrain
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index b0ec6fd..493bb46 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -10,10 +10,7 @@
 #include "osqp.h"
 #include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
+namespace y2022::control_loops::superstructure::catapult {
 namespace chrono = std::chrono;
 
 namespace {
@@ -453,7 +450,4 @@
   return catapult_.MakeStatus(fbb);
 }
 
-}  // namespace catapult
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure::catapult
diff --git a/y2022/control_loops/superstructure/catapult/catapult_main.cc b/y2022/control_loops/superstructure/catapult/catapult_main.cc
index 53d357a..e3f897c 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_main.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_main.cc
@@ -4,10 +4,7 @@
 #include "y2022/control_loops/superstructure/catapult/catapult.h"
 #include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
+namespace y2022::control_loops::superstructure::catapult {
 namespace chrono = std::chrono;
 
 void OSQPSolve() {
@@ -114,10 +111,7 @@
   return 0;
 }
 
-}  // namespace catapult
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure::catapult
 
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);
diff --git a/y2022/control_loops/superstructure/catapult/catapult_test.cc b/y2022/control_loops/superstructure/catapult/catapult_test.cc
index 7361bcd..b2cd180 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_test.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_test.cc
@@ -5,11 +5,7 @@
 
 #include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
-namespace testing {
+namespace y2022::control_loops::superstructure::catapult::testing {
 
 // Tests that computing P and q with 2 different horizons comes out the same.
 TEST(MPCTest, HorizonTest) {
@@ -56,8 +52,4 @@
   EXPECT_NEAR(X_final.y(), X.y(), 1e-2);
 }
 
-}  // namespace testing
-}  // namespace catapult
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure::catapult::testing
diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
index 0c13295..33e4d6e 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -5,9 +5,7 @@
 #include "absl/functional/bind_front.h"
 #include "glog/logging.h"
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
+namespace y2022::control_loops::superstructure {
 
 CollisionAvoidance::CollisionAvoidance() {
   clear_min_intake_front_goal();
@@ -213,6 +211,4 @@
   }
 }
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 5abe995..fc6aeee 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -9,9 +9,7 @@
 DEFINE_bool(ignore_distance, false,
             "If true, ignore distance when shooting and obay joystick_reader");
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
+namespace y2022::control_loops::superstructure {
 
 using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
@@ -653,6 +651,4 @@
               : 0.0);
 }
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index c85d5d0..cbe3c97 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -19,10 +19,7 @@
 DEFINE_string(output_folder, "",
               "If set, logs all channels to the provided logfile.");
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace testing {
+namespace y2022::control_loops::superstructure::testing {
 namespace chrono = std::chrono;
 
 using ::aos::monotonic_clock;
@@ -1300,7 +1297,4 @@
               superstructure_status_fetcher_->turret()->position(), 5e-4);
 }
 
-}  // namespace testing
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure::testing
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index c570856..18ebafa 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -2,10 +2,7 @@
 
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
 
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace turret {
+namespace y2022::control_loops::superstructure::turret {
 
 using frc971::control_loops::Pose;
 using frc971::control_loops::aiming::RobotState;
@@ -80,7 +77,4 @@
   return builder.Finish();
 }
 
-}  // namespace turret
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2022
+}  // namespace y2022::control_loops::superstructure::turret