diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index 7144e57..51efc55 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -3,10 +3,7 @@
 #include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
 #include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 namespace {
 
 namespace chrono = ::std::chrono;
@@ -359,7 +356,4 @@
   return status_builder.Finish();
 }
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
diff --git a/y2023/control_loops/superstructure/arm/arm_design.cc b/y2023/control_loops/superstructure/arm/arm_design.cc
index 99ffa2c..e918746 100644
--- a/y2023/control_loops/superstructure/arm/arm_design.cc
+++ b/y2023/control_loops/superstructure/arm/arm_design.cc
@@ -17,10 +17,7 @@
 DEFINE_double(goal0, 0.0, "goal position on proximal");
 DEFINE_double(goal1, 0.0, "goal position on distal");
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 
 int Main() {
   frc971::analysis::Plotter plotter;
@@ -182,10 +179,7 @@
   return 0;
 }
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
 
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);
diff --git a/y2023/control_loops/superstructure/arm/trajectory.cc b/y2023/control_loops/superstructure/arm/trajectory.cc
index cbdfee8..be339e4 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory.cc
@@ -15,10 +15,7 @@
 DEFINE_double(lqr_distal_pos, 0.5, "Position LQR gain");
 DEFINE_double(lqr_distal_vel, 5, "Velocity LQR gain");
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 
 ::Eigen::Matrix<double, 3, 1> CosSpline::Theta(double alpha) const {
   ::Eigen::Matrix<double, 3, 1> result;
@@ -1005,7 +1002,4 @@
   omega_ = trajectory_->OmegaT(goal_(0), goal_(1));
 }
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
diff --git a/y2023/control_loops/superstructure/arm/trajectory_plot.cc b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
index 16c8771..4db5080 100644
--- a/y2023/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
@@ -23,10 +23,7 @@
 DEFINE_double(vmax_battery, 12.0, "Max battery voltage.");
 DEFINE_double(time, 2.0, "Simulation time.");
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
+namespace y2023::control_loops::superstructure::arm {
 using frc971::control_loops::MatrixGaussianQuadrature5;
 
 void Main() {
@@ -545,10 +542,7 @@
   }
 }
 
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm
 
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);
diff --git a/y2023/control_loops/superstructure/arm/trajectory_test.cc b/y2023/control_loops/superstructure/arm/trajectory_test.cc
index 8af7ba7..666a702 100644
--- a/y2023/control_loops/superstructure/arm/trajectory_test.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory_test.cc
@@ -8,11 +8,7 @@
 #include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
 #include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-namespace testing {
+namespace y2023::control_loops::superstructure::arm::testing {
 
 using frc971::control_loops::MatrixGaussianQuadrature5;
 using frc971::control_loops::arm::Dynamics;
@@ -226,8 +222,4 @@
       final_theta_t.isApprox(trajectory.path().Theta(follower.goal(0))));
 }
 
-}  // namespace testing
-}  // namespace arm
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::arm::testing
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index 43f3d24..2f01128 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -5,9 +5,7 @@
 #include "frc971/control_loops/control_loop.h"
 #include "y2023/vision/game_pieces_generated.h"
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
+namespace y2023::control_loops::superstructure {
 
 using ::aos::monotonic_clock;
 
@@ -147,6 +145,4 @@
 
 void EndEffector::Reset() { state_ = EndEffectorState::IDLE; }
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 4919cd6..e11092a 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -10,9 +10,7 @@
 DEFINE_bool(ignore_distance, false,
             "If true, ignore distance when shooting and obay joystick_reader");
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
+namespace y2023::control_loops::superstructure {
 
 using ::aos::monotonic_clock;
 
@@ -148,6 +146,4 @@
                                               y2);
 }
 
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 926846e..d4fa653 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -18,10 +18,7 @@
 DEFINE_string(output_folder, "",
               "If set, logs all channels to the provided logfile.");
 
-namespace y2023 {
-namespace control_loops {
-namespace superstructure {
-namespace testing {
+namespace y2023::control_loops::superstructure::testing {
 namespace {
 constexpr double kNoiseScalar = 0.01;
 }  // namespace
@@ -926,7 +923,4 @@
 INSTANTIATE_TEST_SUITE_P(EndEffectorGoal, SuperstructureBeambreakTest,
                          ::testing::Values(vision::Class::CUBE));
 
-}  // namespace testing
-}  // namespace superstructure
-}  // namespace control_loops
-}  // namespace y2023
+}  // namespace y2023::control_loops::superstructure::testing