diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
index b0ac27aef53..261a7f7e073 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
@@ -1025,10 +1025,10 @@ public interface LoggerFunction {
   /**
    * Runs main run loop with timeout.
    *
-   * @param timeoutSeconds Timeout in seconds.
+   * @param timeout Timeout in seconds.
    * @return 3 on timeout, 2 on signal, 1 on other.
    */
-  public static native int runMainRunLoopTimeout(double timeoutSeconds);
+  public static native int runMainRunLoopTimeout(double timeout);
 
   /** Stops main run loop. */
   public static native void stopMainRunLoop();
diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
index 77eebf014ff..74ea535c61f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
@@ -47,10 +47,10 @@ public class DMAJNI extends JNIWrapper {
    * <p>This can only be called if DMA is not started.
    *
    * @param handle the dma handle
-   * @param periodSeconds the period to trigger in seconds
+   * @param period the period to trigger in seconds
    * @see "HAL_SetDMATimedTrigger"
    */
-  public static native void setTimedTrigger(int handle, double periodSeconds);
+  public static native void setTimedTrigger(int handle, double period);
 
   /**
    * Sets DMA transfers to occur at a specific timed interval in FPGA cycles.
@@ -229,14 +229,13 @@ public static native int setExternalTrigger(
    * Reads a DMA sample from the queue.
    *
    * @param handle the dma handle
-   * @param timeoutSeconds the time to wait for data to be queued before timing out
+   * @param timeout the time in seconds to wait for data to be queued before timing out
    * @param buffer the sample object to place data into
    * @param sampleStore index 0-21 channelOffsets, index 22: capture size, index 23: triggerChannels
    *     (bitflags), index 24: remaining, index 25: read status
    * @return timestamp of the DMA Sample
    */
-  public static native long readDMA(
-      int handle, double timeoutSeconds, int[] buffer, int[] sampleStore);
+  public static native long readDMA(int handle, double timeout, int[] buffer, int[] sampleStore);
 
   /**
    * Get the sensor DMA sample.
diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
index df66c558b0c..e4c83773090 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
@@ -29,8 +29,8 @@ static class BaseStore {
   /** Default constructor. */
   public DMAJNISample() {}
 
-  public int update(int dmaHandle, double timeoutSeconds) {
-    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeoutSeconds, m_dataBuffer, m_storage);
+  public int update(int dmaHandle, double timeout) {
+    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeout, m_dataBuffer, m_storage);
     return m_storage[25];
   }
 
diff --git a/sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h b/sysid/src/main/native/include/sysid/analysis/TrackwidthAnalysis.h
similarity index 84%
rename from sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h
rename to sysid/src/main/native/include/sysid/analysis/TrackwidthAnalysis.h
index d086022bff1..ecc319a180a 100644
--- a/sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h
+++ b/sysid/src/main/native/include/sysid/analysis/TrackwidthAnalysis.h
@@ -10,14 +10,14 @@
 namespace sysid {
 
 /**
- * Calculates the track width given the left distance, right distance, and
+ * Calculates the trackwidth given the left distance, right distance, and
  * accumulated gyro angle.
  *
  * @param l     The distance traveled by the left side of the drivetrain.
  * @param r     The distance traveled by the right side of the drivetrain.
  * @param accum The accumulated gyro angle.
  */
-constexpr double CalculateTrackWidth(double l, double r,
+constexpr double CalculateTrackwidth(double l, double r,
                                      units::radian_t accum) {
   // The below comes from solving ω = (vr − vl) / 2r for 2r.
   return (gcem::abs(r) + gcem::abs(l)) / gcem::abs(accum.value());
diff --git a/sysid/src/test/native/cpp/analysis/TrackWidthAnalysisTest.cpp b/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
similarity index 64%
rename from sysid/src/test/native/cpp/analysis/TrackWidthAnalysisTest.cpp
rename to sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
index e7b662fe9d0..d5e2dc16675 100644
--- a/sysid/src/test/native/cpp/analysis/TrackWidthAnalysisTest.cpp
+++ b/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/TrackWidthAnalysis.h"
+#include "sysid/analysis/TrackwidthAnalysis.h"
 
-TEST(TrackWidthAnalysisTest, Calculate) {
-  double result = sysid::CalculateTrackWidth(-0.5386, 0.5386, 90_deg);
+TEST(TrackwidthAnalysisTest, Calculate) {
+  double result = sysid::CalculateTrackwidth(-0.5386, 0.5386, 90_deg);
   EXPECT_NEAR(result, 0.6858, 1E-4);
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index 440018817c2..b93cfa40938 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -47,7 +47,7 @@ public class MecanumControllerCommand extends Command {
   private final MecanumDriveKinematics m_kinematics;
   private final HolonomicDriveController m_controller;
   private final Supplier<Rotation2d> m_desiredRotation;
-  private final double m_maxWheelVelocityMetersPerSecond;
+  private final double m_maxWheelVelocity;
   private final PIDController m_frontLeftController;
   private final PIDController m_rearLeftController;
   private final PIDController m_frontRightController;
@@ -78,7 +78,7 @@ public class MecanumControllerCommand extends Command {
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
    *     step.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param frontLeftController The front left wheel velocity PID.
    * @param rearLeftController The rear left wheel velocity PID.
    * @param frontRightController The front right wheel velocity PID.
@@ -98,7 +98,7 @@ public MecanumControllerCommand(
       PIDController yController,
       ProfiledPIDController thetaController,
       Supplier<Rotation2d> desiredRotation,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       PIDController frontLeftController,
       PIDController rearLeftController,
       PIDController frontRightController,
@@ -120,7 +120,7 @@ public MecanumControllerCommand(
     m_desiredRotation =
         requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
+    m_maxWheelVelocity = maxWheelVelocity;
 
     m_frontLeftController =
         requireNonNullParam(frontLeftController, "frontLeftController", "MecanumControllerCommand");
@@ -166,7 +166,7 @@ public MecanumControllerCommand(
    * @param xController The Trajectory Tracker PID controller for the robot's x position.
    * @param yController The Trajectory Tracker PID controller for the robot's y position.
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param frontLeftController The front left wheel velocity PID.
    * @param rearLeftController The rear left wheel velocity PID.
    * @param frontRightController The front right wheel velocity PID.
@@ -184,7 +184,7 @@ public MecanumControllerCommand(
       PIDController xController,
       PIDController yController,
       ProfiledPIDController thetaController,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       PIDController frontLeftController,
       PIDController rearLeftController,
       PIDController frontRightController,
@@ -200,9 +200,8 @@ public MecanumControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond,
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
+        maxWheelVelocity,
         frontLeftController,
         rearLeftController,
         frontRightController,
@@ -228,7 +227,7 @@ public MecanumControllerCommand(
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
    *     step.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
    * @param requirements The subsystems to require.
    */
@@ -241,7 +240,7 @@ public MecanumControllerCommand(
       PIDController yController,
       ProfiledPIDController thetaController,
       Supplier<Rotation2d> desiredRotation,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
       Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
@@ -258,7 +257,7 @@ public MecanumControllerCommand(
     m_desiredRotation =
         requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
+    m_maxWheelVelocity = maxWheelVelocity;
 
     m_frontLeftController = null;
     m_rearLeftController = null;
@@ -296,7 +295,7 @@ public MecanumControllerCommand(
    * @param xController The Trajectory Tracker PID controller for the robot's x position.
    * @param yController The Trajectory Tracker PID controller for the robot's y position.
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
    * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
    * @param requirements The subsystems to require.
    */
@@ -307,7 +306,7 @@ public MecanumControllerCommand(
       PIDController xController,
       PIDController yController,
       ProfiledPIDController thetaController,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
       Subsystem... requirements) {
     this(
@@ -317,9 +316,8 @@ public MecanumControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond,
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
+        maxWheelVelocity,
         outputWheelSpeeds,
         requirements);
   }
@@ -328,18 +326,16 @@ public MecanumControllerCommand(
   public void initialize() {
     var initialState = m_trajectory.sample(0);
 
-    var initialXVelocity =
-        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getCos();
-    var initialYVelocity =
-        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getSin();
+    var initialXVelocity = initialState.velocity * initialState.pose.getRotation().getCos();
+    var initialYVelocity = initialState.velocity * initialState.pose.getRotation().getSin();
 
     MecanumDriveWheelSpeeds prevSpeeds =
         m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
 
-    m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeftMetersPerSecond;
-    m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeftMetersPerSecond;
-    m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRightMetersPerSecond;
-    m_prevRearRightSpeedSetpoint = prevSpeeds.rearRightMetersPerSecond;
+    m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeft;
+    m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeft;
+    m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRight;
+    m_prevRearRightSpeedSetpoint = prevSpeeds.rearRight;
 
     m_timer.restart();
   }
@@ -354,12 +350,12 @@ public void execute() {
         m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
 
-    targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
+    targetWheelSpeeds.desaturate(m_maxWheelVelocity);
 
-    double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
-    double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
-    double frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
-    double rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
+    double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
+    double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;
+    double frontRightSpeedSetpoint = targetWheelSpeeds.frontRight;
+    double rearRightSpeedSetpoint = targetWheelSpeeds.rearRight;
 
     double frontLeftOutput;
     double rearLeftOutput;
@@ -382,22 +378,22 @@ public void execute() {
       frontLeftOutput =
           frontLeftFeedforward
               + m_frontLeftController.calculate(
-                  m_currentWheelSpeeds.get().frontLeftMetersPerSecond, frontLeftSpeedSetpoint);
+                  m_currentWheelSpeeds.get().frontLeft, frontLeftSpeedSetpoint);
 
       rearLeftOutput =
           rearLeftFeedforward
               + m_rearLeftController.calculate(
-                  m_currentWheelSpeeds.get().rearLeftMetersPerSecond, rearLeftSpeedSetpoint);
+                  m_currentWheelSpeeds.get().rearLeft, rearLeftSpeedSetpoint);
 
       frontRightOutput =
           frontRightFeedforward
               + m_frontRightController.calculate(
-                  m_currentWheelSpeeds.get().frontRightMetersPerSecond, frontRightSpeedSetpoint);
+                  m_currentWheelSpeeds.get().frontRight, frontRightSpeedSetpoint);
 
       rearRightOutput =
           rearRightFeedforward
               + m_rearRightController.calculate(
-                  m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
+                  m_currentWheelSpeeds.get().rearRight, rearRightSpeedSetpoint);
 
       m_outputDriveVoltages.accept(
           new MecanumDriveMotorVoltages(
@@ -420,6 +416,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
+    return m_timer.hasElapsed(m_trajectory.getTotalTime());
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index 424a288b03b..06d63ebb2e1 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -123,8 +123,7 @@ public SwerveControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
         outputModuleStates,
         requirements);
   }
@@ -162,8 +161,7 @@ public SwerveControllerCommand(
         pose,
         kinematics,
         controller,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
         outputModuleStates,
         requirements);
   }
@@ -233,6 +231,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
+    return m_timer.hasElapsed(m_trajectory.getTotalTime());
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index 9ac412ce50b..5f5f3731f5e 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -60,24 +60,24 @@ void cleanupAll() {
   private static final double kAngularTolerance = 1 / 12.0;
 
   private static final double kWheelBase = 0.5;
-  private static final double kTrackWidth = 0.5;
+  private static final double kTrackwidth = 0.5;
 
   private final MecanumDriveKinematics m_kinematics =
       new MecanumDriveKinematics(
-          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+          new Translation2d(kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
 
   private final MecanumDriveOdometry m_odometry =
       new MecanumDriveOdometry(
           m_kinematics, Rotation2d.kZero, new MecanumDriveWheelPositions(), Pose2d.kZero);
 
   public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
-    this.m_frontLeftSpeed = wheelSpeeds.frontLeftMetersPerSecond;
-    this.m_rearLeftSpeed = wheelSpeeds.rearLeftMetersPerSecond;
-    this.m_frontRightSpeed = wheelSpeeds.frontRightMetersPerSecond;
-    this.m_rearRightSpeed = wheelSpeeds.rearRightMetersPerSecond;
+    this.m_frontLeftSpeed = wheelSpeeds.frontLeft;
+    this.m_rearLeftSpeed = wheelSpeeds.rearLeft;
+    this.m_frontRightSpeed = wheelSpeeds.frontRight;
+    this.m_rearRightSpeed = wheelSpeeds.rearRight;
   }
 
   public MecanumDriveWheelPositions getCurrentWheelDistances() {
@@ -87,7 +87,7 @@ public MecanumDriveWheelPositions getCurrentWheelDistances() {
 
   public Pose2d getRobotPose() {
     m_odometry.update(m_angle, getCurrentWheelDistances());
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   @Test
@@ -101,7 +101,7 @@ void testReachesReference() {
     var config = new TrajectoryConfig(8.8, 0.1);
     final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
 
-    final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
+    final var endState = trajectory.sample(trajectory.getTotalTime());
 
     final var command =
         new MecanumControllerCommand(
@@ -120,7 +120,7 @@ void testReachesReference() {
     command.initialize();
     while (!command.isFinished()) {
       command.execute();
-      m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
+      m_angle = trajectory.sample(m_timer.get()).pose.getRotation();
       m_frontLeftDistance += m_frontLeftSpeed * 0.005;
       m_rearLeftDistance += m_rearLeftSpeed * 0.005;
       m_frontRightDistance += m_frontRightSpeed * 0.005;
@@ -131,11 +131,11 @@ void testReachesReference() {
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () -> assertEquals(endState.pose.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.pose.getY(), getRobotPose().getY(), kyTolerance),
         () ->
             assertEquals(
-                endState.poseMeters.getRotation().getRadians(),
+                endState.pose.getRotation().getRadians(),
                 getRobotPose().getRotation().getRadians(),
                 kAngularTolerance));
   }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index 0abe4990486..2d91497f347 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -67,14 +67,14 @@ void cleanup() {
   private static final double kAngularTolerance = 1 / 12.0;
 
   private static final double kWheelBase = 0.5;
-  private static final double kTrackWidth = 0.5;
+  private static final double kTrackwidth = 0.5;
 
   private final SwerveDriveKinematics m_kinematics =
       new SwerveDriveKinematics(
-          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+          new Translation2d(kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
 
   private final SwerveDriveOdometry m_odometry =
       new SwerveDriveOdometry(m_kinematics, Rotation2d.kZero, m_modulePositions, Pose2d.kZero);
@@ -86,7 +86,7 @@ public void setModuleStates(SwerveModuleState[] moduleStates) {
 
   public Pose2d getRobotPose() {
     m_odometry.update(m_angle, m_modulePositions);
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   @Test
@@ -100,7 +100,7 @@ void testReachesReference() {
     var config = new TrajectoryConfig(8.8, 0.1);
     final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
 
-    final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
+    final var endState = trajectory.sample(trajectory.getTotalTime());
 
     final var command =
         new SwerveControllerCommand(
@@ -118,10 +118,10 @@ void testReachesReference() {
     command.initialize();
     while (!command.isFinished()) {
       command.execute();
-      m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
+      m_angle = trajectory.sample(m_timer.get()).pose.getRotation();
 
       for (int i = 0; i < m_modulePositions.length; i++) {
-        m_modulePositions[i].distanceMeters += m_moduleStates[i].speedMetersPerSecond * 0.005;
+        m_modulePositions[i].distance += m_moduleStates[i].speed * 0.005;
         m_modulePositions[i].angle = m_moduleStates[i].angle;
       }
 
@@ -131,11 +131,11 @@ void testReachesReference() {
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () -> assertEquals(endState.pose.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.pose.getY(), getRobotPose().getY(), kyTolerance),
         () ->
             assertEquals(
-                endState.poseMeters.getRotation().getRadians(),
+                endState.pose.getRotation().getRadians(),
                 getRobotPose().getRotation().getRadians(),
                 kAngularTolerance));
   }
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
index c79432d99eb..04af56a682d 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
@@ -51,13 +51,13 @@ class MecanumControllerCommandTest : public ::testing::Test {
   static constexpr units::radian_t kAngularTolerance{1 / 12.0};
 
   static constexpr units::meter_t kWheelBase{0.5};
-  static constexpr units::meter_t kTrackWidth{0.5};
+  static constexpr units::meter_t kTrackwidth{0.5};
 
   frc::MecanumDriveKinematics m_kinematics{
-      frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
+      frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
 
   frc::MecanumDriveOdometry m_odometry{m_kinematics, 0_rad,
                                        getCurrentWheelDistances(),
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index b96a1e1c139..82036514e45 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -51,13 +51,13 @@ class SwerveControllerCommandTest : public ::testing::Test {
   static constexpr units::radian_t kAngularTolerance{1 / 12.0};
 
   static constexpr units::meter_t kWheelBase{0.5};
-  static constexpr units::meter_t kTrackWidth{0.5};
+  static constexpr units::meter_t kTrackwidth{0.5};
 
   frc::SwerveDriveKinematics<4> m_kinematics{
-      frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
+      frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
 
   frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, 0_rad, m_modulePositions,
                                          frc::Pose2d{0_m, 0_m, 0_rad}};
diff --git a/wpilibc/src/main/native/cpp/SharpIR.cpp b/wpilibc/src/main/native/cpp/SharpIR.cpp
index 67e00f6a67e..3be2d777165 100644
--- a/wpilibc/src/main/native/cpp/SharpIR.cpp
+++ b/wpilibc/src/main/native/cpp/SharpIR.cpp
@@ -6,6 +6,7 @@
 
 #include <algorithm>
 
+#include <units/length.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
@@ -14,28 +15,29 @@
 using namespace frc;
 
 SharpIR SharpIR::GP2Y0A02YK0F(int channel) {
-  return SharpIR(channel, 62.28, -1.092, 20, 150.0);
+  return SharpIR(channel, 62.28, -1.092, 20_cm, 150_cm);
 }
 
 SharpIR SharpIR::GP2Y0A21YK0F(int channel) {
-  return SharpIR(channel, 26.449, -1.226, 10.0, 80.0);
+  return SharpIR(channel, 26.449, -1.226, 10_cm, 80_cm);
 }
 
 SharpIR SharpIR::GP2Y0A41SK0F(int channel) {
-  return SharpIR(channel, 12.354, -1.07, 4.0, 30.0);
+  return SharpIR(channel, 12.354, -1.07, 4_cm, 30_cm);
 }
 
 SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
-  return SharpIR(channel, 5.2819, -1.161, 2.0, 15.0);
+  return SharpIR(channel, 5.2819, -1.161, 2_cm, 15_cm);
 }
 
-SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
-    : m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
+SharpIR::SharpIR(int channel, double a, double b, units::meter_t min,
+                 units::meter_t max)
+    : m_sensor(channel), m_A(a), m_B(b), m_min(min), m_max(max) {
   wpi::SendableRegistry::AddLW(this, "SharpIR", channel);
 
   m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
   if (m_simDevice) {
-    m_simRange = m_simDevice.CreateDouble("Range (cm)", false, 0.0);
+    m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
     m_sensor.SetSimDevice(m_simDevice);
   }
 }
@@ -44,19 +46,16 @@ int SharpIR::GetChannel() const {
   return m_sensor.GetChannel();
 }
 
-units::centimeter_t SharpIR::GetRange() const {
-  double distance;
-
+units::meter_t SharpIR::GetRange() const {
   if (m_simRange) {
-    distance = m_simRange.Get();
+    return std::clamp(units::meter_t{m_simRange.Get()}, m_min, m_max);
   } else {
     // Don't allow zero/negative values
     auto v = std::max(m_sensor.GetVoltage(), 0.00001);
-    distance = m_A * std::pow(v, m_B);
-  }
 
-  // Always constrain output
-  return units::centimeter_t{std::max(std::min(distance, m_maxCM), m_minCM)};
+    return std::clamp(units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
+                      m_max);
+  }
 }
 
 void SharpIR::InitSendable(wpi::SendableBuilder& builder) {
diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index 640a56c4f41..edb566621e7 100644
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -137,7 +137,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
 units::meter_t Ultrasonic::GetRange() const {
   if (IsRangeValid()) {
     if (m_simRange) {
-      return units::inch_t{m_simRange.Get()};
+      return units::meter_t{m_simRange.Get()};
     }
     return m_counter.GetPeriod() * kSpeedOfSound / 2.0;
   } else {
@@ -164,7 +164,7 @@ void Ultrasonic::Initialize() {
   m_simDevice = hal::SimDevice("Ultrasonic", m_echoChannel->GetChannel());
   if (m_simDevice) {
     m_simRangeValid = m_simDevice.CreateBoolean("Range Valid", false, true);
-    m_simRange = m_simDevice.CreateDouble("Range (in)", false, 0.0);
+    m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
     m_pingChannel->SetSimDevice(m_simDevice);
     m_echoChannel->SetSimDevice(m_simDevice);
   }
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index 19f3ab6c7d3..b61b6ad6c9d 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -18,11 +18,11 @@ using namespace frc;
 using namespace frc::sim;
 
 DifferentialDrivetrainSim::DifferentialDrivetrainSim(
-    LinearSystem<2, 2, 2> plant, units::meter_t trackWidth, DCMotor driveMotor,
+    LinearSystem<2, 2, 2> plant, units::meter_t trackwidth, DCMotor driveMotor,
     double gearRatio, units::meter_t wheelRadius,
     const std::array<double, 7>& measurementStdDevs)
     : m_plant(std::move(plant)),
-      m_rb(trackWidth / 2.0),
+      m_rb(trackwidth / 2.0),
       m_wheelRadius(wheelRadius),
       m_motor(driveMotor),
       m_originalGearing(gearRatio),
@@ -36,11 +36,11 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
 DifferentialDrivetrainSim::DifferentialDrivetrainSim(
     frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
     units::kilogram_t mass, units::meter_t wheelRadius,
-    units::meter_t trackWidth, const std::array<double, 7>& measurementStdDevs)
+    units::meter_t trackwidth, const std::array<double, 7>& measurementStdDevs)
     : DifferentialDrivetrainSim(
           frc::LinearSystemId::DrivetrainVelocitySystem(
-              driveMotor, mass, wheelRadius, trackWidth / 2.0, J, gearing),
-          trackWidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
+              driveMotor, mass, wheelRadius, trackwidth / 2.0, J, gearing),
+          trackwidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
 
 Eigen::Vector2d DifferentialDrivetrainSim::ClampInput(
     const Eigen::Vector2d& u) {
diff --git a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
index 46922aa6e4a..d5abf6cc423 100644
--- a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
@@ -16,9 +16,9 @@ SharpIRSim::SharpIRSim(const SharpIR& sharpIR)
 
 SharpIRSim::SharpIRSim(int channel) {
   frc::sim::SimDeviceSim deviceSim{"SharpIR", channel};
-  m_simRange = deviceSim.GetDouble("Range (cm)");
+  m_simRange = deviceSim.GetDouble("Range (m)");
 }
 
-void SharpIRSim::SetRange(units::centimeter_t rng) {
-  m_simRange.Set(rng.value());
+void SharpIRSim::SetRange(units::meter_t range) {
+  m_simRange.Set(range.value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
index 1016c4bccbc..56af35fc403 100644
--- a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
@@ -15,13 +15,13 @@ UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic)
 UltrasonicSim::UltrasonicSim(int ping, int echo) {
   frc::sim::SimDeviceSim deviceSim{"Ultrasonic", echo};
   m_simRangeValid = deviceSim.GetBoolean("Range Valid");
-  m_simRange = deviceSim.GetDouble("Range (in)");
+  m_simRange = deviceSim.GetDouble("Range (m)");
 }
 
 void UltrasonicSim::SetRangeValid(bool valid) {
   m_simRangeValid.Set(valid);
 }
 
-void UltrasonicSim::SetRange(units::inch_t range) {
+void UltrasonicSim::SetRange(units::meter_t range) {
   m_simRange.Set(range.value());
 }
diff --git a/wpilibc/src/main/native/include/frc/SharpIR.h b/wpilibc/src/main/native/include/frc/SharpIR.h
index 4dd7e433192..df637a4dd99 100644
--- a/wpilibc/src/main/native/include/frc/SharpIR.h
+++ b/wpilibc/src/main/native/include/frc/SharpIR.h
@@ -63,10 +63,11 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
    * @param channel Analog input channel the sensor is connected to
    * @param a Constant A
    * @param b Constant B
-   * @param minCM Minimum distance to report in centimeters
-   * @param maxCM Maximum distance to report in centimeters
+   * @param min Minimum distance to report
+   * @param max Maximum distance to report
    */
-  SharpIR(int channel, double a, double b, double minCM, double maxCM);
+  SharpIR(int channel, double a, double b, units::meter_t min,
+          units::meter_t max);
 
   /**
    * Get the analog input channel number.
@@ -80,7 +81,7 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
    *
    * @return range of the target returned by the sensor
    */
-  units::centimeter_t GetRange() const;
+  units::meter_t GetRange() const;
 
   void InitSendable(wpi::SendableBuilder& builder) override;
 
@@ -92,8 +93,8 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
 
   double m_A;
   double m_B;
-  double m_minCM;
-  double m_maxCM;
+  units::meter_t m_min;
+  units::meter_t m_max;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index 644e348afd8..b6bf76076fa 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -25,7 +25,7 @@ class DifferentialDrivetrainSim {
    *              system can be created with
    *              LinearSystemId::DrivetrainVelocitySystem() or
    *              LinearSystemId::IdentifyDrivetrainSystem().
-   * @param trackWidth   The robot's track width.
+   * @param trackwidth   The robot's trackwidth.
    * @param driveMotor   A DCMotor representing the left side of the drivetrain.
    * @param gearingRatio The gearingRatio ratio of the left side, as output over
    *                     input. This must be the same ratio as the ratio used to
@@ -41,7 +41,7 @@ class DifferentialDrivetrainSim {
    *                           starting point.
    */
   DifferentialDrivetrainSim(
-      LinearSystem<2, 2, 2> plant, units::meter_t trackWidth,
+      LinearSystem<2, 2, 2> plant, units::meter_t trackwidth,
       DCMotor driveMotor, double gearingRatio, units::meter_t wheelRadius,
       const std::array<double, 7>& measurementStdDevs = {});
 
@@ -56,7 +56,7 @@ class DifferentialDrivetrainSim {
    *                    center.
    * @param mass        The mass of the drivebase.
    * @param wheelRadius The radius of the wheels on the drivetrain.
-   * @param trackWidth  The robot's track width, or distance between left and
+   * @param trackwidth  The robot's trackwidth, or distance between left and
    *                    right wheels.
    * @param measurementStdDevs Standard deviations for measurements, in the form
    *                           [x, y, heading, left velocity, right velocity,
@@ -70,7 +70,7 @@ class DifferentialDrivetrainSim {
   DifferentialDrivetrainSim(
       frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
       units::kilogram_t mass, units::meter_t wheelRadius,
-      units::meter_t trackWidth,
+      units::meter_t trackwidth,
       const std::array<double, 7>& measurementStdDevs = {});
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h b/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
index afbc0f4f9a2..e4c98b03c63 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
@@ -31,9 +31,9 @@ class SharpIRSim {
   /**
    * Set the range returned by the distance sensor.
    *
-   * @param rng range of the target returned by the sensor
+   * @param range range of the target returned by the sensor
    */
-  void SetRange(units::centimeter_t rng);
+  void SetRange(units::meter_t range);
 
  private:
   hal::SimDouble m_simRange;
diff --git a/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h b/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
index 0d22d87df5b..1bbde4808ec 100644
--- a/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
@@ -45,7 +45,7 @@ class UltrasonicSim {
    *
    * @param range The range.
    */
-  void SetRange(units::inch_t range);
+  void SetRange(units::meter_t range);
 
  private:
   hal::SimBoolean m_simRangeValid;
diff --git a/wpilibc/src/test/native/cpp/SharpIRTest.cpp b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
index e5445eb709d..8456a565e34 100644
--- a/wpilibc/src/test/native/cpp/SharpIRTest.cpp
+++ b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
@@ -13,11 +13,11 @@ TEST(SharpIRTest, SimDevices) {
   SharpIR s = SharpIR::GP2Y0A02YK0F(1);
   SharpIRSim sim(s);
 
-  EXPECT_EQ(20, s.GetRange().value());
+  EXPECT_EQ(0.2, s.GetRange().value());
 
-  sim.SetRange(units::centimeter_t{30});
-  EXPECT_EQ(30, s.GetRange().value());
+  sim.SetRange(30_cm);
+  EXPECT_EQ(0.3, s.GetRange().value());
 
-  sim.SetRange(units::centimeter_t{300});
-  EXPECT_EQ(150, s.GetRange().value());
+  sim.SetRange(300_cm);
+  EXPECT_EQ(1.5, s.GetRange().value());
 }
diff --git a/wpilibc/src/test/native/cpp/UltrasonicTest.cpp b/wpilibc/src/test/native/cpp/UltrasonicTest.cpp
index ca901dba02a..7ffbc16694f 100644
--- a/wpilibc/src/test/native/cpp/UltrasonicTest.cpp
+++ b/wpilibc/src/test/native/cpp/UltrasonicTest.cpp
@@ -16,7 +16,7 @@ TEST(UltrasonicTest, SimDevices) {
   EXPECT_EQ(0, ultrasonic.GetRange().value());
   EXPECT_TRUE(ultrasonic.IsRangeValid());
 
-  sim.SetRange(units::meter_t{35.04});
+  sim.SetRange(35.04_m);
   EXPECT_EQ(35.04, ultrasonic.GetRange().value());
 
   sim.SetRangeValid(false);
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
index 85bccc7f521..bc57f727d46 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -56,7 +56,7 @@ class Drivetrain {
   void UpdateOdometry();
 
  private:
-  static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
+  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
@@ -73,7 +73,7 @@ class Drivetrain {
 
   frc::AnalogGyro m_gyro{0};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
+  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
   frc::DifferentialDriveOdometry m_odometry{
       m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
       units::meter_t{m_rightEncoder.GetDistance()}};
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
index 633571ef173..bc74a9c90a2 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -112,7 +112,7 @@ class Drivetrain {
                                 nt::DoubleArrayEntry& cameraToObjectEntry);
 
  private:
-  static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
+  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
   static constexpr units::meter_t kWheelRadius = 0.0508_m;
   static constexpr int kEncoderResolution = 4096;
 
@@ -147,7 +147,7 @@ class Drivetrain {
 
   frc::AnalogGyro m_gyro{0};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
+  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
@@ -174,5 +174,5 @@ class Drivetrain {
       frc::LinearSystemId::IdentifyDrivetrainSystem(
           1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
   frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
-      m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in};
+      m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
index 99aed4e627a..9fd38043e1f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
@@ -7,10 +7,10 @@
 namespace DriveConstants {
 
 const frc::MecanumDriveKinematics kDriveKinematics{
-    frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
-    frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
-    frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
-    frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
+    frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
+    frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
+    frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
+    frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
 
 }  // namespace DriveConstants
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
index 7dde79c308a..098dfa2028c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -43,17 +43,17 @@ inline constexpr bool kRearLeftEncoderReversed = true;
 inline constexpr bool kFrontRightEncoderReversed = false;
 inline constexpr bool kRearRightEncoderReversed = true;
 
-inline constexpr auto kTrackWidth =
+inline constexpr auto kTrackwidth =
     0.5_m;  // Distance between centers of right and left wheels on robot
 inline constexpr auto kWheelBase =
     0.7_m;  // Distance between centers of front and back wheels on robot
 extern const frc::MecanumDriveKinematics kDriveKinematics;
 
 inline constexpr int kEncoderCPR = 1024;
-inline constexpr double kWheelDiameterMeters = 0.15;
+inline constexpr auto kWheelDiameter = 0.15_m;
 inline constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * std::numbers::pi) /
+    (kWheelDiameter.value() * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
index ca82547f7cb..4320e50508e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -73,7 +73,7 @@ class Drivetrain {
   void Periodic();
 
  private:
-  static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
+  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
   static constexpr double kWheelRadius = 0.0508;  // meters
   static constexpr int kEncoderResolution = 4096;
 
@@ -90,7 +90,7 @@ class Drivetrain {
 
   frc::AnalogGyro m_gyro{0};
 
-  frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
+  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
   frc::DifferentialDriveOdometry m_odometry{
       m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
       units::meter_t{m_rightEncoder.GetDistance()}};
@@ -108,5 +108,5 @@ class Drivetrain {
       frc::LinearSystemId::IdentifyDrivetrainSystem(
           1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
   frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
-      m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in};
+      m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
index 5e95629f184..b8c0f76940a 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -80,10 +80,10 @@ inline constexpr double kPRearRightVel = 0.5;
 
 namespace ModuleConstants {
 inline constexpr int kEncoderCPR = 1024;
-inline constexpr double kWheelDiameterMeters = 0.15;
+inline constexpr auto kWheelDiameter = 0.15_m;
 inline constexpr double kDriveEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * std::numbers::pi) /
+    (kWheelDiameter.value() * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 inline constexpr double kTurningEncoderDistancePerPulse =
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
index c428fd7f347..d0222961687 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
@@ -88,16 +88,16 @@ class DriveSubsystem : public frc2::SubsystemBase {
    */
   void ResetOdometry(frc::Pose2d pose);
 
-  units::meter_t kTrackWidth =
+  units::meter_t kTrackwidth =
       0.5_m;  // Distance between centers of right and left wheels on robot
   units::meter_t kWheelBase =
       0.7_m;  // Distance between centers of front and back wheels on robot
 
   frc::SwerveDriveKinematics<4> kDriveKinematics{
-      frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
-      frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
+      frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
+      frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
diff --git a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
index fecaf97fb9d..a6b97377d88 100644
--- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
@@ -15,8 +15,8 @@ void Robot::AutonomousInit() {
 }
 
 void Robot::AutonomousPeriodic() {
-  units::millimeter_t measurement = m_ultrasonic.GetRange();
-  units::millimeter_t filteredMeasurement = m_filter.Calculate(measurement);
+  units::meter_t measurement = m_ultrasonic.GetRange();
+  units::meter_t filteredMeasurement = m_filter.Calculate(measurement);
   double pidOutput = m_pidController.Calculate(filteredMeasurement.value());
 
   // disable input squaring -- PID output is linear
diff --git a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
index 696f0668fc9..165cdbf1fd4 100644
--- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
@@ -23,7 +23,7 @@ class Robot : public frc::TimedRobot {
   void AutonomousPeriodic() override;
 
   // distance the robot wants to stay from an object
-  static constexpr units::millimeter_t kHoldDistance = 1_m;
+  static constexpr units::meter_t kHoldDistance = 1_m;
 
   static constexpr int kLeftMotorPort = 0;
   static constexpr int kRightMotorPort = 1;
@@ -32,7 +32,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   // proportional speed constant
-  static constexpr double kP = 0.001;
+  static constexpr double kP = 1.0;
   // integral speed constant
   static constexpr double kI = 0.0;
   // derivative speed constant
diff --git a/wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/UltrasonicPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/UltrasonicPIDTest.cpp
index 5cfcbe8dbc7..f13fc22bc16 100644
--- a/wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/UltrasonicPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/UltrasonicPID/cpp/UltrasonicPIDTest.cpp
@@ -2,7 +2,6 @@
 // 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 <string>
 #include <thread>
 
 #include <frc/RobotController.h>
@@ -47,7 +46,7 @@ class UltrasonicPIDTest : public testing::TestWithParam<double> {
                                           Robot::kUltrasonicEchoPort};
   int32_t m_callback;
 
-  units::millimeter_t m_distance;
+  units::meter_t m_distance;
 
  public:
   void SimPeriodicBefore() {
@@ -101,7 +100,7 @@ TEST_P(UltrasonicPIDTest, Auto) {
   {
     frc::sim::StepTiming(5_s);
 
-    EXPECT_NEAR(Robot::kHoldDistance.value(), m_distance.value(), 10.0);
+    EXPECT_NEAR(Robot::kHoldDistance.value(), m_distance.value(), 0.01);
   }
 }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMA.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMA.java
index bd26a7bf5de..501e7f57de7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMA.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMA.java
@@ -33,10 +33,10 @@ public void setPause(boolean pause) {
   /**
    * Sets DMA to trigger at an interval.
    *
-   * @param periodSeconds Period at which to trigger DMA in seconds.
+   * @param period Period at which to trigger DMA in seconds.
    */
-  public void setTimedTrigger(double periodSeconds) {
-    DMAJNI.setTimedTrigger(m_dmaHandle, periodSeconds);
+  public void setTimedTrigger(double period) {
+    DMAJNI.setTimedTrigger(m_dmaHandle, period);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMASample.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMASample.java
index 1435cd36d9d..c07d2cdb049 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMASample.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMASample.java
@@ -58,11 +58,11 @@ public DMASample() {}
    * Retrieves a new DMA sample.
    *
    * @param dma DMA object.
-   * @param timeoutSeconds Timeout in seconds for retrieval.
+   * @param timeout Timeout for retrieval in seconds.
    * @return DMA read status.
    */
-  public DMAReadStatus update(DMA dma, double timeoutSeconds) {
-    return DMAReadStatus.getValue(m_dmaSample.update(dma.m_dmaHandle, timeoutSeconds));
+  public DMAReadStatus update(DMA dma, double timeout) {
+    return DMAReadStatus.getValue(m_dmaSample.update(dma.m_dmaHandle, timeout));
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 36721e355aa..c75c9ea1b2b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -1148,19 +1148,19 @@ public static AllianceStationID getRawAllianceStation() {
   /**
    * Wait for a DS connection.
    *
-   * @param timeoutSeconds timeout in seconds. 0 for infinite.
+   * @param timeout timeout in seconds. 0 for infinite.
    * @return true if connected, false if timeout
    */
-  public static boolean waitForDsConnection(double timeoutSeconds) {
+  public static boolean waitForDsConnection(double timeout) {
     int event = WPIUtilJNI.createEvent(true, false);
     DriverStationJNI.provideNewDataEventHandle(event);
     boolean result;
     try {
-      if (timeoutSeconds == 0) {
+      if (timeout == 0) {
         WPIUtilJNI.waitForObject(event);
         result = true;
       } else {
-        result = !WPIUtilJNI.waitForObjectTimeout(event, timeoutSeconds);
+        result = !WPIUtilJNI.waitForObjectTimeout(event, timeout);
       }
     } catch (InterruptedException ex) {
       Thread.currentThread().interrupt();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
index 1529af5bc69..3c4543cfcde 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
@@ -31,11 +31,11 @@ public class Notifier implements AutoCloseable {
 
   // The time, in seconds, at which the callback should be called. Has the same
   // zero as RobotController.getFPGATime().
-  private double m_expirationTimeSeconds;
+  private double m_expirationTime;
 
-  // If periodic, stores the callback period; if single, stores the time until
-  // the callback call.
-  private double m_periodSeconds;
+  // If periodic, stores the callback period in seconds; if single, stores the time until
+  // the callback call in seconds.
+  private double m_period;
 
   // True if the callback is periodic
   private boolean m_periodic;
@@ -75,7 +75,7 @@ private void updateAlarm(long triggerTimeMicroS) {
 
   /** Update the alarm hardware to reflect the next alarm. */
   private void updateAlarm() {
-    updateAlarm((long) (m_expirationTimeSeconds * 1e6));
+    updateAlarm((long) (m_expirationTime * 1e6));
   }
 
   /**
@@ -109,7 +109,7 @@ public Notifier(Runnable callback) {
                 try {
                   threadHandler = m_callback;
                   if (m_periodic) {
-                    m_expirationTimeSeconds += m_periodSeconds;
+                    m_expirationTime += m_period;
                     updateAlarm();
                   } else {
                     // Need to update the alarm to cause it to wait again
@@ -178,8 +178,8 @@ public void startSingle(double delaySeconds) {
     m_processLock.lock();
     try {
       m_periodic = false;
-      m_periodSeconds = delaySeconds;
-      m_expirationTimeSeconds = RobotController.getFPGATime() * 1e-6 + delaySeconds;
+      m_period = delaySeconds;
+      m_expirationTime = RobotController.getFPGATime() * 1e-6 + delaySeconds;
       updateAlarm();
     } finally {
       m_processLock.unlock();
@@ -192,15 +192,15 @@ public void startSingle(double delaySeconds) {
    * <p>The user-provided callback should be written so that it completes before the next time it's
    * scheduled to run.
    *
-   * @param periodSeconds Period in seconds after which to to call the callback starting one period
-   *     after the call to this method.
+   * @param period Period in seconds after which to to call the callback starting one period after
+   *     the call to this method.
    */
-  public void startPeriodic(double periodSeconds) {
+  public void startPeriodic(double period) {
     m_processLock.lock();
     try {
       m_periodic = true;
-      m_periodSeconds = periodSeconds;
-      m_expirationTimeSeconds = RobotController.getFPGATime() * 1e-6 + periodSeconds;
+      m_period = period;
+      m_expirationTime = RobotController.getFPGATime() * 1e-6 + period;
       updateAlarm();
     } finally {
       m_processLock.unlock();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
index 66993da1b2f..67b39234750 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java
@@ -7,6 +7,7 @@
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
@@ -27,47 +28,47 @@ public class SharpIR implements Sendable, AutoCloseable {
 
   private final double m_A;
   private final double m_B;
-  private final double m_minCM;
-  private final double m_maxCM;
+  private final double m_min; // m
+  private final double m_max; // m
 
   /**
-   * Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring distances from 20cm to 150cm.
+   * Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring distances from 20 cm to 150 cm.
    *
    * @param channel Analog input channel the sensor is connected to
    * @return sensor object
    */
   public static SharpIR GP2Y0A02YK0F(int channel) {
-    return new SharpIR(channel, 62.28, -1.092, 20, 150.0);
+    return new SharpIR(channel, 62.28, -1.092, 0.2, 1.5);
   }
 
   /**
-   * Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring distances from 10cm to 80cm.
+   * Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring distances from 10 cm to 80 cm.
    *
    * @param channel Analog input channel the sensor is connected to
    * @return sensor object
    */
   public static SharpIR GP2Y0A21YK0F(int channel) {
-    return new SharpIR(channel, 26.449, -1.226, 10.0, 80.0);
+    return new SharpIR(channel, 26.449, -1.226, 0.1, 0.8);
   }
 
   /**
-   * Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring distances from 4cm to 30cm.
+   * Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring distances from 4 cm to 30 cm.
    *
    * @param channel Analog input channel the sensor is connected to
    * @return sensor object
    */
   public static SharpIR GP2Y0A41SK0F(int channel) {
-    return new SharpIR(channel, 12.354, -1.07, 4.0, 30.0);
+    return new SharpIR(channel, 12.354, -1.07, 0.04, 0.3);
   }
 
   /**
-   * Sharp GP2Y0A51SK0F is an analog IR sensor capable of measuring distances from 2cm to 15cm.
+   * Sharp GP2Y0A51SK0F is an analog IR sensor capable of measuring distances from 2 cm to 15 cm.
    *
    * @param channel Analog input channel the sensor is connected to
    * @return sensor object
    */
   public static SharpIR GP2Y0A51SK0F(int channel) {
-    return new SharpIR(channel, 5.2819, -1.161, 2.0, 15.0);
+    return new SharpIR(channel, 5.2819, -1.161, 0.02, 0.15);
   }
 
   /**
@@ -77,23 +78,23 @@ public static SharpIR GP2Y0A51SK0F(int channel) {
    * @param channel AnalogInput channel
    * @param a Constant A
    * @param b Constant B
-   * @param minCM Minimum distance to report in centimeters
-   * @param maxCM Maximum distance to report in centimeters
+   * @param min Minimum distance to report in meters
+   * @param max Maximum distance to report in meters
    */
   @SuppressWarnings("this-escape")
-  public SharpIR(int channel, double a, double b, double minCM, double maxCM) {
+  public SharpIR(int channel, double a, double b, double min, double max) {
     m_sensor = new AnalogInput(channel);
 
     m_A = a;
     m_B = b;
-    m_minCM = minCM;
-    m_maxCM = maxCM;
+    m_min = min;
+    m_max = max;
 
     SendableRegistry.addLW(this, "SharpIR", channel);
 
     m_simDevice = SimDevice.create("SharpIR", m_sensor.getChannel());
     if (m_simDevice != null) {
-      m_simRange = m_simDevice.createDouble("Range (cm)", Direction.kInput, 0.0);
+      m_simRange = m_simDevice.createDouble("Range (m)", Direction.kInput, 0.0);
       m_sensor.setSimDevice(m_simDevice);
     }
   }
@@ -121,37 +122,24 @@ public int getChannel() {
   }
 
   /**
-   * Get the range in inches from the distance sensor.
+   * Get the range in meters from the distance sensor.
    *
-   * @return range in inches of the target returned by the sensor
+   * @return range in meters of the target returned by the sensor
    */
-  public double getRangeInches() {
-    return getRangeCM() / 2.54;
-  }
-
-  /**
-   * Get the range in centimeters from the distance sensor.
-   *
-   * @return range in centimeters of the target returned by the sensor
-   */
-  public double getRangeCM() {
-    double distance;
-
+  public double getRange() {
     if (m_simRange != null) {
-      distance = m_simRange.get();
+      return MathUtil.clamp(m_simRange.get(), m_min, m_max);
     } else {
       // Don't allow zero/negative values
       var v = Math.max(m_sensor.getVoltage(), 0.00001);
-      distance = m_A * Math.pow(v, m_B);
-    }
 
-    // Always constrain output
-    return Math.max(Math.min(distance, m_maxCM), m_minCM);
+      return MathUtil.clamp(m_A * Math.pow(v, m_B) * 1e-2, m_min, m_max);
+    }
   }
 
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Ultrasonic");
-    builder.addDoubleProperty("Value", this::getRangeInches, null);
+    builder.addDoubleProperty("Value", this::getRange, null);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
index 449402c6cdf..c9b7a9ea65b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
@@ -87,14 +87,14 @@ public void close() {
   /**
    * Wait for an interrupt.
    *
-   * @param timeoutSeconds The timeout in seconds. 0 or less will return immediately.
+   * @param timeout The timeout in seconds. 0 or less will return immediately.
    * @param ignorePrevious True to ignore if a previous interrupt has occurred, and only wait for a
    *     new trigger. False will consider if an interrupt has occurred since the last time the
    *     interrupt was read.
    * @return Result of which edges were triggered, or if a timeout occurred.
    */
-  public WaitResult waitForInterrupt(double timeoutSeconds, boolean ignorePrevious) {
-    long result = InterruptJNI.waitForInterrupt(m_handle, timeoutSeconds, ignorePrevious);
+  public WaitResult waitForInterrupt(double timeout, boolean ignorePrevious) {
+    long result = InterruptJNI.waitForInterrupt(m_handle, timeout, ignorePrevious);
 
     // Rising edge result is the interrupt bit set in the byte 0xFF
     // Falling edge result is the interrupt bit set in the byte 0xFF00
@@ -108,11 +108,11 @@ public WaitResult waitForInterrupt(double timeoutSeconds, boolean ignorePrevious
   /**
    * Wait for an interrupt, ignoring any previously occurring interrupts.
    *
-   * @param timeoutSeconds The timeout in seconds. 0 or less will return immediately.
+   * @param timeout The timeout in seconds. 0 or less will return immediately.
    * @return Result of which edges were triggered, or if a timeout occurred.
    */
-  public WaitResult waitForInterrupt(double timeoutSeconds) {
-    return waitForInterrupt(timeoutSeconds, true);
+  public WaitResult waitForInterrupt(double timeout) {
+    return waitForInterrupt(timeout, true);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index 78a8046f3d6..9c80653a8e1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -32,19 +32,18 @@ static class Callback implements Comparable<Callback> {
      * Construct a callback container.
      *
      * @param func The callback to run.
-     * @param startTimeSeconds The common starting point for all callback scheduling in
-     *     microseconds.
-     * @param periodSeconds The period at which to run the callback in microseconds.
-     * @param offsetSeconds The offset from the common starting time in microseconds.
+     * @param startTime The common starting point for all callback scheduling in microseconds.
+     * @param period The period at which to run the callback in microseconds.
+     * @param offset The offset from the common starting time in microseconds.
      */
-    Callback(Runnable func, long startTimeUs, long periodUs, long offsetUs) {
+    Callback(Runnable func, long startTime, long period, long offset) {
       this.func = func;
-      this.period = periodUs;
+      this.period = period;
       this.expirationTime =
-          startTimeUs
-              + offsetUs
+          startTime
+              + offset
               + this.period
-              + (RobotController.getFPGATime() - startTimeUs) / this.period * this.period;
+              + (RobotController.getFPGATime() - startTime) / this.period * this.period;
     }
 
     @Override
@@ -180,10 +179,10 @@ public long getLoopStartTime() {
    * synchronously. Interactions between them are thread-safe.
    *
    * @param callback The callback to run.
-   * @param periodSeconds The period at which to run the callback in seconds.
+   * @param period The period at which to run the callback in seconds.
    */
-  public final void addPeriodic(Runnable callback, double periodSeconds) {
-    m_callbacks.add(new Callback(callback, m_startTimeUs, (long) (periodSeconds * 1e6), 0));
+  public final void addPeriodic(Runnable callback, double period) {
+    m_callbacks.add(new Callback(callback, m_startTimeUs, (long) (period * 1e6), 0));
   }
 
   /**
@@ -193,14 +192,13 @@ public final void addPeriodic(Runnable callback, double periodSeconds) {
    * synchronously. Interactions between them are thread-safe.
    *
    * @param callback The callback to run.
-   * @param periodSeconds The period at which to run the callback in seconds.
-   * @param offsetSeconds The offset from the common starting time in seconds. This is useful for
+   * @param period The period at which to run the callback in seconds.
+   * @param offset The offset from the common starting time in seconds. This is useful for
    *     scheduling a callback in a different timeslot relative to TimedRobot.
    */
-  public final void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
+  public final void addPeriodic(Runnable callback, double period, double offset) {
     m_callbacks.add(
-        new Callback(
-            callback, m_startTimeUs, (long) (periodSeconds * 1e6), (long) (offsetSeconds * 1e6)));
+        new Callback(callback, m_startTimeUs, (long) (period * 1e6), (long) (offset * 1e6)));
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
index 14103544ce3..8bf619a1df6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -30,7 +30,7 @@
 public class Ultrasonic implements Sendable, AutoCloseable {
   // Time (sec) for the ping trigger pulse.
   private static final double kPingTime = 10 * 1e-6;
-  private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
+  private static final double kSpeedOfSound = 344.4; // m/s
   // ultrasonic sensor list
   private static final List<Ultrasonic> m_sensors = new ArrayList<>();
   // automatic round robin mode
@@ -88,7 +88,7 @@ private synchronized void initialize() {
     m_simDevice = SimDevice.create("Ultrasonic", m_echoChannel.getChannel());
     if (m_simDevice != null) {
       m_simRangeValid = m_simDevice.createBoolean("Range Valid", Direction.kInput, true);
-      m_simRange = m_simDevice.createDouble("Range (in)", Direction.kInput, 0.0);
+      m_simRange = m_simDevice.createDouble("Range (m)", Direction.kInput, 0.0);
       m_pingChannel.setSimDevice(m_simDevice);
       m_echoChannel.setSimDevice(m_simDevice);
     }
@@ -276,32 +276,22 @@ public boolean isRangeValid() {
   }
 
   /**
-   * Get the range in inches from the ultrasonic sensor. If there is no valid value yet, i.e. at
+   * Get the range in meters from the ultrasonic sensor. If there is no valid value yet, i.e. at
    * least one measurement hasn't completed, then return 0.
    *
-   * @return double Range in inches of the target returned from the ultrasonic sensor.
+   * @return double Range in meters of the target returned by the ultrasonic sensor.
    */
-  public double getRangeInches() {
+  public double getRange() {
     if (isRangeValid()) {
       if (m_simRange != null) {
         return m_simRange.get();
       }
-      return m_counter.getPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
+      return m_counter.getPeriod() * kSpeedOfSound / 2.0;
     } else {
       return 0;
     }
   }
 
-  /**
-   * Get the range in millimeters from the ultrasonic sensor. If there is no valid value yet, i.e.
-   * at least one measurement hasn't completed, then return 0.
-   *
-   * @return double Range in millimeters of the target returned by the ultrasonic sensor.
-   */
-  public double getRangeMM() {
-    return getRangeInches() * 25.4;
-  }
-
   /**
    * Is the ultrasonic enabled.
    *
@@ -323,6 +313,6 @@ public void setEnabled(boolean enable) {
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Ultrasonic");
-    builder.addDoubleProperty("Value", this::getRangeInches, null);
+    builder.addDoubleProperty("Value", this::getRange, null);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
index 6d00d6402bb..a59f9638ffd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -21,9 +21,9 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   // Used for timeout print rate-limiting
   private static final long kMinPrintPeriodMicroS = (long) 1e6;
 
-  private double m_startTimeSeconds;
-  private double m_timeoutSeconds;
-  private double m_expirationTimeSeconds;
+  private double m_startTime;
+  private double m_timeout;
+  private double m_expirationTime;
   private final Runnable m_callback;
   private double m_lastTimeoutPrintSeconds;
 
@@ -46,11 +46,11 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   /**
    * Watchdog constructor.
    *
-   * @param timeoutSeconds The watchdog's timeout in seconds with microsecond resolution.
+   * @param timeout The watchdog's timeout in seconds with microsecond resolution.
    * @param callback This function is called when the timeout expires.
    */
-  public Watchdog(double timeoutSeconds, Runnable callback) {
-    m_timeoutSeconds = timeoutSeconds;
+  public Watchdog(double timeout, Runnable callback) {
+    m_timeout = timeout;
     m_callback = callback;
     m_tracer = new Tracer();
   }
@@ -63,19 +63,19 @@ public void close() {
   @Override
   public boolean equals(Object obj) {
     return obj instanceof Watchdog watchdog
-        && Double.compare(m_expirationTimeSeconds, watchdog.m_expirationTimeSeconds) == 0;
+        && Double.compare(m_expirationTime, watchdog.m_expirationTime) == 0;
   }
 
   @Override
   public int hashCode() {
-    return Double.hashCode(m_expirationTimeSeconds);
+    return Double.hashCode(m_expirationTime);
   }
 
   @Override
   public int compareTo(Watchdog rhs) {
     // Elements with sooner expiration times are sorted as lesser. The head of
     // Java's PriorityQueue is the least element.
-    return Double.compare(m_expirationTimeSeconds, rhs.m_expirationTimeSeconds);
+    return Double.compare(m_expirationTime, rhs.m_expirationTime);
   }
 
   /**
@@ -84,25 +84,25 @@ public int compareTo(Watchdog rhs) {
    * @return The time in seconds since the watchdog was last fed.
    */
   public double getTime() {
-    return Timer.getFPGATimestamp() - m_startTimeSeconds;
+    return Timer.getFPGATimestamp() - m_startTime;
   }
 
   /**
    * Sets the watchdog's timeout.
    *
-   * @param timeoutSeconds The watchdog's timeout in seconds with microsecond resolution.
+   * @param timeout The watchdog's timeout in seconds with microsecond resolution.
    */
-  public void setTimeout(double timeoutSeconds) {
-    m_startTimeSeconds = Timer.getFPGATimestamp();
+  public void setTimeout(double timeout) {
+    m_startTime = Timer.getFPGATimestamp();
     m_tracer.clearEpochs();
 
     m_queueMutex.lock();
     try {
-      m_timeoutSeconds = timeoutSeconds;
+      m_timeout = timeout;
       m_isExpired = false;
 
       m_watchdogs.remove(this);
-      m_expirationTimeSeconds = m_startTimeSeconds + m_timeoutSeconds;
+      m_expirationTime = m_startTime + m_timeout;
       m_watchdogs.add(this);
       updateAlarm();
     } finally {
@@ -118,7 +118,7 @@ public void setTimeout(double timeoutSeconds) {
   public double getTimeout() {
     m_queueMutex.lock();
     try {
-      return m_timeoutSeconds;
+      return m_timeout;
     } finally {
       m_queueMutex.unlock();
     }
@@ -168,7 +168,7 @@ public void reset() {
 
   /** Enables the watchdog timer. */
   public void enable() {
-    m_startTimeSeconds = Timer.getFPGATimestamp();
+    m_startTime = Timer.getFPGATimestamp();
     m_tracer.clearEpochs();
 
     m_queueMutex.lock();
@@ -176,7 +176,7 @@ public void enable() {
       m_isExpired = false;
 
       m_watchdogs.remove(this);
-      m_expirationTimeSeconds = m_startTimeSeconds + m_timeoutSeconds;
+      m_expirationTime = m_startTime + m_timeout;
       m_watchdogs.add(this);
       updateAlarm();
     } finally {
@@ -212,7 +212,7 @@ private static void updateAlarm() {
       NotifierJNI.cancelNotifierAlarm(m_notifier);
     } else {
       NotifierJNI.updateNotifierAlarm(
-          m_notifier, (long) (m_watchdogs.peek().m_expirationTimeSeconds * 1e6));
+          m_notifier, (long) (m_watchdogs.peek().m_expirationTime * 1e6));
     }
   }
 
@@ -245,7 +245,7 @@ private static void schedulerFunc() {
           watchdog.m_lastTimeoutPrintSeconds = now;
           if (!watchdog.m_suppressTimeoutMessage) {
             DriverStation.reportWarning(
-                String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeoutSeconds), false);
+                String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout), false);
           }
         }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
index f94fa35b9c7..627c35c7fad 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
@@ -95,27 +95,27 @@ public void setGyroRateZ(double angularRateDegreesPerSecond) {
   /**
    * Sets the X axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelX(double accelMetersPerSecondSquared) {
-    m_simAccelX.set(accelMetersPerSecondSquared);
+  public void setAccelX(double accel) {
+    m_simAccelX.set(accel);
   }
 
   /**
    * Sets the Y axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelY(double accelMetersPerSecondSquared) {
-    m_simAccelY.set(accelMetersPerSecondSquared);
+  public void setAccelY(double accel) {
+    m_simAccelY.set(accel);
   }
 
   /**
    * Sets the Z axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelZ(double accelMetersPerSecondSquared) {
-    m_simAccelZ.set(accelMetersPerSecondSquared);
+  public void setAccelZ(double accel) {
+    m_simAccelZ.set(accel);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
index 57262440a69..d7a1d001b1b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
@@ -95,27 +95,27 @@ public void setGyroRateZ(double angularRateDegreesPerSecond) {
   /**
    * Sets the X axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelX(double accelMetersPerSecondSquared) {
-    m_simAccelX.set(accelMetersPerSecondSquared);
+  public void setAccelX(double accel) {
+    m_simAccelX.set(accel);
   }
 
   /**
    * Sets the Y axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelY(double accelMetersPerSecondSquared) {
-    m_simAccelY.set(accelMetersPerSecondSquared);
+  public void setAccelY(double accel) {
+    m_simAccelY.set(accel);
   }
 
   /**
    * Sets the Z axis acceleration in meters per second squared.
    *
-   * @param accelMetersPerSecondSquared The acceleration.
+   * @param accel The acceleration in m/s².
    */
-  public void setAccelZ(double accelMetersPerSecondSquared) {
-    m_simAccelZ.set(accelMetersPerSecondSquared);
+  public void setAccelZ(double accel) {
+    m_simAccelZ.set(accel);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
index f89b6440a8f..a9e7d361fba 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -4,19 +4,11 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import static edu.wpi.first.units.Units.Radians;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
-
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated DC motor mechanism. */
@@ -27,8 +19,8 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   // The gearing from the motors to the output.
   private final double m_gearing;
 
-  // The moment of inertia for the DC motor mechanism.
-  private final double m_jKgMetersSquared;
+  // The moment of inertia for the DC motor mechanism in kg-m².
+  private final double m_j;
 
   /**
    * Creates a simulated DC motor mechanism.
@@ -64,36 +56,36 @@ public DCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double... mea
     //
     //   B = GKₜ/(RJ)
     //   J = GKₜ/(RB)
-    m_gearing = -gearbox.KvRadPerSecPerVolt * plant.getA(1, 1) / plant.getB(1, 0);
-    m_jKgMetersSquared = m_gearing * gearbox.KtNMPerAmp / (gearbox.rOhms * plant.getB(1, 0));
+    m_gearing = -gearbox.Kv * plant.getA(1, 1) / plant.getB(1, 0);
+    m_j = m_gearing * gearbox.Kt / (gearbox.R * plant.getB(1, 0));
   }
 
   /**
    * Sets the state of the DC motor.
    *
-   * @param angularPositionRad The new position in radians.
-   * @param angularVelocityRadPerSec The new velocity in radians per second.
+   * @param angularPosition The new position in radians.
+   * @param angularVelocity The new velocity in radians per second.
    */
-  public void setState(double angularPositionRad, double angularVelocityRadPerSec) {
-    setState(VecBuilder.fill(angularPositionRad, angularVelocityRadPerSec));
+  public void setState(double angularPosition, double angularVelocity) {
+    setState(VecBuilder.fill(angularPosition, angularVelocity));
   }
 
   /**
    * Sets the DC motor's angular position.
    *
-   * @param angularPositionRad The new position in radians.
+   * @param angularPosition The new position in radians.
    */
-  public void setAngle(double angularPositionRad) {
-    setState(angularPositionRad, getAngularVelocityRadPerSec());
+  public void setAngle(double angularPosition) {
+    setState(angularPosition, getAngularVelocity());
   }
 
   /**
    * Sets the DC motor's angular velocity.
    *
-   * @param angularVelocityRadPerSec The new velocity in radians per second.
+   * @param angularVelocity The new velocity in radians per second.
    */
-  public void setAngularVelocity(double angularVelocityRadPerSec) {
-    setState(getAngularPositionRad(), angularVelocityRadPerSec);
+  public void setAngularVelocity(double angularVelocity) {
+    setState(getAngularPosition(), angularVelocity);
   }
 
   /**
@@ -108,10 +100,10 @@ public double getGearing() {
   /**
    * Returns the moment of inertia of the DC motor.
    *
-   * @return The DC motor's moment of inertia.
+   * @return The DC motor's moment of inertia in kg-m².
    */
-  public double getJKgMetersSquared() {
-    return m_jKgMetersSquared;
+  public double getJ() {
+    return m_j;
   }
 
   /**
@@ -126,91 +118,46 @@ public DCMotor getGearbox() {
   /**
    * Returns the DC motor's position.
    *
-   * @return The DC motor's position.
+   * @return The DC motor's position in meters.
    */
-  public double getAngularPositionRad() {
+  public double getAngularPosition() {
     return getOutput(0);
   }
 
-  /**
-   * Returns the DC motor's position in rotations.
-   *
-   * @return The DC motor's position in rotations.
-   */
-  public double getAngularPositionRotations() {
-    return Units.radiansToRotations(getAngularPositionRad());
-  }
-
-  /**
-   * Returns the DC motor's position.
-   *
-   * @return The DC motor's position
-   */
-  public Angle getAngularPosition() {
-    return Radians.of(getAngularPositionRad());
-  }
-
   /**
    * Returns the DC motor's velocity.
    *
    * @return The DC motor's velocity.
    */
-  public double getAngularVelocityRadPerSec() {
+  public double getAngularVelocity() {
     return getOutput(1);
   }
 
   /**
-   * Returns the DC motor's velocity in RPM.
-   *
-   * @return The DC motor's velocity in RPM.
-   */
-  public double getAngularVelocityRPM() {
-    return Units.radiansPerSecondToRotationsPerMinute(getAngularVelocityRadPerSec());
-  }
-
-  /**
-   * Returns the DC motor's velocity.
-   *
-   * @return The DC motor's velocity
-   */
-  public AngularVelocity getAngularVelocity() {
-    return RadiansPerSecond.of(getAngularVelocityRadPerSec());
-  }
-
-  /**
-   * Returns the DC motor's acceleration in Radians Per Second Squared.
+   * Returns the DC motor's acceleration.
    *
-   * @return The DC motor's acceleration in Radians Per Second Squared.
+   * @return The DC motor's acceleration in rad/s².
    */
-  public double getAngularAccelerationRadPerSecSq() {
+  public double getAngularAcceleration() {
     var acceleration = (m_plant.getA().times(m_x)).plus(m_plant.getB().times(m_u));
     return acceleration.get(1, 0);
   }
 
   /**
-   * Returns the DC motor's acceleration.
-   *
-   * @return The DC motor's acceleration.
-   */
-  public AngularAcceleration getAngularAcceleration() {
-    return RadiansPerSecondPerSecond.of(getAngularAccelerationRadPerSecSq());
-  }
-
-  /**
-   * Returns the DC motor's torque in Newton-Meters.
+   * Returns the DC motor's torque in.
    *
-   * @return The DC motor's torque in Newton-Meters.
+   * @return The DC motor's torque in Newton-meters.
    */
-  public double getTorqueNewtonMeters() {
-    return getAngularAccelerationRadPerSecSq() * m_jKgMetersSquared;
+  public double getTorque() {
+    return getAngularAcceleration() * m_j;
   }
 
   /**
    * Returns the DC motor's current draw.
    *
-   * @return The DC motor's current draw.
+   * @return The DC motor's current draw in amps.
    */
-  public double getCurrentDrawAmps() {
+  public double getCurrentDraw() {
     // I = V / R - omega / (Kv * R)
     // Reductions are output over input, so a reduction of 2:1 means the motor is spinning
     // 2x faster than the output
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index 6e25b344393..5ecfd55fcae 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -42,7 +42,7 @@ public class DifferentialDrivetrainSim {
   private final double m_originalGearing;
   private final Matrix<N7, N1> m_measurementStdDevs;
   private double m_currentGearing;
-  private final double m_wheelRadiusMeters;
+  private final double m_wheelRadius;
 
   private Matrix<N2, N1> m_u;
   private Matrix<N7, N1> m_x;
@@ -57,10 +57,10 @@ public class DifferentialDrivetrainSim {
    * @param driveMotor A {@link DCMotor} representing the left side of the drivetrain.
    * @param gearing The gearing ratio between motor and wheel, as output over input. This must be
    *     the same ratio as the ratio used to identify or create the drivetrainPlant.
-   * @param jKgMetersSquared The moment of inertia of the drivetrain about its center.
-   * @param massKg The mass of the drivebase.
-   * @param wheelRadiusMeters The radius of the wheels on the drivetrain.
-   * @param trackWidthMeters The robot's track width, or distance between left and right wheels.
+   * @param j The moment of inertia of the drivetrain about its center in kg-m².
+   * @param mass The mass of the drivebase in kg.
+   * @param wheelRadius The radius of the wheels on the drivetrain in meters.
+   * @param trackwidth The robot's trackwidth, or distance between left and right wheels, in meters.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
    *     left velocity, right velocity, left distance, right distance]ᵀ. Can be null if no noise is
    *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
@@ -70,23 +70,18 @@ public class DifferentialDrivetrainSim {
   public DifferentialDrivetrainSim(
       DCMotor driveMotor,
       double gearing,
-      double jKgMetersSquared,
-      double massKg,
-      double wheelRadiusMeters,
-      double trackWidthMeters,
+      double j,
+      double mass,
+      double wheelRadius,
+      double trackwidth,
       Matrix<N7, N1> measurementStdDevs) {
     this(
         LinearSystemId.createDrivetrainVelocitySystem(
-            driveMotor,
-            massKg,
-            wheelRadiusMeters,
-            trackWidthMeters / 2.0,
-            jKgMetersSquared,
-            gearing),
+            driveMotor, mass, wheelRadius, trackwidth / 2.0, j, gearing),
         driveMotor,
         gearing,
-        trackWidthMeters,
-        wheelRadiusMeters,
+        trackwidth,
+        wheelRadius,
         measurementStdDevs);
   }
 
@@ -102,9 +97,9 @@ public DifferentialDrivetrainSim(
    * @param driveMotor A {@link DCMotor} representing the drivetrain.
    * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same
    *     ratio as the ratio used to identify or create the drivetrainPlant.
-   * @param trackWidthMeters The distance between the two sides of the drivetrain. Can be found with
-   *     SysId.
-   * @param wheelRadiusMeters The radius of the wheels on the drivetrain, in meters.
+   * @param trackwidth The distance between the two sides of the drivetrain in meters. Can be found
+   *     with SysId.
+   * @param wheelRadius The radius of the wheels on the drivetrain, in meters.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
    *     left velocity, right velocity, left distance, right distance]ᵀ. Can be null if no noise is
    *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
@@ -115,15 +110,15 @@ public DifferentialDrivetrainSim(
       LinearSystem<N2, N2, N2> plant,
       DCMotor driveMotor,
       double gearing,
-      double trackWidthMeters,
-      double wheelRadiusMeters,
+      double trackwidth,
+      double wheelRadius,
       Matrix<N7, N1> measurementStdDevs) {
     this.m_plant = plant;
-    this.m_rb = trackWidthMeters / 2.0;
+    this.m_rb = trackwidth / 2.0;
     this.m_motor = driveMotor;
     this.m_originalGearing = gearing;
     this.m_measurementStdDevs = measurementStdDevs;
-    m_wheelRadiusMeters = wheelRadiusMeters;
+    m_wheelRadius = wheelRadius;
     m_currentGearing = m_originalGearing;
 
     m_x = new Matrix<>(Nat.N7(), Nat.N1());
@@ -145,10 +140,10 @@ public void setInputs(double leftVoltageVolts, double rightVoltageVolts) {
   /**
    * Update the drivetrain states with the current time difference.
    *
-   * @param dtSeconds the time difference
+   * @param dt the time difference in seconds
    */
-  public void update(double dtSeconds) {
-    m_x = NumericalIntegration.rkdp(this::getDynamics, m_x, m_u, dtSeconds);
+  public void update(double dt) {
+    m_x = NumericalIntegration.rkdp(this::getDynamics, m_x, m_u, dt);
     m_y = m_x;
     if (m_measurementStdDevs != null) {
       m_y = m_y.plus(StateSpaceUtil.makeWhiteNoiseVector(m_measurementStdDevs));
@@ -195,38 +190,38 @@ public Pose2d getPose() {
   }
 
   /**
-   * Get the right encoder position in meters.
+   * Get the right encoder position.
    *
-   * @return The encoder position.
+   * @return The encoder position in meters.
    */
-  public double getRightPositionMeters() {
+  public double getRightPosition() {
     return getOutput(State.kRightPosition);
   }
 
   /**
-   * Get the right encoder velocity in meters per second.
+   * Get the right encoder velocity.
    *
-   * @return The encoder velocity.
+   * @return The encoder velocity in meters per second.
    */
-  public double getRightVelocityMetersPerSecond() {
+  public double getRightVelocity() {
     return getOutput(State.kRightVelocity);
   }
 
   /**
-   * Get the left encoder position in meters.
+   * Get the left encoder position.
    *
-   * @return The encoder position.
+   * @return The encoder position in meters.
    */
-  public double getLeftPositionMeters() {
+  public double getLeftPosition() {
     return getOutput(State.kLeftPosition);
   }
 
   /**
-   * Get the left encoder velocity in meters per second.
+   * Get the left encoder velocity.
    *
-   * @return The encoder velocity.
+   * @return The encoder velocity in meters per second.
    */
-  public double getLeftVelocityMetersPerSecond() {
+  public double getLeftVelocity() {
     return getOutput(State.kLeftVelocity);
   }
 
@@ -235,9 +230,9 @@ public double getLeftVelocityMetersPerSecond() {
    *
    * @return the drivetrain's left side current draw, in amps
    */
-  public double getLeftCurrentDrawAmps() {
+  public double getLeftCurrentDraw() {
     return m_motor.getCurrent(
-            getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(0, 0))
+            getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadius, m_u.get(0, 0))
         * Math.signum(m_u.get(0, 0));
   }
 
@@ -246,9 +241,9 @@ public double getLeftCurrentDrawAmps() {
    *
    * @return the drivetrain's right side current draw, in amps
    */
-  public double getRightCurrentDrawAmps() {
+  public double getRightCurrentDraw() {
     return m_motor.getCurrent(
-            getState(State.kRightVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(1, 0))
+            getState(State.kRightVelocity) * m_currentGearing / m_wheelRadius, m_u.get(1, 0))
         * Math.signum(m_u.get(1, 0));
   }
 
@@ -257,8 +252,8 @@ public double getRightCurrentDrawAmps() {
    *
    * @return the current draw, in amps
    */
-  public double getCurrentDrawAmps() {
-    return getLeftCurrentDrawAmps() + getRightCurrentDrawAmps();
+  public double getCurrentDraw() {
+    return getLeftCurrentDraw() + getRightCurrentDraw();
   }
 
   /**
@@ -472,8 +467,7 @@ public static DifferentialDrivetrainSim createKitbotSim(
    * @param motor The motors installed in the bot.
    * @param gearing The gearing reduction used.
    * @param wheelSize The wheel size.
-   * @param jKgMetersSquared The moment of inertia of the drivebase. This can be calculated using
-   *     SysId.
+   * @param j The moment of inertia of the drivebase in kg-m². This can be calculated using SysId.
    * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading,
    *     left velocity, right velocity, left distance, right distance]ᵀ. Can be null if no noise is
    *     desired. Gyro standard deviations of 0.0001 radians, velocity standard deviations of 0.05
@@ -485,12 +479,12 @@ public static DifferentialDrivetrainSim createKitbotSim(
       KitbotMotor motor,
       KitbotGearing gearing,
       KitbotWheelSize wheelSize,
-      double jKgMetersSquared,
+      double j,
       Matrix<N7, N1> measurementStdDevs) {
     return new DifferentialDrivetrainSim(
         motor.value,
         gearing.value,
-        jKgMetersSquared,
+        j,
         Units.lbsToKilograms(60),
         wheelSize.value / 2.0,
         Units.inchesToMeters(26),
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index 2f7ce3e768d..c5d80589410 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -36,10 +36,10 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
    *     double, double)}.
    * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
+   * @param minHeight The min allowable height of the elevator.
+   * @param maxHeight The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeightMeters The starting height of the elevator.
+   * @param startingHeight The starting height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */
@@ -47,18 +47,18 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
   public ElevatorSim(
       LinearSystem<N2, N1, N2> plant,
       DCMotor gearbox,
-      double minHeightMeters,
-      double maxHeightMeters,
+      double minHeight,
+      double maxHeight,
       boolean simulateGravity,
-      double startingHeightMeters,
+      double startingHeight,
       double... measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
-    m_minHeight = minHeightMeters;
-    m_maxHeight = maxHeightMeters;
+    m_minHeight = minHeight;
+    m_maxHeight = maxHeight;
     m_simulateGravity = simulateGravity;
 
-    setState(startingHeightMeters, 0);
+    setState(startingHeight, 0);
   }
 
   /**
@@ -67,10 +67,10 @@ public ElevatorSim(
    * @param kV The velocity gain.
    * @param kA The acceleration gain.
    * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
+   * @param minHeight The min allowable height of the elevator.
+   * @param maxHeight The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeightMeters The starting height of the elevator.
+   * @param startingHeight The starting height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */
@@ -78,18 +78,18 @@ public ElevatorSim(
       double kV,
       double kA,
       DCMotor gearbox,
-      double minHeightMeters,
-      double maxHeightMeters,
+      double minHeight,
+      double maxHeight,
       boolean simulateGravity,
-      double startingHeightMeters,
+      double startingHeight,
       double... measurementStdDevs) {
     this(
         LinearSystemId.identifyPositionSystem(kV, kA),
         gearbox,
-        minHeightMeters,
-        maxHeightMeters,
+        minHeight,
+        maxHeight,
         simulateGravity,
-        startingHeightMeters,
+        startingHeight,
         measurementStdDevs);
   }
 
@@ -98,32 +98,32 @@ public ElevatorSim(
    *
    * @param gearbox The type of and number of motors in the elevator gearbox.
    * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMassKg The mass of the elevator carriage.
-   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
+   * @param carriageMass The mass of the elevator carriage.
+   * @param drumRadius The radius of the drum that the elevator spool is wrapped around.
+   * @param minHeight The min allowable height of the elevator.
+   * @param maxHeight The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeightMeters The starting height of the elevator.
+   * @param startingHeight The starting height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */
   public ElevatorSim(
       DCMotor gearbox,
       double gearing,
-      double carriageMassKg,
-      double drumRadiusMeters,
-      double minHeightMeters,
-      double maxHeightMeters,
+      double carriageMass,
+      double drumRadius,
+      double minHeight,
+      double maxHeight,
       boolean simulateGravity,
-      double startingHeightMeters,
+      double startingHeight,
       double... measurementStdDevs) {
     this(
-        LinearSystemId.createElevatorSystem(gearbox, carriageMassKg, drumRadiusMeters, gearing),
+        LinearSystemId.createElevatorSystem(gearbox, carriageMass, drumRadius, gearing),
         gearbox,
-        minHeightMeters,
-        maxHeightMeters,
+        minHeight,
+        maxHeight,
         simulateGravity,
-        startingHeightMeters,
+        startingHeight,
         measurementStdDevs);
   }
 
@@ -131,33 +131,31 @@ public ElevatorSim(
    * Sets the elevator's state. The new position will be limited between the minimum and maximum
    * allowed heights.
    *
-   * @param positionMeters The new position in meters.
-   * @param velocityMetersPerSecond New velocity in meters per second.
+   * @param position The new position in meters.
+   * @param velocity New velocity in meters per second.
    */
-  public final void setState(double positionMeters, double velocityMetersPerSecond) {
-    setState(
-        VecBuilder.fill(
-            MathUtil.clamp(positionMeters, m_minHeight, m_maxHeight), velocityMetersPerSecond));
+  public final void setState(double position, double velocity) {
+    setState(VecBuilder.fill(MathUtil.clamp(position, m_minHeight, m_maxHeight), velocity));
   }
 
   /**
    * Returns whether the elevator would hit the lower limit.
    *
-   * @param elevatorHeightMeters The elevator height.
+   * @param elevatorHeight The elevator height.
    * @return Whether the elevator would hit the lower limit.
    */
-  public boolean wouldHitLowerLimit(double elevatorHeightMeters) {
-    return elevatorHeightMeters <= this.m_minHeight;
+  public boolean wouldHitLowerLimit(double elevatorHeight) {
+    return elevatorHeight <= this.m_minHeight;
   }
 
   /**
    * Returns whether the elevator would hit the upper limit.
    *
-   * @param elevatorHeightMeters The elevator height.
+   * @param elevatorHeight The elevator height.
    * @return Whether the elevator would hit the upper limit.
    */
-  public boolean wouldHitUpperLimit(double elevatorHeightMeters) {
-    return elevatorHeightMeters >= this.m_maxHeight;
+  public boolean wouldHitUpperLimit(double elevatorHeight) {
+    return elevatorHeight >= this.m_maxHeight;
   }
 
   /**
@@ -166,7 +164,7 @@ public boolean wouldHitUpperLimit(double elevatorHeightMeters) {
    * @return Whether the elevator has hit the lower limit.
    */
   public boolean hasHitLowerLimit() {
-    return wouldHitLowerLimit(getPositionMeters());
+    return wouldHitLowerLimit(getPosition());
   }
 
   /**
@@ -175,43 +173,42 @@ public boolean hasHitLowerLimit() {
    * @return Whether the elevator has hit the upper limit.
    */
   public boolean hasHitUpperLimit() {
-    return wouldHitUpperLimit(getPositionMeters());
+    return wouldHitUpperLimit(getPosition());
   }
 
   /**
    * Returns the position of the elevator.
    *
-   * @return The position of the elevator.
+   * @return The position of the elevator in meters.
    */
-  public double getPositionMeters() {
+  public double getPosition() {
     return getOutput(0);
   }
 
   /**
    * Returns the velocity of the elevator.
    *
-   * @return The velocity of the elevator.
+   * @return The velocity of the elevator in meters per second.
    */
-  public double getVelocityMetersPerSecond() {
+  public double getVelocity() {
     return getOutput(1);
   }
 
   /**
    * Returns the elevator current draw.
    *
-   * @return The elevator current draw.
+   * @return The elevator current draw in amps.
    */
-  public double getCurrentDrawAmps() {
+  public double getCurrentDraw() {
     // I = V / R - omega / (Kv * R)
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is
     // spinning 10x faster than the output
     // v = r w, so w = v/r
     double kA = 1 / m_plant.getB().get(1, 0);
     double kV = -m_plant.getA().get(1, 1) * kA;
-    double motorVelocityRadPerSec = m_x.get(1, 0) * kV * m_gearbox.KvRadPerSecPerVolt;
+    double motorVelocity = m_x.get(1, 0) * kV * m_gearbox.Kv;
     var appliedVoltage = m_u.get(0, 0);
-    return m_gearbox.getCurrent(motorVelocityRadPerSec, appliedVoltage)
-        * Math.signum(appliedVoltage);
+    return m_gearbox.getCurrent(motorVelocity, appliedVoltage) * Math.signum(appliedVoltage);
   }
 
   /**
@@ -229,10 +226,10 @@ public void setInputVoltage(double volts) {
    *
    * @param currentXhat The current state estimate.
    * @param u The system inputs (voltage).
-   * @param dtSeconds The time difference between controller updates.
+   * @param dt The time difference between controller updates.
    */
   @Override
-  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
+  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dt) {
     // Calculate updated x-hat from Runge-Kutta.
     var updatedXhat =
         NumericalIntegration.rkdp(
@@ -245,7 +242,7 @@ protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, d
             },
             currentXhat,
             u,
-            dtSeconds);
+            dt);
 
     // We check for collisions after updating x-hat.
     if (wouldHitLowerLimit(updatedXhat.get(0, 0))) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
index 95d01e16217..e9e72b0894c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -4,17 +4,11 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
-
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
@@ -26,7 +20,7 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   private final double m_gearing;
 
   // The moment of inertia for the flywheel mechanism.
-  private final double m_jKgMetersSquared;
+  private final double m_j;
 
   /**
    * Creates a simulated flywheel mechanism.
@@ -60,17 +54,17 @@ public FlywheelSim(
     //
     //   B = GKₜ/(RJ)
     //   J = GKₜ/(RB)
-    m_gearing = -gearbox.KvRadPerSecPerVolt * plant.getA(0, 0) / plant.getB(0, 0);
-    m_jKgMetersSquared = m_gearing * gearbox.KtNMPerAmp / (gearbox.rOhms * plant.getB(0, 0));
+    m_gearing = -gearbox.Kv * plant.getA(0, 0) / plant.getB(0, 0);
+    m_j = m_gearing * gearbox.Kt / (gearbox.R * plant.getB(0, 0));
   }
 
   /**
    * Sets the flywheel's angular velocity.
    *
-   * @param velocityRadPerSec The new velocity in radians per second.
+   * @param velocity The new velocity in radians per second.
    */
-  public void setAngularVelocity(double velocityRadPerSec) {
-    setState(VecBuilder.fill(velocityRadPerSec));
+  public void setAngularVelocity(double velocity) {
+    setState(VecBuilder.fill(velocity));
   }
 
   /**
@@ -83,12 +77,12 @@ public double getGearing() {
   }
 
   /**
-   * Returns the moment of inertia in kilograms meters squared.
+   * Returns the moment of inertia.
    *
-   * @return The flywheel's moment of inertia.
+   * @return The flywheel's moment of inertia in kg-m².
    */
-  public double getJKgMetersSquared() {
-    return m_jKgMetersSquared;
+  public double getJ() {
+    return m_j;
   }
 
   /**
@@ -100,67 +94,40 @@ public DCMotor getGearbox() {
     return m_gearbox;
   }
 
-  /**
-   * Returns the flywheel's velocity in Radians Per Second.
-   *
-   * @return The flywheel's velocity in Radians Per Second.
-   */
-  public double getAngularVelocityRadPerSec() {
-    return getOutput(0);
-  }
-
-  /**
-   * Returns the flywheel's velocity in RPM.
-   *
-   * @return The flywheel's velocity in RPM.
-   */
-  public double getAngularVelocityRPM() {
-    return Units.radiansPerSecondToRotationsPerMinute(getAngularVelocityRadPerSec());
-  }
-
   /**
    * Returns the flywheel's velocity.
    *
-   * @return The flywheel's velocity
+   * @return The flywheel's velocity in rad/s.
    */
-  public AngularVelocity getAngularVelocity() {
-    return RadiansPerSecond.of(getAngularVelocityRadPerSec());
+  public double getAngularVelocity() {
+    return getOutput(0);
   }
 
   /**
-   * Returns the flywheel's acceleration in Radians Per Second Squared.
+   * Returns the flywheel's acceleration.
    *
-   * @return The flywheel's acceleration in Radians Per Second Squared.
+   * @return The flywheel's acceleration in rad/s².
    */
-  public double getAngularAccelerationRadPerSecSq() {
+  public double getAngularAcceleration() {
     var acceleration = (m_plant.getA().times(m_x)).plus(m_plant.getB().times(m_u));
     return acceleration.get(0, 0);
   }
 
   /**
-   * Returns the flywheel's acceleration.
-   *
-   * @return The flywheel's acceleration.
-   */
-  public AngularAcceleration getAngularAcceleration() {
-    return RadiansPerSecondPerSecond.of(getAngularAccelerationRadPerSecSq());
-  }
-
-  /**
-   * Returns the flywheel's torque in Newton-Meters.
+   * Returns the flywheel's torque.
    *
-   * @return The flywheel's torque in Newton-Meters.
+   * @return The flywheel's torque in Newton-meters.
    */
-  public double getTorqueNewtonMeters() {
-    return getAngularAccelerationRadPerSecSq() * m_jKgMetersSquared;
+  public double getTorque() {
+    return getAngularAcceleration() * m_j;
   }
 
   /**
    * Returns the flywheel's current draw.
    *
-   * @return The flywheel's current draw.
+   * @return The flywheel's current draw in amps.
    */
-  public double getCurrentDrawAmps() {
+  public double getCurrentDraw() {
     // I = V / R - omega / (Kv * R)
     // Reductions are output over input, so a reduction of 2:1 means the motor is spinning
     // 2x faster than the flywheel
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index ec296fde3d8..65270a24a64 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -72,11 +72,11 @@ public LinearSystemSim(
   /**
    * Updates the simulation.
    *
-   * @param dtSeconds The time between updates.
+   * @param dt The time between updates in seconds.
    */
-  public void update(double dtSeconds) {
+  public void update(double dt) {
     // Update X. By default, this is the linear system dynamics X = Ax + Bu
-    m_x = updateX(m_x, m_u, dtSeconds);
+    m_x = updateX(m_x, m_u, dt);
 
     // y = cx + du
     m_y = m_plant.calculateY(m_x, m_u);
@@ -171,12 +171,12 @@ public void setState(Matrix<States, N1> state) {
    *
    * @param currentXhat The current state estimate.
    * @param u The system inputs (usually voltage).
-   * @param dtSeconds The time difference between controller updates.
+   * @param dt The time difference between controller updates.
    * @return The new state.
    */
   protected Matrix<States, N1> updateX(
-      Matrix<States, N1> currentXhat, Matrix<Inputs, N1> u, double dtSeconds) {
-    return m_plant.calculateX(currentXhat, u, dtSeconds);
+      Matrix<States, N1> currentXhat, Matrix<Inputs, N1> u, double dt) {
+    return m_plant.calculateX(currentXhat, u, dt);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
index eaf3dcb8b10..4d90f2c5c0b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.SharpIR;
 
 /** Simulation class for Sharp IR sensors. */
@@ -28,24 +27,15 @@ public SharpIRSim(SharpIR sharpIR) {
    */
   public SharpIRSim(int channel) {
     SimDeviceSim simDevice = new SimDeviceSim("SharpIR", channel);
-    m_simRange = simDevice.getDouble("Range (cm)");
+    m_simRange = simDevice.getDouble("Range (m)");
   }
 
   /**
-   * Set the range in inches returned by the distance sensor.
+   * Set the range in meters returned by the distance sensor.
    *
-   * @param inches range in inches of the target returned by the sensor
+   * @param range range in meters of the target returned by the sensor
    */
-  public void setRangeInches(double inches) {
-    m_simRange.set(Units.inchesToMeters(inches) * 100.0);
-  }
-
-  /**
-   * Set the range in centimeters returned by the distance sensor.
-   *
-   * @param cm range in centimeters of the target returned by the sensor
-   */
-  public void setRangeCm(double cm) {
-    m_simRange.set(cm);
+  public void setRange(double range) {
+    m_simRange.set(range);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index 7d7ae78284d..318b3c179ee 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -24,7 +24,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
   private final double m_gearing;
 
   // The length of the arm.
-  private final double m_armLenMeters;
+  private final double m_armLength;
 
   // The minimum angle that the arm is capable of.
   private final double m_minAngle;
@@ -43,7 +43,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    *     double, double)}.
    * @param gearbox The type of and number of motors in the arm gearbox.
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param armLengthMeters The length of the arm.
+   * @param armLength The length of the arm in meters.
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
@@ -56,7 +56,7 @@ public SingleJointedArmSim(
       LinearSystem<N2, N1, N2> plant,
       DCMotor gearbox,
       double gearing,
-      double armLengthMeters,
+      double armLength,
       double minAngleRads,
       double maxAngleRads,
       boolean simulateGravity,
@@ -65,7 +65,7 @@ public SingleJointedArmSim(
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
-    m_armLenMeters = armLengthMeters;
+    m_armLength = armLength;
     m_minAngle = minAngleRads;
     m_maxAngle = maxAngleRads;
     m_simulateGravity = simulateGravity;
@@ -78,8 +78,8 @@ public SingleJointedArmSim(
    *
    * @param gearbox The type of and number of motors in the arm gearbox.
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the arm; can be calculated from CAD software.
-   * @param armLengthMeters The length of the arm.
+   * @param j The moment of inertia of the arm in kg-m²; can be calculated from CAD software.
+   * @param armLength The length of the arm in meters.
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
@@ -90,18 +90,18 @@ public SingleJointedArmSim(
   public SingleJointedArmSim(
       DCMotor gearbox,
       double gearing,
-      double jKgMetersSquared,
-      double armLengthMeters,
+      double j,
+      double armLength,
       double minAngleRads,
       double maxAngleRads,
       boolean simulateGravity,
       double startingAngleRads,
       double... measurementStdDevs) {
     this(
-        LinearSystemId.createSingleJointedArmSystem(gearbox, jKgMetersSquared, gearing),
+        LinearSystemId.createSingleJointedArmSystem(gearbox, j, gearing),
         gearbox,
         gearing,
-        armLengthMeters,
+        armLength,
         minAngleRads,
         maxAngleRads,
         simulateGravity,
@@ -162,7 +162,7 @@ public boolean hasHitUpperLimit() {
   /**
    * Returns the current arm angle.
    *
-   * @return The current arm angle.
+   * @return The current arm angle in radians.
    */
   public double getAngleRads() {
     return getOutput(0);
@@ -171,9 +171,9 @@ public double getAngleRads() {
   /**
    * Returns the current arm velocity.
    *
-   * @return The current arm velocity.
+   * @return The current arm velocity in radians per second.
    */
-  public double getVelocityRadPerSec() {
+  public double getVelocity() {
     return getOutput(1);
   }
 
@@ -182,7 +182,7 @@ public double getVelocityRadPerSec() {
    *
    * @return The arm current draw.
    */
-  public double getCurrentDrawAmps() {
+  public double getCurrentDraw() {
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is
     // spinning 10x faster than the output
     var motorVelocity = m_x.get(1, 0) * m_gearing;
@@ -202,12 +202,12 @@ public void setInputVoltage(double volts) {
   /**
    * Calculates a rough estimate of the moment of inertia of an arm given its length and mass.
    *
-   * @param lengthMeters The length of the arm.
-   * @param massKg The mass of the arm.
-   * @return The calculated moment of inertia.
+   * @param length The length of the arm in m.
+   * @param mass The mass of the arm in kg.
+   * @return The calculated moment of inertia in kg-m².
    */
-  public static double estimateMOI(double lengthMeters, double massKg) {
-    return 1.0 / 3.0 * massKg * lengthMeters * lengthMeters;
+  public static double estimateMOI(double length, double mass) {
+    return 1.0 / 3.0 * mass * length * length;
   }
 
   /**
@@ -215,10 +215,10 @@ public static double estimateMOI(double lengthMeters, double massKg) {
    *
    * @param currentXhat The current state estimate.
    * @param u The system inputs (voltage).
-   * @param dtSeconds The time difference between controller updates.
+   * @param dt The time difference between controller updates in seconds.
    */
   @Override
-  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dtSeconds) {
+  protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dt) {
     // The torque on the arm is given by τ = F⋅r, where F is the force applied by
     // gravity and r the distance from pivot to center of mass. Recall from
     // dynamics that the sum of torques for a rigid body is τ = J⋅α, were τ is
@@ -248,14 +248,14 @@ protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, d
             (Matrix<N2, N1> x, Matrix<N1, N1> _u) -> {
               Matrix<N2, N1> xdot = m_plant.getA().times(x).plus(m_plant.getB().times(_u));
               if (m_simulateGravity) {
-                double alphaGrav = 3.0 / 2.0 * -9.8 * Math.cos(x.get(0, 0)) / m_armLenMeters;
+                double alphaGrav = 3.0 / 2.0 * -9.8 * Math.cos(x.get(0, 0)) / m_armLength;
                 xdot = xdot.plus(VecBuilder.fill(0, alphaGrav));
               }
               return xdot;
             },
             currentXhat,
             u,
-            dtSeconds);
+            dt);
 
     // We check for collision after updating xhat
     if (wouldHitLowerLimit(updatedXhat.get(0, 0))) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/UltrasonicSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/UltrasonicSim.java
index 2ad42e7afaf..0e8f53473ea 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/UltrasonicSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/UltrasonicSim.java
@@ -6,7 +6,6 @@
 
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Ultrasonic;
 
 /** Class to control a simulated {@link edu.wpi.first.wpilibj.Ultrasonic}. */
@@ -33,7 +32,7 @@ public UltrasonicSim(Ultrasonic ultrasonic) {
   public UltrasonicSim(@SuppressWarnings("unused") int ping, int echo) {
     SimDeviceSim simDevice = new SimDeviceSim("Ultrasonic", echo);
     m_simRangeValid = simDevice.getBoolean("Range Valid");
-    m_simRange = simDevice.getDouble("Range (in)");
+    m_simRange = simDevice.getDouble("Range (m)");
   }
 
   /**
@@ -48,18 +47,9 @@ public void setRangeValid(boolean valid) {
   /**
    * Sets the range measurement.
    *
-   * @param inches The range in inches.
+   * @param range The range in meters.
    */
-  public void setRangeInches(double inches) {
-    m_simRange.set(inches);
-  }
-
-  /**
-   * Sets the range measurement.
-   *
-   * @param meters The range in meters.
-   */
-  public void setRangeMeters(double meters) {
-    m_simRange.set(Units.metersToInches(meters));
+  public void setRange(double range) {
+    m_simRange.set(range);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
index 7ce6af8c3e8..749e2f843e6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
@@ -58,12 +58,12 @@ public synchronized void setRobotPose(Pose2d pose) {
   /**
    * Set the robot pose from x, y, and rotation.
    *
-   * @param xMeters X location, in meters
-   * @param yMeters Y location, in meters
+   * @param x X location, in meters
+   * @param y Y location, in meters
    * @param rotation rotation
    */
-  public synchronized void setRobotPose(double xMeters, double yMeters, Rotation2d rotation) {
-    m_objects.get(0).setPose(xMeters, yMeters, rotation);
+  public synchronized void setRobotPose(double x, double y, Rotation2d rotation) {
+    m_objects.get(0).setPose(x, y, rotation);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
index f3627a6bef1..c943a1d317f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -43,12 +43,12 @@ public synchronized void setPose(Pose2d pose) {
   /**
    * Set the pose from x, y, and rotation.
    *
-   * @param xMeters X location, in meters
-   * @param yMeters Y location, in meters
+   * @param x X location, in meters
+   * @param y Y location, in meters
    * @param rotation rotation
    */
-  public synchronized void setPose(double xMeters, double yMeters, Rotation2d rotation) {
-    setPose(new Pose2d(xMeters, yMeters, rotation));
+  public synchronized void setPose(double x, double y, Rotation2d rotation) {
+    setPose(new Pose2d(x, y, rotation));
   }
 
   /**
@@ -94,7 +94,7 @@ public synchronized void setPoses(Pose2d... poses) {
   public synchronized void setTrajectory(Trajectory trajectory) {
     m_poses.clear();
     for (Trajectory.State state : trajectory.getStates()) {
-      m_poses.add(state.poseMeters);
+      m_poses.add(state.pose);
     }
     updateEntry();
   }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SharpIRTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SharpIRTest.java
index 1ae35ae781d..4049dc805ab 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/SharpIRTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/SharpIRTest.java
@@ -15,13 +15,13 @@ void testSharpIR() {
     try (SharpIR s = SharpIR.GP2Y0A02YK0F(1)) {
       SharpIRSim sim = new SharpIRSim(s);
 
-      assertEquals(20, s.getRangeCM());
+      assertEquals(0.2, s.getRange());
 
-      sim.setRangeCm(30);
-      assertEquals(30, s.getRangeCM());
+      sim.setRange(0.3);
+      assertEquals(0.3, s.getRange());
 
-      sim.setRangeCm(300);
-      assertEquals(150, s.getRangeCM());
+      sim.setRange(3);
+      assertEquals(1.5, s.getRange());
     }
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
index da5eac71b3d..9105b07a848 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
@@ -20,15 +20,15 @@ void testUltrasonic() {
     try (Ultrasonic ultrasonic = new Ultrasonic(0, 1)) {
       UltrasonicSim sim = new UltrasonicSim(ultrasonic);
 
-      assertEquals(0, ultrasonic.getRangeInches());
+      assertEquals(0, ultrasonic.getRange());
       assertTrue(ultrasonic.isRangeValid());
 
-      sim.setRangeInches(35.04);
-      assertEquals(35.04, ultrasonic.getRangeInches());
+      sim.setRange(35.04);
+      assertEquals(35.04, ultrasonic.getRange());
 
       sim.setRangeValid(false);
       assertFalse(ultrasonic.isRangeValid());
-      assertEquals(0, ultrasonic.getRangeInches());
+      assertEquals(0, ultrasonic.getRange());
     }
   }
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
index b7a4a6dd875..d7f141eb56e 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
@@ -36,23 +36,23 @@ void testVoltageSteadyState() {
 
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
-            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
         sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
         sim.update(0.020);
-        encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+        encoderSim.setRate(sim.getAngularVelocity());
       }
 
-      assertEquals(gearbox.KvRadPerSecPerVolt * 12, encoder.getRate(), 0.1);
+      assertEquals(gearbox.Kv * 12, encoder.getRate(), 0.1);
 
       for (int i = 0; i < 100; i++) {
         motor.setVoltage(0);
 
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
-            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
         sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
         sim.update(0.020);
-        encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+        encoderSim.setRate(sim.getAngularVelocity());
       }
 
       assertEquals(0, encoder.getRate(), 0.1);
@@ -78,11 +78,11 @@ void testPositionFeedbackControl() {
 
         // ------ SimulationPeriodic() happens after user code -------
         RoboRioSim.setVInVoltage(
-            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+            BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDraw()));
         sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
         sim.update(0.020);
-        encoderSim.setDistance(sim.getAngularPositionRad());
-        encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+        encoderSim.setDistance(sim.getAngularPosition());
+        encoderSim.setRate(sim.getAngularVelocity());
       }
 
       assertEquals(750, encoder.getDistance(), 1.0);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
index 25bbdb59834..9d767dee210 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
@@ -42,7 +42,7 @@ void testConvergence() {
             plant,
             motor,
             1,
-            kinematics.trackWidthMeters,
+            kinematics.trackwidth,
             Units.inchesToMeters(2),
             VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
 
@@ -61,15 +61,13 @@ void testConvergence() {
             new TrajectoryConfig(1, 1)
                 .addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
 
-    for (double t = 0; t < traj.getTotalTimeSeconds(); t += 0.020) {
+    for (double t = 0; t < traj.getTotalTime(); t += 0.020) {
       var state = traj.sample(t);
       var feedbackOut = feedback.calculate(sim.getPose(), state);
 
       var wheelSpeeds = kinematics.toWheelSpeeds(feedbackOut);
 
-      var voltages =
-          feedforward.calculate(
-              VecBuilder.fill(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond));
+      var voltages = feedforward.calculate(VecBuilder.fill(wheelSpeeds.left, wheelSpeeds.right));
 
       // Sim periodic code
       sim.setInputs(voltages.get(0, 0), voltages.get(1, 0));
@@ -104,25 +102,25 @@ void testCurrent() {
     var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
     var sim =
         new DifferentialDrivetrainSim(
-            plant, motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), null);
+            plant, motor, 1, kinematics.trackwidth, Units.inchesToMeters(2), null);
 
     sim.setInputs(-12, -12);
     for (int i = 0; i < 10; i++) {
       sim.update(0.020);
     }
-    assertTrue(sim.getCurrentDrawAmps() > 0);
+    assertTrue(sim.getCurrentDraw() > 0);
 
     sim.setInputs(12, 12);
     for (int i = 0; i < 20; i++) {
       sim.update(0.020);
     }
-    assertTrue(sim.getCurrentDrawAmps() > 0);
+    assertTrue(sim.getCurrentDraw() > 0);
 
     sim.setInputs(-12, 12);
     for (int i = 0; i < 30; i++) {
       sim.update(0.020);
     }
-    assertTrue(sim.getCurrentDrawAmps() > 0);
+    assertTrue(sim.getCurrentDraw() > 0);
   }
 
   @Test
@@ -138,7 +136,7 @@ void testModelStability() {
             plant,
             motor,
             5,
-            kinematics.trackWidthMeters,
+            kinematics.trackwidth,
             Units.inchesToMeters(2),
             VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index deade245fa1..260bc2772aa 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -59,7 +59,7 @@ void testStateSpaceSimWithElevator() {
         encoderSim.setDistance(y.get(0, 0));
       }
 
-      assertEquals(controller.getSetpoint(), sim.getPositionMeters(), 0.2);
+      assertEquals(controller.getSetpoint(), sim.getPosition(), 0.2);
     }
   }
 
@@ -81,14 +81,14 @@ void testMinMax() {
     for (int i = 0; i < 100; i++) {
       sim.setInput(VecBuilder.fill(0));
       sim.update(0.020);
-      var height = sim.getPositionMeters();
+      var height = sim.getPosition();
       assertTrue(height >= -0.05);
     }
 
     for (int i = 0; i < 100; i++) {
       sim.setInput(VecBuilder.fill(12.0));
       sim.update(0.020);
-      var height = sim.getPositionMeters();
+      var height = sim.getPosition();
       assertTrue(height <= 1.05);
     }
   }
@@ -110,7 +110,7 @@ void testStability() {
             DCMotor.getVex775Pro(4), 4, Units.inchesToMeters(0.5), 100);
     assertEquals(
         system.calculateX(VecBuilder.fill(0, 0), VecBuilder.fill(12), 0.02 * 50.0).get(0, 0),
-        sim.getPositionMeters(),
+        sim.getPosition(),
         0.01);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
index 3c92370019e..a23e96b2484 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
@@ -95,7 +95,7 @@ public void simulationPeriodic() {
     m_encoderSim.setDistance(m_armSim.getAngleRads());
     // SimBattery estimates loaded battery voltages
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDraw()));
 
     // Update the Mechanism Arm angle based on the simulated arm angle
     m_arm.setAngle(Units.radiansToDegrees(m_armSim.getAngleRads()));
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
index adc52e2ef67..cce08317330 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -19,7 +19,7 @@ public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // meters per second
   public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
 
-  private static final double kTrackWidth = 0.381 * 2; // meters
+  private static final double kTrackwidth = 0.381 * 2; // meters
   private static final double kWheelRadius = 0.0508; // meters
   private static final int kEncoderResolution = 4096;
 
@@ -37,7 +37,7 @@ public class Drivetrain {
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
 
   private final DifferentialDriveKinematics m_kinematics =
-      new DifferentialDriveKinematics(kTrackWidth);
+      new DifferentialDriveKinematics(kTrackwidth);
 
   private final DifferentialDriveOdometry m_odometry;
 
@@ -79,13 +79,12 @@ public Drivetrain() {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
-    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
+    final double leftFeedforward = m_feedforward.calculate(speeds.left);
+    final double rightFeedforward = m_feedforward.calculate(speeds.right);
 
-    final double leftOutput =
-        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.left);
     final double rightOutput =
-        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.right);
     m_leftLeader.setVoltage(leftOutput + leftFeedforward);
     m_rightLeader.setVoltage(rightOutput + rightFeedforward);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
index fbf6e90b9c9..a3f0d9e53c3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -43,7 +43,7 @@ public class Drivetrain {
   public static final double kMaxSpeed = 3.0; // meters per second
   public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
 
-  private static final double kTrackWidth = 0.381 * 2; // meters
+  private static final double kTrackwidth = 0.381 * 2; // meters
   private static final double kWheelRadius = 0.0508; // meters
   private static final int kEncoderResolution = 4096;
 
@@ -61,7 +61,7 @@ public class Drivetrain {
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
 
   private final DifferentialDriveKinematics m_kinematics =
-      new DifferentialDriveKinematics(kTrackWidth);
+      new DifferentialDriveKinematics(kTrackwidth);
 
   private final Pose3d m_objectInField;
 
@@ -98,7 +98,7 @@ public class Drivetrain {
       LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
   private final DifferentialDrivetrainSim m_drivetrainSimulator =
       new DifferentialDrivetrainSim(
-          m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackWidth, kWheelRadius, null);
+          m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackwidth, kWheelRadius, null);
 
   /**
    * Constructs a differential drive object. Sets the encoder distance per pulse and resets the
@@ -139,13 +139,12 @@ public Drivetrain(DoubleArrayTopic cameraToObjectTopic) {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
-    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
+    final double leftFeedforward = m_feedforward.calculate(speeds.left);
+    final double rightFeedforward = m_feedforward.calculate(speeds.right);
 
-    final double leftOutput =
-        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
+    final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.left);
     final double rightOutput =
-        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
+        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.right);
     m_leftLeader.setVoltage(leftOutput + leftFeedforward);
     m_rightLeader.setVoltage(rightOutput + rightFeedforward);
   }
@@ -253,10 +252,10 @@ public void simulationPeriodic() {
         m_rightLeader.get() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
-    m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
-    m_leftEncoderSim.setRate(m_drivetrainSimulator.getLeftVelocityMetersPerSecond());
-    m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
-    m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
+    m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPosition());
+    m_leftEncoderSim.setRate(m_drivetrainSimulator.getLeftVelocity());
+    m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPosition());
+    m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocity());
     m_gyroSim.setAngle(-m_drivetrainSimulator.getHeading().getDegrees());
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
index 1748045c49c..c19622510ea 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
@@ -24,14 +24,14 @@ public static final class DriveConstants {
     // These characterization values MUST be determined either experimentally or theoretically
     // for *your* robot's drive.
     // The SysId tool provides a convenient method for obtaining these values for your robot.
-    public static final double ksVolts = 1;
-    public static final double kvVoltSecondsPerMeter = 0.8;
-    public static final double kaVoltSecondsSquaredPerMeter = 0.15;
+    public static final double ks = 1; // V
+    public static final double kv = 0.8; // V/(m/s)
+    public static final double ka = 0.15; // V/(m/s²)
 
     public static final double kp = 1;
 
-    public static final double kMaxSpeedMetersPerSecond = 3;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
+    public static final double kMaxSpeed = 3; // m/s
+    public static final double kMaxAcceleration = 3; // m/s²
   }
 
   public static final class OIConstants {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
index 3c3179dcc03..19959a61366 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
@@ -33,10 +33,7 @@ public class DriveSubsystem extends SubsystemBase {
 
   // The feedforward controller.
   private final SimpleMotorFeedforward m_feedforward =
-      new SimpleMotorFeedforward(
-          DriveConstants.ksVolts,
-          DriveConstants.kvVoltSecondsPerMeter,
-          DriveConstants.kaVoltSecondsSquaredPerMeter);
+      new SimpleMotorFeedforward(DriveConstants.ks, DriveConstants.kv, DriveConstants.ka);
 
   // The robot's drive
   private final DifferentialDrive m_drive =
@@ -46,8 +43,7 @@ public class DriveSubsystem extends SubsystemBase {
   private final TrapezoidProfile m_profile =
       new TrapezoidProfile(
           new TrapezoidProfile.Constraints(
-              DriveConstants.kMaxSpeedMetersPerSecond,
-              DriveConstants.kMaxAccelerationMetersPerSecondSquared));
+              DriveConstants.kMaxSpeed, DriveConstants.kMaxAcceleration));
 
   // The timer
   private final Timer m_timer = new Timer();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Constants.java
index 7a6a937fee4..d0ec6bf51cd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Constants.java
@@ -26,11 +26,11 @@ public class Constants {
   public static final double kElevatorDrumRadius = Units.inchesToMeters(1.0);
   public static final double kCarriageMass = Units.lbsToKilograms(12); // kg
 
-  public static final double kSetpointMeters = Units.inchesToMeters(42.875);
-  public static final double kLowerkSetpointMeters = Units.inchesToMeters(15);
+  public static final double kSetpoint = Units.inchesToMeters(42.875);
+  public static final double kLowerkSetpoint = Units.inchesToMeters(15);
   // Encoder is reset to measure 0 at the bottom, so minimum height is 0.
-  public static final double kMinElevatorHeightMeters = 0.0;
-  public static final double kMaxElevatorHeightMeters = Units.inchesToMeters(50);
+  public static final double kMinElevatorHeight = 0.0; // m
+  public static final double kMaxElevatorHeight = Units.inchesToMeters(50);
 
   // distance per pulse = (distance per revolution) / (pulses per revolution)
   //  = (Pi * D) / ppr
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Robot.java
index 889fe8e9b32..ef72be7f902 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/Robot.java
@@ -38,10 +38,10 @@ public void teleopInit() {
   public void teleopPeriodic() {
     if (m_joystick.getTrigger()) {
       // Here, we set the constant setpoint of 10 meters.
-      m_elevator.reachGoal(Constants.kSetpointMeters);
+      m_elevator.reachGoal(Constants.kSetpoint);
     } else {
       // Otherwise, we update the setpoint to 1 meter.
-      m_elevator.reachGoal(Constants.kLowerkSetpointMeters);
+      m_elevator.reachGoal(Constants.kLowerkSetpoint);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
index 3b2765a9907..b98f5caff42 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
@@ -58,8 +58,8 @@ public class Elevator implements AutoCloseable {
           Constants.kElevatorGearing,
           Constants.kCarriageMass,
           Constants.kElevatorDrumRadius,
-          Constants.kMinElevatorHeightMeters,
-          Constants.kMaxElevatorHeightMeters,
+          Constants.kMinElevatorHeight,
+          Constants.kMaxElevatorHeight,
           true,
           0,
           0.005,
@@ -73,8 +73,7 @@ public class Elevator implements AutoCloseable {
   private final MechanismRoot2d m_mech2dRoot =
       m_mech2d.getRoot("Elevator Root", Units.inchesToMeters(5), Units.inchesToMeters(0.5));
   private final MechanismLigament2d m_elevatorMech2d =
-      m_mech2dRoot.append(
-          new MechanismLigament2d("Elevator", m_elevatorSim.getPositionMeters(), 90));
+      m_mech2dRoot.append(new MechanismLigament2d("Elevator", m_elevatorSim.getPosition(), 90));
 
   /** Subsystem constructor. */
   public Elevator() {
@@ -95,10 +94,10 @@ public void simulationPeriodic() {
     m_elevatorSim.update(0.020);
 
     // Finally, we set our simulated encoder's readings and simulated battery voltage
-    m_encoderSim.setDistance(m_elevatorSim.getPositionMeters());
+    m_encoderSim.setDistance(m_elevatorSim.getPosition());
     // SimBattery estimates loaded battery voltages
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDraw()));
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Constants.java
index f5a7567b377..7fd6332bed2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Constants.java
@@ -25,10 +25,10 @@ public class Constants {
   public static final double kElevatorDrumRadius = Units.inchesToMeters(2.0);
   public static final double kCarriageMass = 4.0; // kg
 
-  public static final double kSetpointMeters = 0.75;
+  public static final double kSetpoint = 0.75; // m
   // Encoder is reset to measure 0 at the bottom, so minimum height is 0.
-  public static final double kMinElevatorHeightMeters = 0.0;
-  public static final double kMaxElevatorHeightMeters = 1.25;
+  public static final double kMinElevatorHeight = 0.0; // m
+  public static final double kMaxElevatorHeight = 1.25; // m
 
   // distance per pulse = (distance per revolution) / (pulses per revolution)
   //  = (Pi * D) / ppr
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
index e45ba060918..96f36b58df7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
@@ -31,7 +31,7 @@ public void simulationPeriodic() {
   public void teleopPeriodic() {
     if (m_joystick.getTrigger()) {
       // Here, we set the constant setpoint of 0.75 meters.
-      m_elevator.reachGoal(Constants.kSetpointMeters);
+      m_elevator.reachGoal(Constants.kSetpoint);
     } else {
       // Otherwise, we update the setpoint to 0.
       m_elevator.reachGoal(0.0);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
index 90378bd119a..ba31023120a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
@@ -53,8 +53,8 @@ public class Elevator implements AutoCloseable {
           Constants.kElevatorGearing,
           Constants.kCarriageMass,
           Constants.kElevatorDrumRadius,
-          Constants.kMinElevatorHeightMeters,
-          Constants.kMaxElevatorHeightMeters,
+          Constants.kMinElevatorHeight,
+          Constants.kMaxElevatorHeight,
           true,
           0,
           0.01,
@@ -66,8 +66,7 @@ public class Elevator implements AutoCloseable {
   private final Mechanism2d m_mech2d = new Mechanism2d(20, 50);
   private final MechanismRoot2d m_mech2dRoot = m_mech2d.getRoot("Elevator Root", 10, 0);
   private final MechanismLigament2d m_elevatorMech2d =
-      m_mech2dRoot.append(
-          new MechanismLigament2d("Elevator", m_elevatorSim.getPositionMeters(), 90));
+      m_mech2dRoot.append(new MechanismLigament2d("Elevator", m_elevatorSim.getPosition(), 90));
 
   /** Subsystem constructor. */
   public Elevator() {
@@ -88,10 +87,10 @@ public void simulationPeriodic() {
     m_elevatorSim.update(0.020);
 
     // Finally, we set our simulated encoder's readings and simulated battery voltage
-    m_encoderSim.setDistance(m_elevatorSim.getPositionMeters());
+    m_encoderSim.setDistance(m_elevatorSim.getPosition());
     // SimBattery estimates loaded battery voltages
     RoboRioSim.setVInVoltage(
-        BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
+        BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDraw()));
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
index f9646e282a3..4b4dec06b3d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
@@ -15,9 +15,9 @@
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 public class Robot extends TimedRobot {
-  public static final int SHOT_VELOCITY = 200; // rpm
-  public static final int TOLERANCE = 8; // rpm
-  public static final int KICKER_THRESHOLD = 15; // mm
+  public static final double SHOT_VELOCITY = 200; // rpm
+  public static final double TOLERANCE = 8; // rpm
+  public static final double KICKER_THRESHOLD = 0.15; // m
 
   private final PWMSparkMax m_shooter = new PWMSparkMax(0);
   private final Encoder m_shooterEncoder = new Encoder(0, 1);
@@ -37,7 +37,7 @@ public Robot() {
     m_controller.setTolerance(TOLERANCE);
 
     BooleanEvent isBallAtKicker =
-        new BooleanEvent(m_loop, () -> m_kickerSensor.getRangeMM() < KICKER_THRESHOLD);
+        new BooleanEvent(m_loop, () -> m_kickerSensor.getRange() < KICKER_THRESHOLD);
     BooleanEvent intakeButton = new BooleanEvent(m_loop, () -> m_joystick.getRawButton(2));
 
     // if the thumb button is held
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
index 76fc4317594..9dae80f329a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java
@@ -96,6 +96,6 @@ public void simulationPeriodic() {
     // simulation, and write the simulated velocities to our simulated encoder
     m_flywheelSim.setInputVoltage(m_flywheelMotor.get() * RobotController.getInputVoltage());
     m_flywheelSim.update(0.02);
-    m_encoderSim.setRate(m_flywheelSim.getAngularVelocityRadPerSec());
+    m_encoderSim.setRate(m_flywheelSim.getAngularVelocity());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index 61cfce638ec..5105cbb90fb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -95,23 +95,19 @@ public MecanumDriveWheelPositions getCurrentDistances() {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
-    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeftMetersPerSecond);
-    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRightMetersPerSecond);
-    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
-    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
+    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeft);
+    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRight);
+    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeft);
+    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRight);
 
     final double frontLeftOutput =
-        m_frontLeftPIDController.calculate(
-            m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond);
+        m_frontLeftPIDController.calculate(m_frontLeftEncoder.getRate(), speeds.frontLeft);
     final double frontRightOutput =
-        m_frontRightPIDController.calculate(
-            m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond);
+        m_frontRightPIDController.calculate(m_frontRightEncoder.getRate(), speeds.frontRight);
     final double backLeftOutput =
-        m_backLeftPIDController.calculate(
-            m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond);
+        m_backLeftPIDController.calculate(m_backLeftEncoder.getRate(), speeds.rearLeft);
     final double backRightOutput =
-        m_backRightPIDController.calculate(
-            m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond);
+        m_backRightPIDController.calculate(m_backRightEncoder.getRate(), speeds.rearRight);
 
     m_frontLeftMotor.setVoltage(frontLeftOutput + frontLeftFeedforward);
     m_frontRightMotor.setVoltage(frontRightOutput + frontRightFeedforward);
@@ -128,12 +124,12 @@ public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   public void drive(
-      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
+      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double period) {
     var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
     if (fieldRelative) {
       chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
     }
-    chassisSpeeds.discretize(periodSeconds);
+    chassisSpeeds.discretize(period);
     var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
     mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
     setSpeeds(mecanumDriveWheelSpeeds);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
index 19164dc29e8..80762194595 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
@@ -34,23 +34,23 @@ public static final class DriveConstants {
     public static final boolean kFrontRightEncoderReversed = false;
     public static final boolean kRearRightEncoderReversed = true;
 
-    public static final double kTrackWidth = 0.5;
+    public static final double kTrackwidth = 0.5;
     // Distance between centers of right and left wheels on robot
     public static final double kWheelBase = 0.7;
     // Distance between centers of front and back wheels on robot
 
     public static final MecanumDriveKinematics kDriveKinematics =
         new MecanumDriveKinematics(
-            new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-            new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-            new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-            new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+            new Translation2d(kWheelBase / 2, kTrackwidth / 2),
+            new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
+            new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
+            new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
 
     public static final int kEncoderCPR = 1024;
-    public static final double kWheelDiameterMeters = 0.15;
+    public static final double kWheelDiameter = 0.15; // m
     public static final double kEncoderDistancePerPulse =
         // Assumes the encoders are directly mounted on the wheel shafts
-        (kWheelDiameterMeters * Math.PI) / kEncoderCPR;
+        (kWheelDiameter * Math.PI) / kEncoderCPR;
 
     // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
     // These characterization values MUST be determined either experimentally or theoretically
@@ -71,10 +71,10 @@ public static final class OIConstants {
   }
 
   public static final class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 3;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
-    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
-    public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
+    public static final double kMaxSpeed = 3; // m/s
+    public static final double kMaxAcceleration = 3; // m/s²
+    public static final double kMaxAngularSpeed = Math.PI; // rad/s
+    public static final double kMaxAngularAcceleration = Math.PI; // rad/s²
 
     public static final double kPXController = 0.5;
     public static final double kPYController = 0.5;
@@ -82,7 +82,6 @@ public static final class AutoConstants {
 
     // Constraint for the motion profilied robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-        new TrapezoidProfile.Constraints(
-            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+        new TrapezoidProfile.Constraints(kMaxAngularSpeed, kMaxAngularAcceleration);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
index 5ceb363806e..cf8e088ddb3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -80,9 +80,7 @@ private void configureButtonBindings() {
   public Command getAutonomousCommand() {
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(
-                AutoConstants.kMaxSpeedMetersPerSecond,
-                AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(AutoConstants.kMaxSpeed, AutoConstants.kMaxAcceleration)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(DriveConstants.kDriveKinematics);
 
@@ -111,7 +109,7 @@ public Command getAutonomousCommand() {
                 AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints),
 
             // Needed for normalizing wheel speeds
-            AutoConstants.kMaxSpeedMetersPerSecond,
+            AutoConstants.kMaxSpeed,
 
             // Velocity PID's
             new PIDController(DriveConstants.kPFrontLeftVel, 0, 0),
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
index b3f9b3462ab..e9412ef0fcb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -95,7 +95,7 @@ public void periodic() {
    * @return The pose.
    */
   public Pose2d getPose() {
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   /**
@@ -126,10 +126,10 @@ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelativ
 
   /** Sets the front left drive MotorController to a voltage. */
   public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
-    m_frontLeft.setVoltage(volts.frontLeftVoltage);
-    m_rearLeft.setVoltage(volts.rearLeftVoltage);
-    m_frontRight.setVoltage(volts.frontRightVoltage);
-    m_rearRight.setVoltage(volts.rearRightVoltage);
+    m_frontLeft.setVoltage(volts.frontLeft);
+    m_rearLeft.setVoltage(volts.rearLeft);
+    m_frontRight.setVoltage(volts.frontRight);
+    m_rearRight.setVoltage(volts.rearRight);
   }
 
   /** Resets the drive encoders to currently read a position of 0. */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index de481094486..5b67297e748 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -107,23 +107,19 @@ public MecanumDriveWheelPositions getCurrentDistances() {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
-    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeftMetersPerSecond);
-    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRightMetersPerSecond);
-    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
-    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
+    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeft);
+    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRight);
+    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeft);
+    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRight);
 
     final double frontLeftOutput =
-        m_frontLeftPIDController.calculate(
-            m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond);
+        m_frontLeftPIDController.calculate(m_frontLeftEncoder.getRate(), speeds.frontLeft);
     final double frontRightOutput =
-        m_frontRightPIDController.calculate(
-            m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond);
+        m_frontRightPIDController.calculate(m_frontRightEncoder.getRate(), speeds.frontRight);
     final double backLeftOutput =
-        m_backLeftPIDController.calculate(
-            m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond);
+        m_backLeftPIDController.calculate(m_backLeftEncoder.getRate(), speeds.rearLeft);
     final double backRightOutput =
-        m_backRightPIDController.calculate(
-            m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond);
+        m_backRightPIDController.calculate(m_backRightEncoder.getRate(), speeds.rearRight);
 
     m_frontLeftMotor.setVoltage(frontLeftOutput + frontLeftFeedforward);
     m_frontRightMotor.setVoltage(frontRightOutput + frontRightFeedforward);
@@ -140,12 +136,12 @@ public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   public void drive(
-      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
+      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double period) {
     var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
     if (fieldRelative) {
       chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
     }
-    chassisSpeeds.discretize(periodSeconds);
+    chassisSpeeds.discretize(period);
     var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
     mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
     setSpeeds(mecanumDriveWheelSpeeds);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 65549bb1067..560e18f36b1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -20,10 +20,10 @@ public class Robot extends TimedRobot {
   static final int kJoystickChannel = 3;
 
   // The elevator can move 1.5 meters from top to bottom
-  static final double kFullHeightMeters = 1.5;
+  static final double kFullHeight = 1.5;
 
-  // Bottom, middle, and top elevator setpoints
-  static final double[] kSetpointsMeters = {0.2, 0.8, 1.4};
+  // Bottom, middle, and top elevator setpoints in meters
+  static final double[] kSetpoints = {0.2, 0.8, 1.4};
 
   // proportional, integral, and derivative speed constants
   // DANGER: when tuning PID constants, high/inappropriate values for kP, kI,
@@ -35,7 +35,7 @@ public class Robot extends TimedRobot {
   private final PIDController m_pidController = new PIDController(kP, kI, kD);
   // Scaling is handled internally
   private final AnalogPotentiometer m_potentiometer =
-      new AnalogPotentiometer(kPotChannel, kFullHeightMeters);
+      new AnalogPotentiometer(kPotChannel, kFullHeight);
   private final PWMSparkMax m_elevatorMotor = new PWMSparkMax(kMotorChannel);
   private final Joystick m_joystick = new Joystick(kJoystickChannel);
 
@@ -45,7 +45,7 @@ public class Robot extends TimedRobot {
   public void teleopInit() {
     // Move to the bottom setpoint when teleop starts
     m_index = 0;
-    m_pidController.setSetpoint(kSetpointsMeters[m_index]);
+    m_pidController.setSetpoint(kSetpoints[m_index]);
   }
 
   @Override
@@ -62,9 +62,9 @@ public void teleopPeriodic() {
     // when the button is pressed once, the selected elevator setpoint is incremented
     if (m_joystick.getTriggerPressed()) {
       // index of the elevator setpoint wraps around.
-      m_index = (m_index + 1) % kSetpointsMeters.length;
+      m_index = (m_index + 1) % kSetpoints.length;
       System.out.println("m_index = " + m_index);
-      m_pidController.setSetpoint(kSetpointsMeters[m_index]);
+      m_pidController.setSetpoint(kSetpoints[m_index]);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
index e0bdb757ba0..86ce61da9f9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
@@ -27,10 +27,10 @@ public static final class DriveConstants {
     public static final boolean kRightEncoderReversed = true;
 
     public static final int kEncoderCPR = 1024;
-    public static final double kWheelDiameterMeters = Units.inchesToMeters(6);
+    public static final double kWheelDiameter = Units.inchesToMeters(6);
     public static final double kEncoderDistancePerPulse =
         // Assumes the encoders are directly mounted on the wheel shafts
-        (kWheelDiameterMeters * Math.PI) / kEncoderCPR;
+        (kWheelDiameter * Math.PI) / kEncoderCPR;
 
     // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
     // These values MUST be determined either experimentally or theoretically for *your* robot's
@@ -88,8 +88,8 @@ public static final class StorageConstants {
   }
 
   public static final class AutoConstants {
-    public static final double kTimeoutSeconds = 3;
-    public static final double kDriveDistanceMeters = 2;
+    public static final double kTimeout = 3;
+    public static final double kDriveDistance = 2; // m
     public static final double kDriveSpeed = 0.5;
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
index a4273a481ae..750279b0d2f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
@@ -87,7 +87,7 @@ public void configureBindings() {
   public Command getAutonomousCommand() {
     // Drive forward for 2 meters at half speed with a 3 second timeout
     return m_drive
-        .driveDistanceCommand(AutoConstants.kDriveDistanceMeters, AutoConstants.kDriveSpeed)
-        .withTimeout(AutoConstants.kTimeoutSeconds);
+        .driveDistanceCommand(AutoConstants.kDriveDistance, AutoConstants.kDriveSpeed)
+        .withTimeout(AutoConstants.kTimeout);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
index dbb234a8d0a..f1c45d29545 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
@@ -105,10 +105,10 @@ public Command arcadeDriveCommand(DoubleSupplier fwd, DoubleSupplier rot) {
   /**
    * Returns a command that drives the robot forward a specified distance at a specified speed.
    *
-   * @param distanceMeters The distance to drive forward in meters
+   * @param distance The distance to drive forward in meters
    * @param speed The fraction of max speed at which to drive
    */
-  public Command driveDistanceCommand(double distanceMeters, double speed) {
+  public Command driveDistanceCommand(double distance, double speed) {
     return runOnce(
             () -> {
               // Reset encoders at the start of the command
@@ -119,9 +119,7 @@ public Command driveDistanceCommand(double distanceMeters, double speed) {
         .andThen(run(() -> m_drive.arcadeDrive(speed, 0)))
         // End command when we've traveled the specified distance
         .until(
-            () ->
-                Math.max(m_leftEncoder.getDistance(), m_rightEncoder.getDistance())
-                    >= distanceMeters)
+            () -> Math.max(m_leftEncoder.getDistance(), m_rightEncoder.getDistance()) >= distance)
         // Stop the drive when the command ends
         .finallyDo(interrupted -> m_drive.stopMotor());
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index d0d1ed4dcdc..18130b33769 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -31,7 +31,7 @@ public class Drivetrain {
   // 1/2 rotation per second.
   public static final double kMaxAngularSpeed = Math.PI;
 
-  private static final double kTrackWidth = 0.381 * 2;
+  private static final double kTrackwidth = 0.381 * 2;
   private static final double kWheelRadius = 0.0508;
   private static final int kEncoderResolution = -4096;
 
@@ -49,7 +49,7 @@ public class Drivetrain {
   private final AnalogGyro m_gyro = new AnalogGyro(0);
 
   private final DifferentialDriveKinematics m_kinematics =
-      new DifferentialDriveKinematics(kTrackWidth);
+      new DifferentialDriveKinematics(kTrackwidth);
   private final DifferentialDriveOdometry m_odometry =
       new DifferentialDriveOdometry(
           m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
@@ -67,7 +67,7 @@ public class Drivetrain {
       LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
   private final DifferentialDrivetrainSim m_drivetrainSimulator =
       new DifferentialDrivetrainSim(
-          m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackWidth, kWheelRadius, null);
+          m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackwidth, kWheelRadius, null);
 
   /** Subsystem constructor. */
   public Drivetrain() {
@@ -94,12 +94,10 @@ public Drivetrain() {
 
   /** Sets speeds to the drivetrain motors. */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
-    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
-    double leftOutput =
-        m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
-    double rightOutput =
-        m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
+    final double leftFeedforward = m_feedforward.calculate(speeds.left);
+    final double rightFeedforward = m_feedforward.calculate(speeds.right);
+    double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.left);
+    double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.right);
 
     m_leftLeader.setVoltage(leftOutput + leftFeedforward);
     m_rightLeader.setVoltage(rightOutput + rightFeedforward);
@@ -130,7 +128,7 @@ public void resetOdometry(Pose2d pose) {
 
   /** Check the current robot pose. */
   public Pose2d getPose() {
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   /** Update our simulation. This should be run every robot loop in simulation. */
@@ -144,16 +142,16 @@ public void simulationPeriodic() {
         m_rightLeader.get() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
-    m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
-    m_leftEncoderSim.setRate(m_drivetrainSimulator.getLeftVelocityMetersPerSecond());
-    m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
-    m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
+    m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPosition());
+    m_leftEncoderSim.setRate(m_drivetrainSimulator.getLeftVelocity());
+    m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPosition());
+    m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocity());
     m_gyroSim.setAngle(-m_drivetrainSimulator.getHeading().getDegrees());
   }
 
   /** Update odometry - this should be run every robot loop. */
   public void periodic() {
     updateOdometry();
-    m_fieldSim.setRobotPose(m_odometry.getPoseMeters());
+    m_fieldSim.setRobotPose(m_odometry.getPose());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
index 85953c63579..d8471b2c49a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
@@ -56,7 +56,7 @@ public void autonomousPeriodic() {
     double elapsed = m_timer.get();
     Trajectory.State reference = m_trajectory.sample(elapsed);
     ChassisSpeeds speeds = m_feedback.calculate(m_drive.getPose(), reference);
-    m_drive.drive(speeds.vxMetersPerSecond, speeds.omegaRadiansPerSecond);
+    m_drive.drive(speeds.vx, speeds.omega);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
index f622259b494..2b93f5b0397 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -56,12 +56,12 @@ public Drivetrain() {
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   public void drive(
-      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
+      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double period) {
     var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
     if (fieldRelative) {
       chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
     }
-    chassisSpeeds.discretize(periodSeconds);
+    chassisSpeeds.discretize(period);
     var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
     SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index b57ba6e5eae..1590dfaa805 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -121,9 +121,9 @@ public void setDesiredState(SwerveModuleState desiredState) {
     // Calculate the drive output from the drive PID controller.
 
     final double driveOutput =
-        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speedMetersPerSecond);
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speed);
 
-    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speedMetersPerSecond);
+    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speed);
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
index acdaa388594..3a13b717792 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
@@ -52,16 +52,16 @@ public static final class DriveConstants {
     // If you call DriveSubsystem.drive() with a different period make sure to update this.
     public static final double kDrivePeriod = TimedRobot.kDefaultPeriod;
 
-    public static final double kTrackWidth = 0.5;
+    public static final double kTrackwidth = 0.5;
     // Distance between centers of right and left wheels on robot
     public static final double kWheelBase = 0.7;
     // Distance between front and back wheels on robot
     public static final SwerveDriveKinematics kDriveKinematics =
         new SwerveDriveKinematics(
-            new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-            new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-            new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-            new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+            new Translation2d(kWheelBase / 2, kTrackwidth / 2),
+            new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
+            new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
+            new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
 
     public static final boolean kGyroReversed = false;
 
@@ -69,22 +69,22 @@ public static final class DriveConstants {
     // These characterization values MUST be determined either experimentally or theoretically
     // for *your* robot's drive.
     // The SysId tool provides a convenient method for obtaining these values for your robot.
-    public static final double ksVolts = 1;
-    public static final double kvVoltSecondsPerMeter = 0.8;
-    public static final double kaVoltSecondsSquaredPerMeter = 0.15;
+    public static final double ks = 1; // V
+    public static final double kv = 0.8; // V/(m/s)
+    public static final double ka = 0.15; // V/(m/s²)
 
-    public static final double kMaxSpeedMetersPerSecond = 3;
+    public static final double kMaxSpeed = 3; // m/s
   }
 
   public static final class ModuleConstants {
-    public static final double kMaxModuleAngularSpeedRadiansPerSecond = 2 * Math.PI;
-    public static final double kMaxModuleAngularAccelerationRadiansPerSecondSquared = 2 * Math.PI;
+    public static final double kMaxModuleAngularSpeed = 2 * Math.PI; // rad/s
+    public static final double kMaxModuleAngularAcceleration = 2 * Math.PI; // rad/s²
 
     public static final int kEncoderCPR = 1024;
-    public static final double kWheelDiameterMeters = 0.15;
+    public static final double kWheelDiameter = 0.15; // m
     public static final double kDriveEncoderDistancePerPulse =
         // Assumes the encoders are directly mounted on the wheel shafts
-        (kWheelDiameterMeters * Math.PI) / kEncoderCPR;
+        (kWheelDiameter * Math.PI) / kEncoderCPR;
 
     public static final double kTurningEncoderDistancePerPulse =
         // Assumes the encoders are on a 1:1 reduction with the module shaft.
@@ -100,10 +100,10 @@ public static final class OIConstants {
   }
 
   public static final class AutoConstants {
-    public static final double kMaxSpeedMetersPerSecond = 3;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
-    public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
-    public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
+    public static final double kMaxSpeed = 3; // m/s
+    public static final double kMaxAcceleration = 3; // m/s²
+    public static final double kMaxAngularSpeed = Math.PI; // rad/s
+    public static final double kMaxAngularAcceleration = Math.PI; // rad/s²
 
     public static final double kPXController = 1;
     public static final double kPYController = 1;
@@ -111,7 +111,6 @@ public static final class AutoConstants {
 
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
-        new TrapezoidProfile.Constraints(
-            kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
+        new TrapezoidProfile.Constraints(kMaxAngularSpeed, kMaxAngularAcceleration);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index f2641890a6d..b729de42bb8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -54,10 +54,9 @@ public RobotContainer() {
                     // Multiply by max speed to map the joystick unitless inputs to actual units.
                     // This will map the [-1, 1] to [max speed backwards, max speed forwards],
                     // converting them to actual units.
-                    m_driverController.getLeftY() * DriveConstants.kMaxSpeedMetersPerSecond,
-                    m_driverController.getLeftX() * DriveConstants.kMaxSpeedMetersPerSecond,
-                    m_driverController.getRightX()
-                        * ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
+                    m_driverController.getLeftY() * DriveConstants.kMaxSpeed,
+                    m_driverController.getLeftX() * DriveConstants.kMaxSpeed,
+                    m_driverController.getRightX() * ModuleConstants.kMaxModuleAngularSpeed,
                     false),
             m_robotDrive));
   }
@@ -78,9 +77,7 @@ private void configureButtonBindings() {}
   public Command getAutonomousCommand() {
     // Create config for trajectory
     TrajectoryConfig config =
-        new TrajectoryConfig(
-                AutoConstants.kMaxSpeedMetersPerSecond,
-                AutoConstants.kMaxAccelerationMetersPerSecondSquared)
+        new TrajectoryConfig(AutoConstants.kMaxSpeed, AutoConstants.kMaxAcceleration)
             // Add kinematics to ensure max speed is actually obeyed
             .setKinematics(DriveConstants.kDriveKinematics);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
index c950e4c7c53..de934c4a15e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
@@ -89,7 +89,7 @@ public void periodic() {
    * @return The pose.
    */
   public Pose2d getPose() {
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   /**
@@ -124,8 +124,7 @@ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelativ
     }
     chassisSpeeds.discretize(DriveConstants.kDrivePeriod);
     var swerveModuleStates = DriveConstants.kDriveKinematics.toWheelSpeeds(chassisSpeeds);
-    SwerveDriveKinematics.desaturateWheelSpeeds(
-        swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
+    SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, DriveConstants.kMaxSpeed);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
     m_frontRight.setDesiredState(swerveModuleStates[1]);
     m_rearLeft.setDesiredState(swerveModuleStates[2]);
@@ -138,8 +137,7 @@ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelativ
    * @param desiredStates The desired SwerveModule states.
    */
   public void setModuleStates(SwerveModuleState[] desiredStates) {
-    SwerveDriveKinematics.desaturateWheelSpeeds(
-        desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);
+    SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.kMaxSpeed);
     m_frontLeft.setDesiredState(desiredStates[0]);
     m_frontRight.setDesiredState(desiredStates[1]);
     m_rearLeft.setDesiredState(desiredStates[2]);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 1a032d273fa..0ee79e7d029 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -31,8 +31,8 @@ public class SwerveModule {
           0,
           0,
           new TrapezoidProfile.Constraints(
-              ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
-              ModuleConstants.kMaxModuleAngularAccelerationRadiansPerSecondSquared));
+              ModuleConstants.kMaxModuleAngularSpeed,
+              ModuleConstants.kMaxModuleAngularAcceleration));
 
   /**
    * Constructs a SwerveModule.
@@ -117,7 +117,7 @@ public void setDesiredState(SwerveModuleState desiredState) {
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
-        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speedMetersPerSecond);
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speed);
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
index a28dfcacc28..a73b94d59e1 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
@@ -68,12 +68,12 @@ public Drivetrain() {
    * @param fieldRelative Whether the provided x and y speeds are relative to the field.
    */
   public void drive(
-      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
+      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double period) {
     var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
     if (fieldRelative) {
       chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
     }
-    chassisSpeeds.discretize(periodSeconds);
+    chassisSpeeds.discretize(period);
     var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
     SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
     m_frontLeft.setDesiredState(swerveModuleStates[0]);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
index e8af157d37b..45111f1275a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
@@ -120,9 +120,9 @@ public void setDesiredState(SwerveModuleState desiredState) {
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
-        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speedMetersPerSecond);
+        m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speed);
 
-    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speedMetersPerSecond);
+    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speed);
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
index 7e45d022479..b6d441347c5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
@@ -27,10 +27,10 @@ public static final class DriveConstants {
     public static final boolean kRightEncoderReversed = true;
 
     public static final int kEncoderCPR = 1024;
-    public static final double kWheelDiameterMeters = Units.inchesToMeters(6);
+    public static final double kWheelDiameter = Units.inchesToMeters(6);
     public static final double kEncoderDistancePerPulse =
         // Assumes the encoders are directly mounted on the wheel shafts
-        (kWheelDiameterMeters * Math.PI) / kEncoderCPR;
+        (kWheelDiameter * Math.PI) / kEncoderCPR;
   }
 
   public static final class ShooterConstants {
@@ -73,8 +73,8 @@ public static final class StorageConstants {
   }
 
   public static final class AutoConstants {
-    public static final double kTimeoutSeconds = 3;
-    public static final double kDriveDistanceMeters = 2;
+    public static final double kTimeout = 3;
+    public static final double kDriveDistance = 2; // m
     public static final double kDriveSpeed = 0.5;
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
index 602e58abe5b..7d0b375e7aa 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.ultrasonic;
 
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Ultrasonic;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -26,14 +27,12 @@ public Robot() {
 
   @Override
   public void teleopPeriodic() {
-    // We can read the distance in millimeters
-    double distanceMillimeters = m_rangeFinder.getRangeMM();
-    // ... or in inches
-    double distanceInches = m_rangeFinder.getRangeInches();
+    // Read distance in meters
+    double distance = m_rangeFinder.getRange();
 
     // We can also publish the data itself periodically
-    SmartDashboard.putNumber("Distance[mm]", distanceMillimeters);
-    SmartDashboard.putNumber("Distance[inch]", distanceInches);
+    SmartDashboard.putNumber("Distance[m]", distance);
+    SmartDashboard.putNumber("Distance[inch]", Units.metersToInches(distance));
   }
 
   @Override
@@ -48,8 +47,8 @@ public void testInit() {
   public void testPeriodic() {
     if (m_rangeFinder.isRangeValid()) {
       // Data is valid, publish it
-      SmartDashboard.putNumber("Distance[mm]", m_rangeFinder.getRangeMM());
-      SmartDashboard.putNumber("Distance[inch]", m_rangeFinder.getRangeInches());
+      SmartDashboard.putNumber("Distance[m]", m_rangeFinder.getRange());
+      SmartDashboard.putNumber("Distance[inch]", Units.metersToInches(m_rangeFinder.getRange()));
 
       // Ping for next measurement
       m_rangeFinder.ping();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
index 33681d00859..a49b69c272c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -19,10 +19,10 @@
 public class Robot extends TimedRobot {
   // distance the robot wants to stay from an object
   // (one meter)
-  static final double kHoldDistanceMillimeters = 1.0e3;
+  static final double kHoldDistance = 1.0; // m
 
   // proportional speed constant
-  private static final double kP = 0.001;
+  private static final double kP = 1.0;
   // integral speed constant
   private static final double kI = 0.0;
   // derivative speed constant
@@ -53,12 +53,12 @@ public Robot() {
   @Override
   public void autonomousInit() {
     // Set setpoint of the pid controller
-    m_pidController.setSetpoint(kHoldDistanceMillimeters);
+    m_pidController.setSetpoint(kHoldDistance);
   }
 
   @Override
   public void autonomousPeriodic() {
-    double measurement = m_ultrasonic.getRangeMM();
+    double measurement = m_ultrasonic.getRange();
     double filteredMeasurement = m_filter.calculate(measurement);
     double pidOutput = m_pidController.calculate(filteredMeasurement);
 
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
index 7faeec68f33..d7074a0fd99 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
@@ -88,12 +88,12 @@ void teleopTest() {
       // advance 75 timesteps
       SimHooks.stepTiming(1.5);
 
-      assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
+      assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
 
       // advance 25 timesteps to see setpoint is held.
       SimHooks.stepTiming(0.5);
 
-      assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
+      assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
     }
 
     {
@@ -115,12 +115,12 @@ void teleopTest() {
       // advance 75 timesteps
       SimHooks.stepTiming(1.5);
 
-      assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
+      assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
 
       // advance 25 timesteps to see setpoint is held.
       SimHooks.stepTiming(0.5);
 
-      assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
+      assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
     }
 
     {
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
index 8a3d92b8e66..6fe3cc413e6 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
@@ -53,7 +53,7 @@ void startThread() {
             kCarriageMassKg,
             kElevatorDrumRadius,
             0.0,
-            Robot.kFullHeightMeters,
+            Robot.kFullHeight,
             true,
             0);
     m_analogSim = new AnalogInputSim(Robot.kPotChannel);
@@ -74,7 +74,7 @@ void startThread() {
                */
               m_analogSim.setVoltage(
                   RobotController.getVoltage5V()
-                      * (m_elevatorSim.getPositionMeters() / Robot.kFullHeightMeters));
+                      * (m_elevatorSim.getPosition() / Robot.kFullHeight));
             });
 
     m_thread.start();
@@ -113,7 +113,7 @@ void teleopTest() {
       // advance 50 timesteps
       SimHooks.stepTiming(1);
 
-      assertEquals(Robot.kSetpointsMeters[0], m_elevatorSim.getPositionMeters(), 0.1);
+      assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
     }
 
     // second setpoint
@@ -125,7 +125,7 @@ void teleopTest() {
       // advance 50 timesteps
       SimHooks.stepTiming(1);
 
-      assertEquals(Robot.kSetpointsMeters[1], m_elevatorSim.getPositionMeters(), 0.1);
+      assertEquals(Robot.kSetpoints[1], m_elevatorSim.getPosition(), 0.1);
     }
 
     // we need to unpress the button
@@ -146,7 +146,7 @@ void teleopTest() {
       // advance 50 timesteps
       SimHooks.stepTiming(1);
 
-      assertEquals(Robot.kSetpointsMeters[2], m_elevatorSim.getPositionMeters(), 0.1);
+      assertEquals(Robot.kSetpoints[2], m_elevatorSim.getPosition(), 0.1);
     }
 
     // we need to unpress the button
@@ -167,7 +167,7 @@ void teleopTest() {
       // advance 60 timesteps
       SimHooks.stepTiming(1.2);
 
-      assertEquals(Robot.kSetpointsMeters[0], m_elevatorSim.getPositionMeters(), 0.1);
+      assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
     }
   }
 }
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
index f0a27b8f9c0..9c5cf5360d2 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
@@ -27,12 +27,12 @@
 class UltrasonicPIDTest {
   private final DCMotor m_gearbox = DCMotor.getFalcon500(2);
   private static final double kGearing = KitbotGearing.k10p71.value;
-  public static final double kvVoltSecondsPerMeter = 1.98;
-  public static final double kaVoltSecondsSquaredPerMeter = 0.2;
-  private static final double kvVoltSecondsPerRadian = 1.5;
-  private static final double kaVoltSecondsSquaredPerRadian = 0.3;
-  private static final double kWheelDiameterMeters = 0.15;
-  private static final double kTrackwidthMeters = 0.7;
+  public static final double kvLinear = 1.98; // V/(m/s)
+  public static final double kaLinear = 0.2; // V/m/s²)
+  private static final double kvAngular = 1.5; // V/(rad/s)
+  private static final double kaAngular = 0.3; // V/(rad/s²)
+  private static final double kWheelDiameter = 0.15; // m
+  private static final double kTrackwidth = 0.7; // m
 
   private Robot m_robot;
   private Thread m_thread;
@@ -46,7 +46,7 @@ class UltrasonicPIDTest {
   // distance between the robot's starting position and the object
   // we will update this in a moment
   private double m_startToObject = Double.POSITIVE_INFINITY;
-  private double m_distanceMM;
+  private double m_distance; // m
 
   // We're not using @BeforeEach so m_startToObject gets initialized properly
   private void startThread() {
@@ -57,15 +57,11 @@ private void startThread() {
     m_thread = new Thread(m_robot::startCompetition);
     m_driveSim =
         new DifferentialDrivetrainSim(
-            LinearSystemId.identifyDrivetrainSystem(
-                kvVoltSecondsPerMeter,
-                kaVoltSecondsSquaredPerMeter,
-                kvVoltSecondsPerRadian,
-                kaVoltSecondsSquaredPerRadian),
+            LinearSystemId.identifyDrivetrainSystem(kvLinear, kaLinear, kvAngular, kaAngular),
             m_gearbox,
             kGearing,
-            kTrackwidthMeters,
-            kWheelDiameterMeters / 2.0,
+            kTrackwidth,
+            kWheelDiameter / 2.0,
             null);
     m_ultrasonicSim = new UltrasonicSim(Robot.kUltrasonicPingPort, Robot.kUltrasonicEchoPort);
     m_leftMotorSim = new PWMSim(Robot.kLeftMotorPort);
@@ -80,10 +76,10 @@ private void startThread() {
               m_driveSim.update(0.02);
 
               double startingDistance = m_startToObject;
-              double range = m_driveSim.getLeftPositionMeters() - startingDistance;
+              double range = m_driveSim.getLeftPosition() - startingDistance;
 
-              m_ultrasonicSim.setRangeMeters(range);
-              m_distanceMM = range * 1.0e3;
+              m_ultrasonicSim.setRange(range);
+              m_distance = range;
             });
 
     m_thread.start();
@@ -128,7 +124,7 @@ void autoTest(double distance) {
     {
       SimHooks.stepTiming(5.0);
 
-      assertEquals(Robot.kHoldDistanceMillimeters, m_distanceMM, 10.0);
+      assertEquals(Robot.kHoldDistance, m_distance, 0.01);
     }
   }
 }
diff --git a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
index 5494f0b6752..2d2737b7d6d 100644
--- a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
+++ b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
@@ -529,9 +529,9 @@ public static final class ProtobufDifferentialDriveKinematics extends ProtoMessa
     private static final long serialVersionUID = 0L;
 
     /**
-     * <code>optional double track_width = 1;</code>
+     * <code>optional double trackwidth = 1;</code>
      */
-    private double trackWidth;
+    private double trackwidth;
 
     private ProtobufDifferentialDriveKinematics() {
     }
@@ -544,39 +544,39 @@ public static ProtobufDifferentialDriveKinematics newInstance() {
     }
 
     /**
-     * <code>optional double track_width = 1;</code>
-     * @return whether the trackWidth field is set
+     * <code>optional double trackwidth = 1;</code>
+     * @return whether the trackwidth field is set
      */
-    public boolean hasTrackWidth() {
+    public boolean hasTrackwidth() {
       return (bitField0_ & 0x00000001) != 0;
     }
 
     /**
-     * <code>optional double track_width = 1;</code>
+     * <code>optional double trackwidth = 1;</code>
      * @return this
      */
-    public ProtobufDifferentialDriveKinematics clearTrackWidth() {
+    public ProtobufDifferentialDriveKinematics clearTrackwidth() {
       bitField0_ &= ~0x00000001;
-      trackWidth = 0D;
+      trackwidth = 0D;
       return this;
     }
 
     /**
-     * <code>optional double track_width = 1;</code>
-     * @return the trackWidth
+     * <code>optional double trackwidth = 1;</code>
+     * @return the trackwidth
      */
-    public double getTrackWidth() {
-      return trackWidth;
+    public double getTrackwidth() {
+      return trackwidth;
     }
 
     /**
-     * <code>optional double track_width = 1;</code>
-     * @param value the trackWidth to set
+     * <code>optional double trackwidth = 1;</code>
+     * @param value the trackwidth to set
      * @return this
      */
-    public ProtobufDifferentialDriveKinematics setTrackWidth(final double value) {
+    public ProtobufDifferentialDriveKinematics setTrackwidth(final double value) {
       bitField0_ |= 0x00000001;
-      trackWidth = value;
+      trackwidth = value;
       return this;
     }
 
@@ -586,7 +586,7 @@ public ProtobufDifferentialDriveKinematics copyFrom(
       cachedSize = other.cachedSize;
       if ((bitField0_ | other.bitField0_) != 0) {
         bitField0_ = other.bitField0_;
-        trackWidth = other.trackWidth;
+        trackwidth = other.trackwidth;
       }
       return this;
     }
@@ -598,8 +598,8 @@ public ProtobufDifferentialDriveKinematics mergeFrom(
         return this;
       }
       cachedSize = -1;
-      if (other.hasTrackWidth()) {
-        setTrackWidth(other.trackWidth);
+      if (other.hasTracwidth()) {
+        setTrackwidth(other.trackwidth);
       }
       return this;
     }
@@ -611,7 +611,7 @@ public ProtobufDifferentialDriveKinematics clear() {
       }
       cachedSize = -1;
       bitField0_ = 0;
-      trackWidth = 0D;
+      trackwidth = 0D;
       return this;
     }
 
@@ -635,14 +635,14 @@ public boolean equals(Object o) {
       }
       ProtobufDifferentialDriveKinematics other = (ProtobufDifferentialDriveKinematics) o;
       return bitField0_ == other.bitField0_
-        && (!hasTrackWidth() || ProtoUtil.isEqual(trackWidth, other.trackWidth));
+        && (!hasTrackwidth() || ProtoUtil.isEqual(trackwidth, other.trackwidth));
     }
 
     @Override
     public void writeTo(final ProtoSink output) throws IOException {
       if ((bitField0_ & 0x00000001) != 0) {
         output.writeRawByte((byte) 9);
-        output.writeDoubleNoTag(trackWidth);
+        output.writeDoubleNoTag(trackwidth);
       }
     }
 
@@ -664,8 +664,8 @@ public ProtobufDifferentialDriveKinematics mergeFrom(final ProtoSource input) th
       while (true) {
         switch (tag) {
           case 9: {
-            // trackWidth
-            trackWidth = input.readDouble();
+            // trackwidth
+            trackwidth = input.readDouble();
             bitField0_ |= 0x00000001;
             tag = input.readTag();
             if (tag != 0) {
@@ -690,7 +690,7 @@ public ProtobufDifferentialDriveKinematics mergeFrom(final ProtoSource input) th
     public void writeTo(final JsonSink output) throws IOException {
       output.beginObject();
       if ((bitField0_ & 0x00000001) != 0) {
-        output.writeDouble(FieldNames.trackWidth, trackWidth);
+        output.writeDouble(FieldNames.trackwidth, trackwidth);
       }
       output.endObject();
     }
@@ -705,9 +705,9 @@ public ProtobufDifferentialDriveKinematics mergeFrom(final JsonSource input) thr
         switch (input.readFieldHash()) {
           case 1152213819:
           case 1600986578: {
-            if (input.isAtField(FieldNames.trackWidth)) {
+            if (input.isAtField(FieldNames.trackwidth)) {
               if (!input.trySkipNullValue()) {
-                trackWidth = input.readDouble();
+                trackwidth = input.readDouble();
                 bitField0_ |= 0x00000001;
               }
             } else {
@@ -777,7 +777,7 @@ public ProtobufDifferentialDriveKinematics create() {
      * Contains name constants used for serializing JSON
      */
     static class FieldNames {
-      static final FieldName trackWidth = FieldName.forField("trackWidth", "track_width");
+      static final FieldName trackwidth = FieldName.forField("trackwidth", "trackwidth");
     }
   }
 
diff --git a/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h b/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h
index e55103ffb80..e45f716d1c8 100644
--- a/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h
+++ b/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h
@@ -31,7 +31,7 @@ typedef struct _wpi_proto_ProtobufDifferentialDriveKinematics {
     static std::string_view msg_name(void) noexcept;
     static pb_filedesc_t file_descriptor(void) noexcept;
 
-    double track_width;
+    double trackwidth;
 } wpi_proto_ProtobufDifferentialDriveKinematics;
 
 typedef struct _wpi_proto_ProtobufDifferentialDriveWheelSpeeds {
@@ -151,7 +151,7 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
 #define wpi_proto_ProtobufChassisSpeeds_vx_tag   1
 #define wpi_proto_ProtobufChassisSpeeds_vy_tag   2
 #define wpi_proto_ProtobufChassisSpeeds_omega_tag 3
-#define wpi_proto_ProtobufDifferentialDriveKinematics_track_width_tag 1
+#define wpi_proto_ProtobufDifferentialDriveKinematics_trackwidth_tag 1
 #define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_left_tag 1
 #define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_right_tag 2
 #define wpi_proto_ProtobufDifferentialDriveWheelPositions_left_tag 1
@@ -187,7 +187,7 @@ X(a, STATIC,   SINGULAR, DOUBLE,   omega,             3)
 #define wpi_proto_ProtobufChassisSpeeds_DEFAULT NULL
 
 #define wpi_proto_ProtobufDifferentialDriveKinematics_FIELDLIST(X, a) \
-X(a, STATIC,   SINGULAR, DOUBLE,   track_width,       1)
+X(a, STATIC,   SINGULAR, DOUBLE,   trackwidth,        1)
 #define wpi_proto_ProtobufDifferentialDriveKinematics_CALLBACK NULL
 #define wpi_proto_ProtobufDifferentialDriveKinematics_DEFAULT NULL
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index 2f9ffe6ce72..544ce65fd9b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -44,12 +44,12 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
    * @param kg The gravity gain in volts.
    * @param kv The velocity gain in V/(rad/s).
    * @param ka The acceleration gain in V/(rad/s²).
-   * @param dtSeconds The period in seconds.
+   * @param dt The period in seconds.
    * @throws IllegalArgumentException for kv &lt; zero.
    * @throws IllegalArgumentException for ka &lt; zero.
    * @throws IllegalArgumentException for period &le; zero.
    */
-  public ArmFeedforward(double ks, double kg, double kv, double ka, double dtSeconds) {
+  public ArmFeedforward(double ks, double kg, double kv, double ka, double dt) {
     this.ks = ks;
     this.kg = kg;
     this.kv = kv;
@@ -60,11 +60,10 @@ public ArmFeedforward(double ks, double kg, double kv, double ka, double dtSecon
     if (ka < 0.0) {
       throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
-    if (dtSeconds <= 0.0) {
-      throw new IllegalArgumentException(
-          "period must be a positive number, got " + dtSeconds + "!");
+    if (dt <= 0.0) {
+      throw new IllegalArgumentException("period must be a positive number, got " + dt + "!");
     }
-    m_dt = dtSeconds;
+    m_dt = dt;
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
index 9b14542207f..ca541b103a3 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
@@ -54,14 +54,14 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    * @param inputs A {@link Nat} representing the number of inputs.
    * @param f A vector-valued function of x, the state, and u, the input, that returns the
    *     derivative of the state vector. HAS to be control-affine (of the form f(x) + Bu).
-   * @param dtSeconds The timestep between calls of calculate().
+   * @param dt The timestep between calls of calculate() in seconds.
    */
   public ControlAffinePlantInversionFeedforward(
       Nat<States> states,
       Nat<Inputs> inputs,
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-      double dtSeconds) {
-    this.m_dt = dtSeconds;
+      double dt) {
+    this.m_dt = dt;
     this.m_f = f;
     this.m_inputs = inputs;
 
@@ -84,15 +84,15 @@ public ControlAffinePlantInversionFeedforward(
    * @param f A vector-valued function of x, the state, that returns the derivative of the state
    *     vector.
    * @param B Continuous input matrix of the plant being controlled.
-   * @param dtSeconds The timestep between calls of calculate().
+   * @param dt The timestep between calls of calculate() in seconds.
    */
   public ControlAffinePlantInversionFeedforward(
       Nat<States> states,
       Nat<Inputs> inputs,
       Function<Matrix<States, N1>, Matrix<States, N1>> f,
       Matrix<States, Inputs> B,
-      double dtSeconds) {
-    this.m_dt = dtSeconds;
+      double dt) {
+    this.m_dt = dt;
     this.m_inputs = inputs;
 
     this.m_f = (x, u) -> f.apply(x);
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveFeedforward.java
index 15be9f62f9b..549adbd4a24 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveFeedforward.java
@@ -71,7 +71,7 @@ public DifferentialDriveFeedforward(
    * @param currentRightVelocity The current right velocity of the differential drive in
    *     meters/second.
    * @param nextRightVelocity The next right velocity of the differential drive in meters/second.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @return A DifferentialDriveWheelVoltages object containing the computed feedforward voltages.
    */
   public DifferentialDriveWheelVoltages calculate(
@@ -79,8 +79,8 @@ public DifferentialDriveWheelVoltages calculate(
       double nextLeftVelocity,
       double currentRightVelocity,
       double nextRightVelocity,
-      double dtSeconds) {
-    var feedforward = new LinearPlantInversionFeedforward<>(m_plant, dtSeconds);
+      double dt) {
+    var feedforward = new LinearPlantInversionFeedforward<>(m_plant, dt);
     var r = VecBuilder.fill(currentLeftVelocity, currentRightVelocity);
     var nextR = VecBuilder.fill(nextLeftVelocity, nextRightVelocity);
     var u = feedforward.calculate(r, nextR);
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 44212700881..2f06a610788 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -41,12 +41,12 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
    * @param kg The gravity gain in volts.
    * @param kv The velocity gain in V/(m/s).
    * @param ka The acceleration gain in V/(m/s²).
-   * @param dtSeconds The period in seconds.
+   * @param dt The period in seconds.
    * @throws IllegalArgumentException for kv &lt; zero.
    * @throws IllegalArgumentException for ka &lt; zero.
    * @throws IllegalArgumentException for period &le; zero.
    */
-  public ElevatorFeedforward(double ks, double kg, double kv, double ka, double dtSeconds) {
+  public ElevatorFeedforward(double ks, double kg, double kv, double ka, double dt) {
     this.ks = ks;
     this.kg = kg;
     this.kv = kv;
@@ -57,11 +57,10 @@ public ElevatorFeedforward(double ks, double kg, double kv, double ka, double dt
     if (ka < 0.0) {
       throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
-    if (dtSeconds <= 0.0) {
-      throw new IllegalArgumentException(
-          "period must be a positive number, got " + dtSeconds + "!");
+    if (dt <= 0.0) {
+      throw new IllegalArgumentException("period must be a positive number, got " + dt + "!");
     }
-    m_dt = dtSeconds;
+    m_dt = dt;
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
index c1c30d42d21..f030a3b5cb0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
@@ -77,14 +77,14 @@ public void setTolerance(Pose2d tolerance) {
    *
    * @param currentPose The current pose, as measured by odometry or pose estimator.
    * @param trajectoryPose The desired trajectory pose, as sampled for the current timestep.
-   * @param desiredLinearVelocityMetersPerSecond The desired linear velocity.
+   * @param desiredLinearVelocity The desired linear velocity in m/s.
    * @param desiredHeading The desired heading.
    * @return The next output of the holonomic drive controller.
    */
   public ChassisSpeeds calculate(
       Pose2d currentPose,
       Pose2d trajectoryPose,
-      double desiredLinearVelocityMetersPerSecond,
+      double desiredLinearVelocity,
       Rotation2d desiredHeading) {
     // If this is the first run, then we need to reset the theta controller to the current pose's
     // heading.
@@ -94,8 +94,8 @@ public ChassisSpeeds calculate(
     }
 
     // Calculate feedforward velocities (field-relative).
-    double xFF = desiredLinearVelocityMetersPerSecond * trajectoryPose.getRotation().getCos();
-    double yFF = desiredLinearVelocityMetersPerSecond * trajectoryPose.getRotation().getSin();
+    double xFF = desiredLinearVelocity * trajectoryPose.getRotation().getCos();
+    double yFF = desiredLinearVelocity * trajectoryPose.getRotation().getSin();
     double thetaFF =
         m_thetaController.calculate(
             currentPose.getRotation().getRadians(), desiredHeading.getRadians());
@@ -113,8 +113,8 @@ public ChassisSpeeds calculate(
     double yFeedback = m_yController.calculate(currentPose.getY(), trajectoryPose.getY());
 
     // Return next output.
-    speeds.vxMetersPerSecond += xFeedback;
-    speeds.vyMetersPerSecond += yFeedback;
+    speeds.vx += xFeedback;
+    speeds.vy += yFeedback;
     speeds.toRobotRelativeSpeeds(currentPose.getRotation());
     return speeds;
   }
@@ -129,8 +129,7 @@ public ChassisSpeeds calculate(
    */
   public ChassisSpeeds calculate(
       Pose2d currentPose, Trajectory.State desiredState, Rotation2d desiredHeading) {
-    return calculate(
-        currentPose, desiredState.poseMeters, desiredState.velocityMetersPerSecond, desiredHeading);
+    return calculate(currentPose, desiredState.pose, desiredState.velocity, desiredHeading);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
index 1f6ca64bb96..6e212780d2c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
@@ -242,10 +242,8 @@ public DifferentialDriveWheelVoltages calculate(
         currentPose,
         leftVelocity,
         rightVelocity,
-        desiredState.poseMeters,
-        desiredState.velocityMetersPerSecond
-            * (1 - (desiredState.curvatureRadPerMeter * m_trackwidth / 2.0)),
-        desiredState.velocityMetersPerSecond
-            * (1 + (desiredState.curvatureRadPerMeter * m_trackwidth / 2.0)));
+        desiredState.pose,
+        desiredState.velocity * (1 - (desiredState.curvature * m_trackwidth / 2.0)),
+        desiredState.velocity * (1 + (desiredState.curvature * m_trackwidth / 2.0)));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
index 5cbfc037555..e763553126d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
@@ -201,9 +201,9 @@ public ChassisSpeeds calculate(
   public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState) {
     return calculate(
         currentPose,
-        desiredState.poseMeters,
-        desiredState.velocityMetersPerSecond,
-        desiredState.velocityMetersPerSecond * desiredState.curvatureRadPerMeter);
+        desiredState.pose,
+        desiredState.velocity,
+        desiredState.velocity * desiredState.curvature);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
index f71465a82a2..cba235d5717 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
@@ -40,11 +40,10 @@ public class LinearPlantInversionFeedforward<
    * Constructs a feedforward with the given plant.
    *
    * @param plant The plant being controlled.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    */
-  public LinearPlantInversionFeedforward(
-      LinearSystem<States, Inputs, Outputs> plant, double dtSeconds) {
-    this(plant.getA(), plant.getB(), dtSeconds);
+  public LinearPlantInversionFeedforward(LinearSystem<States, Inputs, Outputs> plant, double dt) {
+    this(plant.getA(), plant.getB(), dt);
   }
 
   /**
@@ -52,11 +51,11 @@ public LinearPlantInversionFeedforward(
    *
    * @param A Continuous system matrix of the plant being controlled.
    * @param B Continuous input matrix of the plant being controlled.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    */
   public LinearPlantInversionFeedforward(
-      Matrix<States, States> A, Matrix<States, Inputs> B, double dtSeconds) {
-    var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
+      Matrix<States, States> A, Matrix<States, Inputs> B, double dt) {
+    var discABPair = Discretization.discretizeAB(A, B, dt);
     this.m_A = discABPair.getFirst();
     this.m_B = discABPair.getSecond();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
index 7b06a503401..8f8845f48d2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
@@ -45,20 +45,20 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param plant The plant being controlled.
    * @param qelms The maximum desired error tolerance for each state.
    * @param relms The maximum desired control effort for each input.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is unstabilizable.
    */
   public LinearQuadraticRegulator(
       LinearSystem<States, Inputs, Outputs> plant,
       Vector<States> qelms,
       Vector<Inputs> relms,
-      double dtSeconds) {
+      double dt) {
     this(
         plant.getA(),
         plant.getB(),
         StateSpaceUtil.makeCostMatrix(qelms),
         StateSpaceUtil.makeCostMatrix(relms),
-        dtSeconds);
+        dt);
   }
 
   /**
@@ -72,7 +72,7 @@ public LinearQuadraticRegulator(
    * @param B Continuous input matrix of the plant being controlled.
    * @param qelms The maximum desired error tolerance for each state.
    * @param relms The maximum desired control effort for each input.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is unstabilizable.
    */
   public LinearQuadraticRegulator(
@@ -80,13 +80,8 @@ public LinearQuadraticRegulator(
       Matrix<States, Inputs> B,
       Vector<States> qelms,
       Vector<Inputs> relms,
-      double dtSeconds) {
-    this(
-        A,
-        B,
-        StateSpaceUtil.makeCostMatrix(qelms),
-        StateSpaceUtil.makeCostMatrix(relms),
-        dtSeconds);
+      double dt) {
+    this(A, B, StateSpaceUtil.makeCostMatrix(qelms), StateSpaceUtil.makeCostMatrix(relms), dt);
   }
 
   /**
@@ -96,7 +91,7 @@ public LinearQuadraticRegulator(
    * @param B Continuous input matrix of the plant being controlled.
    * @param Q The state cost matrix.
    * @param R The input cost matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is unstabilizable.
    */
   public LinearQuadraticRegulator(
@@ -104,8 +99,8 @@ public LinearQuadraticRegulator(
       Matrix<States, Inputs> B,
       Matrix<States, States> Q,
       Matrix<Inputs, Inputs> R,
-      double dtSeconds) {
-    var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
+      double dt) {
+    var discABPair = Discretization.discretizeAB(A, B, dt);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
 
@@ -134,7 +129,7 @@ public LinearQuadraticRegulator(
    * @param Q The state cost matrix.
    * @param R The input cost matrix.
    * @param N The state-input cross-term cost matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is unstabilizable.
    */
   public LinearQuadraticRegulator(
@@ -143,8 +138,8 @@ public LinearQuadraticRegulator(
       Matrix<States, States> Q,
       Matrix<Inputs, Inputs> R,
       Matrix<States, Inputs> N,
-      double dtSeconds) {
-    var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
+      double dt) {
+    var discABPair = Discretization.discretizeAB(A, B, dt);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
 
@@ -253,15 +248,15 @@ public Matrix<Inputs, N1> calculate(Matrix<States, N1> x, Matrix<States, N1> nex
    * appendix C.4 for a derivation.
    *
    * @param plant The plant being controlled.
-   * @param dtSeconds Discretization timestep in seconds.
+   * @param dt Discretization timestep in seconds.
    * @param inputDelaySeconds Input time delay in seconds.
    */
   public void latencyCompensate(
-      LinearSystem<States, Inputs, Outputs> plant, double dtSeconds, double inputDelaySeconds) {
-    var discABPair = Discretization.discretizeAB(plant.getA(), plant.getB(), dtSeconds);
+      LinearSystem<States, Inputs, Outputs> plant, double dt, double inputDelaySeconds) {
+    var discABPair = Discretization.discretizeAB(plant.getA(), plant.getB(), dt);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
 
-    m_K = m_K.times((discA.minus(discB.times(m_K))).pow(inputDelaySeconds / dtSeconds));
+    m_K = m_K.times((discA.minus(discB.times(m_K))).pow(inputDelaySeconds / dt));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index e9e6a3f22d9..d4b211602b2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -31,12 +31,12 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
    * @param ks The static gain in volts.
    * @param kv The velocity gain in V/(units/s).
    * @param ka The acceleration gain in V/(units/s²).
-   * @param dtSeconds The period in seconds.
+   * @param dt The period in seconds.
    * @throws IllegalArgumentException for kv &lt; zero.
    * @throws IllegalArgumentException for ka &lt; zero.
    * @throws IllegalArgumentException for period &le; zero.
    */
-  public SimpleMotorFeedforward(double ks, double kv, double ka, double dtSeconds) {
+  public SimpleMotorFeedforward(double ks, double kv, double ka, double dt) {
     this.ks = ks;
     this.kv = kv;
     this.ka = ka;
@@ -46,11 +46,10 @@ public SimpleMotorFeedforward(double ks, double kv, double ka, double dtSeconds)
     if (ka < 0.0) {
       throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
-    if (dtSeconds <= 0.0) {
-      throw new IllegalArgumentException(
-          "period must be a positive number, got " + dtSeconds + "!");
+    if (dt <= 0.0) {
+      throw new IllegalArgumentException("period must be a positive number, got " + dt + "!");
     }
-    m_dt = dtSeconds;
+    m_dt = dt;
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index 7918f9fbb8e..0d0ccccee16 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -38,22 +38,22 @@ public class DifferentialDrivePoseEstimator extends PoseEstimator<DifferentialDr
    *
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting pose estimate.
    */
   public DifferentialDrivePoseEstimator(
       DifferentialDriveKinematics kinematics,
       Rotation2d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose2d initialPoseMeters) {
+      double leftDistance,
+      double rightDistance,
+      Pose2d initialPose) {
     this(
         kinematics,
         gyroAngle,
-        leftDistanceMeters,
-        rightDistanceMeters,
-        initialPoseMeters,
+        leftDistance,
+        rightDistance,
+        initialPose,
         VecBuilder.fill(0.02, 0.02, 0.01),
         VecBuilder.fill(0.1, 0.1, 0.1));
   }
@@ -63,9 +63,9 @@ public DifferentialDrivePoseEstimator(
    *
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The gyro angle of the robot.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The estimated initial pose.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The estimated initial pose.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -76,15 +76,14 @@ public DifferentialDrivePoseEstimator(
   public DifferentialDrivePoseEstimator(
       DifferentialDriveKinematics kinematics,
       Rotation2d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose2d initialPoseMeters,
+      double leftDistance,
+      double rightDistance,
+      Pose2d initialPose,
       Matrix<N3, N1> stateStdDevs,
       Matrix<N3, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new DifferentialDriveOdometry(
-            gyroAngle, leftDistanceMeters, rightDistanceMeters, initialPoseMeters),
+        new DifferentialDriveOdometry(gyroAngle, leftDistance, rightDistance, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
   }
@@ -96,19 +95,14 @@ public DifferentialDrivePoseEstimator(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftPositionMeters The distance traveled by the left encoder.
-   * @param rightPositionMeters The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftPosition The distance traveled by the left encoder in meters.
+   * @param rightPosition The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation2d gyroAngle,
-      double leftPositionMeters,
-      double rightPositionMeters,
-      Pose2d poseMeters) {
+      Rotation2d gyroAngle, double leftPosition, double rightPosition, Pose2d pose) {
     resetPosition(
-        gyroAngle,
-        new DifferentialDriveWheelPositions(leftPositionMeters, rightPositionMeters),
-        poseMeters);
+        gyroAngle, new DifferentialDriveWheelPositions(leftPosition, rightPosition), pose);
   }
 
   /**
@@ -116,34 +110,27 @@ public void resetPosition(
    * loop.
    *
    * @param gyroAngle The current gyro angle.
-   * @param distanceLeftMeters The total distance travelled by the left wheel in meters.
-   * @param distanceRightMeters The total distance travelled by the right wheel in meters.
+   * @param distanceLeft The total distance travelled by the left wheel in meters.
+   * @param distanceRight The total distance travelled by the right wheel in meters.
    * @return The estimated pose of the robot in meters.
    */
-  public Pose2d update(
-      Rotation2d gyroAngle, double distanceLeftMeters, double distanceRightMeters) {
-    return update(
-        gyroAngle, new DifferentialDriveWheelPositions(distanceLeftMeters, distanceRightMeters));
+  public Pose2d update(Rotation2d gyroAngle, double distanceLeft, double distanceRight) {
+    return update(gyroAngle, new DifferentialDriveWheelPositions(distanceLeft, distanceRight));
   }
 
   /**
    * Updates the pose estimator with wheel encoder and gyro information. This should be called every
    * loop.
    *
-   * @param currentTimeSeconds Time at which this method was called, in seconds.
+   * @param currentTime Time at which this method was called, in seconds.
    * @param gyroAngle The current gyro angle.
-   * @param distanceLeftMeters The total distance travelled by the left wheel in meters.
-   * @param distanceRightMeters The total distance travelled by the right wheel in meters.
+   * @param distanceLeft The total distance travelled by the left wheel in meters.
+   * @param distanceRight The total distance travelled by the right wheel in meters.
    * @return The estimated pose of the robot in meters.
    */
   public Pose2d updateWithTime(
-      double currentTimeSeconds,
-      Rotation2d gyroAngle,
-      double distanceLeftMeters,
-      double distanceRightMeters) {
+      double currentTime, Rotation2d gyroAngle, double distanceLeft, double distanceRight) {
     return updateWithTime(
-        currentTimeSeconds,
-        gyroAngle,
-        new DifferentialDriveWheelPositions(distanceLeftMeters, distanceRightMeters));
+        currentTime, gyroAngle, new DifferentialDriveWheelPositions(distanceLeft, distanceRight));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3d.java
index 470a05aa373..0c437296cbf 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3d.java
@@ -48,22 +48,22 @@ public class DifferentialDrivePoseEstimator3d
    *
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting pose estimate.
    */
   public DifferentialDrivePoseEstimator3d(
       DifferentialDriveKinematics kinematics,
       Rotation3d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose3d initialPoseMeters) {
+      double leftDistance,
+      double rightDistance,
+      Pose3d initialPose) {
     this(
         kinematics,
         gyroAngle,
-        leftDistanceMeters,
-        rightDistanceMeters,
-        initialPoseMeters,
+        leftDistance,
+        rightDistance,
+        initialPose,
         VecBuilder.fill(0.02, 0.02, 0.02, 0.01),
         VecBuilder.fill(0.1, 0.1, 0.1, 0.1));
   }
@@ -73,9 +73,9 @@ public DifferentialDrivePoseEstimator3d(
    *
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The gyro angle of the robot.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The estimated initial pose.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The estimated initial pose.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -86,15 +86,14 @@ public DifferentialDrivePoseEstimator3d(
   public DifferentialDrivePoseEstimator3d(
       DifferentialDriveKinematics kinematics,
       Rotation3d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose3d initialPoseMeters,
+      double leftDistance,
+      double rightDistance,
+      Pose3d initialPose,
       Matrix<N4, N1> stateStdDevs,
       Matrix<N4, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new DifferentialDriveOdometry3d(
-            gyroAngle, leftDistanceMeters, rightDistanceMeters, initialPoseMeters),
+        new DifferentialDriveOdometry3d(gyroAngle, leftDistance, rightDistance, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
   }
@@ -106,19 +105,14 @@ public DifferentialDrivePoseEstimator3d(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftPositionMeters The distance traveled by the left encoder.
-   * @param rightPositionMeters The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftPosition The distance traveled by the left encoder in meters.
+   * @param rightPosition The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation3d gyroAngle,
-      double leftPositionMeters,
-      double rightPositionMeters,
-      Pose3d poseMeters) {
+      Rotation3d gyroAngle, double leftPosition, double rightPosition, Pose3d pose) {
     resetPosition(
-        gyroAngle,
-        new DifferentialDriveWheelPositions(leftPositionMeters, rightPositionMeters),
-        poseMeters);
+        gyroAngle, new DifferentialDriveWheelPositions(leftPosition, rightPosition), pose);
   }
 
   /**
@@ -126,34 +120,27 @@ public void resetPosition(
    * loop.
    *
    * @param gyroAngle The current gyro angle.
-   * @param distanceLeftMeters The total distance travelled by the left wheel in meters.
-   * @param distanceRightMeters The total distance travelled by the right wheel in meters.
+   * @param distanceLeft The total distance travelled by the left wheel in meters.
+   * @param distanceRight The total distance travelled by the right wheel in meters.
    * @return The estimated pose of the robot in meters.
    */
-  public Pose3d update(
-      Rotation3d gyroAngle, double distanceLeftMeters, double distanceRightMeters) {
-    return update(
-        gyroAngle, new DifferentialDriveWheelPositions(distanceLeftMeters, distanceRightMeters));
+  public Pose3d update(Rotation3d gyroAngle, double distanceLeft, double distanceRight) {
+    return update(gyroAngle, new DifferentialDriveWheelPositions(distanceLeft, distanceRight));
   }
 
   /**
    * Updates the pose estimator with wheel encoder and gyro information. This should be called every
    * loop.
    *
-   * @param currentTimeSeconds Time at which this method was called, in seconds.
+   * @param currentTime Time at which this method was called, in seconds.
    * @param gyroAngle The current gyro angle.
-   * @param distanceLeftMeters The total distance travelled by the left wheel in meters.
-   * @param distanceRightMeters The total distance travelled by the right wheel in meters.
+   * @param distanceLeft The total distance travelled by the left wheel in meters.
+   * @param distanceRight The total distance travelled by the right wheel in meters.
    * @return The estimated pose of the robot in meters.
    */
   public Pose3d updateWithTime(
-      double currentTimeSeconds,
-      Rotation3d gyroAngle,
-      double distanceLeftMeters,
-      double distanceRightMeters) {
+      double currentTime, Rotation3d gyroAngle, double distanceLeft, double distanceRight) {
     return updateWithTime(
-        currentTimeSeconds,
-        gyroAngle,
-        new DifferentialDriveWheelPositions(distanceLeftMeters, distanceRightMeters));
+        currentTime, gyroAngle, new DifferentialDriveWheelPositions(distanceLeft, distanceRight));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index 055bf9939af..78bc3d13358 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -58,7 +58,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
 
   private Matrix<States, States> m_P;
 
-  private double m_dtSeconds;
+  private double m_dt;
 
   /**
    * Constructs an extended Kalman filter.
@@ -74,7 +74,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
    * @param h A vector-valued function of x and u that returns the measurement vector.
    * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param dtSeconds Nominal discretization timestep.
+   * @param dt Nominal discretization timestep in seconds.
    */
   public ExtendedKalmanFilter(
       Nat<States> states,
@@ -84,7 +84,7 @@ public ExtendedKalmanFilter(
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<Outputs, N1>> h,
       Matrix<States, N1> stateStdDevs,
       Matrix<Outputs, N1> measurementStdDevs,
-      double dtSeconds) {
+      double dt) {
     this(
         states,
         inputs,
@@ -95,7 +95,7 @@ public ExtendedKalmanFilter(
         measurementStdDevs,
         Matrix::minus,
         Matrix::plus,
-        dtSeconds);
+        dt);
   }
 
   /**
@@ -115,7 +115,7 @@ public ExtendedKalmanFilter(
    * @param residualFuncY A function that computes the residual of two measurement vectors (i.e. it
    *     subtracts them.)
    * @param addFuncX A function that adds two state vectors.
-   * @param dtSeconds Nominal discretization timestep.
+   * @param dt Nominal discretization timestep in seconds.
    */
   public ExtendedKalmanFilter(
       Nat<States> states,
@@ -127,7 +127,7 @@ public ExtendedKalmanFilter(
       Matrix<Outputs, N1> measurementStdDevs,
       BiFunction<Matrix<Outputs, N1>, Matrix<Outputs, N1>, Matrix<Outputs, N1>> residualFuncY,
       BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX,
-      double dtSeconds) {
+      double dt) {
     m_states = states;
     m_outputs = outputs;
 
@@ -139,7 +139,7 @@ public ExtendedKalmanFilter(
 
     m_contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
     m_contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
-    m_dtSeconds = dtSeconds;
+    m_dt = dt;
 
     reset();
 
@@ -150,11 +150,11 @@ public ExtendedKalmanFilter(
         NumericalJacobian.numericalJacobianX(
             outputs, states, h, m_xHat, new Matrix<>(inputs, Nat.N1()));
 
-    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dtSeconds);
+    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dt);
     final var discA = discPair.getFirst();
     final var discQ = discPair.getSecond();
 
-    final var discR = Discretization.discretizeR(m_contR, dtSeconds);
+    final var discR = Discretization.discretizeR(m_contR, dt);
 
     if (StateSpaceUtil.isDetectable(discA, C) && outputs.getNum() <= states.getNum()) {
       m_initP = DARE.dare(discA.transpose(), C.transpose(), discQ, discR);
@@ -249,11 +249,11 @@ public final void reset() {
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
   @Override
-  public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
-    predict(u, m_f, dtSeconds);
+  public void predict(Matrix<Inputs, N1> u, double dt) {
+    predict(u, m_f, dt);
   }
 
   /**
@@ -261,26 +261,26 @@ public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
    *
    * @param u New control input from controller.
    * @param f The function used to linearize the model.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
   public void predict(
       Matrix<Inputs, N1> u,
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
-      double dtSeconds) {
+      double dt) {
     // Find continuous A
     final var contA = NumericalJacobian.numericalJacobianX(m_states, m_states, f, m_xHat, u);
 
     // Find discrete A and Q
-    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dtSeconds);
+    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dt);
     final var discA = discPair.getFirst();
     final var discQ = discPair.getSecond();
 
-    m_xHat = NumericalIntegration.rk4(f, m_xHat, u, dtSeconds);
+    m_xHat = NumericalIntegration.rk4(f, m_xHat, u, dt);
 
     // Pₖ₊₁⁻ = APₖ⁻Aᵀ + Q
     m_P = discA.times(m_P).times(discA.transpose()).plus(discQ);
 
-    m_dtSeconds = dtSeconds;
+    m_dt = dt;
   }
 
   /**
@@ -356,7 +356,7 @@ public <Rows extends Num> void correct(
       BiFunction<Matrix<Rows, N1>, Matrix<Rows, N1>, Matrix<Rows, N1>> residualFuncY,
       BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX) {
     final var C = NumericalJacobian.numericalJacobianX(rows, m_states, h, m_xHat, u);
-    final var discR = Discretization.discretizeR(R, m_dtSeconds);
+    final var discR = Discretization.discretizeR(R, m_dt);
 
     final var S = C.times(m_P).times(C.transpose()).plus(discR);
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index 40e6c96c7a7..8302cd554b2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -41,7 +41,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
   private Matrix<States, States> m_P;
   private final Matrix<States, States> m_contQ;
   private final Matrix<Outputs, Outputs> m_contR;
-  private double m_dtSeconds;
+  private double m_dt;
 
   private final Matrix<States, States> m_initP;
 
@@ -57,7 +57,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
    * @param plant The plant used for the prediction step.
    * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param dtSeconds Nominal discretization timestep.
+   * @param dt Nominal discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is undetectable.
    */
   public KalmanFilter(
@@ -66,21 +66,21 @@ public KalmanFilter(
       LinearSystem<States, Inputs, Outputs> plant,
       Matrix<States, N1> stateStdDevs,
       Matrix<Outputs, N1> measurementStdDevs,
-      double dtSeconds) {
+      double dt) {
     this.m_states = states;
 
     this.m_plant = plant;
 
     m_contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
     m_contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
-    m_dtSeconds = dtSeconds;
+    m_dt = dt;
 
     // Find discrete A and Q
-    var pair = Discretization.discretizeAQ(plant.getA(), m_contQ, dtSeconds);
+    var pair = Discretization.discretizeAQ(plant.getA(), m_contQ, dt);
     var discA = pair.getFirst();
     var discQ = pair.getSecond();
 
-    var discR = Discretization.discretizeR(m_contR, dtSeconds);
+    var discR = Discretization.discretizeR(m_contR, dt);
 
     var C = plant.getC();
 
@@ -173,21 +173,21 @@ public final void reset() {
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
   @Override
-  public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
+  public void predict(Matrix<Inputs, N1> u, double dt) {
     // Find discrete A and Q
-    final var discPair = Discretization.discretizeAQ(m_plant.getA(), m_contQ, dtSeconds);
+    final var discPair = Discretization.discretizeAQ(m_plant.getA(), m_contQ, dt);
     final var discA = discPair.getFirst();
     final var discQ = discPair.getSecond();
 
-    m_xHat = m_plant.calculateX(m_xHat, u, dtSeconds);
+    m_xHat = m_plant.calculateX(m_xHat, u, dt);
 
     // Pₖ₊₁⁻ = APₖ⁻Aᵀ + Q
     m_P = discA.times(m_P).times(discA.transpose()).plus(discQ);
 
-    m_dtSeconds = dtSeconds;
+    m_dt = dt;
   }
 
   /**
@@ -214,7 +214,7 @@ public void correct(Matrix<Inputs, N1> u, Matrix<Outputs, N1> y, Matrix<Outputs,
     final var C = m_plant.getC();
     final var D = m_plant.getD();
 
-    final var discR = Discretization.discretizeR(R, m_dtSeconds);
+    final var discR = Discretization.discretizeR(R, m_dt);
 
     final var S = C.times(m_P).times(C.transpose()).plus(discR);
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
index da8b0132e56..d67f0086e49 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
@@ -41,15 +41,11 @@ public void reset() {
    * @param observer The observer.
    * @param u The input at the timestamp.
    * @param localY The local output at the timestamp
-   * @param timestampSeconds The timestamp of the state.
+   * @param timestamp The timestamp of the state in seconds.
    */
   public void addObserverState(
-      KalmanTypeFilter<S, I, O> observer,
-      Matrix<I, N1> u,
-      Matrix<O, N1> localY,
-      double timestampSeconds) {
-    m_pastObserverSnapshots.add(
-        Map.entry(timestampSeconds, new ObserverSnapshot(observer, u, localY)));
+      KalmanTypeFilter<S, I, O> observer, Matrix<I, N1> u, Matrix<O, N1> localY, double timestamp) {
+    m_pastObserverSnapshots.add(Map.entry(timestamp, new ObserverSnapshot(observer, u, localY)));
 
     if (m_pastObserverSnapshots.size() > kMaxPastObserverStates) {
       m_pastObserverSnapshots.remove(0);
@@ -65,7 +61,7 @@ public void addObserverState(
    * @param nominalDtSeconds The nominal timestep.
    * @param y The measurement.
    * @param globalMeasurementCorrect The function take calls correct() on the observer.
-   * @param timestampSeconds The timestamp of the measurement.
+   * @param timestamp The timestamp of the measurement in seconds.
    */
   public <R extends Num> void applyPastGlobalMeasurement(
       Nat<R> rows,
@@ -73,16 +69,13 @@ public <R extends Num> void applyPastGlobalMeasurement(
       double nominalDtSeconds,
       Matrix<R, N1> y,
       BiConsumer<Matrix<I, N1>, Matrix<R, N1>> globalMeasurementCorrect,
-      double timestampSeconds) {
+      double timestamp) {
     if (m_pastObserverSnapshots.isEmpty()) {
       // State map was empty, which means that we got a past measurement right at startup. The only
       // thing we can really do is ignore the measurement.
       return;
     }
 
-    // Use a less verbose name for timestamp
-    double timestamp = timestampSeconds;
-
     int maxIdx = m_pastObserverSnapshots.size() - 1;
     int low = 0;
     int high = maxIdx;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java
index ff9856c32df..a072be98e14 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java
@@ -76,9 +76,9 @@ public interface KalmanTypeFilter<States extends Num, Inputs extends Num, Output
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction.
    */
-  void predict(Matrix<Inputs, N1> u, double dtSeconds);
+  void predict(Matrix<Inputs, N1> u, double dt);
 
   /**
    * Correct the state estimate x-hat using the measurements in y.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index e33b30d09ca..cec0960f11b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -37,18 +37,18 @@ public class MecanumDrivePoseEstimator extends PoseEstimator<MecanumDriveWheelPo
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The distances driven by each wheel.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    */
   public MecanumDrivePoseEstimator(
       MecanumDriveKinematics kinematics,
       Rotation2d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose2d initialPoseMeters) {
+      Pose2d initialPose) {
     this(
         kinematics,
         gyroAngle,
         wheelPositions,
-        initialPoseMeters,
+        initialPose,
         VecBuilder.fill(0.1, 0.1, 0.1),
         VecBuilder.fill(0.45, 0.45, 0.45));
   }
@@ -59,7 +59,7 @@ public MecanumDrivePoseEstimator(
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The distance measured by each wheel.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -71,12 +71,12 @@ public MecanumDrivePoseEstimator(
       MecanumDriveKinematics kinematics,
       Rotation2d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose2d initialPoseMeters,
+      Pose2d initialPose,
       Matrix<N3, N1> stateStdDevs,
       Matrix<N3, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new MecanumDriveOdometry(kinematics, gyroAngle, wheelPositions, initialPoseMeters),
+        new MecanumDriveOdometry(kinematics, gyroAngle, wheelPositions, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3d.java
index e2f7acfdb0c..306d06aa7db 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3d.java
@@ -46,18 +46,18 @@ public class MecanumDrivePoseEstimator3d extends PoseEstimator3d<MecanumDriveWhe
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The distances driven by each wheel.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    */
   public MecanumDrivePoseEstimator3d(
       MecanumDriveKinematics kinematics,
       Rotation3d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose3d initialPoseMeters) {
+      Pose3d initialPose) {
     this(
         kinematics,
         gyroAngle,
         wheelPositions,
-        initialPoseMeters,
+        initialPose,
         VecBuilder.fill(0.1, 0.1, 0.1, 0.1),
         VecBuilder.fill(0.45, 0.45, 0.45, 0.45));
   }
@@ -68,7 +68,7 @@ public MecanumDrivePoseEstimator3d(
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The distance measured by each wheel.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -80,12 +80,12 @@ public MecanumDrivePoseEstimator3d(
       MecanumDriveKinematics kinematics,
       Rotation3d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose3d initialPoseMeters,
+      Pose3d initialPose,
       Matrix<N4, N1> stateStdDevs,
       Matrix<N4, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new MecanumDriveOdometry3d(kinematics, gyroAngle, wheelPositions, initialPoseMeters),
+        new MecanumDriveOdometry3d(kinematics, gyroAngle, wheelPositions, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
index 1f00cb7b187..2cfe982ce34 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
@@ -73,7 +73,7 @@ public PoseEstimator(
       Matrix<N3, N1> visionMeasurementStdDevs) {
     m_odometry = odometry;
 
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
 
     for (int i = 0; i < 3; ++i) {
       m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0));
@@ -116,14 +116,14 @@ public final void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementSt
    *
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param pose The position on the field that your robot is at.
    */
-  public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d poseMeters) {
+  public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d pose) {
     // Reset state estimate and error covariance
-    m_odometry.resetPosition(gyroAngle, wheelPositions, poseMeters);
+    m_odometry.resetPosition(gyroAngle, wheelPositions, pose);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -135,7 +135,7 @@ public void resetPose(Pose2d pose) {
     m_odometry.resetPose(pose);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -147,7 +147,7 @@ public void resetTranslation(Translation2d translation) {
     m_odometry.resetTranslation(translation);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -159,7 +159,7 @@ public void resetRotation(Rotation2d rotation) {
     m_odometry.resetRotation(rotation);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -174,10 +174,10 @@ public Pose2d getEstimatedPosition() {
   /**
    * Return the pose at a given timestamp, if the buffer is not empty.
    *
-   * @param timestampSeconds The pose's timestamp in seconds.
+   * @param timestamp The pose's timestamp in seconds.
    * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
    */
-  public Optional<Pose2d> sampleAt(double timestampSeconds) {
+  public Optional<Pose2d> sampleAt(double timestamp) {
     // Step 0: If there are no odometry updates to sample, skip.
     if (m_odometryPoseBuffer.getInternalBuffer().isEmpty()) {
       return Optional.empty();
@@ -187,20 +187,19 @@ public Optional<Pose2d> sampleAt(double timestampSeconds) {
     // the buffer will always use a timestamp between the first and last timestamps)
     double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
     double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
-    timestampSeconds =
-        MathUtil.clamp(timestampSeconds, oldestOdometryTimestamp, newestOdometryTimestamp);
+    timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
 
     // Step 2: If there are no applicable vision updates, use the odometry-only information.
-    if (m_visionUpdates.isEmpty() || timestampSeconds < m_visionUpdates.firstKey()) {
-      return m_odometryPoseBuffer.getSample(timestampSeconds);
+    if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {
+      return m_odometryPoseBuffer.getSample(timestamp);
     }
 
     // Step 3: Get the latest vision update from before or at the timestamp to sample at.
-    double floorTimestamp = m_visionUpdates.floorKey(timestampSeconds);
+    double floorTimestamp = m_visionUpdates.floorKey(timestamp);
     var visionUpdate = m_visionUpdates.get(floorTimestamp);
 
     // Step 4: Get the pose measured by odometry at the time of the sample.
-    var odometryEstimate = m_odometryPoseBuffer.getSample(timestampSeconds);
+    var odometryEstimate = m_odometryPoseBuffer.getSample(timestamp);
 
     // Step 5: Apply the vision compensation to the odometry pose.
     return odometryEstimate.map(odometryPose -> visionUpdate.compensate(odometryPose));
@@ -239,19 +238,18 @@ private void cleanUpVisionUpdates() {
    * recommend only adding vision measurements that are already within one meter or so of the
    * current pose estimate.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
-   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
-   *     don't use your own time source by calling {@link
+   * @param visionRobotPose The pose of the robot as measured by the vision camera.
+   * @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
+   *     your own time source by calling {@link
    *     PoseEstimator#updateWithTime(double,Rotation2d,Object)} then you must use a timestamp with
    *     an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
    *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}.) This means that you should use {@link
    *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source or sync the epochs.
    */
-  public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
+  public void addVisionMeasurement(Pose2d visionRobotPose, double timestamp) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
     if (m_odometryPoseBuffer.getInternalBuffer().isEmpty()
-        || m_odometryPoseBuffer.getInternalBuffer().lastKey() - kBufferDuration
-            > timestampSeconds) {
+        || m_odometryPoseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestamp) {
       return;
     }
 
@@ -259,7 +257,7 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS
     cleanUpVisionUpdates();
 
     // Step 2: Get the pose measured by odometry at the moment the vision measurement was made.
-    var odometrySample = m_odometryPoseBuffer.getSample(timestampSeconds);
+    var odometrySample = m_odometryPoseBuffer.getSample(timestamp);
 
     if (odometrySample.isEmpty()) {
       return;
@@ -267,14 +265,14 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS
 
     // Step 3: Get the vision-compensated pose estimate at the moment the vision measurement was
     // made.
-    var visionSample = sampleAt(timestampSeconds);
+    var visionSample = sampleAt(timestamp);
 
     if (visionSample.isEmpty()) {
       return;
     }
 
     // Step 4: Measure the twist between the old pose estimate and the vision pose.
-    var twist = visionSample.get().log(visionRobotPoseMeters);
+    var twist = visionSample.get().log(visionRobotPose);
 
     // Step 5: We should not trust the twist entirely, so instead we scale this twist by a Kalman
     // gain matrix representing how much we trust vision measurements compared to our current pose.
@@ -286,14 +284,14 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS
 
     // Step 7: Calculate and record the vision update.
     var visionUpdate = new VisionUpdate(visionSample.get().exp(scaledTwist), odometrySample.get());
-    m_visionUpdates.put(timestampSeconds, visionUpdate);
+    m_visionUpdates.put(timestamp, visionUpdate);
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)
-    m_visionUpdates.tailMap(timestampSeconds, false).entrySet().clear();
+    m_visionUpdates.tailMap(timestamp, false).entrySet().clear();
 
     // Step 9: Update latest pose estimate. Since we cleared all updates after this vision update,
     // it's guaranteed to be the latest vision update.
-    m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    m_poseEstimate = visionUpdate.compensate(m_odometry.getPose());
   }
 
   /**
@@ -311,23 +309,20 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS
    * to apply to future measurements until a subsequent call to {@link
    * PoseEstimator#setVisionMeasurementStdDevs(Matrix)} or this method.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
-   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
-   *     don't use your own time source by calling {@link #updateWithTime}, then you must use a
-   *     timestamp with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same
-   *     epoch as {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}). This means that you
-   *     should use {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source in
-   *     this case.
+   * @param visionRobotPose The pose of the robot as measured by the vision camera.
+   * @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
+   *     your own time source by calling {@link #updateWithTime}, then you must use a timestamp with
+   *     an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
+   *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}). This means that you should use {@link
+   *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source in this case.
    * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position
    *     in meters, y position in meters, and heading in radians). Increase these numbers to trust
    *     the vision pose measurement less.
    */
   public void addVisionMeasurement(
-      Pose2d visionRobotPoseMeters,
-      double timestampSeconds,
-      Matrix<N3, N1> visionMeasurementStdDevs) {
+      Pose2d visionRobotPose, double timestamp, Matrix<N3, N1> visionMeasurementStdDevs) {
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
-    addVisionMeasurement(visionRobotPoseMeters, timestampSeconds);
+    addVisionMeasurement(visionRobotPose, timestamp);
   }
 
   /**
@@ -346,15 +341,15 @@ public Pose2d update(Rotation2d gyroAngle, T wheelPositions) {
    * Updates the pose estimator with wheel encoder and gyro information. This should be called every
    * loop.
    *
-   * @param currentTimeSeconds Time at which this method was called, in seconds.
+   * @param currentTime Time at which this method was called, in seconds.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The current encoder readings.
    * @return The estimated pose of the robot in meters.
    */
-  public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle, T wheelPositions) {
+  public Pose2d updateWithTime(double currentTime, Rotation2d gyroAngle, T wheelPositions) {
     var odometryEstimate = m_odometry.update(gyroAngle, wheelPositions);
 
-    m_odometryPoseBuffer.addSample(currentTimeSeconds, odometryEstimate);
+    m_odometryPoseBuffer.addSample(currentTime, odometryEstimate);
 
     if (m_visionUpdates.isEmpty()) {
       m_poseEstimate = odometryEstimate;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
index 9ce96f0243b..31c97549ff5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
@@ -81,7 +81,7 @@ public PoseEstimator3d(
       Matrix<N4, N1> visionMeasurementStdDevs) {
     m_odometry = odometry;
 
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
 
     for (int i = 0; i < 4; ++i) {
       m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0));
@@ -128,14 +128,14 @@ public final void setVisionMeasurementStdDevs(Matrix<N4, N1> visionMeasurementSt
    *
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param pose The position on the field that your robot is at.
    */
-  public void resetPosition(Rotation3d gyroAngle, T wheelPositions, Pose3d poseMeters) {
+  public void resetPosition(Rotation3d gyroAngle, T wheelPositions, Pose3d pose) {
     // Reset state estimate and error covariance
-    m_odometry.resetPosition(gyroAngle, wheelPositions, poseMeters);
+    m_odometry.resetPosition(gyroAngle, wheelPositions, pose);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -147,7 +147,7 @@ public void resetPose(Pose3d pose) {
     m_odometry.resetPose(pose);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -159,7 +159,7 @@ public void resetTranslation(Translation3d translation) {
     m_odometry.resetTranslation(translation);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -171,7 +171,7 @@ public void resetRotation(Rotation3d rotation) {
     m_odometry.resetRotation(rotation);
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+    m_poseEstimate = m_odometry.getPose();
   }
 
   /**
@@ -186,10 +186,10 @@ public Pose3d getEstimatedPosition() {
   /**
    * Return the pose at a given timestamp, if the buffer is not empty.
    *
-   * @param timestampSeconds The pose's timestamp in seconds.
+   * @param timestamp The pose's timestamp in seconds.
    * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
    */
-  public Optional<Pose3d> sampleAt(double timestampSeconds) {
+  public Optional<Pose3d> sampleAt(double timestamp) {
     // Step 0: If there are no odometry updates to sample, skip.
     if (m_odometryPoseBuffer.getInternalBuffer().isEmpty()) {
       return Optional.empty();
@@ -199,20 +199,19 @@ public Optional<Pose3d> sampleAt(double timestampSeconds) {
     // the buffer will always use a timestamp between the first and last timestamps)
     double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
     double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
-    timestampSeconds =
-        MathUtil.clamp(timestampSeconds, oldestOdometryTimestamp, newestOdometryTimestamp);
+    timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
 
     // Step 2: If there are no applicable vision updates, use the odometry-only information.
-    if (m_visionUpdates.isEmpty() || timestampSeconds < m_visionUpdates.firstKey()) {
-      return m_odometryPoseBuffer.getSample(timestampSeconds);
+    if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {
+      return m_odometryPoseBuffer.getSample(timestamp);
     }
 
     // Step 3: Get the latest vision update from before or at the timestamp to sample at.
-    double floorTimestamp = m_visionUpdates.floorKey(timestampSeconds);
+    double floorTimestamp = m_visionUpdates.floorKey(timestamp);
     var visionUpdate = m_visionUpdates.get(floorTimestamp);
 
     // Step 4: Get the pose measured by odometry at the time of the sample.
-    var odometryEstimate = m_odometryPoseBuffer.getSample(timestampSeconds);
+    var odometryEstimate = m_odometryPoseBuffer.getSample(timestamp);
 
     // Step 5: Apply the vision compensation to the odometry pose.
     return odometryEstimate.map(odometryPose -> visionUpdate.compensate(odometryPose));
@@ -251,20 +250,19 @@ private void cleanUpVisionUpdates() {
    * recommend only adding vision measurements that are already within one meter or so of the
    * current pose estimate.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
-   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
-   *     don't use your own time source by calling {@link
+   * @param visionRobotPose The pose of the robot as measured by the vision camera.
+   * @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
+   *     your own time source by calling {@link
    *     PoseEstimator3d#updateWithTime(double,Rotation3d,Object)} then you must use a timestamp
    *     with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as
    *     {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}.) This means that you should use
    *     {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source or sync the
    *     epochs.
    */
-  public void addVisionMeasurement(Pose3d visionRobotPoseMeters, double timestampSeconds) {
+  public void addVisionMeasurement(Pose3d visionRobotPose, double timestamp) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
     if (m_odometryPoseBuffer.getInternalBuffer().isEmpty()
-        || m_odometryPoseBuffer.getInternalBuffer().lastKey() - kBufferDuration
-            > timestampSeconds) {
+        || m_odometryPoseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestamp) {
       return;
     }
 
@@ -272,7 +270,7 @@ public void addVisionMeasurement(Pose3d visionRobotPoseMeters, double timestampS
     cleanUpVisionUpdates();
 
     // Step 2: Get the pose measured by odometry at the moment the vision measurement was made.
-    var odometrySample = m_odometryPoseBuffer.getSample(timestampSeconds);
+    var odometrySample = m_odometryPoseBuffer.getSample(timestamp);
 
     if (odometrySample.isEmpty()) {
       return;
@@ -280,14 +278,14 @@ public void addVisionMeasurement(Pose3d visionRobotPoseMeters, double timestampS
 
     // Step 3: Get the vision-compensated pose estimate at the moment the vision measurement was
     // made.
-    var visionSample = sampleAt(timestampSeconds);
+    var visionSample = sampleAt(timestamp);
 
     if (visionSample.isEmpty()) {
       return;
     }
 
     // Step 4: Measure the twist between the old pose estimate and the vision pose.
-    var twist = visionSample.get().log(visionRobotPoseMeters);
+    var twist = visionSample.get().log(visionRobotPose);
 
     // Step 5: We should not trust the twist entirely, so instead we scale this twist by a Kalman
     // gain matrix representing how much we trust vision measurements compared to our current pose.
@@ -307,14 +305,14 @@ public void addVisionMeasurement(Pose3d visionRobotPoseMeters, double timestampS
 
     // Step 7: Calculate and record the vision update.
     var visionUpdate = new VisionUpdate(visionSample.get().exp(scaledTwist), odometrySample.get());
-    m_visionUpdates.put(timestampSeconds, visionUpdate);
+    m_visionUpdates.put(timestamp, visionUpdate);
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)
-    m_visionUpdates.tailMap(timestampSeconds, false).entrySet().clear();
+    m_visionUpdates.tailMap(timestamp, false).entrySet().clear();
 
     // Step 9: Update latest pose estimate. Since we cleared all updates after this vision update,
     // it's guaranteed to be the latest vision update.
-    m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    m_poseEstimate = visionUpdate.compensate(m_odometry.getPose());
   }
 
   /**
@@ -332,23 +330,20 @@ public void addVisionMeasurement(Pose3d visionRobotPoseMeters, double timestampS
    * to apply to future measurements until a subsequent call to {@link
    * PoseEstimator3d#setVisionMeasurementStdDevs(Matrix)} or this method.
    *
-   * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
-   * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you
-   *     don't use your own time source by calling {@link #updateWithTime}, then you must use a
-   *     timestamp with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same
-   *     epoch as {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}). This means that you
-   *     should use {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source in
-   *     this case.
+   * @param visionRobotPose The pose of the robot as measured by the vision camera.
+   * @param timestamp The timestamp of the vision measurement in seconds. Note that if you don't use
+   *     your own time source by calling {@link #updateWithTime}, then you must use a timestamp with
+   *     an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as {@link
+   *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}). This means that you should use {@link
+   *     edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source in this case.
    * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position
    *     in meters, y position in meters, z position in meters, and angle in radians). Increase
    *     these numbers to trust the vision pose measurement less.
    */
   public void addVisionMeasurement(
-      Pose3d visionRobotPoseMeters,
-      double timestampSeconds,
-      Matrix<N4, N1> visionMeasurementStdDevs) {
+      Pose3d visionRobotPose, double timestamp, Matrix<N4, N1> visionMeasurementStdDevs) {
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
-    addVisionMeasurement(visionRobotPoseMeters, timestampSeconds);
+    addVisionMeasurement(visionRobotPose, timestamp);
   }
 
   /**
@@ -367,15 +362,15 @@ public Pose3d update(Rotation3d gyroAngle, T wheelPositions) {
    * Updates the pose estimator with wheel encoder and gyro information. This should be called every
    * loop.
    *
-   * @param currentTimeSeconds Time at which this method was called, in seconds.
+   * @param currentTime Time at which this method was called, in seconds.
    * @param gyroAngle The current gyro angle.
    * @param wheelPositions The current encoder readings.
    * @return The estimated pose of the robot in meters.
    */
-  public Pose3d updateWithTime(double currentTimeSeconds, Rotation3d gyroAngle, T wheelPositions) {
+  public Pose3d updateWithTime(double currentTime, Rotation3d gyroAngle, T wheelPositions) {
     var odometryEstimate = m_odometry.update(gyroAngle, wheelPositions);
 
-    m_odometryPoseBuffer.addSample(currentTimeSeconds, odometryEstimate);
+    m_odometryPoseBuffer.addSample(currentTime, odometryEstimate);
 
     if (m_visionUpdates.isEmpty()) {
       m_poseEstimate = odometryEstimate;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
index 31649728e27..1b85e4385e2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
@@ -58,7 +58,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
    * @param plant The plant used for the prediction step.
    * @param stateStdDevs Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
-   * @param dtSeconds Nominal discretization timestep.
+   * @param dt Nominal discretization timestep in seconds.
    * @throws IllegalArgumentException If the system is undetectable.
    */
   public SteadyStateKalmanFilter(
@@ -67,7 +67,7 @@ public SteadyStateKalmanFilter(
       LinearSystem<States, Inputs, Outputs> plant,
       Matrix<States, N1> stateStdDevs,
       Matrix<Outputs, N1> measurementStdDevs,
-      double dtSeconds) {
+      double dt) {
     this.m_states = states;
 
     this.m_plant = plant;
@@ -75,11 +75,11 @@ public SteadyStateKalmanFilter(
     var contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
     var contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
 
-    var pair = Discretization.discretizeAQ(plant.getA(), contQ, dtSeconds);
+    var pair = Discretization.discretizeAQ(plant.getA(), contQ, dt);
     var discA = pair.getFirst();
     var discQ = pair.getSecond();
 
-    var discR = Discretization.discretizeR(contR, dtSeconds);
+    var discR = Discretization.discretizeR(contR, dt);
 
     var C = plant.getC();
 
@@ -174,10 +174,10 @@ public double getXhat(int row) {
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
-  public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
-    this.m_xHat = m_plant.calculateX(m_xHat, u, dtSeconds);
+  public void predict(Matrix<Inputs, N1> u, double dt) {
+    this.m_xHat = m_plant.calculateX(m_xHat, u, dt);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 495cd893fc6..6c51f346d2a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -38,18 +38,18 @@ public class SwerveDrivePoseEstimator extends PoseEstimator<SwerveModulePosition
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param modulePositions The current distance measurements and rotations of the swerve modules.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    */
   public SwerveDrivePoseEstimator(
       SwerveDriveKinematics kinematics,
       Rotation2d gyroAngle,
       SwerveModulePosition[] modulePositions,
-      Pose2d initialPoseMeters) {
+      Pose2d initialPose) {
     this(
         kinematics,
         gyroAngle,
         modulePositions,
-        initialPoseMeters,
+        initialPose,
         VecBuilder.fill(0.1, 0.1, 0.1),
         VecBuilder.fill(0.9, 0.9, 0.9));
   }
@@ -60,7 +60,7 @@ public SwerveDrivePoseEstimator(
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param modulePositions The current distance and rotation measurements of the swerve modules.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -72,12 +72,12 @@ public SwerveDrivePoseEstimator(
       SwerveDriveKinematics kinematics,
       Rotation2d gyroAngle,
       SwerveModulePosition[] modulePositions,
-      Pose2d initialPoseMeters,
+      Pose2d initialPose,
       Matrix<N3, N1> stateStdDevs,
       Matrix<N3, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new SwerveDriveOdometry(kinematics, gyroAngle, modulePositions, initialPoseMeters),
+        new SwerveDriveOdometry(kinematics, gyroAngle, modulePositions, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
 
@@ -86,13 +86,13 @@ public SwerveDrivePoseEstimator(
 
   @Override
   public Pose2d updateWithTime(
-      double currentTimeSeconds, Rotation2d gyroAngle, SwerveModulePosition[] wheelPositions) {
+      double currentTime, Rotation2d gyroAngle, SwerveModulePosition[] wheelPositions) {
     if (wheelPositions.length != m_numModules) {
       throw new IllegalArgumentException(
           "Number of modules is not consistent with number of wheel locations provided in "
               + "constructor");
     }
 
-    return super.updateWithTime(currentTimeSeconds, gyroAngle, wheelPositions);
+    return super.updateWithTime(currentTime, gyroAngle, wheelPositions);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3d.java
index 668f45c410e..8016a092cd8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3d.java
@@ -47,18 +47,18 @@ public class SwerveDrivePoseEstimator3d extends PoseEstimator3d<SwerveModulePosi
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param modulePositions The current distance measurements and rotations of the swerve modules.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    */
   public SwerveDrivePoseEstimator3d(
       SwerveDriveKinematics kinematics,
       Rotation3d gyroAngle,
       SwerveModulePosition[] modulePositions,
-      Pose3d initialPoseMeters) {
+      Pose3d initialPose) {
     this(
         kinematics,
         gyroAngle,
         modulePositions,
-        initialPoseMeters,
+        initialPose,
         VecBuilder.fill(0.1, 0.1, 0.1, 0.1),
         VecBuilder.fill(0.9, 0.9, 0.9, 0.9));
   }
@@ -69,7 +69,7 @@ public SwerveDrivePoseEstimator3d(
    * @param kinematics A correctly-configured kinematics object for your drivetrain.
    * @param gyroAngle The current gyro angle.
    * @param modulePositions The current distance and rotation measurements of the swerve modules.
-   * @param initialPoseMeters The starting pose estimate.
+   * @param initialPose The starting pose estimate.
    * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position
    *     in meters, and heading in radians). Increase these numbers to trust your state estimate
    *     less.
@@ -81,12 +81,12 @@ public SwerveDrivePoseEstimator3d(
       SwerveDriveKinematics kinematics,
       Rotation3d gyroAngle,
       SwerveModulePosition[] modulePositions,
-      Pose3d initialPoseMeters,
+      Pose3d initialPose,
       Matrix<N4, N1> stateStdDevs,
       Matrix<N4, N1> visionMeasurementStdDevs) {
     super(
         kinematics,
-        new SwerveDriveOdometry3d(kinematics, gyroAngle, modulePositions, initialPoseMeters),
+        new SwerveDriveOdometry3d(kinematics, gyroAngle, modulePositions, initialPose),
         stateStdDevs,
         visionMeasurementStdDevs);
 
@@ -95,13 +95,13 @@ public SwerveDrivePoseEstimator3d(
 
   @Override
   public Pose3d updateWithTime(
-      double currentTimeSeconds, Rotation3d gyroAngle, SwerveModulePosition[] wheelPositions) {
+      double currentTime, Rotation3d gyroAngle, SwerveModulePosition[] wheelPositions) {
     if (wheelPositions.length != m_numModules) {
       throw new IllegalArgumentException(
           "Number of modules is not consistent with number of wheel locations provided in "
               + "constructor");
     }
 
-    return super.updateWithTime(currentTimeSeconds, gyroAngle, wheelPositions);
+    return super.updateWithTime(currentTime, gyroAngle, wheelPositions);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
index c64ec85cf9b..e5c04e82e19 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -62,7 +62,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
   private final Matrix<States, States> m_contQ;
   private final Matrix<Outputs, Outputs> m_contR;
   private Matrix<States, ?> m_sigmasF;
-  private double m_dtSeconds;
+  private double m_dt;
 
   private final MerweScaledSigmaPoints<States> m_pts;
 
@@ -155,7 +155,7 @@ public UnscentedKalmanFilter(
     m_residualFuncY = residualFuncY;
     m_addFuncX = addFuncX;
 
-    m_dtSeconds = nominalDtSeconds;
+    m_dt = nominalDtSeconds;
 
     m_contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
     m_contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
@@ -337,14 +337,14 @@ public final void reset() {
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dtSeconds Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
   @Override
-  public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
+  public void predict(Matrix<Inputs, N1> u, double dt) {
     // Discretize Q before projecting mean and covariance forward
     Matrix<States, States> contA =
         NumericalJacobian.numericalJacobianX(m_states, m_states, m_f, m_xHat, u);
-    var discQ = Discretization.discretizeAQ(contA, m_contQ, dtSeconds).getSecond();
+    var discQ = Discretization.discretizeAQ(contA, m_contQ, dt).getSecond();
     var squareRootDiscQ = discQ.lltDecompose(true);
 
     var sigmas = m_pts.squareRootSigmaPoints(m_xHat, m_S);
@@ -352,7 +352,7 @@ public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
     for (int i = 0; i < m_pts.getNumSigmas(); ++i) {
       Matrix<States, N1> x = sigmas.extractColumnVector(i);
 
-      m_sigmasF.setColumn(i, NumericalIntegration.rk4(m_f, x, u, dtSeconds));
+      m_sigmasF.setColumn(i, NumericalIntegration.rk4(m_f, x, u, dt));
     }
 
     var ret =
@@ -368,7 +368,7 @@ public void predict(Matrix<Inputs, N1> u, double dtSeconds) {
 
     m_xHat = ret.getFirst();
     m_S = ret.getSecond();
-    m_dtSeconds = dtSeconds;
+    m_dt = dt;
   }
 
   /**
@@ -456,7 +456,7 @@ public <R extends Num> void correct(
       BiFunction<Matrix<R, N1>, Matrix<R, N1>, Matrix<R, N1>> residualFuncY,
       BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> residualFuncX,
       BiFunction<Matrix<States, N1>, Matrix<States, N1>, Matrix<States, N1>> addFuncX) {
-    final var discR = Discretization.discretizeR(R, m_dtSeconds);
+    final var discR = Discretization.discretizeR(R, m_dt);
     final var squareRootDiscR = discR.lltDecompose(true);
 
     // Transform sigma points into measurement space
diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
index 9a281e83f75..5aa38dafe46 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
@@ -21,11 +21,11 @@ public enum DebounceType {
     kBoth
   }
 
-  private final double m_debounceTimeSeconds;
+  private final double m_debounceTime;
   private final DebounceType m_debounceType;
   private boolean m_baseline;
 
-  private double m_prevTimeSeconds;
+  private double m_prevTime;
 
   /**
    * Creates a new Debouncer.
@@ -35,7 +35,7 @@ public enum DebounceType {
    * @param type Which type of state change the debouncing will be performed on.
    */
   public Debouncer(double debounceTime, DebounceType type) {
-    m_debounceTimeSeconds = debounceTime;
+    m_debounceTime = debounceTime;
     m_debounceType = type;
 
     resetTimer();
@@ -58,11 +58,11 @@ public Debouncer(double debounceTime) {
   }
 
   private void resetTimer() {
-    m_prevTimeSeconds = MathSharedStore.getTimestamp();
+    m_prevTime = MathSharedStore.getTimestamp();
   }
 
   private boolean hasElapsed() {
-    return MathSharedStore.getTimestamp() - m_prevTimeSeconds >= m_debounceTimeSeconds;
+    return MathSharedStore.getTimestamp() - m_prevTime >= m_debounceTime;
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java b/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
index f9f20c37325..8a06ba8e61e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
@@ -65,18 +65,18 @@ public static TimeInterpolatableBuffer<Double> createDoubleBuffer(double history
   /**
    * Add a sample to the buffer.
    *
-   * @param timeSeconds The timestamp of the sample.
+   * @param time The timestamp of the sample in seconds.
    * @param sample The sample object.
    */
-  public void addSample(double timeSeconds, T sample) {
-    cleanUp(timeSeconds);
-    m_pastSnapshots.put(timeSeconds, sample);
+  public void addSample(double time, T sample) {
+    cleanUp(time);
+    m_pastSnapshots.put(time, sample);
   }
 
   /**
    * Removes samples older than our current history size.
    *
-   * @param time The current timestamp.
+   * @param time The current timestamp in seconds.
    */
   private void cleanUp(double time) {
     while (!m_pastSnapshots.isEmpty()) {
@@ -97,22 +97,22 @@ public void clear() {
   /**
    * Sample the buffer at the given time. If the buffer is empty, an empty Optional is returned.
    *
-   * @param timeSeconds The time at which to sample.
+   * @param time The time at which to sample in seconds.
    * @return The interpolated value at that timestamp or an empty Optional.
    */
-  public Optional<T> getSample(double timeSeconds) {
+  public Optional<T> getSample(double time) {
     if (m_pastSnapshots.isEmpty()) {
       return Optional.empty();
     }
 
     // Special case for when the requested time is the same as a sample
-    var nowEntry = m_pastSnapshots.get(timeSeconds);
+    var nowEntry = m_pastSnapshots.get(time);
     if (nowEntry != null) {
       return Optional.of(nowEntry);
     }
 
-    var topBound = m_pastSnapshots.ceilingEntry(timeSeconds);
-    var bottomBound = m_pastSnapshots.floorEntry(timeSeconds);
+    var topBound = m_pastSnapshots.ceilingEntry(time);
+    var bottomBound = m_pastSnapshots.floorEntry(time);
 
     // Return null if neither sample exists, and the opposite bound if the other is null
     if (topBound == null && bottomBound == null) {
@@ -129,7 +129,7 @@ public Optional<T> getSample(double timeSeconds) {
           m_interpolatingFunc.interpolate(
               bottomBound.getValue(),
               topBound.getValue(),
-              (timeSeconds - bottomBound.getKey()) / (topBound.getKey() - bottomBound.getKey())));
+              (time - bottomBound.getKey()) / (topBound.getKey() - bottomBound.getKey())));
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index e0eb4077961..8b375538b3d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -31,14 +31,14 @@
  * will often have all three components.
  */
 public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
-  /** Velocity along the x-axis. (Fwd is +) */
-  public double vxMetersPerSecond;
+  /** Velocity along the x-axis in meters per second. (Fwd is +) */
+  public double vx;
 
-  /** Velocity along the y-axis. (Left is +) */
-  public double vyMetersPerSecond;
+  /** Velocity along the y-axis in meters per second. (Left is +) */
+  public double vy;
 
-  /** Represents the angular velocity of the robot frame. (CCW is +) */
-  public double omegaRadiansPerSecond;
+  /** Angular velocity of the robot frame in radians per second. (CCW is +) */
+  public double omega;
 
   /** ChassisSpeeds protobuf for serialization. */
   public static final ChassisSpeedsProto proto = new ChassisSpeedsProto();
@@ -52,23 +52,22 @@ public ChassisSpeeds() {}
   /**
    * Constructs a ChassisSpeeds object.
    *
-   * @param vxMetersPerSecond Forward velocity.
-   * @param vyMetersPerSecond Sideways velocity.
-   * @param omegaRadiansPerSecond Angular velocity.
+   * @param vx Forward velocity in meters per second.
+   * @param vy Sideways velocity in meters per second.
+   * @param omega Angular velocity in radians per second.
    */
-  public ChassisSpeeds(
-      double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond) {
-    this.vxMetersPerSecond = vxMetersPerSecond;
-    this.vyMetersPerSecond = vyMetersPerSecond;
-    this.omegaRadiansPerSecond = omegaRadiansPerSecond;
+  public ChassisSpeeds(double vx, double vy, double omega) {
+    this.vx = vx;
+    this.vy = vy;
+    this.omega = omega;
   }
 
   /**
    * Constructs a ChassisSpeeds object.
    *
-   * @param vx Forward velocity.
-   * @param vy Sideways velocity.
-   * @param omega Angular velocity.
+   * @param vx Forward velocity in meters per second.
+   * @param vy Sideways velocity in meters per second.
+   * @param omega Angular velocity in radians per second.
    */
   public ChassisSpeeds(LinearVelocity vx, LinearVelocity vy, AngularVelocity omega) {
     this(vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond));
@@ -77,14 +76,11 @@ public ChassisSpeeds(LinearVelocity vx, LinearVelocity vy, AngularVelocity omega
   /**
    * Creates a Twist2d from ChassisSpeeds.
    *
-   * @param dtSeconds The duration of the timestep.
+   * @param dt The duration of the timestep in seconds.
    * @return Twist2d.
    */
-  public Twist2d toTwist2d(double dtSeconds) {
-    return new Twist2d(
-        vxMetersPerSecond * dtSeconds,
-        vyMetersPerSecond * dtSeconds,
-        omegaRadiansPerSecond * dtSeconds);
+  public Twist2d toTwist2d(double dt) {
+    return new Twist2d(vx * dt, vy * dt, omega * dt);
   }
 
   /**
@@ -98,33 +94,25 @@ public Twist2d toTwist2d(double dtSeconds) {
    * <p>This is useful for compensating for translational skew when translating and rotating a
    * swerve drivetrain.
    *
-   * @param vxMetersPerSecond Forward velocity.
-   * @param vyMetersPerSecond Sideways velocity.
-   * @param omegaRadiansPerSecond Angular velocity.
-   * @param dtSeconds The duration of the timestep the speeds should be applied for.
+   * @param vx Forward velocity in meters per second.
+   * @param vy Sideways velocity in meters per second.
+   * @param omega Angular velocity in radians per second.
+   * @param dt The duration of the timestep in seconds the speeds should be applied for.
    * @return Discretized ChassisSpeeds.
    * @deprecated Use instance method instead.
    */
   @Deprecated(forRemoval = true, since = "2025")
-  public static ChassisSpeeds discretize(
-      double vxMetersPerSecond,
-      double vyMetersPerSecond,
-      double omegaRadiansPerSecond,
-      double dtSeconds) {
+  public static ChassisSpeeds discretize(double vx, double vy, double omega, double dt) {
     // Construct the desired pose after a timestep, relative to the current pose. The desired pose
     // has decoupled translation and rotation.
-    var desiredDeltaPose =
-        new Pose2d(
-            vxMetersPerSecond * dtSeconds,
-            vyMetersPerSecond * dtSeconds,
-            new Rotation2d(omegaRadiansPerSecond * dtSeconds));
+    var desiredDeltaPose = new Pose2d(vx * dt, vy * dt, new Rotation2d(omega * dt));
 
     // Find the chassis translation/rotation deltas in the robot frame that move the robot from its
     // current pose to the desired pose
     var twist = Pose2d.kZero.log(desiredDeltaPose);
 
     // Turn the chassis translation/rotation deltas into average velocities
-    return new ChassisSpeeds(twist.dx / dtSeconds, twist.dy / dtSeconds, twist.dtheta / dtSeconds);
+    return new ChassisSpeeds(twist.dx / dt, twist.dy / dt, twist.dtheta / dt);
   }
 
   /**
@@ -138,10 +126,10 @@ public static ChassisSpeeds discretize(
    * <p>This is useful for compensating for translational skew when translating and rotating a
    * swerve drivetrain.
    *
-   * @param vx Forward velocity.
-   * @param vy Sideways velocity.
-   * @param omega Angular velocity.
-   * @param dt The duration of the timestep the speeds should be applied for.
+   * @param vx Forward velocity in meters per second.
+   * @param vy Sideways velocity in meters per second.
+   * @param omega Angular velocity in radians per second.
+   * @param dt The duration of the timestep in seconds the speeds should be applied for.
    * @return Discretized ChassisSpeeds.
    * @deprecated Use instance method instead.
    */
@@ -164,17 +152,13 @@ public static ChassisSpeeds discretize(
    * swerve drivetrain.
    *
    * @param continuousSpeeds The continuous speeds.
-   * @param dtSeconds The duration of the timestep the speeds should be applied for.
+   * @param dt The duration of the timestep in seconds the speeds should be applied for.
    * @return Discretized ChassisSpeeds.
    * @deprecated Use instance method instead.
    */
   @Deprecated(forRemoval = true, since = "2025")
-  public static ChassisSpeeds discretize(ChassisSpeeds continuousSpeeds, double dtSeconds) {
-    return discretize(
-        continuousSpeeds.vxMetersPerSecond,
-        continuousSpeeds.vyMetersPerSecond,
-        continuousSpeeds.omegaRadiansPerSecond,
-        dtSeconds);
+  public static ChassisSpeeds discretize(ChassisSpeeds continuousSpeeds, double dt) {
+    return discretize(continuousSpeeds.vx, continuousSpeeds.vy, continuousSpeeds.omega, dt);
   }
 
   /**
@@ -188,34 +172,30 @@ public static ChassisSpeeds discretize(ChassisSpeeds continuousSpeeds, double dt
    * <p>This is useful for compensating for translational skew when translating and rotating a
    * swerve drivetrain.
    *
-   * @param dtSeconds The duration of the timestep the speeds should be applied for.
+   * @param dt The duration of the timestep in seconds the speeds should be applied for.
    */
-  public void discretize(double dtSeconds) {
-    var desiredDeltaPose =
-        new Pose2d(
-            vxMetersPerSecond * dtSeconds,
-            vyMetersPerSecond * dtSeconds,
-            new Rotation2d(omegaRadiansPerSecond * dtSeconds));
+  public void discretize(double dt) {
+    var desiredDeltaPose = new Pose2d(vx * dt, vy * dt, new Rotation2d(omega * dt));
 
     // Find the chassis translation/rotation deltas in the robot frame that move the robot from its
     // current pose to the desired pose
     var twist = Pose2d.kZero.log(desiredDeltaPose);
 
     // Turn the chassis translation/rotation deltas into average velocities
-    vxMetersPerSecond = twist.dx / dtSeconds;
-    vyMetersPerSecond = twist.dy / dtSeconds;
-    omegaRadiansPerSecond = twist.dtheta / dtSeconds;
+    vx = twist.dx / dt;
+    vy = twist.dy / dt;
+    omega = twist.dtheta / dt;
   }
 
   /**
    * Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds
    * object.
    *
-   * @param vxMetersPerSecond The component of speed in the x direction relative to the field.
-   *     Positive x is away from your alliance wall.
-   * @param vyMetersPerSecond The component of speed in the y direction relative to the field.
-   *     Positive y is to your left when standing behind the alliance wall.
-   * @param omegaRadiansPerSecond The angular rate of the robot.
+   * @param vx The component of speed in the x direction relative to the field, in meters per
+   *     second. Positive x is away from your alliance wall.
+   * @param vy The component of speed in the y direction relative to the field, in meters per
+   *     second. Positive y is to your left when standing behind the alliance wall.
+   * @param omega The angular rate of the robot in radians per second.
    * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
    *     considered to be zero when it is facing directly away from your alliance station wall.
    *     Remember that this should be CCW positive.
@@ -224,25 +204,21 @@ public void discretize(double dtSeconds) {
    */
   @Deprecated(forRemoval = true, since = "2025")
   public static ChassisSpeeds fromFieldRelativeSpeeds(
-      double vxMetersPerSecond,
-      double vyMetersPerSecond,
-      double omegaRadiansPerSecond,
-      Rotation2d robotAngle) {
+      double vx, double vy, double omega, Rotation2d robotAngle) {
     // CW rotation into chassis frame
-    var rotated =
-        new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle.unaryMinus());
-    return new ChassisSpeeds(rotated.getX(), rotated.getY(), omegaRadiansPerSecond);
+    var rotated = new Translation2d(vx, vy).rotateBy(robotAngle.unaryMinus());
+    return new ChassisSpeeds(rotated.getX(), rotated.getY(), omega);
   }
 
   /**
    * Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds
    * object.
    *
-   * @param vx The component of speed in the x direction relative to the field. Positive x is away
-   *     from your alliance wall.
-   * @param vy The component of speed in the y direction relative to the field. Positive y is to
-   *     your left when standing behind the alliance wall.
-   * @param omega The angular rate of the robot.
+   * @param vx The component of speed in the x direction relative to the field, in meters per
+   *     second. Positive x is away from your alliance wall.
+   * @param vy The component of speed in the y direction relative to the field, in meters per
+   *     second. Positive y is to your left when standing behind the alliance wall.
+   * @param omega The angular rate of the robot in radians per second.
    * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
    *     considered to be zero when it is facing directly away from your alliance station wall.
    *     Remember that this should be CCW positive.
@@ -273,10 +249,7 @@ public static ChassisSpeeds fromFieldRelativeSpeeds(
   public static ChassisSpeeds fromFieldRelativeSpeeds(
       ChassisSpeeds fieldRelativeSpeeds, Rotation2d robotAngle) {
     return fromFieldRelativeSpeeds(
-        fieldRelativeSpeeds.vxMetersPerSecond,
-        fieldRelativeSpeeds.vyMetersPerSecond,
-        fieldRelativeSpeeds.omegaRadiansPerSecond,
-        robotAngle);
+        fieldRelativeSpeeds.vx, fieldRelativeSpeeds.vy, fieldRelativeSpeeds.omega, robotAngle);
   }
 
   /**
@@ -288,21 +261,20 @@ public static ChassisSpeeds fromFieldRelativeSpeeds(
    */
   public void toRobotRelativeSpeeds(Rotation2d robotAngle) {
     // CW rotation into chassis frame
-    var rotated =
-        new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle.unaryMinus());
-    vxMetersPerSecond = rotated.getX();
-    vyMetersPerSecond = rotated.getY();
+    var rotated = new Translation2d(vx, vy).rotateBy(robotAngle.unaryMinus());
+    vx = rotated.getX();
+    vy = rotated.getY();
   }
 
   /**
    * Converts a user provided robot-relative set of speeds into a field-relative ChassisSpeeds
    * object.
    *
-   * @param vxMetersPerSecond The component of speed in the x direction relative to the robot.
-   *     Positive x is towards the robot's front.
-   * @param vyMetersPerSecond The component of speed in the y direction relative to the robot.
-   *     Positive y is towards the robot's left.
-   * @param omegaRadiansPerSecond The angular rate of the robot.
+   * @param vx The component of speed in the x direction relative to the robot, in meters per
+   *     second. Positive x is towards the robot's front.
+   * @param vy The component of speed in the y direction relative to the robot, in meters per
+   *     second. Positive y is towards the robot's left.
+   * @param omega The angular rate of the robot in radians per second.
    * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
    *     considered to be zero when it is facing directly away from your alliance station wall.
    *     Remember that this should be CCW positive.
@@ -311,24 +283,21 @@ public void toRobotRelativeSpeeds(Rotation2d robotAngle) {
    */
   @Deprecated(forRemoval = true, since = "2025")
   public static ChassisSpeeds fromRobotRelativeSpeeds(
-      double vxMetersPerSecond,
-      double vyMetersPerSecond,
-      double omegaRadiansPerSecond,
-      Rotation2d robotAngle) {
+      double vx, double vy, double omega, Rotation2d robotAngle) {
     // CCW rotation out of chassis frame
-    var rotated = new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle);
-    return new ChassisSpeeds(rotated.getX(), rotated.getY(), omegaRadiansPerSecond);
+    var rotated = new Translation2d(vx, vy).rotateBy(robotAngle);
+    return new ChassisSpeeds(rotated.getX(), rotated.getY(), omega);
   }
 
   /**
    * Converts a user provided robot-relative set of speeds into a field-relative ChassisSpeeds
    * object.
    *
-   * @param vx The component of speed in the x direction relative to the robot. Positive x is
-   *     towards the robot's front.
-   * @param vy The component of speed in the y direction relative to the robot. Positive y is
-   *     towards the robot's left.
-   * @param omega The angular rate of the robot.
+   * @param vx The component of speed in the x direction relative to the robot, in meters per
+   *     second. Positive x is towards the robot's front.
+   * @param vy The component of speed in the y direction relative to the robot, in meters per
+   *     second. Positive y is towards the robot's left.
+   * @param omega The angular rate of the robot in radians per second.
    * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
    *     considered to be zero when it is facing directly away from your alliance station wall.
    *     Remember that this should be CCW positive.
@@ -359,10 +328,7 @@ public static ChassisSpeeds fromRobotRelativeSpeeds(
   public static ChassisSpeeds fromRobotRelativeSpeeds(
       ChassisSpeeds robotRelativeSpeeds, Rotation2d robotAngle) {
     return fromRobotRelativeSpeeds(
-        robotRelativeSpeeds.vxMetersPerSecond,
-        robotRelativeSpeeds.vyMetersPerSecond,
-        robotRelativeSpeeds.omegaRadiansPerSecond,
-        robotAngle);
+        robotRelativeSpeeds.vx, robotRelativeSpeeds.vy, robotRelativeSpeeds.omega, robotAngle);
   }
 
   /**
@@ -374,9 +340,9 @@ public static ChassisSpeeds fromRobotRelativeSpeeds(
    */
   public void toFieldRelativeSpeeds(Rotation2d robotAngle) {
     // CCW rotation out of chassis frame
-    var rotated = new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle);
-    vxMetersPerSecond = rotated.getX();
-    vyMetersPerSecond = rotated.getY();
+    var rotated = new Translation2d(vx, vy).rotateBy(robotAngle);
+    vx = rotated.getX();
+    vy = rotated.getY();
   }
 
   /**
@@ -389,10 +355,7 @@ public void toFieldRelativeSpeeds(Rotation2d robotAngle) {
    * @return The sum of the ChassisSpeeds.
    */
   public ChassisSpeeds plus(ChassisSpeeds other) {
-    return new ChassisSpeeds(
-        vxMetersPerSecond + other.vxMetersPerSecond,
-        vyMetersPerSecond + other.vyMetersPerSecond,
-        omegaRadiansPerSecond + other.omegaRadiansPerSecond);
+    return new ChassisSpeeds(vx + other.vx, vy + other.vy, omega + other.omega);
   }
 
   /**
@@ -405,10 +368,7 @@ public ChassisSpeeds plus(ChassisSpeeds other) {
    * @return The difference between the two ChassisSpeeds.
    */
   public ChassisSpeeds minus(ChassisSpeeds other) {
-    return new ChassisSpeeds(
-        vxMetersPerSecond - other.vxMetersPerSecond,
-        vyMetersPerSecond - other.vyMetersPerSecond,
-        omegaRadiansPerSecond - other.omegaRadiansPerSecond);
+    return new ChassisSpeeds(vx - other.vx, vy - other.vy, omega - other.omega);
   }
 
   /**
@@ -418,7 +378,7 @@ public ChassisSpeeds minus(ChassisSpeeds other) {
    * @return The inverse of the current ChassisSpeeds.
    */
   public ChassisSpeeds unaryMinus() {
-    return new ChassisSpeeds(-vxMetersPerSecond, -vyMetersPerSecond, -omegaRadiansPerSecond);
+    return new ChassisSpeeds(-vx, -vy, -omega);
   }
 
   /**
@@ -430,8 +390,7 @@ public ChassisSpeeds unaryMinus() {
    * @return The scaled ChassisSpeeds.
    */
   public ChassisSpeeds times(double scalar) {
-    return new ChassisSpeeds(
-        vxMetersPerSecond * scalar, vyMetersPerSecond * scalar, omegaRadiansPerSecond * scalar);
+    return new ChassisSpeeds(vx * scalar, vy * scalar, omega * scalar);
   }
 
   /**
@@ -443,28 +402,23 @@ public ChassisSpeeds times(double scalar) {
    * @return The scaled ChassisSpeeds.
    */
   public ChassisSpeeds div(double scalar) {
-    return new ChassisSpeeds(
-        vxMetersPerSecond / scalar, vyMetersPerSecond / scalar, omegaRadiansPerSecond / scalar);
+    return new ChassisSpeeds(vx / scalar, vy / scalar, omega / scalar);
   }
 
   @Override
   public final int hashCode() {
-    return Objects.hash(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
+    return Objects.hash(vx, vy, omega);
   }
 
   @Override
   public boolean equals(Object o) {
     return o == this
-        || o instanceof ChassisSpeeds c
-            && vxMetersPerSecond == c.vxMetersPerSecond
-            && vyMetersPerSecond == c.vyMetersPerSecond
-            && omegaRadiansPerSecond == c.omegaRadiansPerSecond;
+        || o instanceof ChassisSpeeds c && vx == c.vx && vy == c.vy && omega == c.omega;
   }
 
   @Override
   public String toString() {
     return String.format(
-        "ChassisSpeeds(Vx: %.2f m/s, Vy: %.2f m/s, Omega: %.2f rad/s)",
-        vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
+        "ChassisSpeeds(Vx: %.2f m/s, Vy: %.2f m/s, Omega: %.2f rad/s)", vx, vy, omega);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
index ffa24cd9ba9..766a0522b55 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
@@ -27,8 +27,8 @@ public class DifferentialDriveKinematics
     implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
         ProtobufSerializable,
         StructSerializable {
-  /** Differential drive trackwidth. */
-  public final double trackWidthMeters;
+  /** Differential drive trackwidth in meters. */
+  public final double trackwidth;
 
   /** DifferentialDriveKinematics protobuf for serialization. */
   public static final DifferentialDriveKinematicsProto proto =
@@ -41,24 +41,24 @@ public class DifferentialDriveKinematics
   /**
    * Constructs a differential drive kinematics object.
    *
-   * @param trackWidthMeters The track width of the drivetrain. Theoretically, this is the distance
-   *     between the left wheels and right wheels. However, the empirical value may be larger than
-   *     the physical measured value due to scrubbing effects.
+   * @param trackwidth The trackwidth of the drivetrain in meters. Theoretically, this is the
+   *     distance between the left wheels and right wheels. However, the empirical value may be
+   *     larger than the physical measured value due to scrubbing effects.
    */
-  public DifferentialDriveKinematics(double trackWidthMeters) {
-    this.trackWidthMeters = trackWidthMeters;
+  public DifferentialDriveKinematics(double trackwidth) {
+    this.trackwidth = trackwidth;
     MathSharedStore.reportUsage(MathUsageId.kKinematics_DifferentialDrive, 1);
   }
 
   /**
    * Constructs a differential drive kinematics object.
    *
-   * @param trackWidth The track width of the drivetrain. Theoretically, this is the distance
-   *     between the left wheels and right wheels. However, the empirical value may be larger than
-   *     the physical measured value due to scrubbing effects.
+   * @param trackwidth The trackwidth of the drivetrain in meters. Theoretically, this is the
+   *     distance between the left wheels and right wheels. However, the empirical value may be
+   *     larger than the physical measured value due to scrubbing effects.
    */
-  public DifferentialDriveKinematics(Distance trackWidth) {
-    this(trackWidth.in(Meters));
+  public DifferentialDriveKinematics(Distance trackwidth) {
+    this(trackwidth.in(Meters));
   }
 
   /**
@@ -70,9 +70,9 @@ public DifferentialDriveKinematics(Distance trackWidth) {
   @Override
   public ChassisSpeeds toChassisSpeeds(DifferentialDriveWheelSpeeds wheelSpeeds) {
     return new ChassisSpeeds(
-        (wheelSpeeds.leftMetersPerSecond + wheelSpeeds.rightMetersPerSecond) / 2,
+        (wheelSpeeds.left + wheelSpeeds.right) / 2,
         0,
-        (wheelSpeeds.rightMetersPerSecond - wheelSpeeds.leftMetersPerSecond) / trackWidthMeters);
+        (wheelSpeeds.right - wheelSpeeds.left) / trackwidth);
   }
 
   /**
@@ -85,16 +85,14 @@ public ChassisSpeeds toChassisSpeeds(DifferentialDriveWheelSpeeds wheelSpeeds) {
   @Override
   public DifferentialDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
     return new DifferentialDriveWheelSpeeds(
-        chassisSpeeds.vxMetersPerSecond
-            - trackWidthMeters / 2 * chassisSpeeds.omegaRadiansPerSecond,
-        chassisSpeeds.vxMetersPerSecond
-            + trackWidthMeters / 2 * chassisSpeeds.omegaRadiansPerSecond);
+        chassisSpeeds.vx - trackwidth / 2 * chassisSpeeds.omega,
+        chassisSpeeds.vx + trackwidth / 2 * chassisSpeeds.omega);
   }
 
   @Override
   public Twist2d toTwist2d(
       DifferentialDriveWheelPositions start, DifferentialDriveWheelPositions end) {
-    return toTwist2d(end.leftMeters - start.leftMeters, end.rightMeters - start.rightMeters);
+    return toTwist2d(end.left - start.left, end.right - start.right);
   }
 
   /**
@@ -102,27 +100,25 @@ public Twist2d toTwist2d(
    * distance deltas. This method is often used for odometry -- determining the robot's position on
    * the field using changes in the distance driven by each wheel on the robot.
    *
-   * @param leftDistanceMeters The distance measured by the left side encoder.
-   * @param rightDistanceMeters The distance measured by the right side encoder.
+   * @param leftDistance The distance measured by the left side encoder.
+   * @param rightDistance The distance measured by the right side encoder.
    * @return The resulting Twist2d.
    */
-  public Twist2d toTwist2d(double leftDistanceMeters, double rightDistanceMeters) {
+  public Twist2d toTwist2d(double leftDistance, double rightDistance) {
     return new Twist2d(
-        (leftDistanceMeters + rightDistanceMeters) / 2,
-        0,
-        (rightDistanceMeters - leftDistanceMeters) / trackWidthMeters);
+        (leftDistance + rightDistance) / 2, 0, (rightDistance - leftDistance) / trackwidth);
   }
 
   @Override
   public DifferentialDriveWheelPositions copy(DifferentialDriveWheelPositions positions) {
-    return new DifferentialDriveWheelPositions(positions.leftMeters, positions.rightMeters);
+    return new DifferentialDriveWheelPositions(positions.left, positions.right);
   }
 
   @Override
   public void copyInto(
       DifferentialDriveWheelPositions positions, DifferentialDriveWheelPositions output) {
-    output.leftMeters = positions.leftMeters;
-    output.rightMeters = positions.rightMeters;
+    output.left = positions.left;
+    output.right = positions.right;
   }
 
   @Override
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
index 46fb3950638..98aed4e4473 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry.java
@@ -27,20 +27,17 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
    * Constructs a DifferentialDriveOdometry object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting position of the robot on the field.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose2d initialPoseMeters) {
+      Rotation2d gyroAngle, double leftDistance, double rightDistance, Pose2d initialPose) {
     super(
         new DifferentialDriveKinematics(1),
         gyroAngle,
-        new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters),
-        initialPoseMeters);
+        new DifferentialDriveWheelPositions(leftDistance, rightDistance),
+        initialPose);
     MathSharedStore.reportUsage(MathUsageId.kOdometry_DifferentialDrive, 1);
   }
 
@@ -48,36 +45,33 @@ public DifferentialDriveOdometry(
    * Constructs a DifferentialDriveOdometry object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting position of the robot on the field.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle,
-      Distance leftDistance,
-      Distance rightDistance,
-      Pose2d initialPoseMeters) {
-    this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
+      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance, Pose2d initialPose) {
+    this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPose);
   }
 
   /**
    * Constructs a DifferentialDriveOdometry object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    */
   public DifferentialDriveOdometry(
-      Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
-    this(gyroAngle, leftDistanceMeters, rightDistanceMeters, Pose2d.kZero);
+      Rotation2d gyroAngle, double leftDistance, double rightDistance) {
+    this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
   }
 
   /**
    * Constructs a DifferentialDriveOdometry object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    */
   public DifferentialDriveOdometry(
       Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance) {
@@ -91,19 +85,14 @@ public DifferentialDriveOdometry(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation2d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose2d poseMeters) {
+      Rotation2d gyroAngle, double leftDistance, double rightDistance, Pose2d pose) {
     super.resetPosition(
-        gyroAngle,
-        new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters),
-        poseMeters);
+        gyroAngle, new DifferentialDriveWheelPositions(leftDistance, rightDistance), pose);
   }
 
   /**
@@ -113,13 +102,13 @@ public void resetPosition(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance, Pose2d poseMeters) {
-    resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), poseMeters);
+      Rotation2d gyroAngle, Distance leftDistance, Distance rightDistance, Pose2d pose) {
+    resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), pose);
   }
 
   /**
@@ -128,13 +117,12 @@ public void resetPosition(
    * advantageous for teams that are using lower CPR encoders.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    * @return The new pose of the robot.
    */
-  public Pose2d update(
-      Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
+  public Pose2d update(Rotation2d gyroAngle, double leftDistance, double rightDistance) {
     return super.update(
-        gyroAngle, new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters));
+        gyroAngle, new DifferentialDriveWheelPositions(leftDistance, rightDistance));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3d.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3d.java
index 7a5769a5777..609d7aef47a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3d.java
@@ -36,20 +36,17 @@ public class DifferentialDriveOdometry3d extends Odometry3d<DifferentialDriveWhe
    * Constructs a DifferentialDriveOdometry3d object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting position of the robot on the field.
    */
   public DifferentialDriveOdometry3d(
-      Rotation3d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose3d initialPoseMeters) {
+      Rotation3d gyroAngle, double leftDistance, double rightDistance, Pose3d initialPose) {
     super(
         new DifferentialDriveKinematics(1),
         gyroAngle,
-        new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters),
-        initialPoseMeters);
+        new DifferentialDriveWheelPositions(leftDistance, rightDistance),
+        initialPose);
     MathSharedStore.reportUsage(MathUsageId.kOdometry_DifferentialDrive, 1);
   }
 
@@ -57,36 +54,33 @@ public DifferentialDriveOdometry3d(
    * Constructs a DifferentialDriveOdometry3d object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param initialPose The starting position of the robot on the field.
    */
   public DifferentialDriveOdometry3d(
-      Rotation3d gyroAngle,
-      Distance leftDistance,
-      Distance rightDistance,
-      Pose3d initialPoseMeters) {
-    this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPoseMeters);
+      Rotation3d gyroAngle, Distance leftDistance, Distance rightDistance, Pose3d initialPose) {
+    this(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), initialPose);
   }
 
   /**
    * Constructs a DifferentialDriveOdometry3d object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    */
   public DifferentialDriveOdometry3d(
-      Rotation3d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
-    this(gyroAngle, leftDistanceMeters, rightDistanceMeters, Pose3d.kZero);
+      Rotation3d gyroAngle, double leftDistance, double rightDistance) {
+    this(gyroAngle, leftDistance, rightDistance, Pose3d.kZero);
   }
 
   /**
    * Constructs a DifferentialDriveOdometry3d object.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    */
   public DifferentialDriveOdometry3d(
       Rotation3d gyroAngle, Distance leftDistance, Distance rightDistance) {
@@ -100,19 +94,14 @@ public DifferentialDriveOdometry3d(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation3d gyroAngle,
-      double leftDistanceMeters,
-      double rightDistanceMeters,
-      Pose3d poseMeters) {
+      Rotation3d gyroAngle, double leftDistance, double rightDistance, Pose3d pose) {
     super.resetPosition(
-        gyroAngle,
-        new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters),
-        poseMeters);
+        gyroAngle, new DifferentialDriveWheelPositions(leftDistance, rightDistance), pose);
   }
 
   /**
@@ -122,13 +111,13 @@ public void resetPosition(
    * automatically takes care of offsetting the gyro angle.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistance The distance traveled by the left encoder.
-   * @param rightDistance The distance traveled by the right encoder.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
+   * @param pose The position on the field that your robot is at.
    */
   public void resetPosition(
-      Rotation3d gyroAngle, Distance leftDistance, Distance rightDistance, Pose3d poseMeters) {
-    resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), poseMeters);
+      Rotation3d gyroAngle, Distance leftDistance, Distance rightDistance, Pose3d pose) {
+    resetPosition(gyroAngle, leftDistance.in(Meters), rightDistance.in(Meters), pose);
   }
 
   /**
@@ -137,13 +126,12 @@ public void resetPosition(
    * advantageous for teams that are using lower CPR encoders.
    *
    * @param gyroAngle The angle reported by the gyroscope.
-   * @param leftDistanceMeters The distance traveled by the left encoder.
-   * @param rightDistanceMeters The distance traveled by the right encoder.
+   * @param leftDistance The distance traveled by the left encoder in meters.
+   * @param rightDistance The distance traveled by the right encoder in meters.
    * @return The new pose of the robot.
    */
-  public Pose3d update(
-      Rotation3d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
+  public Pose3d update(Rotation3d gyroAngle, double leftDistance, double rightDistance) {
     return super.update(
-        gyroAngle, new DifferentialDriveWheelPositions(leftDistanceMeters, rightDistanceMeters));
+        gyroAngle, new DifferentialDriveWheelPositions(leftDistance, rightDistance));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index b4503e6480f..670620db304 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -16,11 +16,11 @@
 /** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
     implements Interpolatable<DifferentialDriveWheelPositions> {
-  /** Distance measured by the left side. */
-  public double leftMeters;
+  /** Distance measured by the left side in meters. */
+  public double left;
 
-  /** Distance measured by the right side. */
-  public double rightMeters;
+  /** Distance measured by the right side in meters. */
+  public double right;
 
   /** DifferentialDriveWheelPositions struct for serialization. */
   public static final DifferentialDriveWheelPositionsStruct struct =
@@ -33,19 +33,19 @@ public class DifferentialDriveWheelPositions
   /**
    * Constructs a DifferentialDriveWheelPositions.
    *
-   * @param leftMeters Distance measured by the left side.
-   * @param rightMeters Distance measured by the right side.
+   * @param left Distance measured by the left side in meters.
+   * @param right Distance measured by the right side in meters.
    */
-  public DifferentialDriveWheelPositions(double leftMeters, double rightMeters) {
-    this.leftMeters = leftMeters;
-    this.rightMeters = rightMeters;
+  public DifferentialDriveWheelPositions(double left, double right) {
+    this.left = left;
+    this.right = right;
   }
 
   /**
    * Constructs a DifferentialDriveWheelPositions.
    *
-   * @param left Distance measured by the left side.
-   * @param right Distance measured by the right side.
+   * @param left Distance measured by the left side in meters.
+   * @param right Distance measured by the right side in meters.
    */
   public DifferentialDriveWheelPositions(Distance left, Distance right) {
     this(left.in(Meters), right.in(Meters));
@@ -54,26 +54,26 @@ public DifferentialDriveWheelPositions(Distance left, Distance right) {
   @Override
   public boolean equals(Object obj) {
     return obj instanceof DifferentialDriveWheelPositions other
-        && Math.abs(other.leftMeters - leftMeters) < 1E-9
-        && Math.abs(other.rightMeters - rightMeters) < 1E-9;
+        && Math.abs(other.left - left) < 1E-9
+        && Math.abs(other.right - right) < 1E-9;
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(leftMeters, rightMeters);
+    return Objects.hash(left, right);
   }
 
   @Override
   public String toString() {
     return String.format(
-        "DifferentialDriveWheelPositions(Left: %.2f m, Right: %.2f m", leftMeters, rightMeters);
+        "DifferentialDriveWheelPositions(Left: %.2f m, Right: %.2f m", left, right);
   }
 
   @Override
   public DifferentialDriveWheelPositions interpolate(
       DifferentialDriveWheelPositions endValue, double t) {
     return new DifferentialDriveWheelPositions(
-        MathUtil.interpolate(this.leftMeters, endValue.leftMeters, t),
-        MathUtil.interpolate(this.rightMeters, endValue.rightMeters, t));
+        MathUtil.interpolate(this.left, endValue.left, t),
+        MathUtil.interpolate(this.right, endValue.right, t));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
index 6796fabb1e2..60b3bca8f35 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
@@ -14,11 +14,11 @@
 
 /** Represents the wheel speeds for a differential drive drivetrain. */
 public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
-  /** Speed of the left side of the robot. */
-  public double leftMetersPerSecond;
+  /** Speed of the left side of the robot in meters per second. */
+  public double left;
 
-  /** Speed of the right side of the robot. */
-  public double rightMetersPerSecond;
+  /** Speed of the right side of the robot in meters per second. */
+  public double right;
 
   /** DifferentialDriveWheelSpeeds protobuf for serialization. */
   public static final DifferentialDriveWheelSpeedsProto proto =
@@ -34,19 +34,19 @@ public DifferentialDriveWheelSpeeds() {}
   /**
    * Constructs a DifferentialDriveWheelSpeeds.
    *
-   * @param leftMetersPerSecond The left speed.
-   * @param rightMetersPerSecond The right speed.
+   * @param left The left speed in meters per second.
+   * @param right The right speed in meters per second.
    */
-  public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond) {
-    this.leftMetersPerSecond = leftMetersPerSecond;
-    this.rightMetersPerSecond = rightMetersPerSecond;
+  public DifferentialDriveWheelSpeeds(double left, double right) {
+    this.left = left;
+    this.right = right;
   }
 
   /**
    * Constructs a DifferentialDriveWheelSpeeds.
    *
-   * @param left The left speed.
-   * @param right The right speed.
+   * @param left The left speed in meters per second.
+   * @param right The right speed in meters per second.
    */
   public DifferentialDriveWheelSpeeds(LinearVelocity left, LinearVelocity right) {
     this(left.in(MetersPerSecond), right.in(MetersPerSecond));
@@ -60,15 +60,14 @@ public DifferentialDriveWheelSpeeds(LinearVelocity left, LinearVelocity right) {
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between wheels.
    *
-   * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a wheel can reach.
    */
-  public void desaturate(double attainableMaxSpeedMetersPerSecond) {
-    double realMaxSpeed = Math.max(Math.abs(leftMetersPerSecond), Math.abs(rightMetersPerSecond));
+  public void desaturate(double attainableMaxSpeed) {
+    double realMaxSpeed = Math.max(Math.abs(left), Math.abs(right));
 
-    if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
-      leftMetersPerSecond = leftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
-      rightMetersPerSecond =
-          rightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+    if (realMaxSpeed > attainableMaxSpeed) {
+      left = left / realMaxSpeed * attainableMaxSpeed;
+      right = right / realMaxSpeed * attainableMaxSpeed;
     }
   }
 
@@ -80,7 +79,7 @@ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between wheels.
    *
-   * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a wheel can reach.
    */
   public void desaturate(LinearVelocity attainableMaxSpeed) {
     desaturate(attainableMaxSpeed.in(MetersPerSecond));
@@ -96,9 +95,7 @@ public void desaturate(LinearVelocity attainableMaxSpeed) {
    * @return The sum of the DifferentialDriveWheelSpeeds.
    */
   public DifferentialDriveWheelSpeeds plus(DifferentialDriveWheelSpeeds other) {
-    return new DifferentialDriveWheelSpeeds(
-        leftMetersPerSecond + other.leftMetersPerSecond,
-        rightMetersPerSecond + other.rightMetersPerSecond);
+    return new DifferentialDriveWheelSpeeds(left + other.left, right + other.right);
   }
 
   /**
@@ -112,9 +109,7 @@ public DifferentialDriveWheelSpeeds plus(DifferentialDriveWheelSpeeds other) {
    * @return The difference between the two DifferentialDriveWheelSpeeds.
    */
   public DifferentialDriveWheelSpeeds minus(DifferentialDriveWheelSpeeds other) {
-    return new DifferentialDriveWheelSpeeds(
-        leftMetersPerSecond - other.leftMetersPerSecond,
-        rightMetersPerSecond - other.rightMetersPerSecond);
+    return new DifferentialDriveWheelSpeeds(left - other.left, right - other.right);
   }
 
   /**
@@ -124,7 +119,7 @@ public DifferentialDriveWheelSpeeds minus(DifferentialDriveWheelSpeeds other) {
    * @return The inverse of the current DifferentialDriveWheelSpeeds.
    */
   public DifferentialDriveWheelSpeeds unaryMinus() {
-    return new DifferentialDriveWheelSpeeds(-leftMetersPerSecond, -rightMetersPerSecond);
+    return new DifferentialDriveWheelSpeeds(-left, -right);
   }
 
   /**
@@ -138,8 +133,7 @@ public DifferentialDriveWheelSpeeds unaryMinus() {
    * @return The scaled DifferentialDriveWheelSpeeds.
    */
   public DifferentialDriveWheelSpeeds times(double scalar) {
-    return new DifferentialDriveWheelSpeeds(
-        leftMetersPerSecond * scalar, rightMetersPerSecond * scalar);
+    return new DifferentialDriveWheelSpeeds(left * scalar, right * scalar);
   }
 
   /**
@@ -153,14 +147,12 @@ public DifferentialDriveWheelSpeeds times(double scalar) {
    * @return The scaled DifferentialDriveWheelSpeeds.
    */
   public DifferentialDriveWheelSpeeds div(double scalar) {
-    return new DifferentialDriveWheelSpeeds(
-        leftMetersPerSecond / scalar, rightMetersPerSecond / scalar);
+    return new DifferentialDriveWheelSpeeds(left / scalar, right / scalar);
   }
 
   @Override
   public String toString() {
     return String.format(
-        "DifferentialDriveWheelSpeeds(Left: %.2f m/s, Right: %.2f m/s)",
-        leftMetersPerSecond, rightMetersPerSecond);
+        "DifferentialDriveWheelSpeeds(Left: %.2f m/s, Right: %.2f m/s)", left, right);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
index 0135af24d61..ac8fda8884f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
@@ -41,10 +41,10 @@ public class MecanumDriveKinematics
   private final SimpleMatrix m_inverseKinematics;
   private final SimpleMatrix m_forwardKinematics;
 
-  private final Translation2d m_frontLeftWheelMeters;
-  private final Translation2d m_frontRightWheelMeters;
-  private final Translation2d m_rearLeftWheelMeters;
-  private final Translation2d m_rearRightWheelMeters;
+  private final Translation2d m_frontLeftWheel;
+  private final Translation2d m_frontRightWheel;
+  private final Translation2d m_rearLeftWheel;
+  private final Translation2d m_rearRightWheel;
 
   private Translation2d m_prevCoR = Translation2d.kZero;
 
@@ -57,29 +57,28 @@ public class MecanumDriveKinematics
   /**
    * Constructs a mecanum drive kinematics object.
    *
-   * @param frontLeftWheelMeters The location of the front-left wheel relative to the physical
-   *     center of the robot.
-   * @param frontRightWheelMeters The location of the front-right wheel relative to the physical
-   *     center of the robot.
-   * @param rearLeftWheelMeters The location of the rear-left wheel relative to the physical center
-   *     of the robot.
-   * @param rearRightWheelMeters The location of the rear-right wheel relative to the physical
-   *     center of the robot.
+   * @param frontLeftWheel The location of the front-left wheel relative to the physical center of
+   *     the robot, in meters.
+   * @param frontRightWheel The location of the front-right wheel relative to the physical center of
+   *     the robot, in meters.
+   * @param rearLeftWheel The location of the rear-left wheel relative to the physical center of the
+   *     robot, in meters.
+   * @param rearRightWheel The location of the rear-right wheel relative to the physical center of
+   *     the robot, in meters.
    */
   public MecanumDriveKinematics(
-      Translation2d frontLeftWheelMeters,
-      Translation2d frontRightWheelMeters,
-      Translation2d rearLeftWheelMeters,
-      Translation2d rearRightWheelMeters) {
-    m_frontLeftWheelMeters = frontLeftWheelMeters;
-    m_frontRightWheelMeters = frontRightWheelMeters;
-    m_rearLeftWheelMeters = rearLeftWheelMeters;
-    m_rearRightWheelMeters = rearRightWheelMeters;
+      Translation2d frontLeftWheel,
+      Translation2d frontRightWheel,
+      Translation2d rearLeftWheel,
+      Translation2d rearRightWheel) {
+    m_frontLeftWheel = frontLeftWheel;
+    m_frontRightWheel = frontRightWheel;
+    m_rearLeftWheel = rearLeftWheel;
+    m_rearRightWheel = rearRightWheel;
 
     m_inverseKinematics = new SimpleMatrix(4, 3);
 
-    setInverseKinematics(
-        frontLeftWheelMeters, frontRightWheelMeters, rearLeftWheelMeters, rearRightWheelMeters);
+    setInverseKinematics(frontLeftWheel, frontRightWheel, rearLeftWheel, rearRightWheel);
     m_forwardKinematics = m_inverseKinematics.pseudoInverse();
 
     MathSharedStore.reportUsage(MathUsageId.kKinematics_MecanumDrive, 1);
@@ -95,33 +94,28 @@ public MecanumDriveKinematics(
    * for evasive maneuvers, vision alignment, or for any other use case, you can do so.
    *
    * @param chassisSpeeds The desired chassis speed.
-   * @param centerOfRotationMeters The center of rotation. For example, if you set the center of
-   *     rotation at one corner of the robot and provide a chassis speed that only has a dtheta
-   *     component, the robot will rotate around that corner.
+   * @param centerOfRotation The center of rotation. For example, if you set the center of rotation
+   *     at one corner of the robot and provide a chassis speed that only has a dtheta component,
+   *     the robot will rotate around that corner.
    * @return The wheel speeds. Use caution because they are not normalized. Sometimes, a user input
    *     may cause one of the wheel speeds to go above the attainable max velocity. Use the {@link
    *     MecanumDriveWheelSpeeds#desaturate(double)} function to rectify this issue.
    */
   public MecanumDriveWheelSpeeds toWheelSpeeds(
-      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
+      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotation) {
     // We have a new center of rotation. We need to compute the matrix again.
-    if (!centerOfRotationMeters.equals(m_prevCoR)) {
-      var fl = m_frontLeftWheelMeters.minus(centerOfRotationMeters);
-      var fr = m_frontRightWheelMeters.minus(centerOfRotationMeters);
-      var rl = m_rearLeftWheelMeters.minus(centerOfRotationMeters);
-      var rr = m_rearRightWheelMeters.minus(centerOfRotationMeters);
+    if (!centerOfRotation.equals(m_prevCoR)) {
+      var fl = m_frontLeftWheel.minus(centerOfRotation);
+      var fr = m_frontRightWheel.minus(centerOfRotation);
+      var rl = m_rearLeftWheel.minus(centerOfRotation);
+      var rr = m_rearRightWheel.minus(centerOfRotation);
 
       setInverseKinematics(fl, fr, rl, rr);
-      m_prevCoR = centerOfRotationMeters;
+      m_prevCoR = centerOfRotation;
     }
 
     var chassisSpeedsVector = new SimpleMatrix(3, 1);
-    chassisSpeedsVector.setColumn(
-        0,
-        0,
-        chassisSpeeds.vxMetersPerSecond,
-        chassisSpeeds.vyMetersPerSecond,
-        chassisSpeeds.omegaRadiansPerSecond);
+    chassisSpeedsVector.setColumn(0, 0, chassisSpeeds.vx, chassisSpeeds.vy, chassisSpeeds.omega);
 
     var wheelsVector = m_inverseKinematics.mult(chassisSpeedsVector);
     return new MecanumDriveWheelSpeeds(
@@ -157,10 +151,10 @@ public ChassisSpeeds toChassisSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
     wheelSpeedsVector.setColumn(
         0,
         0,
-        wheelSpeeds.frontLeftMetersPerSecond,
-        wheelSpeeds.frontRightMetersPerSecond,
-        wheelSpeeds.rearLeftMetersPerSecond,
-        wheelSpeeds.rearRightMetersPerSecond);
+        wheelSpeeds.frontLeft,
+        wheelSpeeds.frontRight,
+        wheelSpeeds.rearLeft,
+        wheelSpeeds.rearRight);
     var chassisSpeedsVector = m_forwardKinematics.mult(wheelSpeedsVector);
 
     return new ChassisSpeeds(
@@ -175,10 +169,10 @@ public Twist2d toTwist2d(MecanumDriveWheelPositions start, MecanumDriveWheelPosi
     wheelDeltasVector.setColumn(
         0,
         0,
-        end.frontLeftMeters - start.frontLeftMeters,
-        end.frontRightMeters - start.frontRightMeters,
-        end.rearLeftMeters - start.rearLeftMeters,
-        end.rearRightMeters - start.rearRightMeters);
+        end.frontLeft - start.frontLeft,
+        end.frontRight - start.frontRight,
+        end.rearLeft - start.rearLeft,
+        end.rearRight - start.rearRight);
     var twist = m_forwardKinematics.mult(wheelDeltasVector);
     return new Twist2d(twist.get(0, 0), twist.get(1, 0), twist.get(2, 0));
   }
@@ -196,10 +190,10 @@ public Twist2d toTwist2d(MecanumDriveWheelPositions wheelDeltas) {
     wheelDeltasVector.setColumn(
         0,
         0,
-        wheelDeltas.frontLeftMeters,
-        wheelDeltas.frontRightMeters,
-        wheelDeltas.rearLeftMeters,
-        wheelDeltas.rearRightMeters);
+        wheelDeltas.frontLeft,
+        wheelDeltas.frontRight,
+        wheelDeltas.rearLeft,
+        wheelDeltas.rearRight);
     var twist = m_forwardKinematics.mult(wheelDeltasVector);
     return new Twist2d(twist.get(0, 0), twist.get(1, 0), twist.get(2, 0));
   }
@@ -226,7 +220,7 @@ private void setInverseKinematics(
    * @return The front-left wheel translation.
    */
   public Translation2d getFrontLeft() {
-    return m_frontLeftWheelMeters;
+    return m_frontLeftWheel;
   }
 
   /**
@@ -235,7 +229,7 @@ public Translation2d getFrontLeft() {
    * @return The front-right wheel translation.
    */
   public Translation2d getFrontRight() {
-    return m_frontRightWheelMeters;
+    return m_frontRightWheel;
   }
 
   /**
@@ -244,7 +238,7 @@ public Translation2d getFrontRight() {
    * @return The rear-left wheel translation.
    */
   public Translation2d getRearLeft() {
-    return m_rearLeftWheelMeters;
+    return m_rearLeftWheel;
   }
 
   /**
@@ -253,24 +247,21 @@ public Translation2d getRearLeft() {
    * @return The rear-right wheel translation.
    */
   public Translation2d getRearRight() {
-    return m_rearRightWheelMeters;
+    return m_rearRightWheel;
   }
 
   @Override
   public MecanumDriveWheelPositions copy(MecanumDriveWheelPositions positions) {
     return new MecanumDriveWheelPositions(
-        positions.frontLeftMeters,
-        positions.frontRightMeters,
-        positions.rearLeftMeters,
-        positions.rearRightMeters);
+        positions.frontLeft, positions.frontRight, positions.rearLeft, positions.rearRight);
   }
 
   @Override
   public void copyInto(MecanumDriveWheelPositions positions, MecanumDriveWheelPositions output) {
-    output.frontLeftMeters = positions.frontLeftMeters;
-    output.frontRightMeters = positions.frontRightMeters;
-    output.rearLeftMeters = positions.rearLeftMeters;
-    output.rearRightMeters = positions.rearRightMeters;
+    output.frontLeft = positions.frontLeft;
+    output.frontRight = positions.frontRight;
+    output.rearLeft = positions.rearLeft;
+    output.rearRight = positions.rearRight;
   }
 
   @Override
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
index 8bc91b1d8e6..06882d6c3d9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
@@ -12,16 +12,16 @@
 /** Represents the motor voltages for a mecanum drive drivetrain. */
 public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSerializable {
   /** Voltage of the front left motor. */
-  public double frontLeftVoltage;
+  public double frontLeft;
 
   /** Voltage of the front right motor. */
-  public double frontRightVoltage;
+  public double frontRight;
 
   /** Voltage of the rear left motor. */
-  public double rearLeftVoltage;
+  public double rearLeft;
 
   /** Voltage of the rear right motor. */
-  public double rearRightVoltage;
+  public double rearRight;
 
   /** Constructs a MecanumDriveMotorVoltages with zeros for all member fields. */
   public MecanumDriveMotorVoltages() {}
@@ -29,20 +29,17 @@ public MecanumDriveMotorVoltages() {}
   /**
    * Constructs a MecanumDriveMotorVoltages.
    *
-   * @param frontLeftVoltage Voltage of the front left motor.
-   * @param frontRightVoltage Voltage of the front right motor.
-   * @param rearLeftVoltage Voltage of the rear left motor.
-   * @param rearRightVoltage Voltage of the rear right motor.
+   * @param frontLeft Voltage of the front left motor.
+   * @param frontRight Voltage of the front right motor.
+   * @param rearLeft Voltage of the rear left motor.
+   * @param rearRight Voltage of the rear right motor.
    */
   public MecanumDriveMotorVoltages(
-      double frontLeftVoltage,
-      double frontRightVoltage,
-      double rearLeftVoltage,
-      double rearRightVoltage) {
-    this.frontLeftVoltage = frontLeftVoltage;
-    this.frontRightVoltage = frontRightVoltage;
-    this.rearLeftVoltage = rearLeftVoltage;
-    this.rearRightVoltage = rearRightVoltage;
+      double frontLeft, double frontRight, double rearLeft, double rearRight) {
+    this.frontLeft = frontLeft;
+    this.frontRight = frontRight;
+    this.rearLeft = rearLeft;
+    this.rearRight = rearRight;
   }
 
   @Override
@@ -50,7 +47,7 @@ public String toString() {
     return String.format(
         "MecanumDriveMotorVoltages(Front Left: %.2f V, Front Right: %.2f V, "
             + "Rear Left: %.2f V, Rear Right: %.2f V)",
-        frontLeftVoltage, frontRightVoltage, rearLeftVoltage, rearRightVoltage);
+        frontLeft, frontRight, rearLeft, rearRight);
   }
 
   /** MecanumDriveMotorVoltages struct for serialization. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java
index 0fd4b374169..ce19bc4137a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry.java
@@ -23,14 +23,14 @@ public class MecanumDriveOdometry extends Odometry<MecanumDriveWheelPositions> {
    * @param kinematics The mecanum drive kinematics for your drivetrain.
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The distances driven by each wheel.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param initialPose The starting position of the robot on the field.
    */
   public MecanumDriveOdometry(
       MecanumDriveKinematics kinematics,
       Rotation2d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose2d initialPoseMeters) {
-    super(kinematics, gyroAngle, wheelPositions, initialPoseMeters);
+      Pose2d initialPose) {
+    super(kinematics, gyroAngle, wheelPositions, initialPose);
     MathSharedStore.reportUsage(MathUsageId.kOdometry_MecanumDrive, 1);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3d.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3d.java
index 00d66c0ab1b..b1691d3158c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3d.java
@@ -32,14 +32,14 @@ public class MecanumDriveOdometry3d extends Odometry3d<MecanumDriveWheelPosition
    * @param kinematics The mecanum drive kinematics for your drivetrain.
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The distances driven by each wheel.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param initialPose The starting position of the robot on the field.
    */
   public MecanumDriveOdometry3d(
       MecanumDriveKinematics kinematics,
       Rotation3d gyroAngle,
       MecanumDriveWheelPositions wheelPositions,
-      Pose3d initialPoseMeters) {
-    super(kinematics, gyroAngle, wheelPositions, initialPoseMeters);
+      Pose3d initialPose) {
+    super(kinematics, gyroAngle, wheelPositions, initialPose);
     MathSharedStore.reportUsage(MathUsageId.kOdometry_MecanumDrive, 1);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
index 284c4d3f859..4faeafc69cf 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
@@ -20,17 +20,17 @@ public class MecanumDriveWheelPositions
     implements Interpolatable<MecanumDriveWheelPositions>,
         ProtobufSerializable,
         StructSerializable {
-  /** Distance measured by the front left wheel. */
-  public double frontLeftMeters;
+  /** Distance measured by the front left wheel in meters. */
+  public double frontLeft;
 
-  /** Distance measured by the front right wheel. */
-  public double frontRightMeters;
+  /** Distance measured by the front right wheel in meters. */
+  public double frontRight;
 
-  /** Distance measured by the rear left wheel. */
-  public double rearLeftMeters;
+  /** Distance measured by the rear left wheel in meters. */
+  public double rearLeft;
 
-  /** Distance measured by the rear right wheel. */
-  public double rearRightMeters;
+  /** Distance measured by the rear right wheel in meters. */
+  public double rearRight;
 
   /** MecanumDriveWheelPositions protobuf for serialization. */
   public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
@@ -45,29 +45,26 @@ public MecanumDriveWheelPositions() {}
   /**
    * Constructs a MecanumDriveWheelPositions.
    *
-   * @param frontLeftMeters Distance measured by the front left wheel.
-   * @param frontRightMeters Distance measured by the front right wheel.
-   * @param rearLeftMeters Distance measured by the rear left wheel.
-   * @param rearRightMeters Distance measured by the rear right wheel.
+   * @param frontLeft Distance measured by the front left wheel in meters.
+   * @param frontRight Distance measured by the front right wheel in meters.
+   * @param rearLeft Distance measured by the rear left wheel in meters.
+   * @param rearRight Distance measured by the rear right wheel in meters.
    */
   public MecanumDriveWheelPositions(
-      double frontLeftMeters,
-      double frontRightMeters,
-      double rearLeftMeters,
-      double rearRightMeters) {
-    this.frontLeftMeters = frontLeftMeters;
-    this.frontRightMeters = frontRightMeters;
-    this.rearLeftMeters = rearLeftMeters;
-    this.rearRightMeters = rearRightMeters;
+      double frontLeft, double frontRight, double rearLeft, double rearRight) {
+    this.frontLeft = frontLeft;
+    this.frontRight = frontRight;
+    this.rearLeft = rearLeft;
+    this.rearRight = rearRight;
   }
 
   /**
    * Constructs a MecanumDriveWheelPositions.
    *
-   * @param frontLeft Distance measured by the front left wheel.
-   * @param frontRight Distance measured by the front right wheel.
-   * @param rearLeft Distance measured by the rear left wheel.
-   * @param rearRight Distance measured by the rear right wheel.
+   * @param frontLeft Distance measured by the front left wheel in meters.
+   * @param frontRight Distance measured by the front right wheel in meters.
+   * @param rearLeft Distance measured by the rear left wheel in meters.
+   * @param rearRight Distance measured by the rear right wheel in meters.
    */
   public MecanumDriveWheelPositions(
       Distance frontLeft, Distance frontRight, Distance rearLeft, Distance rearRight) {
@@ -77,15 +74,15 @@ public MecanumDriveWheelPositions(
   @Override
   public boolean equals(Object obj) {
     return obj instanceof MecanumDriveWheelPositions other
-        && Math.abs(other.frontLeftMeters - frontLeftMeters) < 1E-9
-        && Math.abs(other.frontRightMeters - frontRightMeters) < 1E-9
-        && Math.abs(other.rearLeftMeters - rearLeftMeters) < 1E-9
-        && Math.abs(other.rearRightMeters - rearRightMeters) < 1E-9;
+        && Math.abs(other.frontLeft - frontLeft) < 1E-9
+        && Math.abs(other.frontRight - frontRight) < 1E-9
+        && Math.abs(other.rearLeft - rearLeft) < 1E-9
+        && Math.abs(other.rearRight - rearRight) < 1E-9;
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(frontLeftMeters, frontRightMeters, rearLeftMeters, rearRightMeters);
+    return Objects.hash(frontLeft, frontRight, rearLeft, rearRight);
   }
 
   @Override
@@ -93,15 +90,15 @@ public String toString() {
     return String.format(
         "MecanumDriveWheelPositions(Front Left: %.2f m, Front Right: %.2f m, "
             + "Rear Left: %.2f m, Rear Right: %.2f m)",
-        frontLeftMeters, frontRightMeters, rearLeftMeters, rearRightMeters);
+        frontLeft, frontRight, rearLeft, rearRight);
   }
 
   @Override
   public MecanumDriveWheelPositions interpolate(MecanumDriveWheelPositions endValue, double t) {
     return new MecanumDriveWheelPositions(
-        MathUtil.interpolate(this.frontLeftMeters, endValue.frontLeftMeters, t),
-        MathUtil.interpolate(this.frontRightMeters, endValue.frontRightMeters, t),
-        MathUtil.interpolate(this.rearLeftMeters, endValue.rearLeftMeters, t),
-        MathUtil.interpolate(this.rearRightMeters, endValue.rearRightMeters, t));
+        MathUtil.interpolate(this.frontLeft, endValue.frontLeft, t),
+        MathUtil.interpolate(this.frontRight, endValue.frontRight, t),
+        MathUtil.interpolate(this.rearLeft, endValue.rearLeft, t),
+        MathUtil.interpolate(this.rearRight, endValue.rearRight, t));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
index 4240b9f5397..5c783990ec9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
@@ -14,17 +14,17 @@
 
 /** Represents the wheel speeds for a mecanum drive drivetrain. */
 public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
-  /** Speed of the front left wheel. */
-  public double frontLeftMetersPerSecond;
+  /** Speed of the front left wheel in meters per second. */
+  public double frontLeft;
 
-  /** Speed of the front right wheel. */
-  public double frontRightMetersPerSecond;
+  /** Speed of the front right wheel in meters per second. */
+  public double frontRight;
 
-  /** Speed of the rear left wheel. */
-  public double rearLeftMetersPerSecond;
+  /** Speed of the rear left wheel in meters per second. */
+  public double rearLeft;
 
-  /** Speed of the rear right wheel. */
-  public double rearRightMetersPerSecond;
+  /** Speed of the rear right wheel in meters per second. */
+  public double rearRight;
 
   /** MecanumDriveWheelSpeeds protobuf for serialization. */
   public static final MecanumDriveWheelSpeedsProto proto = new MecanumDriveWheelSpeedsProto();
@@ -38,29 +38,26 @@ public MecanumDriveWheelSpeeds() {}
   /**
    * Constructs a MecanumDriveWheelSpeeds.
    *
-   * @param frontLeftMetersPerSecond Speed of the front left wheel.
-   * @param frontRightMetersPerSecond Speed of the front right wheel.
-   * @param rearLeftMetersPerSecond Speed of the rear left wheel.
-   * @param rearRightMetersPerSecond Speed of the rear right wheel.
+   * @param frontLeft Speed of the front left wheel in meters per second.
+   * @param frontRight Speed of the front right wheel in meters per second.
+   * @param rearLeft Speed of the rear left wheel in meters per second.
+   * @param rearRight Speed of the rear right wheel in meters per second.
    */
   public MecanumDriveWheelSpeeds(
-      double frontLeftMetersPerSecond,
-      double frontRightMetersPerSecond,
-      double rearLeftMetersPerSecond,
-      double rearRightMetersPerSecond) {
-    this.frontLeftMetersPerSecond = frontLeftMetersPerSecond;
-    this.frontRightMetersPerSecond = frontRightMetersPerSecond;
-    this.rearLeftMetersPerSecond = rearLeftMetersPerSecond;
-    this.rearRightMetersPerSecond = rearRightMetersPerSecond;
+      double frontLeft, double frontRight, double rearLeft, double rearRight) {
+    this.frontLeft = frontLeft;
+    this.frontRight = frontRight;
+    this.rearLeft = rearLeft;
+    this.rearRight = rearRight;
   }
 
   /**
    * Constructs a MecanumDriveWheelSpeeds.
    *
-   * @param frontLeft Speed of the front left wheel.
-   * @param frontRight Speed of the front right wheel.
-   * @param rearLeft Speed of the rear left wheel.
-   * @param rearRight Speed of the rear right wheel.
+   * @param frontLeft Speed of the front left wheel in meters per second.
+   * @param frontRight Speed of the front right wheel in meters per second.
+   * @param rearLeft Speed of the rear left wheel in meters per second.
+   * @param rearRight Speed of the rear right wheel in meters per second.
    */
   public MecanumDriveWheelSpeeds(
       LinearVelocity frontLeft,
@@ -82,23 +79,18 @@ public MecanumDriveWheelSpeeds(
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between wheels.
    *
-   * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a wheel can reach.
    */
-  public void desaturate(double attainableMaxSpeedMetersPerSecond) {
-    double realMaxSpeed =
-        Math.max(Math.abs(frontLeftMetersPerSecond), Math.abs(frontRightMetersPerSecond));
-    realMaxSpeed = Math.max(realMaxSpeed, Math.abs(rearLeftMetersPerSecond));
-    realMaxSpeed = Math.max(realMaxSpeed, Math.abs(rearRightMetersPerSecond));
-
-    if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
-      frontLeftMetersPerSecond =
-          frontLeftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
-      frontRightMetersPerSecond =
-          frontRightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
-      rearLeftMetersPerSecond =
-          rearLeftMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
-      rearRightMetersPerSecond =
-          rearRightMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+  public void desaturate(double attainableMaxSpeed) {
+    double realMaxSpeed = Math.max(Math.abs(frontLeft), Math.abs(frontRight));
+    realMaxSpeed = Math.max(realMaxSpeed, Math.abs(rearLeft));
+    realMaxSpeed = Math.max(realMaxSpeed, Math.abs(rearRight));
+
+    if (realMaxSpeed > attainableMaxSpeed) {
+      frontLeft = frontLeft / realMaxSpeed * attainableMaxSpeed;
+      frontRight = frontRight / realMaxSpeed * attainableMaxSpeed;
+      rearLeft = rearLeft / realMaxSpeed * attainableMaxSpeed;
+      rearRight = rearRight / realMaxSpeed * attainableMaxSpeed;
     }
   }
 
@@ -110,7 +102,7 @@ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between wheels.
    *
-   * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a wheel can reach.
    */
   public void desaturate(LinearVelocity attainableMaxSpeed) {
     desaturate(attainableMaxSpeed.in(MetersPerSecond));
@@ -127,10 +119,10 @@ public void desaturate(LinearVelocity attainableMaxSpeed) {
    */
   public MecanumDriveWheelSpeeds plus(MecanumDriveWheelSpeeds other) {
     return new MecanumDriveWheelSpeeds(
-        frontLeftMetersPerSecond + other.frontLeftMetersPerSecond,
-        frontRightMetersPerSecond + other.frontRightMetersPerSecond,
-        rearLeftMetersPerSecond + other.rearLeftMetersPerSecond,
-        rearRightMetersPerSecond + other.rearRightMetersPerSecond);
+        frontLeft + other.frontLeft,
+        frontRight + other.frontRight,
+        rearLeft + other.rearLeft,
+        rearRight + other.rearRight);
   }
 
   /**
@@ -145,10 +137,10 @@ public MecanumDriveWheelSpeeds plus(MecanumDriveWheelSpeeds other) {
    */
   public MecanumDriveWheelSpeeds minus(MecanumDriveWheelSpeeds other) {
     return new MecanumDriveWheelSpeeds(
-        frontLeftMetersPerSecond - other.frontLeftMetersPerSecond,
-        frontRightMetersPerSecond - other.frontRightMetersPerSecond,
-        rearLeftMetersPerSecond - other.rearLeftMetersPerSecond,
-        rearRightMetersPerSecond - other.rearRightMetersPerSecond);
+        frontLeft - other.frontLeft,
+        frontRight - other.frontRight,
+        rearLeft - other.rearLeft,
+        rearRight - other.rearRight);
   }
 
   /**
@@ -158,11 +150,7 @@ public MecanumDriveWheelSpeeds minus(MecanumDriveWheelSpeeds other) {
    * @return The inverse of the current MecanumDriveWheelSpeeds.
    */
   public MecanumDriveWheelSpeeds unaryMinus() {
-    return new MecanumDriveWheelSpeeds(
-        -frontLeftMetersPerSecond,
-        -frontRightMetersPerSecond,
-        -rearLeftMetersPerSecond,
-        -rearRightMetersPerSecond);
+    return new MecanumDriveWheelSpeeds(-frontLeft, -frontRight, -rearLeft, -rearRight);
   }
 
   /**
@@ -176,10 +164,7 @@ public MecanumDriveWheelSpeeds unaryMinus() {
    */
   public MecanumDriveWheelSpeeds times(double scalar) {
     return new MecanumDriveWheelSpeeds(
-        frontLeftMetersPerSecond * scalar,
-        frontRightMetersPerSecond * scalar,
-        rearLeftMetersPerSecond * scalar,
-        rearRightMetersPerSecond * scalar);
+        frontLeft * scalar, frontRight * scalar, rearLeft * scalar, rearRight * scalar);
   }
 
   /**
@@ -193,10 +178,7 @@ public MecanumDriveWheelSpeeds times(double scalar) {
    */
   public MecanumDriveWheelSpeeds div(double scalar) {
     return new MecanumDriveWheelSpeeds(
-        frontLeftMetersPerSecond / scalar,
-        frontRightMetersPerSecond / scalar,
-        rearLeftMetersPerSecond / scalar,
-        rearRightMetersPerSecond / scalar);
+        frontLeft / scalar, frontRight / scalar, rearLeft / scalar, rearRight / scalar);
   }
 
   @Override
@@ -204,9 +186,6 @@ public String toString() {
     return String.format(
         "MecanumDriveWheelSpeeds(Front Left: %.2f m/s, Front Right: %.2f m/s, "
             + "Rear Left: %.2f m/s, Rear Right: %.2f m/s)",
-        frontLeftMetersPerSecond,
-        frontRightMetersPerSecond,
-        rearLeftMetersPerSecond,
-        rearRightMetersPerSecond);
+        frontLeft, frontRight, rearLeft, rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
index 6a09f92bffd..9c99696590a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
@@ -21,7 +21,7 @@
  */
 public class Odometry<T> {
   private final Kinematics<?, T> m_kinematics;
-  private Pose2d m_poseMeters;
+  private Pose2d m_pose;
 
   private Rotation2d m_gyroOffset;
   private Rotation2d m_previousAngle;
@@ -33,17 +33,14 @@ public class Odometry<T> {
    * @param kinematics The kinematics of the drivebase.
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param initialPose The starting position of the robot on the field.
    */
   public Odometry(
-      Kinematics<?, T> kinematics,
-      Rotation2d gyroAngle,
-      T wheelPositions,
-      Pose2d initialPoseMeters) {
+      Kinematics<?, T> kinematics, Rotation2d gyroAngle, T wheelPositions, Pose2d initialPose) {
     m_kinematics = kinematics;
-    m_poseMeters = initialPoseMeters;
-    m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
-    m_previousAngle = m_poseMeters.getRotation();
+    m_pose = initialPose;
+    m_gyroOffset = m_pose.getRotation().minus(gyroAngle);
+    m_previousAngle = m_pose.getRotation();
     m_previousWheelPositions = m_kinematics.copy(wheelPositions);
   }
 
@@ -55,24 +52,24 @@ public Odometry(
    *
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param pose The position on the field that your robot is at.
    */
-  public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d poseMeters) {
-    m_poseMeters = poseMeters;
-    m_previousAngle = m_poseMeters.getRotation();
-    m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
+  public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d pose) {
+    m_pose = pose;
+    m_previousAngle = m_pose.getRotation();
+    m_gyroOffset = m_pose.getRotation().minus(gyroAngle);
     m_kinematics.copyInto(wheelPositions, m_previousWheelPositions);
   }
 
   /**
    * Resets the pose.
    *
-   * @param poseMeters The pose to reset to.
+   * @param pose The pose to reset to.
    */
-  public void resetPose(Pose2d poseMeters) {
-    m_gyroOffset = m_gyroOffset.plus(poseMeters.getRotation().minus(m_poseMeters.getRotation()));
-    m_poseMeters = poseMeters;
-    m_previousAngle = m_poseMeters.getRotation();
+  public void resetPose(Pose2d pose) {
+    m_gyroOffset = m_gyroOffset.plus(pose.getRotation().minus(m_pose.getRotation()));
+    m_pose = pose;
+    m_previousAngle = m_pose.getRotation();
   }
 
   /**
@@ -81,7 +78,7 @@ public void resetPose(Pose2d poseMeters) {
    * @param translation The translation to reset to.
    */
   public void resetTranslation(Translation2d translation) {
-    m_poseMeters = new Pose2d(translation, m_poseMeters.getRotation());
+    m_pose = new Pose2d(translation, m_pose.getRotation());
   }
 
   /**
@@ -90,9 +87,9 @@ public void resetTranslation(Translation2d translation) {
    * @param rotation The rotation to reset to.
    */
   public void resetRotation(Rotation2d rotation) {
-    m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_poseMeters.getRotation()));
-    m_poseMeters = new Pose2d(m_poseMeters.getTranslation(), rotation);
-    m_previousAngle = m_poseMeters.getRotation();
+    m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_pose.getRotation()));
+    m_pose = new Pose2d(m_pose.getTranslation(), rotation);
+    m_previousAngle = m_pose.getRotation();
   }
 
   /**
@@ -100,8 +97,8 @@ public void resetRotation(Rotation2d rotation) {
    *
    * @return The pose of the robot (x and y are in meters).
    */
-  public Pose2d getPoseMeters() {
-    return m_poseMeters;
+  public Pose2d getPose() {
+    return m_pose;
   }
 
   /**
@@ -120,12 +117,12 @@ public Pose2d update(Rotation2d gyroAngle, T wheelPositions) {
     var twist = m_kinematics.toTwist2d(m_previousWheelPositions, wheelPositions);
     twist.dtheta = angle.minus(m_previousAngle).getRadians();
 
-    var newPose = m_poseMeters.exp(twist);
+    var newPose = m_pose.exp(twist);
 
     m_kinematics.copyInto(wheelPositions, m_previousWheelPositions);
     m_previousAngle = angle;
-    m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
+    m_pose = new Pose2d(newPose.getTranslation(), angle);
 
-    return m_poseMeters;
+    return m_pose;
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java
index c1ccd3c9a16..e5314d7a29c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java
@@ -30,7 +30,7 @@
  */
 public class Odometry3d<T> {
   private final Kinematics<?, T> m_kinematics;
-  private Pose3d m_poseMeters;
+  private Pose3d m_pose;
 
   private Rotation3d m_gyroOffset;
   private Rotation3d m_previousAngle;
@@ -42,17 +42,14 @@ public class Odometry3d<T> {
    * @param kinematics The kinematics of the drivebase.
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param initialPoseMeters The starting position of the robot on the field.
+   * @param initialPose The starting position of the robot on the field.
    */
   public Odometry3d(
-      Kinematics<?, T> kinematics,
-      Rotation3d gyroAngle,
-      T wheelPositions,
-      Pose3d initialPoseMeters) {
+      Kinematics<?, T> kinematics, Rotation3d gyroAngle, T wheelPositions, Pose3d initialPose) {
     m_kinematics = kinematics;
-    m_poseMeters = initialPoseMeters;
-    m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
-    m_previousAngle = m_poseMeters.getRotation();
+    m_pose = initialPose;
+    m_gyroOffset = m_pose.getRotation().minus(gyroAngle);
+    m_previousAngle = m_pose.getRotation();
     m_previousWheelPositions = m_kinematics.copy(wheelPositions);
   }
 
@@ -64,24 +61,24 @@ public Odometry3d(
    *
    * @param gyroAngle The angle reported by the gyroscope.
    * @param wheelPositions The current encoder readings.
-   * @param poseMeters The position on the field that your robot is at.
+   * @param pose The position on the field that your robot is at.
    */
-  public void resetPosition(Rotation3d gyroAngle, T wheelPositions, Pose3d poseMeters) {
-    m_poseMeters = poseMeters;
-    m_previousAngle = m_poseMeters.getRotation();
-    m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
+  public void resetPosition(Rotation3d gyroAngle, T wheelPositions, Pose3d pose) {
+    m_pose = pose;
+    m_previousAngle = m_pose.getRotation();
+    m_gyroOffset = m_pose.getRotation().minus(gyroAngle);
     m_kinematics.copyInto(wheelPositions, m_previousWheelPositions);
   }
 
   /**
    * Resets the pose.
    *
-   * @param poseMeters The pose to reset to.
+   * @param pose The pose to reset to.
    */
-  public void resetPose(Pose3d poseMeters) {
-    m_gyroOffset = m_gyroOffset.plus(poseMeters.getRotation().minus(m_poseMeters.getRotation()));
-    m_poseMeters = poseMeters;
-    m_previousAngle = m_poseMeters.getRotation();
+  public void resetPose(Pose3d pose) {
+    m_gyroOffset = m_gyroOffset.plus(pose.getRotation().minus(m_pose.getRotation()));
+    m_pose = pose;
+    m_previousAngle = m_pose.getRotation();
   }
 
   /**
@@ -90,7 +87,7 @@ public void resetPose(Pose3d poseMeters) {
    * @param translation The translation to reset to.
    */
   public void resetTranslation(Translation3d translation) {
-    m_poseMeters = new Pose3d(translation, m_poseMeters.getRotation());
+    m_pose = new Pose3d(translation, m_pose.getRotation());
   }
 
   /**
@@ -99,9 +96,9 @@ public void resetTranslation(Translation3d translation) {
    * @param rotation The rotation to reset to.
    */
   public void resetRotation(Rotation3d rotation) {
-    m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_poseMeters.getRotation()));
-    m_poseMeters = new Pose3d(m_poseMeters.getTranslation(), rotation);
-    m_previousAngle = m_poseMeters.getRotation();
+    m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_pose.getRotation()));
+    m_pose = new Pose3d(m_pose.getTranslation(), rotation);
+    m_previousAngle = m_pose.getRotation();
   }
 
   /**
@@ -109,8 +106,8 @@ public void resetRotation(Rotation3d rotation) {
    *
    * @return The pose of the robot (x, y, and z are in meters).
    */
-  public Pose3d getPoseMeters() {
-    return m_poseMeters;
+  public Pose3d getPose() {
+    return m_pose;
   }
 
   /**
@@ -137,12 +134,12 @@ public Pose3d update(Rotation3d gyroAngle, T wheelPositions) {
             angle_difference.get(1),
             angle_difference.get(2));
 
-    var newPose = m_poseMeters.exp(twist);
+    var newPose = m_pose.exp(twist);
 
     m_kinematics.copyInto(wheelPositions, m_previousWheelPositions);
     m_previousAngle = angle;
-    m_poseMeters = new Pose3d(newPose.getTranslation(), angle);
+    m_pose = new Pose3d(newPose.getTranslation(), angle);
 
-    return m_poseMeters;
+    return m_pose;
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 45c3f3bb235..0f783ea15a0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -62,15 +62,15 @@ public class SwerveDriveKinematics
    * also expected that you pass in the module states in the same order when calling the forward
    * kinematics methods.
    *
-   * @param moduleTranslationsMeters The locations of the modules relative to the physical center of
-   *     the robot.
+   * @param moduleTranslations The locations of the modules relative to the physical center of the
+   *     robot.
    */
-  public SwerveDriveKinematics(Translation2d... moduleTranslationsMeters) {
-    if (moduleTranslationsMeters.length < 2) {
+  public SwerveDriveKinematics(Translation2d... moduleTranslations) {
+    if (moduleTranslations.length < 2) {
       throw new IllegalArgumentException("A swerve drive requires at least two modules");
     }
-    m_numModules = moduleTranslationsMeters.length;
-    m_modules = Arrays.copyOf(moduleTranslationsMeters, m_numModules);
+    m_numModules = moduleTranslations.length;
+    m_modules = Arrays.copyOf(moduleTranslations, m_numModules);
     m_moduleHeadings = new Rotation2d[m_numModules];
     Arrays.fill(m_moduleHeadings, Rotation2d.kZero);
     m_inverseKinematics = new SimpleMatrix(m_numModules * 2, 3);
@@ -112,21 +112,19 @@ public void resetHeadings(Rotation2d... moduleHeadings) {
    * the previously calculated module angle will be maintained.
    *
    * @param chassisSpeeds The desired chassis speed.
-   * @param centerOfRotationMeters The center of rotation. For example, if you set the center of
-   *     rotation at one corner of the robot and provide a chassis speed that only has a dtheta
-   *     component, the robot will rotate around that corner.
+   * @param centerOfRotation The center of rotation. For example, if you set the center of rotation
+   *     at one corner of the robot and provide a chassis speed that only has a dtheta component,
+   *     the robot will rotate around that corner.
    * @return An array containing the module states. Use caution because these module states are not
    *     normalized. Sometimes, a user input may cause one of the module speeds to go above the
    *     attainable max velocity. Use the {@link #desaturateWheelSpeeds(SwerveModuleState[], double)
    *     DesaturateWheelSpeeds} function to rectify this issue.
    */
   public SwerveModuleState[] toSwerveModuleStates(
-      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
+      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotation) {
     var moduleStates = new SwerveModuleState[m_numModules];
 
-    if (chassisSpeeds.vxMetersPerSecond == 0.0
-        && chassisSpeeds.vyMetersPerSecond == 0.0
-        && chassisSpeeds.omegaRadiansPerSecond == 0.0) {
+    if (chassisSpeeds.vx == 0.0 && chassisSpeeds.vy == 0.0 && chassisSpeeds.omega == 0.0) {
       for (int i = 0; i < m_numModules; i++) {
         moduleStates[i] = new SwerveModuleState(0.0, m_moduleHeadings[i]);
       }
@@ -134,31 +132,18 @@ public SwerveModuleState[] toSwerveModuleStates(
       return moduleStates;
     }
 
-    if (!centerOfRotationMeters.equals(m_prevCoR)) {
+    if (!centerOfRotation.equals(m_prevCoR)) {
       for (int i = 0; i < m_numModules; i++) {
         m_inverseKinematics.setRow(
-            i * 2 + 0,
-            0, /* Start Data */
-            1,
-            0,
-            -m_modules[i].getY() + centerOfRotationMeters.getY());
+            i * 2 + 0, 0, /* Start Data */ 1, 0, -m_modules[i].getY() + centerOfRotation.getY());
         m_inverseKinematics.setRow(
-            i * 2 + 1,
-            0, /* Start Data */
-            0,
-            1,
-            +m_modules[i].getX() - centerOfRotationMeters.getX());
+            i * 2 + 1, 0, /* Start Data */ 0, 1, +m_modules[i].getX() - centerOfRotation.getX());
       }
-      m_prevCoR = centerOfRotationMeters;
+      m_prevCoR = centerOfRotation;
     }
 
     var chassisSpeedsVector = new SimpleMatrix(3, 1);
-    chassisSpeedsVector.setColumn(
-        0,
-        0,
-        chassisSpeeds.vxMetersPerSecond,
-        chassisSpeeds.vyMetersPerSecond,
-        chassisSpeeds.omegaRadiansPerSecond);
+    chassisSpeedsVector.setColumn(0, 0, chassisSpeeds.vx, chassisSpeeds.vy, chassisSpeeds.omega);
 
     var moduleStatesMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
 
@@ -213,8 +198,8 @@ public ChassisSpeeds toChassisSpeeds(SwerveModuleState... moduleStates) {
 
     for (int i = 0; i < m_numModules; i++) {
       var module = moduleStates[i];
-      moduleStatesMatrix.set(i * 2, 0, module.speedMetersPerSecond * module.angle.getCos());
-      moduleStatesMatrix.set(i * 2 + 1, module.speedMetersPerSecond * module.angle.getSin());
+      moduleStatesMatrix.set(i * 2, 0, module.speed * module.angle.getCos());
+      moduleStatesMatrix.set(i * 2 + 1, module.speed * module.angle.getSin());
     }
 
     var chassisSpeedsVector = m_forwardKinematics.mult(moduleStatesMatrix);
@@ -244,8 +229,8 @@ public Twist2d toTwist2d(SwerveModulePosition... moduleDeltas) {
 
     for (int i = 0; i < m_numModules; i++) {
       var module = moduleDeltas[i];
-      moduleDeltaMatrix.set(i * 2, 0, module.distanceMeters * module.angle.getCos());
-      moduleDeltaMatrix.set(i * 2 + 1, module.distanceMeters * module.angle.getSin());
+      moduleDeltaMatrix.set(i * 2, 0, module.distance * module.angle.getCos());
+      moduleDeltaMatrix.set(i * 2 + 1, module.distance * module.angle.getSin());
     }
 
     var chassisDeltaVector = m_forwardKinematics.mult(moduleDeltaMatrix);
@@ -260,8 +245,7 @@ public Twist2d toTwist2d(SwerveModulePosition[] start, SwerveModulePosition[] en
     }
     var newPositions = new SwerveModulePosition[start.length];
     for (int i = 0; i < start.length; i++) {
-      newPositions[i] =
-          new SwerveModulePosition(end[i].distanceMeters - start[i].distanceMeters, end[i].angle);
+      newPositions[i] = new SwerveModulePosition(end[i].distance - start[i].distance, end[i].angle);
     }
     return toTwist2d(newPositions);
   }
@@ -276,18 +260,17 @@ public Twist2d toTwist2d(SwerveModulePosition[] start, SwerveModulePosition[] en
    *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
-   * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a module can reach.
    */
   public static void desaturateWheelSpeeds(
-      SwerveModuleState[] moduleStates, double attainableMaxSpeedMetersPerSecond) {
+      SwerveModuleState[] moduleStates, double attainableMaxSpeed) {
     double realMaxSpeed = 0;
     for (SwerveModuleState moduleState : moduleStates) {
-      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speedMetersPerSecond));
+      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speed));
     }
-    if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
+    if (realMaxSpeed > attainableMaxSpeed) {
       for (SwerveModuleState moduleState : moduleStates) {
-        moduleState.speedMetersPerSecond =
-            moduleState.speedMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
+        moduleState.speed = moduleState.speed / realMaxSpeed * attainableMaxSpeed;
       }
     }
   }
@@ -302,7 +285,7 @@ public static void desaturateWheelSpeeds(
    *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
-   * @param attainableMaxSpeed The absolute max speed that a module can reach.
+   * @param attainableMaxSpeed The absolute max speed in meters per second that a module can reach.
    */
   public static void desaturateWheelSpeeds(
       SwerveModuleState[] moduleStates, LinearVelocity attainableMaxSpeed) {
@@ -321,38 +304,37 @@ public static void desaturateWheelSpeeds(
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
    * @param desiredChassisSpeed The desired speed of the robot
-   * @param attainableMaxModuleSpeedMetersPerSecond The absolute max speed that a module can reach
-   * @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot
-   *     can reach while translating
-   * @param attainableMaxRotationalVelocityRadiansPerSecond The absolute max speed the robot can
-   *     reach while rotating
+   * @param attainableMaxModuleSpeed The absolute max speed in meters per second that a module can
+   *     reach
+   * @param attainableMaxTranslationalSpeed The absolute max speed in meters per second that your
+   *     robot can reach while translating
+   * @param attainableMaxRotationalVelocity The absolute max speed in radians per second the robot
+   *     can reach while rotating
    */
   public static void desaturateWheelSpeeds(
       SwerveModuleState[] moduleStates,
       ChassisSpeeds desiredChassisSpeed,
-      double attainableMaxModuleSpeedMetersPerSecond,
-      double attainableMaxTranslationalSpeedMetersPerSecond,
-      double attainableMaxRotationalVelocityRadiansPerSecond) {
+      double attainableMaxModuleSpeed,
+      double attainableMaxTranslationalSpeed,
+      double attainableMaxRotationalVelocity) {
     double realMaxSpeed = 0;
     for (SwerveModuleState moduleState : moduleStates) {
-      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speedMetersPerSecond));
+      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speed));
     }
 
-    if (attainableMaxTranslationalSpeedMetersPerSecond == 0
-        || attainableMaxRotationalVelocityRadiansPerSecond == 0
+    if (attainableMaxTranslationalSpeed == 0
+        || attainableMaxRotationalVelocity == 0
         || realMaxSpeed == 0) {
       return;
     }
     double translationalK =
-        Math.hypot(desiredChassisSpeed.vxMetersPerSecond, desiredChassisSpeed.vyMetersPerSecond)
-            / attainableMaxTranslationalSpeedMetersPerSecond;
-    double rotationalK =
-        Math.abs(desiredChassisSpeed.omegaRadiansPerSecond)
-            / attainableMaxRotationalVelocityRadiansPerSecond;
+        Math.hypot(desiredChassisSpeed.vx, desiredChassisSpeed.vy)
+            / attainableMaxTranslationalSpeed;
+    double rotationalK = Math.abs(desiredChassisSpeed.omega) / attainableMaxRotationalVelocity;
     double k = Math.max(translationalK, rotationalK);
-    double scale = Math.min(k * attainableMaxModuleSpeedMetersPerSecond / realMaxSpeed, 1);
+    double scale = Math.min(k * attainableMaxModuleSpeed / realMaxSpeed, 1);
     for (SwerveModuleState moduleState : moduleStates) {
-      moduleState.speedMetersPerSecond *= scale;
+      moduleState.speed *= scale;
     }
   }
 
@@ -403,7 +385,7 @@ public void copyInto(SwerveModulePosition[] positions, SwerveModulePosition[] ou
       throw new IllegalArgumentException("Inconsistent number of modules!");
     }
     for (int i = 0; i < positions.length; ++i) {
-      output[i].distanceMeters = positions[i].distanceMeters;
+      output[i].distance = positions[i].distance;
       output[i].angle = positions[i].angle;
     }
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index a081a702498..fc65e5f788f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
@@ -22,8 +22,8 @@ public class SwerveModulePosition
         Interpolatable<SwerveModulePosition>,
         ProtobufSerializable,
         StructSerializable {
-  /** Distance measured by the wheel of the module. */
-  public double distanceMeters;
+  /** Distance measured by the wheel of the module in meters. */
+  public double distance;
 
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.kZero;
@@ -40,11 +40,11 @@ public SwerveModulePosition() {}
   /**
    * Constructs a SwerveModulePosition.
    *
-   * @param distanceMeters The distance measured by the wheel of the module.
+   * @param distance The distance measured by the wheel of the module in meters.
    * @param angle The angle of the module.
    */
-  public SwerveModulePosition(double distanceMeters, Rotation2d angle) {
-    this.distanceMeters = distanceMeters;
+  public SwerveModulePosition(double distance, Rotation2d angle) {
+    this.distance = distance;
     this.angle = angle;
   }
 
@@ -61,13 +61,13 @@ public SwerveModulePosition(Distance distance, Rotation2d angle) {
   @Override
   public boolean equals(Object obj) {
     return obj instanceof SwerveModulePosition other
-        && Math.abs(other.distanceMeters - distanceMeters) < 1E-9
+        && Math.abs(other.distance - distance) < 1E-9
         && angle.equals(other.angle);
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(distanceMeters, angle);
+    return Objects.hash(distance, angle);
   }
 
   /**
@@ -79,13 +79,12 @@ public int hashCode() {
    */
   @Override
   public int compareTo(SwerveModulePosition other) {
-    return Double.compare(this.distanceMeters, other.distanceMeters);
+    return Double.compare(this.distance, other.distance);
   }
 
   @Override
   public String toString() {
-    return String.format(
-        "SwerveModulePosition(Distance: %.2f m, Angle: %s)", distanceMeters, angle);
+    return String.format("SwerveModulePosition(Distance: %.2f m, Angle: %s)", distance, angle);
   }
 
   /**
@@ -94,13 +93,13 @@ public String toString() {
    * @return A copy.
    */
   public SwerveModulePosition copy() {
-    return new SwerveModulePosition(distanceMeters, angle);
+    return new SwerveModulePosition(distance, angle);
   }
 
   @Override
   public SwerveModulePosition interpolate(SwerveModulePosition endValue, double t) {
     return new SwerveModulePosition(
-        MathUtil.interpolate(this.distanceMeters, endValue.distanceMeters, t),
+        MathUtil.interpolate(this.distance, endValue.distance, t),
         this.angle.interpolate(endValue.angle, t));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
index 6cadd35b4a8..8855f980bea 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
@@ -17,8 +17,8 @@
 /** Represents the state of one swerve module. */
 public class SwerveModuleState
     implements Comparable<SwerveModuleState>, ProtobufSerializable, StructSerializable {
-  /** Speed of the wheel of the module. */
-  public double speedMetersPerSecond;
+  /** Speed of the wheel of the module in meters per second. */
+  public double speed;
 
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.kZero;
@@ -35,11 +35,11 @@ public SwerveModuleState() {}
   /**
    * Constructs a SwerveModuleState.
    *
-   * @param speedMetersPerSecond The speed of the wheel of the module.
+   * @param speed The speed of the wheel of the module in meters per second.
    * @param angle The angle of the module.
    */
-  public SwerveModuleState(double speedMetersPerSecond, Rotation2d angle) {
-    this.speedMetersPerSecond = speedMetersPerSecond;
+  public SwerveModuleState(double speed, Rotation2d angle) {
+    this.speed = speed;
     this.angle = angle;
   }
 
@@ -56,13 +56,13 @@ public SwerveModuleState(LinearVelocity speed, Rotation2d angle) {
   @Override
   public boolean equals(Object obj) {
     return obj instanceof SwerveModuleState other
-        && Math.abs(other.speedMetersPerSecond - speedMetersPerSecond) < 1E-9
+        && Math.abs(other.speed - speed) < 1E-9
         && angle.equals(other.angle);
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(speedMetersPerSecond, angle);
+    return Objects.hash(speed, angle);
   }
 
   /**
@@ -74,13 +74,12 @@ public int hashCode() {
    */
   @Override
   public int compareTo(SwerveModuleState other) {
-    return Double.compare(this.speedMetersPerSecond, other.speedMetersPerSecond);
+    return Double.compare(this.speed, other.speed);
   }
 
   @Override
   public String toString() {
-    return String.format(
-        "SwerveModuleState(Speed: %.2f m/s, Angle: %s)", speedMetersPerSecond, angle);
+    return String.format("SwerveModuleState(Speed: %.2f m/s, Angle: %s)", speed, angle);
   }
 
   /**
@@ -93,7 +92,7 @@ public String toString() {
   public void optimize(Rotation2d currentAngle) {
     var delta = angle.minus(currentAngle);
     if (Math.abs(delta.getDegrees()) > 90.0) {
-      speedMetersPerSecond *= -1;
+      speed *= -1;
       angle = angle.rotateBy(Rotation2d.kPi);
     }
   }
@@ -114,9 +113,9 @@ public static SwerveModuleState optimize(
     var delta = desiredState.angle.minus(currentAngle);
     if (Math.abs(delta.getDegrees()) > 90.0) {
       return new SwerveModuleState(
-          -desiredState.speedMetersPerSecond, desiredState.angle.rotateBy(Rotation2d.kPi));
+          -desiredState.speed, desiredState.angle.rotateBy(Rotation2d.kPi));
     } else {
-      return new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
+      return new SwerveModuleState(desiredState.speed, desiredState.angle);
     }
   }
 
@@ -128,6 +127,6 @@ public static SwerveModuleState optimize(
    * @param currentAngle The current module angle.
    */
   public void cosineScale(Rotation2d currentAngle) {
-    speedMetersPerSecond *= angle.minus(currentAngle).getCos();
+    speed *= angle.minus(currentAngle).getCos();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProto.java
index b20d23bbc9f..8a83b416782 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProto.java
@@ -32,8 +32,8 @@ public ChassisSpeeds unpack(ProtobufChassisSpeeds msg) {
 
   @Override
   public void pack(ProtobufChassisSpeeds msg, ChassisSpeeds value) {
-    msg.setVx(value.vxMetersPerSecond);
-    msg.setVy(value.vyMetersPerSecond);
-    msg.setOmega(value.omegaRadiansPerSecond);
+    msg.setVx(value.vx);
+    msg.setVy(value.vy);
+    msg.setOmega(value.omega);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProto.java
index d1a8969d162..311b4d80576 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProto.java
@@ -28,11 +28,11 @@ public ProtobufDifferentialDriveKinematics createMessage() {
 
   @Override
   public DifferentialDriveKinematics unpack(ProtobufDifferentialDriveKinematics msg) {
-    return new DifferentialDriveKinematics(msg.getTrackWidth());
+    return new DifferentialDriveKinematics(msg.getTrackwidth());
   }
 
   @Override
   public void pack(ProtobufDifferentialDriveKinematics msg, DifferentialDriveKinematics value) {
-    msg.setTrackWidth(value.trackWidthMeters);
+    msg.setTrackwidth(value.trackwidth);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java
index 982756b5b7c..23a70393831 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java
@@ -34,7 +34,7 @@ public DifferentialDriveWheelPositions unpack(ProtobufDifferentialDriveWheelPosi
   @Override
   public void pack(
       ProtobufDifferentialDriveWheelPositions msg, DifferentialDriveWheelPositions value) {
-    msg.setLeft(value.leftMeters);
-    msg.setRight(value.rightMeters);
+    msg.setLeft(value.left);
+    msg.setRight(value.right);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.java
index e30df565749..c6023ac761c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.java
@@ -33,7 +33,7 @@ public DifferentialDriveWheelSpeeds unpack(ProtobufDifferentialDriveWheelSpeeds
 
   @Override
   public void pack(ProtobufDifferentialDriveWheelSpeeds msg, DifferentialDriveWheelSpeeds value) {
-    msg.setLeft(value.leftMetersPerSecond);
-    msg.setRight(value.rightMetersPerSecond);
+    msg.setLeft(value.left);
+    msg.setRight(value.right);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
index 0b5f0c2583b..ae30ee84e7f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
@@ -34,9 +34,9 @@ public MecanumDriveMotorVoltages unpack(ProtobufMecanumDriveMotorVoltages msg) {
 
   @Override
   public void pack(ProtobufMecanumDriveMotorVoltages msg, MecanumDriveMotorVoltages value) {
-    msg.setFrontLeft(value.frontLeftVoltage);
-    msg.setFrontRight(value.frontRightVoltage);
-    msg.setRearLeft(value.rearLeftVoltage);
-    msg.setRearRight(value.rearRightVoltage);
+    msg.setFrontLeft(value.frontLeft);
+    msg.setFrontRight(value.frontRight);
+    msg.setRearLeft(value.rearLeft);
+    msg.setRearRight(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProto.java
index d4f0f5a3ce4..6469657f9de 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProto.java
@@ -34,9 +34,9 @@ public MecanumDriveWheelPositions unpack(ProtobufMecanumDriveWheelPositions msg)
 
   @Override
   public void pack(ProtobufMecanumDriveWheelPositions msg, MecanumDriveWheelPositions value) {
-    msg.setFrontLeft(value.frontLeftMeters);
-    msg.setFrontRight(value.frontRightMeters);
-    msg.setRearLeft(value.rearLeftMeters);
-    msg.setRearRight(value.rearRightMeters);
+    msg.setFrontLeft(value.frontLeft);
+    msg.setFrontRight(value.frontRight);
+    msg.setRearLeft(value.rearLeft);
+    msg.setRearRight(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProto.java
index 85e8fd10a35..dffa38bcc78 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProto.java
@@ -34,9 +34,9 @@ public MecanumDriveWheelSpeeds unpack(ProtobufMecanumDriveWheelSpeeds msg) {
 
   @Override
   public void pack(ProtobufMecanumDriveWheelSpeeds msg, MecanumDriveWheelSpeeds value) {
-    msg.setFrontLeft(value.frontLeftMetersPerSecond);
-    msg.setFrontRight(value.frontRightMetersPerSecond);
-    msg.setRearLeft(value.rearLeftMetersPerSecond);
-    msg.setRearRight(value.rearRightMetersPerSecond);
+    msg.setFrontLeft(value.frontLeft);
+    msg.setFrontRight(value.frontRight);
+    msg.setRearLeft(value.rearLeft);
+    msg.setRearRight(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
index 97cadf28c3a..a445c7b05f5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
@@ -34,7 +34,7 @@ public SwerveModulePosition unpack(ProtobufSwerveModulePosition msg) {
 
   @Override
   public void pack(ProtobufSwerveModulePosition msg, SwerveModulePosition value) {
-    msg.setDistance(value.distanceMeters);
+    msg.setDistance(value.distance);
     Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
index cccff4d5910..f8de1375204 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
@@ -34,7 +34,7 @@ public SwerveModuleState unpack(ProtobufSwerveModuleState msg) {
 
   @Override
   public void pack(ProtobufSwerveModuleState msg, SwerveModuleState value) {
-    msg.setSpeed(value.speedMetersPerSecond);
+    msg.setSpeed(value.speed);
     Rotation2d.proto.pack(msg.getMutableAngle(), value.angle);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java
index 16457f5e096..14d2030389d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java
@@ -39,8 +39,8 @@ public ChassisSpeeds unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, ChassisSpeeds value) {
-    bb.putDouble(value.vxMetersPerSecond);
-    bb.putDouble(value.vyMetersPerSecond);
-    bb.putDouble(value.omegaRadiansPerSecond);
+    bb.putDouble(value.vx);
+    bb.putDouble(value.vy);
+    bb.putDouble(value.omega);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java
index cc696ec908c..621af5741a7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java
@@ -26,17 +26,17 @@ public int getSize() {
 
   @Override
   public String getSchema() {
-    return "double track_width";
+    return "double trackwidth";
   }
 
   @Override
   public DifferentialDriveKinematics unpack(ByteBuffer bb) {
-    double trackWidth = bb.getDouble();
-    return new DifferentialDriveKinematics(trackWidth);
+    double trackwidth = bb.getDouble();
+    return new DifferentialDriveKinematics(trackwidth);
   }
 
   @Override
   public void pack(ByteBuffer bb, DifferentialDriveKinematics value) {
-    bb.putDouble(value.trackWidthMeters);
+    bb.putDouble(value.trackwidth);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java
index e8d86d1733e..8b2aeaf0bbc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java
@@ -39,7 +39,7 @@ public DifferentialDriveWheelPositions unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, DifferentialDriveWheelPositions value) {
-    bb.putDouble(value.leftMeters);
-    bb.putDouble(value.rightMeters);
+    bb.putDouble(value.left);
+    bb.putDouble(value.right);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java
index 1d5819737b5..dca590766d2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java
@@ -38,7 +38,7 @@ public DifferentialDriveWheelSpeeds unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, DifferentialDriveWheelSpeeds value) {
-    bb.putDouble(value.leftMetersPerSecond);
-    bb.putDouble(value.rightMetersPerSecond);
+    bb.putDouble(value.left);
+    bb.putDouble(value.right);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
index 8078e0a7b16..2567d5fec28 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
@@ -40,9 +40,9 @@ public MecanumDriveMotorVoltages unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, MecanumDriveMotorVoltages value) {
-    bb.putDouble(value.frontLeftVoltage);
-    bb.putDouble(value.frontRightVoltage);
-    bb.putDouble(value.rearLeftVoltage);
-    bb.putDouble(value.rearRightVoltage);
+    bb.putDouble(value.frontLeft);
+    bb.putDouble(value.frontRight);
+    bb.putDouble(value.rearLeft);
+    bb.putDouble(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java
index 5b8d7bf2199..5974282996b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java
@@ -40,9 +40,9 @@ public MecanumDriveWheelPositions unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, MecanumDriveWheelPositions value) {
-    bb.putDouble(value.frontLeftMeters);
-    bb.putDouble(value.frontRightMeters);
-    bb.putDouble(value.rearLeftMeters);
-    bb.putDouble(value.rearRightMeters);
+    bb.putDouble(value.frontLeft);
+    bb.putDouble(value.frontRight);
+    bb.putDouble(value.rearLeft);
+    bb.putDouble(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java
index 66956541fc6..8d2f6382bcc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java
@@ -40,9 +40,9 @@ public MecanumDriveWheelSpeeds unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, MecanumDriveWheelSpeeds value) {
-    bb.putDouble(value.frontLeftMetersPerSecond);
-    bb.putDouble(value.frontRightMetersPerSecond);
-    bb.putDouble(value.rearLeftMetersPerSecond);
-    bb.putDouble(value.rearRightMetersPerSecond);
+    bb.putDouble(value.frontLeft);
+    bb.putDouble(value.frontRight);
+    bb.putDouble(value.rearLeft);
+    bb.putDouble(value.rearRight);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java
index 6fff1cbb778..85ebdc47c3c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java
@@ -44,7 +44,7 @@ public SwerveModulePosition unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, SwerveModulePosition value) {
-    bb.putDouble(value.distanceMeters);
+    bb.putDouble(value.distance);
     Rotation2d.struct.pack(bb, value.angle);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java
index af29a8d628f..90c538221d9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java
@@ -44,7 +44,7 @@ public SwerveModuleState unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, SwerveModuleState value) {
-    bb.putDouble(value.speedMetersPerSecond);
+    bb.putDouble(value.speed);
     Rotation2d.struct.pack(bb, value.angle);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java b/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java
index 94ab7616d00..c51ef56c1f5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java
@@ -9,24 +9,24 @@
 /** Represents a pair of a pose and a curvature. */
 public class PoseWithCurvature {
   /** Represents the pose. */
-  public Pose2d poseMeters;
+  public Pose2d pose;
 
-  /** Represents the curvature. */
-  public double curvatureRadPerMeter;
+  /** Represents the curvature in radians per meter. */
+  public double curvature;
 
   /**
    * Constructs a PoseWithCurvature.
    *
-   * @param poseMeters The pose.
-   * @param curvatureRadPerMeter The curvature.
+   * @param pose The pose.
+   * @param curvature The curvature in radians per meter.
    */
-  public PoseWithCurvature(Pose2d poseMeters, double curvatureRadPerMeter) {
-    this.poseMeters = poseMeters;
-    this.curvatureRadPerMeter = curvatureRadPerMeter;
+  public PoseWithCurvature(Pose2d pose, double curvature) {
+    this.pose = pose;
+    this.curvature = curvature;
   }
 
   /** Constructs a PoseWithCurvature with default values. */
   public PoseWithCurvature() {
-    poseMeters = Pose2d.kZero;
+    pose = Pose2d.kZero;
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
index b08c8c78a8b..bc63d1a6726 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
@@ -126,7 +126,7 @@ public static List<PoseWithCurvature> parameterize(Spline spline, double t0, dou
         throw new MalformedSplineException(kMalformedSplineExceptionMsg);
       }
 
-      final var twist = start.get().poseMeters.log(end.get().poseMeters);
+      final var twist = start.get().pose.log(end.get().pose);
       if (Math.abs(twist.dy) > kMaxDy
           || Math.abs(twist.dx) > kMaxDx
           || Math.abs(twist.dtheta) > kMaxDtheta) {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java b/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java
index b4afdf476af..978a2f3c115 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java
@@ -20,13 +20,13 @@ private Discretization() {
    *
    * @param <States> Num representing the number of states.
    * @param contA Continuous system matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @return the discrete matrix system.
    */
   public static <States extends Num> Matrix<States, States> discretizeA(
-      Matrix<States, States> contA, double dtSeconds) {
+      Matrix<States, States> contA, double dt) {
     // A_d = eᴬᵀ
-    return contA.times(dtSeconds).exp();
+    return contA.times(dt).exp();
   }
 
   /**
@@ -36,12 +36,12 @@ public static <States extends Num> Matrix<States, States> discretizeA(
    * @param <Inputs> Nat representing the inputs to the system.
    * @param contA Continuous system matrix.
    * @param contB Continuous input matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @return a Pair representing discA and diskB.
    */
   public static <States extends Num, Inputs extends Num>
       Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeAB(
-          Matrix<States, States> contA, Matrix<States, Inputs> contB, double dtSeconds) {
+          Matrix<States, States> contA, Matrix<States, Inputs> contB, double dt) {
     int states = contA.getNumRows();
     int inputs = contB.getNumCols();
 
@@ -53,7 +53,7 @@ Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeAB(
 
     //  ϕ = eᴹᵀ = [A_d  B_d]
     //            [ 0    I ]
-    var phi = M.times(dtSeconds).exp();
+    var phi = M.times(dt).exp();
 
     var discA = new Matrix<States, States>(new SimpleMatrix(states, states));
     discA.extractFrom(0, 0, phi);
@@ -70,12 +70,12 @@ Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeAB(
    * @param <States> Nat representing the number of states.
    * @param contA Continuous system matrix.
    * @param contQ Continuous process noise covariance matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @return a pair representing the discrete system matrix and process noise covariance matrix.
    */
   public static <States extends Num>
       Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQ(
-          Matrix<States, States> contA, Matrix<States, States> contQ, double dtSeconds) {
+          Matrix<States, States> contA, Matrix<States, States> contQ, double dt) {
     int states = contA.getNumRows();
 
     // Make continuous Q symmetric if it isn't already
@@ -91,7 +91,7 @@ Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQ(
 
     // ϕ = eᴹᵀ = [−A_d  A_d⁻¹Q_d]
     //           [ 0      A_dᵀ  ]
-    final var phi = M.times(dtSeconds).exp();
+    final var phi = M.times(dt).exp();
 
     // ϕ₁₂ = A_d⁻¹Q_d
     final Matrix<States, States> phi12 = phi.block(states, states, 0, states);
@@ -115,11 +115,11 @@ Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQ(
    *
    * @param <O> Nat representing the number of outputs.
    * @param contR Continuous measurement noise covariance matrix.
-   * @param dtSeconds Discretization timestep.
+   * @param dt Discretization timestep in seconds.
    * @return Discretized version of the provided continuous measurement noise covariance matrix.
    */
-  public static <O extends Num> Matrix<O, O> discretizeR(Matrix<O, O> contR, double dtSeconds) {
+  public static <O extends Num> Matrix<O, O> discretizeR(Matrix<O, O> contR, double dt) {
     // R_d = 1/T R
-    return contR.div(dtSeconds);
+    return contR.div(dt);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
index 2b29d1954a4..00989e79d61 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
@@ -205,12 +205,12 @@ public double getD(int row, int col) {
    *
    * @param x The current state.
    * @param clampedU The control input.
-   * @param dtSeconds Timestep for model update.
+   * @param dt Timestep for model update in seconds.
    * @return the updated x.
    */
   public Matrix<States, N1> calculateX(
-      Matrix<States, N1> x, Matrix<Inputs, N1> clampedU, double dtSeconds) {
-    var discABpair = Discretization.discretizeAB(m_A, m_B, dtSeconds);
+      Matrix<States, N1> x, Matrix<Inputs, N1> clampedU, double dt) {
+    var discABpair = Discretization.discretizeAB(m_A, m_B, dt);
 
     return discABpair.getFirst().times(x).plus(discABpair.getSecond().times(clampedU));
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
index 78cace9a21d..08448c2d97f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -48,17 +48,17 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
    * @param controller State-space controller.
    * @param observer State-space observer.
    * @param maxVoltageVolts The maximum voltage that can be applied. Commonly 12.
-   * @param dtSeconds The nominal timestep.
+   * @param dt The nominal timestep in seconds.
    */
   public LinearSystemLoop(
       LinearSystem<States, Inputs, Outputs> plant,
       LinearQuadraticRegulator<States, Inputs, Outputs> controller,
       KalmanFilter<States, Inputs, Outputs> observer,
       double maxVoltageVolts,
-      double dtSeconds) {
+      double dt) {
     this(
         controller,
-        new LinearPlantInversionFeedforward<>(plant, dtSeconds),
+        new LinearPlantInversionFeedforward<>(plant, dt),
         observer,
         u -> StateSpaceUtil.desaturateInputVector(u, maxVoltageVolts));
   }
@@ -72,19 +72,15 @@ public LinearSystemLoop(
    * @param controller State-space controller.
    * @param observer State-space observer.
    * @param clampFunction The function used to clamp the input U.
-   * @param dtSeconds The nominal timestep.
+   * @param dt The nominal timestep in seconds.
    */
   public LinearSystemLoop(
       LinearSystem<States, Inputs, Outputs> plant,
       LinearQuadraticRegulator<States, Inputs, Outputs> controller,
       KalmanFilter<States, Inputs, Outputs> observer,
       Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction,
-      double dtSeconds) {
-    this(
-        controller,
-        new LinearPlantInversionFeedforward<>(plant, dtSeconds),
-        observer,
-        clampFunction);
+      double dt) {
+    this(controller, new LinearPlantInversionFeedforward<>(plant, dt), observer, clampFunction);
   }
 
   /**
@@ -327,15 +323,15 @@ public void correct(Matrix<Outputs, N1> y) {
    *
    * <p>After calling this, the user should send the elements of u to the actuators.
    *
-   * @param dtSeconds Timestep for model update.
+   * @param dt Timestep for model update in seconds.
    */
-  public void predict(double dtSeconds) {
+  public void predict(double dt) {
     var u =
         clampInput(
             m_controller
                 .calculate(getObserver().getXhat(), m_nextR)
                 .plus(m_feedforward.calculate(m_nextR)));
-    getObserver().predict(u, dtSeconds);
+    getObserver().predict(u, dt);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
index 1dcddea8404..74f858fc603 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -22,12 +22,12 @@ private NumericalIntegration() {
    *
    * @param f The function to integrate, which takes one argument x.
    * @param x The initial value of x.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return the integration of dx/dt = f(x) for dt.
    */
   @SuppressWarnings("overloads")
-  public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds) {
-    final var h = dtSeconds;
+  public static double rk4(DoubleFunction<Double> f, double x, double dt) {
+    final var h = dt;
     final var k1 = f.apply(x);
     final var k2 = f.apply(x + h * k1 * 0.5);
     final var k3 = f.apply(x + h * k2 * 0.5);
@@ -42,13 +42,12 @@ public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds) {
    * @param f The function to integrate. It must take two arguments x and u.
    * @param x The initial value of x.
    * @param u The value u held constant over the integration period.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return The result of Runge Kutta integration (4th order).
    */
   @SuppressWarnings("overloads")
-  public static double rk4(
-      BiFunction<Double, Double, Double> f, double x, Double u, double dtSeconds) {
-    final var h = dtSeconds;
+  public static double rk4(BiFunction<Double, Double, Double> f, double x, Double u, double dt) {
+    final var h = dt;
 
     final var k1 = f.apply(x, u);
     final var k2 = f.apply(x + h * k1 * 0.5, u);
@@ -66,7 +65,7 @@ public static double rk4(
    * @param f The function to integrate. It must take two arguments x and u.
    * @param x The initial value of x.
    * @param u The value u held constant over the integration period.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return the integration of dx/dt = f(x, u) for dt.
    */
   @SuppressWarnings("overloads")
@@ -74,8 +73,8 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rk4(
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
       Matrix<States, N1> x,
       Matrix<Inputs, N1> u,
-      double dtSeconds) {
-    final var h = dtSeconds;
+      double dt) {
+    final var h = dt;
 
     Matrix<States, N1> k1 = f.apply(x, u);
     Matrix<States, N1> k2 = f.apply(x.plus(k1.times(h * 0.5)), u);
@@ -91,13 +90,13 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rk4(
    * @param <States> A Num representing the states of the system.
    * @param f The function to integrate. It must take one argument x.
    * @param x The initial value of x.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
    */
   @SuppressWarnings("overloads")
   public static <States extends Num> Matrix<States, N1> rk4(
-      Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
-    final var h = dtSeconds;
+      Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dt) {
+    final var h = dt;
 
     Matrix<States, N1> k1 = f.apply(x);
     Matrix<States, N1> k2 = f.apply(x.plus(k1.times(h * 0.5)));
@@ -115,20 +114,20 @@ public static <States extends Num> Matrix<States, N1> rk4(
    * @param f The function to integrate. It must take two arguments t and y.
    * @param t The initial value of t.
    * @param y The initial value of y.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return the integration of dx/dt = f(x) for dt.
    */
   public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rk4(
       BiFunction<Double, Matrix<Rows, Cols>, Matrix<Rows, Cols>> f,
       double t,
       Matrix<Rows, Cols> y,
-      double dtSeconds) {
-    final var h = dtSeconds;
+      double dt) {
+    final var h = dt;
 
     Matrix<Rows, Cols> k1 = f.apply(t, y);
-    Matrix<Rows, Cols> k2 = f.apply(t + dtSeconds * 0.5, y.plus(k1.times(h * 0.5)));
-    Matrix<Rows, Cols> k3 = f.apply(t + dtSeconds * 0.5, y.plus(k2.times(h * 0.5)));
-    Matrix<Rows, Cols> k4 = f.apply(t + dtSeconds, y.plus(k3.times(h)));
+    Matrix<Rows, Cols> k2 = f.apply(t + dt * 0.5, y.plus(k1.times(h * 0.5)));
+    Matrix<Rows, Cols> k3 = f.apply(t + dt * 0.5, y.plus(k2.times(h * 0.5)));
+    Matrix<Rows, Cols> k4 = f.apply(t + dt, y.plus(k3.times(h)));
 
     return y.plus((k1.plus(k2.times(2.0)).plus(k3.times(2.0)).plus(k4)).times(h / 6.0));
   }
@@ -142,7 +141,7 @@ public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rk4(
    * @param f The function to integrate. It must take two arguments x and u.
    * @param x The initial value of x.
    * @param u The value u held constant over the integration period.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @return the integration of dx/dt = f(x, u) for dt.
    */
   @SuppressWarnings("overloads")
@@ -150,8 +149,8 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
       Matrix<States, N1> x,
       Matrix<Inputs, N1> u,
-      double dtSeconds) {
-    return rkdp(f, x, u, dtSeconds, 1e-6);
+      double dt) {
+    return rkdp(f, x, u, dt, 1e-6);
   }
 
   /**
@@ -162,7 +161,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
    * @param f The function to integrate. It must take two arguments x and u.
    * @param x The initial value of x.
    * @param u The value u held constant over the integration period.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
    * @return the integration of dx/dt = f(x, u) for dt.
    */
@@ -171,7 +170,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
       BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
       Matrix<States, N1> x,
       Matrix<Inputs, N1> u,
-      double dtSeconds,
+      double dt,
       double maxError) {
     // See https://en.wikipedia.org/wiki/Dormand%E2%80%93Prince_method for the
     // Butcher tableau the following arrays came from.
@@ -206,13 +205,13 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
     double truncationError;
 
     double dtElapsed = 0.0;
-    double h = dtSeconds;
+    double h = dt;
 
     // Loop until we've gotten to our desired dt
-    while (dtElapsed < dtSeconds) {
+    while (dtElapsed < dt) {
       do {
         // Only allow us to advance up to the dt remaining
-        h = Math.min(h, dtSeconds - dtElapsed);
+        h = Math.min(h, dt - dtElapsed);
 
         var k1 = f.apply(x, u);
         var k2 = f.apply(x.plus(k1.times(A[0][0]).times(h)), u);
@@ -266,7 +265,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
                 .normF();
 
         if (truncationError == 0.0) {
-          h = dtSeconds - dtElapsed;
+          h = dt - dtElapsed;
         } else {
           h *= 0.9 * Math.pow(maxError / truncationError, 1.0 / 5.0);
         }
@@ -287,7 +286,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
    * @param f The function to integrate. It must take two arguments t and y.
    * @param t The initial value of t.
    * @param y The initial value of y.
-   * @param dtSeconds The time over which to integrate.
+   * @param dt The time over which to integrate in seconds.
    * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
    * @return the integration of dx/dt = f(x, u) for dt.
    */
@@ -296,7 +295,7 @@ public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rkdp(
       BiFunction<Double, Matrix<Rows, Cols>, Matrix<Rows, Cols>> f,
       double t,
       Matrix<Rows, Cols> y,
-      double dtSeconds,
+      double dt,
       double maxError) {
     // See https://en.wikipedia.org/wiki/Dormand%E2%80%93Prince_method for the
     // Butcher tableau the following arrays came from.
@@ -334,13 +333,13 @@ public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rkdp(
     double truncationError;
 
     double dtElapsed = 0.0;
-    double h = dtSeconds;
+    double h = dt;
 
     // Loop until we've gotten to our desired dt
-    while (dtElapsed < dtSeconds) {
+    while (dtElapsed < dt) {
       do {
         // Only allow us to advance up to the dt remaining
-        h = Math.min(h, dtSeconds - dtElapsed);
+        h = Math.min(h, dt - dtElapsed);
 
         var k1 = f.apply(t, y);
         var k2 = f.apply(t + h * c[0], y.plus(k1.times(A[0][0]).times(h)));
@@ -394,7 +393,7 @@ public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rkdp(
                 .normF();
 
         if (truncationError == 0.0) {
-          h = dtSeconds - dtElapsed;
+          h = dt - dtElapsed;
         } else {
           h *= 0.9 * Math.pow(maxError / truncationError, 1.0 / 5.0);
         }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
index de8346d7ddb..2d25cec2f15 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -13,28 +13,28 @@
 /** Holds the constants for a DC motor. */
 public class DCMotor implements ProtobufSerializable, StructSerializable {
   /** Voltage at which the motor constants were measured. */
-  public final double nominalVoltageVolts;
+  public final double nominalVoltage;
 
-  /** Torque when stalled. */
-  public final double stallTorqueNewtonMeters;
+  /** Torque when stalled in Newton-meters. */
+  public final double stallTorque;
 
-  /** Current draw when stalled. */
-  public final double stallCurrentAmps;
+  /** Current draw when stalled in amps. */
+  public final double stallCurrent;
 
-  /** Current draw under no load. */
-  public final double freeCurrentAmps;
+  /** Current draw under no load in amps. */
+  public final double freeCurrent;
 
-  /** Angular velocity under no load. */
-  public final double freeSpeedRadPerSec;
+  /** Angular velocity under no load in radians per second. */
+  public final double freeSpeed;
 
-  /** Motor internal resistance. */
-  public final double rOhms;
+  /** Motor internal resistance in Ohms. */
+  public final double R;
 
-  /** Motor velocity constant. */
-  public final double KvRadPerSecPerVolt;
+  /** Motor velocity constant in (rad/s)/V. */
+  public final double Kv;
 
-  /** Motor torque constant. */
-  public final double KtNMPerAmp;
+  /** Motor torque constant in Newton-meters per amp. */
+  public final double Kt;
 
   /** DCMotor protobuf for serialization. */
   public static final DCMotorProto proto = new DCMotorProto();
@@ -45,84 +45,82 @@ public class DCMotor implements ProtobufSerializable, StructSerializable {
   /**
    * Constructs a DC motor.
    *
-   * @param nominalVoltageVolts Voltage at which the motor constants were measured.
-   * @param stallTorqueNewtonMeters Torque when stalled.
-   * @param stallCurrentAmps Current draw when stalled.
-   * @param freeCurrentAmps Current draw under no load.
-   * @param freeSpeedRadPerSec Angular velocity under no load.
+   * @param nominalVoltage Voltage at which the motor constants were measured.
+   * @param stallTorque Torque when stalled.
+   * @param stallCurrent Current draw when stalled.
+   * @param freeCurrent Current draw under no load.
+   * @param freeSpeed Angular velocity under no load.
    * @param numMotors Number of motors in a gearbox.
    */
   public DCMotor(
-      double nominalVoltageVolts,
-      double stallTorqueNewtonMeters,
-      double stallCurrentAmps,
-      double freeCurrentAmps,
-      double freeSpeedRadPerSec,
+      double nominalVoltage,
+      double stallTorque,
+      double stallCurrent,
+      double freeCurrent,
+      double freeSpeed,
       int numMotors) {
-    this.nominalVoltageVolts = nominalVoltageVolts;
-    this.stallTorqueNewtonMeters = stallTorqueNewtonMeters * numMotors;
-    this.stallCurrentAmps = stallCurrentAmps * numMotors;
-    this.freeCurrentAmps = freeCurrentAmps * numMotors;
-    this.freeSpeedRadPerSec = freeSpeedRadPerSec;
-
-    this.rOhms = nominalVoltageVolts / this.stallCurrentAmps;
-    this.KvRadPerSecPerVolt =
-        freeSpeedRadPerSec / (nominalVoltageVolts - rOhms * this.freeCurrentAmps);
-    this.KtNMPerAmp = this.stallTorqueNewtonMeters / this.stallCurrentAmps;
+    this.nominalVoltage = nominalVoltage;
+    this.stallTorque = stallTorque * numMotors;
+    this.stallCurrent = stallCurrent * numMotors;
+    this.freeCurrent = freeCurrent * numMotors;
+    this.freeSpeed = freeSpeed;
+
+    this.R = nominalVoltage / this.stallCurrent;
+    this.Kv = freeSpeed / (nominalVoltage - R * this.freeCurrent);
+    this.Kt = this.stallTorque / this.stallCurrent;
   }
 
   /**
    * Calculate current drawn by motor with given speed and input voltage.
    *
-   * @param speedRadiansPerSec The current angular velocity of the motor.
-   * @param voltageInputVolts The voltage being applied to the motor.
+   * @param speed The current angular velocity of the motor.
+   * @param voltageInput The voltage being applied to the motor.
    * @return The estimated current.
    */
-  public double getCurrent(double speedRadiansPerSec, double voltageInputVolts) {
-    return -1.0 / KvRadPerSecPerVolt / rOhms * speedRadiansPerSec + 1.0 / rOhms * voltageInputVolts;
+  public double getCurrent(double speed, double voltageInput) {
+    return -1.0 / Kv / R * speed + 1.0 / R * voltageInput;
   }
 
   /**
    * Calculate current drawn by motor for a given torque.
    *
-   * @param torqueNm The torque produced by the motor.
+   * @param torque The torque produced by the motor in Newton-meters.
    * @return The current drawn by the motor.
    */
-  public double getCurrent(double torqueNm) {
-    return torqueNm / KtNMPerAmp;
+  public double getCurrent(double torque) {
+    return torque / Kt;
   }
 
   /**
    * Calculate torque produced by the motor with a given current.
    *
-   * @param currentAmpere The current drawn by the motor.
+   * @param current The current drawn by the motor.
    * @return The torque output.
    */
-  public double getTorque(double currentAmpere) {
-    return currentAmpere * KtNMPerAmp;
+  public double getTorque(double current) {
+    return current * Kt;
   }
 
   /**
    * Calculate the voltage provided to the motor for a given torque and angular velocity.
    *
-   * @param torqueNm The torque produced by the motor.
-   * @param speedRadiansPerSec The current angular velocity of the motor.
+   * @param torque The torque produced by the motor in Newton-meters.
+   * @param speed The current angular velocity of the motor in radians per second.
    * @return The voltage of the motor.
    */
-  public double getVoltage(double torqueNm, double speedRadiansPerSec) {
-    return 1.0 / KvRadPerSecPerVolt * speedRadiansPerSec + 1.0 / KtNMPerAmp * rOhms * torqueNm;
+  public double getVoltage(double torque, double speed) {
+    return 1.0 / Kv * speed + 1.0 / Kt * R * torque;
   }
 
   /**
    * Calculates the angular speed produced by the motor at a given torque and input voltage.
    *
-   * @param torqueNm The torque produced by the motor.
-   * @param voltageInputVolts The voltage applied to the motor.
+   * @param torque The torque produced by the motor in Newton-meters.
+   * @param voltageInput The voltage applied to the motor.
    * @return The angular speed of the motor.
    */
-  public double getSpeed(double torqueNm, double voltageInputVolts) {
-    return voltageInputVolts * KvRadPerSecPerVolt
-        - 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
+  public double getSpeed(double torque, double voltageInput) {
+    return voltageInput * Kv - 1.0 / Kt * torque * R * Kv;
   }
 
   /**
@@ -133,11 +131,11 @@ public double getSpeed(double torqueNm, double voltageInputVolts) {
    */
   public DCMotor withReduction(double gearboxReduction) {
     return new DCMotor(
-        nominalVoltageVolts,
-        stallTorqueNewtonMeters * gearboxReduction,
-        stallCurrentAmps,
-        freeCurrentAmps,
-        freeSpeedRadPerSec / gearboxReduction,
+        nominalVoltage,
+        stallTorque * gearboxReduction,
+        stallCurrent,
+        freeCurrent,
+        freeSpeed / gearboxReduction,
         1);
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index ac48939ef04..1c45d0dcbbc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -23,19 +23,19 @@ private LinearSystemId() {
    * velocity]ᵀ, inputs are [voltage], and outputs are [position].
    *
    * @param motor The motor (or gearbox) attached to the carriage.
-   * @param massKg The mass of the elevator carriage, in kilograms.
-   * @param radiusMeters The radius of the elevator's driving drum, in meters.
+   * @param mass The mass of the elevator carriage, in kilograms.
+   * @param radius The radius of the elevator's driving drum, in meters.
    * @param gearing The reduction between motor and drum, as a ratio of output to input.
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if massKg &lt;= 0, radiusMeters &lt;= 0, or gearing &lt;= 0.
+   * @throws IllegalArgumentException if mass &lt;= 0, radius &lt;= 0, or gearing &lt;= 0.
    */
   public static LinearSystem<N2, N1, N2> createElevatorSystem(
-      DCMotor motor, double massKg, double radiusMeters, double gearing) {
-    if (massKg <= 0.0) {
-      throw new IllegalArgumentException("massKg must be greater than zero.");
+      DCMotor motor, double mass, double radius, double gearing) {
+    if (mass <= 0.0) {
+      throw new IllegalArgumentException("mass must be greater than zero.");
     }
-    if (radiusMeters <= 0.0) {
-      throw new IllegalArgumentException("radiusMeters must be greater than zero.");
+    if (radius <= 0.0) {
+      throw new IllegalArgumentException("radius must be greater than zero.");
     }
     if (gearing <= 0) {
       throw new IllegalArgumentException("gearing must be greater than zero.");
@@ -48,10 +48,8 @@ public static LinearSystem<N2, N1, N2> createElevatorSystem(
             0,
             1,
             0,
-            -Math.pow(gearing, 2)
-                * motor.KtNMPerAmp
-                / (motor.rOhms * radiusMeters * radiusMeters * massKg * motor.KvRadPerSecPerVolt)),
-        VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * radiusMeters * massKg)),
+            -Math.pow(gearing, 2) * motor.Kt / (motor.R * radius * radius * mass * motor.Kv)),
+        VecBuilder.fill(0, gearing * motor.Kt / (motor.R * radius * mass)),
         Matrix.eye(Nat.N2()),
         new Matrix<>(Nat.N2(), Nat.N1()));
   }
@@ -61,14 +59,14 @@ public static LinearSystem<N2, N1, N2> createElevatorSystem(
    * velocity], inputs are [voltage], and outputs are [angular velocity].
    *
    * @param motor The motor (or gearbox) attached to the flywheel.
-   * @param JKgMetersSquared The moment of inertia J of the flywheel.
+   * @param J The moment of inertia J of the flywheel in kg-m².
    * @param gearing The reduction between motor and drum, as a ratio of output to input.
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if JKgMetersSquared &lt;= 0 or gearing &lt;= 0.
+   * @throws IllegalArgumentException if J &lt;= 0 or gearing &lt;= 0.
    */
   public static LinearSystem<N1, N1, N1> createFlywheelSystem(
-      DCMotor motor, double JKgMetersSquared, double gearing) {
-    if (JKgMetersSquared <= 0.0) {
+      DCMotor motor, double J, double gearing) {
+    if (J <= 0.0) {
       throw new IllegalArgumentException("J must be greater than zero.");
     }
     if (gearing <= 0.0) {
@@ -76,12 +74,8 @@ public static LinearSystem<N1, N1, N1> createFlywheelSystem(
     }
 
     return new LinearSystem<>(
-        VecBuilder.fill(
-            -gearing
-                * gearing
-                * motor.KtNMPerAmp
-                / (motor.KvRadPerSecPerVolt * motor.rOhms * JKgMetersSquared)),
-        VecBuilder.fill(gearing * motor.KtNMPerAmp / (motor.rOhms * JKgMetersSquared)),
+        VecBuilder.fill(-gearing * gearing * motor.Kt / (motor.Kv * motor.R * J)),
+        VecBuilder.fill(gearing * motor.Kt / (motor.R * J)),
         Matrix.eye(Nat.N1()),
         new Matrix<>(Nat.N1(), Nat.N1()));
   }
@@ -92,14 +86,14 @@ public static LinearSystem<N1, N1, N1> createFlywheelSystem(
    * velocity].
    *
    * @param motor The motor (or gearbox) attached to system.
-   * @param JKgMetersSquared The moment of inertia J of the DC motor.
+   * @param J The moment of inertia J of the DC motor in kg-m².
    * @param gearing The reduction between motor and drum, as a ratio of output to input.
    * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if JKgMetersSquared &lt;= 0 or gearing &lt;= 0.
+   * @throws IllegalArgumentException if J &lt;= 0 or gearing &lt;= 0.
    */
   public static LinearSystem<N2, N1, N2> createDCMotorSystem(
-      DCMotor motor, double JKgMetersSquared, double gearing) {
-    if (JKgMetersSquared <= 0.0) {
+      DCMotor motor, double J, double gearing) {
+    if (J <= 0.0) {
       throw new IllegalArgumentException("J must be greater than zero.");
     }
     if (gearing <= 0.0) {
@@ -108,16 +102,8 @@ public static LinearSystem<N2, N1, N2> createDCMotorSystem(
 
     return new LinearSystem<>(
         MatBuilder.fill(
-            Nat.N2(),
-            Nat.N2(),
-            0,
-            1,
-            0,
-            -gearing
-                * gearing
-                * motor.KtNMPerAmp
-                / (motor.KvRadPerSecPerVolt * motor.rOhms * JKgMetersSquared)),
-        VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * JKgMetersSquared)),
+            Nat.N2(), Nat.N2(), 0, 1, 0, -gearing * gearing * motor.Kt / (motor.Kv * motor.R * J)),
+        VecBuilder.fill(0, gearing * motor.Kt / (motor.R * J)),
         Matrix.eye(Nat.N2()),
         new Matrix<>(Nat.N2(), Nat.N1()));
   }
@@ -161,46 +147,38 @@ public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA)
    * [left velocity, right velocity]ᵀ.
    *
    * @param motor The motor (or gearbox) driving the drivetrain.
-   * @param massKg The mass of the robot in kilograms.
-   * @param rMeters The radius of the wheels in meters.
-   * @param rbMeters The radius of the base (half the track width) in meters.
-   * @param JKgMetersSquared The moment of inertia of the robot.
+   * @param mass The mass of the robot in kilograms.
+   * @param r The radius of the wheels in meters.
+   * @param rb The radius of the base (half the trackwidth) in meters.
+   * @param J The moment of inertia of the robot in kg-m².
    * @param gearing The gearing reduction as output over input.
    * @return A LinearSystem representing a differential drivetrain.
    * @throws IllegalArgumentException if m &lt;= 0, r &lt;= 0, rb &lt;= 0, J &lt;= 0, or gearing
    *     &lt;= 0.
    */
   public static LinearSystem<N2, N2, N2> createDrivetrainVelocitySystem(
-      DCMotor motor,
-      double massKg,
-      double rMeters,
-      double rbMeters,
-      double JKgMetersSquared,
-      double gearing) {
-    if (massKg <= 0.0) {
-      throw new IllegalArgumentException("massKg must be greater than zero.");
+      DCMotor motor, double mass, double r, double rb, double J, double gearing) {
+    if (mass <= 0.0) {
+      throw new IllegalArgumentException("mass must be greater than zero.");
     }
-    if (rMeters <= 0.0) {
-      throw new IllegalArgumentException("rMeters must be greater than zero.");
+    if (r <= 0.0) {
+      throw new IllegalArgumentException("r must be greater than zero.");
     }
-    if (rbMeters <= 0.0) {
-      throw new IllegalArgumentException("rbMeters must be greater than zero.");
+    if (rb <= 0.0) {
+      throw new IllegalArgumentException("rb must be greater than zero.");
     }
-    if (JKgMetersSquared <= 0.0) {
-      throw new IllegalArgumentException("JKgMetersSquared must be greater than zero.");
+    if (J <= 0.0) {
+      throw new IllegalArgumentException("J must be greater than zero.");
     }
     if (gearing <= 0.0) {
       throw new IllegalArgumentException("gearing must be greater than zero.");
     }
 
-    var C1 =
-        -(gearing * gearing)
-            * motor.KtNMPerAmp
-            / (motor.KvRadPerSecPerVolt * motor.rOhms * rMeters * rMeters);
-    var C2 = gearing * motor.KtNMPerAmp / (motor.rOhms * rMeters);
+    var C1 = -(gearing * gearing) * motor.Kt / (motor.Kv * motor.R * r * r);
+    var C2 = gearing * motor.Kt / (motor.R * r);
 
-    final double C3 = 1 / massKg + rbMeters * rbMeters / JKgMetersSquared;
-    final double C4 = 1 / massKg - rbMeters * rbMeters / JKgMetersSquared;
+    final double C3 = 1 / mass + rb * rb / J;
+    final double C4 = 1 / mass - rb * rb / J;
     var A = MatBuilder.fill(Nat.N2(), Nat.N2(), C3 * C1, C4 * C1, C4 * C1, C3 * C1);
     var B = MatBuilder.fill(Nat.N2(), Nat.N2(), C3 * C2, C4 * C2, C4 * C2, C3 * C2);
     var C = MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0);
@@ -214,15 +192,15 @@ public static LinearSystem<N2, N2, N2> createDrivetrainVelocitySystem(
    * angular velocity], inputs are [voltage], and outputs are [angle].
    *
    * @param motor The motor (or gearbox) attached to the arm.
-   * @param JKgSquaredMeters The moment of inertia J of the arm.
+   * @param J The moment of inertia J of the arm in kg-m².
    * @param gearing The gearing between the motor and arm, in output over input. Most of the time
    *     this will be greater than 1.
    * @return A LinearSystem representing the given characterized constants.
    */
   public static LinearSystem<N2, N1, N2> createSingleJointedArmSystem(
-      DCMotor motor, double JKgSquaredMeters, double gearing) {
-    if (JKgSquaredMeters <= 0.0) {
-      throw new IllegalArgumentException("JKgSquaredMeters must be greater than zero.");
+      DCMotor motor, double J, double gearing) {
+    if (J <= 0.0) {
+      throw new IllegalArgumentException("J must be greater than zero.");
     }
     if (gearing <= 0.0) {
       throw new IllegalArgumentException("gearing must be greater than zero.");
@@ -235,10 +213,8 @@ public static LinearSystem<N2, N1, N2> createSingleJointedArmSystem(
             0,
             1,
             0,
-            -Math.pow(gearing, 2)
-                * motor.KtNMPerAmp
-                / (motor.KvRadPerSecPerVolt * motor.rOhms * JKgSquaredMeters)),
-        VecBuilder.fill(0, gearing * motor.KtNMPerAmp / (motor.rOhms * JKgSquaredMeters)),
+            -Math.pow(gearing, 2) * motor.Kt / (motor.Kv * motor.R * J)),
+        VecBuilder.fill(0, gearing * motor.Kt / (motor.R * J)),
         Matrix.eye(Nat.N2()),
         new Matrix<>(Nat.N2(), Nat.N1()));
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/proto/DCMotorProto.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/proto/DCMotorProto.java
index f9e4aa39576..39de80743cb 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/proto/DCMotorProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/proto/DCMotorProto.java
@@ -38,10 +38,10 @@ public DCMotor unpack(ProtobufDCMotor msg) {
 
   @Override
   public void pack(ProtobufDCMotor msg, DCMotor value) {
-    msg.setNominalVoltage(value.nominalVoltageVolts);
-    msg.setStallTorque(value.stallTorqueNewtonMeters);
-    msg.setStallCurrent(value.stallCurrentAmps);
-    msg.setFreeCurrent(value.freeCurrentAmps);
-    msg.setFreeSpeed(value.freeSpeedRadPerSec);
+    msg.setNominalVoltage(value.nominalVoltage);
+    msg.setStallTorque(value.stallTorque);
+    msg.setStallCurrent(value.stallCurrent);
+    msg.setFreeCurrent(value.freeCurrent);
+    msg.setFreeSpeed(value.freeSpeed);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java
index a55264b966a..649a3cabaee 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/struct/DCMotorStruct.java
@@ -42,10 +42,10 @@ public DCMotor unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, DCMotor value) {
-    bb.putDouble(value.nominalVoltageVolts);
-    bb.putDouble(value.stallTorqueNewtonMeters);
-    bb.putDouble(value.stallCurrentAmps);
-    bb.putDouble(value.freeCurrentAmps);
-    bb.putDouble(value.freeSpeedRadPerSec);
+    bb.putDouble(value.nominalVoltage);
+    bb.putDouble(value.stallTorque);
+    bb.putDouble(value.stallCurrent);
+    bb.putDouble(value.freeCurrent);
+    bb.putDouble(value.freeSpeed);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
index 1222d885b86..f8e1adc385e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
@@ -23,13 +23,13 @@ public class Trajectory implements ProtobufSerializable {
   /** Trajectory protobuf for serialization. */
   public static final TrajectoryProto proto = new TrajectoryProto();
 
-  private final double m_totalTimeSeconds;
+  private final double m_totalTime;
   private final List<State> m_states;
 
   /** Constructs an empty trajectory. */
   public Trajectory() {
     m_states = new ArrayList<>();
-    m_totalTimeSeconds = 0.0;
+    m_totalTime = 0.0;
   }
 
   /**
@@ -45,7 +45,7 @@ public Trajectory(final List<State> states) {
       throw new IllegalArgumentException("Trajectory manually created with no states.");
     }
 
-    m_totalTimeSeconds = m_states.get(m_states.size() - 1).timeSeconds;
+    m_totalTime = m_states.get(m_states.size() - 1).time;
   }
 
   /**
@@ -78,7 +78,7 @@ private static Pose2d lerp(Pose2d startValue, Pose2d endValue, double t) {
    * @return The initial pose of the trajectory.
    */
   public Pose2d getInitialPose() {
-    return sample(0).poseMeters;
+    return sample(0).pose;
   }
 
   /**
@@ -86,8 +86,8 @@ public Pose2d getInitialPose() {
    *
    * @return The duration of the trajectory.
    */
-  public double getTotalTimeSeconds() {
-    return m_totalTimeSeconds;
+  public double getTotalTime() {
+    return m_totalTime;
   }
 
   /**
@@ -102,19 +102,19 @@ public List<State> getStates() {
   /**
    * Sample the trajectory at a point in time.
    *
-   * @param timeSeconds The point in time since the beginning of the trajectory to sample.
+   * @param time The point in time since the beginning of the trajectory to sample in seconds.
    * @return The state at that point in time.
    * @throws IllegalStateException if the trajectory has no states.
    */
-  public State sample(double timeSeconds) {
+  public State sample(double time) {
     if (m_states.isEmpty()) {
       throw new IllegalStateException("Trajectory cannot be sampled if it has no states.");
     }
 
-    if (timeSeconds <= m_states.get(0).timeSeconds) {
+    if (time <= m_states.get(0).time) {
       return m_states.get(0);
     }
-    if (timeSeconds >= m_totalTimeSeconds) {
+    if (time >= m_totalTime) {
       return m_states.get(m_states.size() - 1);
     }
 
@@ -129,7 +129,7 @@ public State sample(double timeSeconds) {
 
     while (low != high) {
       int mid = (low + high) / 2;
-      if (m_states.get(mid).timeSeconds < timeSeconds) {
+      if (m_states.get(mid).time < time) {
         // This index and everything under it are less than the requested
         // timestamp. Therefore, we can discard them.
         low = mid + 1;
@@ -150,13 +150,12 @@ public State sample(double timeSeconds) {
     final State prevSample = m_states.get(low - 1);
 
     // If the difference in states is negligible, then we are spot on!
-    if (Math.abs(sample.timeSeconds - prevSample.timeSeconds) < 1E-9) {
+    if (Math.abs(sample.time - prevSample.time) < 1E-9) {
       return sample;
     }
     // Interpolate between the two states for the state that we want.
     return prevSample.interpolate(
-        sample,
-        (timeSeconds - prevSample.timeSeconds) / (sample.timeSeconds - prevSample.timeSeconds));
+        sample, (time - prevSample.time) / (sample.time - prevSample.time));
   }
 
   /**
@@ -169,7 +168,7 @@ public State sample(double timeSeconds) {
    */
   public Trajectory transformBy(Transform2d transform) {
     var firstState = m_states.get(0);
-    var firstPose = firstState.poseMeters;
+    var firstPose = firstState.pose;
 
     // Calculate the transformed first pose.
     var newFirstPose = firstPose.plus(transform);
@@ -177,22 +176,22 @@ public Trajectory transformBy(Transform2d transform) {
 
     newStates.add(
         new State(
-            firstState.timeSeconds,
-            firstState.velocityMetersPerSecond,
-            firstState.accelerationMetersPerSecondSq,
+            firstState.time,
+            firstState.velocity,
+            firstState.acceleration,
             newFirstPose,
-            firstState.curvatureRadPerMeter));
+            firstState.curvature));
 
     for (int i = 1; i < m_states.size(); i++) {
       var state = m_states.get(i);
       // We are transforming relative to the coordinate frame of the new initial pose.
       newStates.add(
           new State(
-              state.timeSeconds,
-              state.velocityMetersPerSecond,
-              state.accelerationMetersPerSecondSq,
-              newFirstPose.plus(state.poseMeters.minus(firstPose)),
-              state.curvatureRadPerMeter));
+              state.time,
+              state.velocity,
+              state.acceleration,
+              newFirstPose.plus(state.pose.minus(firstPose)),
+              state.curvature));
     }
 
     return new Trajectory(newStates);
@@ -212,11 +211,11 @@ public Trajectory relativeTo(Pose2d pose) {
             .map(
                 state ->
                     new State(
-                        state.timeSeconds,
-                        state.velocityMetersPerSecond,
-                        state.accelerationMetersPerSecondSq,
-                        state.poseMeters.relativeTo(pose),
-                        state.curvatureRadPerMeter))
+                        state.time,
+                        state.velocity,
+                        state.acceleration,
+                        state.pose.relativeTo(pose),
+                        state.curvature))
             .collect(Collectors.toList()));
   }
 
@@ -241,11 +240,11 @@ public Trajectory concatenate(Trajectory other) {
             .map(
                 state ->
                     new State(
-                        state.timeSeconds,
-                        state.velocityMetersPerSecond,
-                        state.accelerationMetersPerSecondSq,
-                        state.poseMeters,
-                        state.curvatureRadPerMeter))
+                        state.time,
+                        state.velocity,
+                        state.acceleration,
+                        state.pose,
+                        state.curvature))
             .collect(Collectors.toList());
 
     // Here we omit the first state of the other trajectory because we don't want
@@ -254,13 +253,7 @@ public Trajectory concatenate(Trajectory other) {
     // other trajectory.
     for (int i = 1; i < other.getStates().size(); ++i) {
       var s = other.getStates().get(i);
-      states.add(
-          new State(
-              s.timeSeconds + m_totalTimeSeconds,
-              s.velocityMetersPerSecond,
-              s.accelerationMetersPerSecondSq,
-              s.poseMeters,
-              s.curvatureRadPerMeter));
+      states.add(new State(s.time + m_totalTime, s.velocity, s.acceleration, s.pose, s.curvature));
     }
     return new Trajectory(states);
   }
@@ -273,51 +266,46 @@ public static class State implements ProtobufSerializable {
     /** Trajectory.State protobuf for serialization. */
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
-    /** The time elapsed since the beginning of the trajectory. */
+    /** The time elapsed since the beginning of the trajectory in seconds. */
     @JsonProperty("time")
-    public double timeSeconds;
+    public double time;
 
-    /** The speed at that point of the trajectory. */
+    /** The speed at that point of the trajectory in meters per second. */
     @JsonProperty("velocity")
-    public double velocityMetersPerSecond;
+    public double velocity;
 
-    /** The acceleration at that point of the trajectory. */
+    /** The acceleration at that point of the trajectory in m/s². */
     @JsonProperty("acceleration")
-    public double accelerationMetersPerSecondSq;
+    public double acceleration;
 
     /** The pose at that point of the trajectory. */
     @JsonProperty("pose")
-    public Pose2d poseMeters;
+    public Pose2d pose;
 
-    /** The curvature at that point of the trajectory. */
+    /** The curvature at that point of the trajectory in rad/m. */
     @JsonProperty("curvature")
-    public double curvatureRadPerMeter;
+    public double curvature;
 
     /** Default constructor. */
     public State() {
-      poseMeters = Pose2d.kZero;
+      pose = Pose2d.kZero;
     }
 
     /**
      * Constructs a State with the specified parameters.
      *
-     * @param timeSeconds The time elapsed since the beginning of the trajectory.
-     * @param velocityMetersPerSecond The speed at that point of the trajectory.
-     * @param accelerationMetersPerSecondSq The acceleration at that point of the trajectory.
-     * @param poseMeters The pose at that point of the trajectory.
-     * @param curvatureRadPerMeter The curvature at that point of the trajectory.
+     * @param time The time elapsed since the beginning of the trajectory in seconds.
+     * @param velocity The speed at that point of the trajectory in m/s.
+     * @param acceleration The acceleration at that point of the trajectory in m/s².
+     * @param pose The pose at that point of the trajectory.
+     * @param curvature The curvature at that point of the trajectory in rad/m.
      */
-    public State(
-        double timeSeconds,
-        double velocityMetersPerSecond,
-        double accelerationMetersPerSecondSq,
-        Pose2d poseMeters,
-        double curvatureRadPerMeter) {
-      this.timeSeconds = timeSeconds;
-      this.velocityMetersPerSecond = velocityMetersPerSecond;
-      this.accelerationMetersPerSecondSq = accelerationMetersPerSecondSq;
-      this.poseMeters = poseMeters;
-      this.curvatureRadPerMeter = curvatureRadPerMeter;
+    public State(double time, double velocity, double acceleration, Pose2d pose, double curvature) {
+      this.time = time;
+      this.velocity = velocity;
+      this.acceleration = acceleration;
+      this.pose = pose;
+      this.curvature = curvature;
     }
 
     /**
@@ -329,10 +317,10 @@ public State(
      */
     State interpolate(State endValue, double i) {
       // Find the new t value.
-      final double newT = lerp(timeSeconds, endValue.timeSeconds, i);
+      final double newT = lerp(time, endValue.time, i);
 
       // Find the delta time between the current state and the interpolated state.
-      final double deltaT = newT - timeSeconds;
+      final double deltaT = newT - time;
 
       // If delta time is negative, flip the order of interpolation.
       if (deltaT < 0) {
@@ -340,72 +328,59 @@ State interpolate(State endValue, double i) {
       }
 
       // Check whether the robot is reversing at this stage.
-      final boolean reversing =
-          velocityMetersPerSecond < 0
-              || Math.abs(velocityMetersPerSecond) < 1E-9 && accelerationMetersPerSecondSq < 0;
+      final boolean reversing = velocity < 0 || Math.abs(velocity) < 1E-9 && acceleration < 0;
 
       // Calculate the new velocity
       // v_f = v_0 + at
-      final double newV = velocityMetersPerSecond + (accelerationMetersPerSecondSq * deltaT);
+      final double newV = velocity + (acceleration * deltaT);
 
       // Calculate the change in position.
       // delta_s = v_0 t + 0.5at²
       final double newS =
-          (velocityMetersPerSecond * deltaT
-                  + 0.5 * accelerationMetersPerSecondSq * Math.pow(deltaT, 2))
-              * (reversing ? -1.0 : 1.0);
+          (velocity * deltaT + 0.5 * acceleration * Math.pow(deltaT, 2)) * (reversing ? -1.0 : 1.0);
 
       // Return the new state. To find the new position for the new state, we need
       // to interpolate between the two endpoint poses. The fraction for
       // interpolation is the change in position (delta s) divided by the total
       // distance between the two endpoints.
       final double interpolationFrac =
-          newS / endValue.poseMeters.getTranslation().getDistance(poseMeters.getTranslation());
+          newS / endValue.pose.getTranslation().getDistance(pose.getTranslation());
 
       return new State(
           newT,
           newV,
-          accelerationMetersPerSecondSq,
-          lerp(poseMeters, endValue.poseMeters, interpolationFrac),
-          lerp(curvatureRadPerMeter, endValue.curvatureRadPerMeter, interpolationFrac));
+          acceleration,
+          lerp(pose, endValue.pose, interpolationFrac),
+          lerp(curvature, endValue.curvature, interpolationFrac));
     }
 
     @Override
     public String toString() {
       return String.format(
           "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f)",
-          timeSeconds,
-          velocityMetersPerSecond,
-          accelerationMetersPerSecondSq,
-          poseMeters,
-          curvatureRadPerMeter);
+          time, velocity, acceleration, pose, curvature);
     }
 
     @Override
     public boolean equals(Object obj) {
       return obj instanceof State state
-          && Double.compare(state.timeSeconds, timeSeconds) == 0
-          && Double.compare(state.velocityMetersPerSecond, velocityMetersPerSecond) == 0
-          && Double.compare(state.accelerationMetersPerSecondSq, accelerationMetersPerSecondSq) == 0
-          && Double.compare(state.curvatureRadPerMeter, curvatureRadPerMeter) == 0
-          && Objects.equals(poseMeters, state.poseMeters);
+          && Double.compare(state.time, time) == 0
+          && Double.compare(state.velocity, velocity) == 0
+          && Double.compare(state.acceleration, acceleration) == 0
+          && Double.compare(state.curvature, curvature) == 0
+          && Objects.equals(pose, state.pose);
     }
 
     @Override
     public int hashCode() {
-      return Objects.hash(
-          timeSeconds,
-          velocityMetersPerSecond,
-          accelerationMetersPerSecondSq,
-          poseMeters,
-          curvatureRadPerMeter);
+      return Objects.hash(time, velocity, acceleration, pose, curvature);
     }
   }
 
   @Override
   public String toString() {
     String stateList = m_states.stream().map(State::toString).collect(Collectors.joining(", \n"));
-    return String.format("Trajectory - Seconds: %.2f, States:\n%s", m_totalTimeSeconds, stateList);
+    return String.format("Trajectory - Seconds: %.2f, States:\n%s", m_totalTime, stateList);
   }
 
   @Override
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
index 1bcb15f8b56..c93330ede9d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryConfig.java
@@ -38,21 +38,20 @@ public class TrajectoryConfig {
   /**
    * Constructs the trajectory configuration class.
    *
-   * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
-   * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+   * @param maxVelocity The max velocity for the trajectory in m/s.
+   * @param maxAcceleration The max acceleration for the trajectory in m/s².
    */
-  public TrajectoryConfig(
-      double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq) {
-    m_maxVelocity = maxVelocityMetersPerSecond;
-    m_maxAcceleration = maxAccelerationMetersPerSecondSq;
+  public TrajectoryConfig(double maxVelocity, double maxAcceleration) {
+    m_maxVelocity = maxVelocity;
+    m_maxAcceleration = maxAcceleration;
     m_constraints = new ArrayList<>();
   }
 
   /**
    * Constructs the trajectory configuration class.
    *
-   * @param maxVelocity The max velocity for the trajectory.
-   * @param maxAcceleration The max acceleration for the trajectory.
+   * @param maxVelocity The max velocity for the trajectory in m/s.
+   * @param maxAcceleration The max acceleration for the trajectory in m/s².
    */
   public TrajectoryConfig(LinearVelocity maxVelocity, LinearAcceleration maxAcceleration) {
     this(maxVelocity.in(MetersPerSecond), maxAcceleration.in(MetersPerSecondPerSecond));
@@ -119,7 +118,7 @@ public TrajectoryConfig setKinematics(SwerveDriveKinematics kinematics) {
   /**
    * Returns the starting velocity of the trajectory.
    *
-   * @return The starting velocity of the trajectory.
+   * @return The starting velocity of the trajectory in m/s.
    */
   public double getStartVelocity() {
     return m_startVelocity;
@@ -128,11 +127,11 @@ public double getStartVelocity() {
   /**
    * Sets the start velocity of the trajectory.
    *
-   * @param startVelocityMetersPerSecond The start velocity of the trajectory.
+   * @param startVelocity The start velocity of the trajectory in m/s.
    * @return Instance of the current config object.
    */
-  public TrajectoryConfig setStartVelocity(double startVelocityMetersPerSecond) {
-    m_startVelocity = startVelocityMetersPerSecond;
+  public TrajectoryConfig setStartVelocity(double startVelocity) {
+    m_startVelocity = startVelocity;
     return this;
   }
 
@@ -149,7 +148,7 @@ public TrajectoryConfig setStartVelocity(LinearVelocity startVelocity) {
   /**
    * Returns the starting velocity of the trajectory.
    *
-   * @return The starting velocity of the trajectory.
+   * @return The starting velocity of the trajectory in m/s.
    */
   public double getEndVelocity() {
     return m_endVelocity;
@@ -158,11 +157,11 @@ public double getEndVelocity() {
   /**
    * Sets the end velocity of the trajectory.
    *
-   * @param endVelocityMetersPerSecond The end velocity of the trajectory.
+   * @param endVelocity The end velocity of the trajectory in m/s.
    * @return Instance of the current config object.
    */
-  public TrajectoryConfig setEndVelocity(double endVelocityMetersPerSecond) {
-    m_endVelocity = endVelocityMetersPerSecond;
+  public TrajectoryConfig setEndVelocity(double endVelocity) {
+    m_endVelocity = endVelocity;
     return this;
   }
 
@@ -179,7 +178,7 @@ public TrajectoryConfig setEndVelocity(LinearVelocity endVelocity) {
   /**
    * Returns the maximum velocity of the trajectory.
    *
-   * @return The maximum velocity of the trajectory.
+   * @return The maximum velocity of the trajectory in m/s.
    */
   public double getMaxVelocity() {
     return m_maxVelocity;
@@ -188,7 +187,7 @@ public double getMaxVelocity() {
   /**
    * Returns the maximum acceleration of the trajectory.
    *
-   * @return The maximum acceleration of the trajectory.
+   * @return The maximum acceleration of the trajectory in m/s².
    */
   public double getMaxAcceleration() {
     return m_maxAcceleration;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java
index a17d5fb1bc1..393e150f1d9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java
@@ -91,8 +91,8 @@ public static Trajectory generateTrajectory(
     // Change the points back to their original orientation.
     if (config.isReversed()) {
       for (var point : points) {
-        point.poseMeters = point.poseMeters.plus(kFlip);
-        point.curvatureRadPerMeter *= -1;
+        point.pose = point.pose.plus(kFlip);
+        point.curvature *= -1;
       }
     }
 
@@ -167,8 +167,8 @@ public static Trajectory generateTrajectory(
     // Change the points back to their original orientation.
     if (config.isReversed()) {
       for (var point : points) {
-        point.poseMeters = point.poseMeters.plus(kFlip);
-        point.curvatureRadPerMeter *= -1;
+        point.pose = point.pose.plus(kFlip);
+        point.curvature *= -1;
       }
     }
 
@@ -217,8 +217,8 @@ public static Trajectory generateTrajectory(List<Pose2d> waypoints, TrajectoryCo
     // Change the points back to their original orientation.
     if (config.isReversed()) {
       for (var point : points) {
-        point.poseMeters = point.poseMeters.plus(kFlip);
-        point.curvatureRadPerMeter *= -1;
+        point.pose = point.pose.plus(kFlip);
+        point.curvature *= -1;
       }
     }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
index 35b2a465056..405f41e800c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
@@ -46,10 +46,10 @@ private TrajectoryParameterizer() {}
    *
    * @param points Reference to the spline points.
    * @param constraints A vector of various velocity and acceleration. constraints.
-   * @param startVelocityMetersPerSecond The start velocity for the trajectory.
-   * @param endVelocityMetersPerSecond The end velocity for the trajectory.
-   * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
-   * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+   * @param startVelocity The start velocity for the trajectory in m/s.
+   * @param endVelocity The end velocity for the trajectory in m/s.
+   * @param maxVelocity The max velocity for the trajectory in m/s.
+   * @param maxAcceleration The max acceleration for the trajectory in m/s².
    * @param reversed Whether the robot should move backwards. Note that the robot will still move
    *     from a -&gt; b -&gt; ... -&gt; z as defined in the waypoints.
    * @return The trajectory.
@@ -57,19 +57,14 @@ private TrajectoryParameterizer() {}
   public static Trajectory timeParameterizeTrajectory(
       List<PoseWithCurvature> points,
       List<TrajectoryConstraint> constraints,
-      double startVelocityMetersPerSecond,
-      double endVelocityMetersPerSecond,
-      double maxVelocityMetersPerSecond,
-      double maxAccelerationMetersPerSecondSq,
+      double startVelocity,
+      double endVelocity,
+      double maxVelocity,
+      double maxAcceleration,
       boolean reversed) {
     var constrainedStates = new ArrayList<ConstrainedState>(points.size());
     var predecessor =
-        new ConstrainedState(
-            points.get(0),
-            0,
-            startVelocityMetersPerSecond,
-            -maxAccelerationMetersPerSecondSq,
-            maxAccelerationMetersPerSecondSq);
+        new ConstrainedState(points.get(0), 0, startVelocity, -maxAcceleration, maxAcceleration);
 
     // Forward pass
     for (int i = 0; i < points.size(); i++) {
@@ -81,36 +76,36 @@ public static Trajectory timeParameterizeTrajectory(
       double ds =
           constrainedState
               .pose
-              .poseMeters
+              .pose
               .getTranslation()
-              .getDistance(predecessor.pose.poseMeters.getTranslation());
-      constrainedState.distanceMeters = predecessor.distanceMeters + ds;
+              .getDistance(predecessor.pose.pose.getTranslation());
+      constrainedState.distance = predecessor.distance + ds;
 
       // We may need to iterate to find the maximum end velocity and common
       // acceleration, since acceleration limits may be a function of velocity.
       while (true) {
         // Enforce global max velocity and max reachable velocity by global
         // acceleration limit. v_f = √(v_i² + 2ad).
-        constrainedState.maxVelocityMetersPerSecond =
+        constrainedState.maxVelocity =
             Math.min(
-                maxVelocityMetersPerSecond,
+                maxVelocity,
                 Math.sqrt(
-                    predecessor.maxVelocityMetersPerSecond * predecessor.maxVelocityMetersPerSecond
-                        + predecessor.maxAccelerationMetersPerSecondSq * ds * 2.0));
+                    predecessor.maxVelocity * predecessor.maxVelocity
+                        + predecessor.maxAcceleration * ds * 2.0));
 
-        constrainedState.minAccelerationMetersPerSecondSq = -maxAccelerationMetersPerSecondSq;
-        constrainedState.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+        constrainedState.minAcceleration = -maxAcceleration;
+        constrainedState.maxAcceleration = maxAcceleration;
 
         // At this point, the constrained state is fully constructed apart from
         // all the custom-defined user constraints.
         for (final var constraint : constraints) {
-          constrainedState.maxVelocityMetersPerSecond =
+          constrainedState.maxVelocity =
               Math.min(
-                  constrainedState.maxVelocityMetersPerSecond,
-                  constraint.getMaxVelocityMetersPerSecond(
-                      constrainedState.pose.poseMeters,
-                      constrainedState.pose.curvatureRadPerMeter,
-                      constrainedState.maxVelocityMetersPerSecond));
+                  constrainedState.maxVelocity,
+                  constraint.getMaxVelocity(
+                      constrainedState.pose.pose,
+                      constrainedState.pose.curvature,
+                      constrainedState.maxVelocity));
         }
 
         // Now enforce all acceleration limits.
@@ -124,22 +119,19 @@ public static Trajectory timeParameterizeTrajectory(
         // acceleration that we applied, then we need to reduce the max
         // acceleration of the predecessor and try again.
         double actualAcceleration =
-            (constrainedState.maxVelocityMetersPerSecond
-                        * constrainedState.maxVelocityMetersPerSecond
-                    - predecessor.maxVelocityMetersPerSecond
-                        * predecessor.maxVelocityMetersPerSecond)
+            (constrainedState.maxVelocity * constrainedState.maxVelocity
+                    - predecessor.maxVelocity * predecessor.maxVelocity)
                 / (ds * 2.0);
 
         // If we violate the max acceleration constraint, let's modify the
         // predecessor.
-        if (constrainedState.maxAccelerationMetersPerSecondSq < actualAcceleration - 1E-6) {
-          predecessor.maxAccelerationMetersPerSecondSq =
-              constrainedState.maxAccelerationMetersPerSecondSq;
+        if (constrainedState.maxAcceleration < actualAcceleration - 1E-6) {
+          predecessor.maxAcceleration = constrainedState.maxAcceleration;
         } else {
           // Constrain the predecessor's max acceleration to the current
           // acceleration.
-          if (actualAcceleration > predecessor.minAccelerationMetersPerSecondSq) {
-            predecessor.maxAccelerationMetersPerSecondSq = actualAcceleration;
+          if (actualAcceleration > predecessor.minAcceleration) {
+            predecessor.maxAcceleration = actualAcceleration;
           }
           // If the actual acceleration is less than the predecessor's min
           // acceleration, it will be repaired in the backward pass.
@@ -152,30 +144,30 @@ public static Trajectory timeParameterizeTrajectory(
     var successor =
         new ConstrainedState(
             points.get(points.size() - 1),
-            constrainedStates.get(constrainedStates.size() - 1).distanceMeters,
-            endVelocityMetersPerSecond,
-            -maxAccelerationMetersPerSecondSq,
-            maxAccelerationMetersPerSecondSq);
+            constrainedStates.get(constrainedStates.size() - 1).distance,
+            endVelocity,
+            -maxAcceleration,
+            maxAcceleration);
 
     // Backward pass
     for (int i = points.size() - 1; i >= 0; i--) {
       var constrainedState = constrainedStates.get(i);
-      double ds = constrainedState.distanceMeters - successor.distanceMeters; // negative
+      double ds = constrainedState.distance - successor.distance; // negative
 
       while (true) {
         // Enforce max velocity limit (reverse)
         // v_f = √(v_i² + 2ad), where v_i = successor.
         double newMaxVelocity =
             Math.sqrt(
-                successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond
-                    + successor.minAccelerationMetersPerSecondSq * ds * 2.0);
+                successor.maxVelocity * successor.maxVelocity
+                    + successor.minAcceleration * ds * 2.0);
 
         // No more limits to impose! This state can be finalized.
-        if (newMaxVelocity >= constrainedState.maxVelocityMetersPerSecond) {
+        if (newMaxVelocity >= constrainedState.maxVelocity) {
           break;
         }
 
-        constrainedState.maxVelocityMetersPerSecond = newMaxVelocity;
+        constrainedState.maxVelocity = newMaxVelocity;
 
         // Check all acceleration constraints with the new max velocity.
         enforceAccelerationLimits(reversed, constraints, constrainedState);
@@ -188,16 +180,14 @@ public static Trajectory timeParameterizeTrajectory(
         // acceleration, then we need to lower the min acceleration of the
         // successor and try again.
         double actualAcceleration =
-            (constrainedState.maxVelocityMetersPerSecond
-                        * constrainedState.maxVelocityMetersPerSecond
-                    - successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond)
+            (constrainedState.maxVelocity * constrainedState.maxVelocity
+                    - successor.maxVelocity * successor.maxVelocity)
                 / (ds * 2.0);
 
-        if (constrainedState.minAccelerationMetersPerSecondSq > actualAcceleration + 1E-6) {
-          successor.minAccelerationMetersPerSecondSq =
-              constrainedState.minAccelerationMetersPerSecondSq;
+        if (constrainedState.minAcceleration > actualAcceleration + 1E-6) {
+          successor.minAcceleration = constrainedState.minAcceleration;
         } else {
-          successor.minAccelerationMetersPerSecondSq = actualAcceleration;
+          successor.minAcceleration = actualAcceleration;
           break;
         }
       }
@@ -207,52 +197,49 @@ public static Trajectory timeParameterizeTrajectory(
     // Now we can integrate the constrained states forward in time to obtain our
     // trajectory states.
     var states = new ArrayList<Trajectory.State>(points.size());
-    double timeSeconds = 0.0;
-    double distanceMeters = 0.0;
-    double velocityMetersPerSecond = 0.0;
+    double time = 0.0;
+    double distance = 0.0;
+    double velocity = 0.0;
 
     for (int i = 0; i < constrainedStates.size(); i++) {
       final var state = constrainedStates.get(i);
 
       // Calculate the change in position between the current state and the previous
       // state.
-      double ds = state.distanceMeters - distanceMeters;
+      double ds = state.distance - distance;
 
       // Calculate the acceleration between the current state and the previous
       // state.
-      double accel =
-          (state.maxVelocityMetersPerSecond * state.maxVelocityMetersPerSecond
-                  - velocityMetersPerSecond * velocityMetersPerSecond)
-              / (ds * 2);
+      double accel = (state.maxVelocity * state.maxVelocity - velocity * velocity) / (ds * 2);
 
       // Calculate dt
       double dt = 0.0;
       if (i > 0) {
-        states.get(i - 1).accelerationMetersPerSecondSq = reversed ? -accel : accel;
+        states.get(i - 1).acceleration = reversed ? -accel : accel;
         if (Math.abs(accel) > 1E-6) {
           // v_f = v_0 + a * t
-          dt = (state.maxVelocityMetersPerSecond - velocityMetersPerSecond) / accel;
-        } else if (Math.abs(velocityMetersPerSecond) > 1E-6) {
+          dt = (state.maxVelocity - velocity) / accel;
+        } else if (Math.abs(velocity) > 1E-6) {
           // delta_x = v * t
-          dt = ds / velocityMetersPerSecond;
+          dt = ds / velocity;
         } else {
           throw new TrajectoryGenerationException(
               "Something went wrong at iteration " + i + " of time parameterization.");
         }
       }
 
-      velocityMetersPerSecond = state.maxVelocityMetersPerSecond;
-      distanceMeters = state.distanceMeters;
+      velocity = state.maxVelocity;
+      distance = state.distance;
 
-      timeSeconds += dt;
+      time += dt;
 
       states.add(
           new Trajectory.State(
-              timeSeconds,
-              reversed ? -velocityMetersPerSecond : velocityMetersPerSecond,
+              time,
+              reversed ? -velocity : velocity,
               reversed ? -accel : accel,
-              state.pose.poseMeters,
-              state.pose.curvatureRadPerMeter));
+              state.pose.pose,
+              state.pose.curvature));
     }
 
     return new Trajectory(states);
@@ -263,51 +250,44 @@ private static void enforceAccelerationLimits(
     for (final var constraint : constraints) {
       double factor = reverse ? -1.0 : 1.0;
       final var minMaxAccel =
-          constraint.getMinMaxAccelerationMetersPerSecondSq(
-              state.pose.poseMeters,
-              state.pose.curvatureRadPerMeter,
-              state.maxVelocityMetersPerSecond * factor);
+          constraint.getMinMaxAcceleration(
+              state.pose.pose, state.pose.curvature, state.maxVelocity * factor);
 
-      if (minMaxAccel.minAccelerationMetersPerSecondSq
-          > minMaxAccel.maxAccelerationMetersPerSecondSq) {
+      if (minMaxAccel.minAcceleration > minMaxAccel.maxAcceleration) {
         throw new TrajectoryGenerationException(
             "Infeasible trajectory constraint: " + constraint.getClass().getName() + "\n");
       }
 
-      state.minAccelerationMetersPerSecondSq =
+      state.minAcceleration =
           Math.max(
-              state.minAccelerationMetersPerSecondSq,
-              reverse
-                  ? -minMaxAccel.maxAccelerationMetersPerSecondSq
-                  : minMaxAccel.minAccelerationMetersPerSecondSq);
+              state.minAcceleration,
+              reverse ? -minMaxAccel.maxAcceleration : minMaxAccel.minAcceleration);
 
-      state.maxAccelerationMetersPerSecondSq =
+      state.maxAcceleration =
           Math.min(
-              state.maxAccelerationMetersPerSecondSq,
-              reverse
-                  ? -minMaxAccel.minAccelerationMetersPerSecondSq
-                  : minMaxAccel.maxAccelerationMetersPerSecondSq);
+              state.maxAcceleration,
+              reverse ? -minMaxAccel.minAcceleration : minMaxAccel.maxAcceleration);
     }
   }
 
   private static class ConstrainedState {
     PoseWithCurvature pose;
-    double distanceMeters;
-    double maxVelocityMetersPerSecond;
-    double minAccelerationMetersPerSecondSq;
-    double maxAccelerationMetersPerSecondSq;
+    double distance;
+    double maxVelocity;
+    double minAcceleration;
+    double maxAcceleration;
 
     ConstrainedState(
         PoseWithCurvature pose,
-        double distanceMeters,
-        double maxVelocityMetersPerSecond,
-        double minAccelerationMetersPerSecondSq,
-        double maxAccelerationMetersPerSecondSq) {
+        double distance,
+        double maxVelocity,
+        double minAcceleration,
+        double maxAcceleration) {
       this.pose = pose;
-      this.distanceMeters = distanceMeters;
-      this.maxVelocityMetersPerSecond = maxVelocityMetersPerSecond;
-      this.minAccelerationMetersPerSecondSq = minAccelerationMetersPerSecondSq;
-      this.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+      this.distance = distance;
+      this.maxVelocity = maxVelocity;
+      this.minAcceleration = minAcceleration;
+      this.maxAcceleration = maxAcceleration;
     }
 
     ConstrainedState() {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
index b42574597dc..63868b3ffb2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
@@ -59,13 +59,13 @@ private static double[] getElementsFromTrajectory(Trajectory trajectory) {
 
     for (int i = 0; i < trajectory.getStates().size() * 7; i += 7) {
       var state = trajectory.getStates().get(i / 7);
-      elements[i] = state.timeSeconds;
-      elements[i + 1] = state.velocityMetersPerSecond;
-      elements[i + 2] = state.accelerationMetersPerSecondSq;
-      elements[i + 3] = state.poseMeters.getX();
-      elements[i + 4] = state.poseMeters.getY();
-      elements[i + 5] = state.poseMeters.getRotation().getRadians();
-      elements[i + 6] = state.curvatureRadPerMeter;
+      elements[i] = state.time;
+      elements[i + 1] = state.velocity;
+      elements[i + 2] = state.acceleration;
+      elements[i + 3] = state.pose.getX();
+      elements[i + 4] = state.pose.getY();
+      elements[i + 5] = state.pose.getRotation().getRadians();
+      elements[i + 6] = state.curvature;
     }
     return elements;
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
index 7a47fcac4c1..61e505c2506 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
@@ -15,29 +15,28 @@
  * around tight turns, making it easier to track trajectories with sharp turns.
  */
 public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
-  private final double m_maxCentripetalAccelerationMetersPerSecondSq;
+  private final double m_maxCentripetalAcceleration;
 
   /**
    * Constructs a centripetal acceleration constraint.
    *
-   * @param maxCentripetalAccelerationMetersPerSecondSq The max centripetal acceleration.
+   * @param maxCentripetalAcceleration The max centripetal acceleration in m/s².
    */
-  public CentripetalAccelerationConstraint(double maxCentripetalAccelerationMetersPerSecondSq) {
-    m_maxCentripetalAccelerationMetersPerSecondSq = maxCentripetalAccelerationMetersPerSecondSq;
+  public CentripetalAccelerationConstraint(double maxCentripetalAcceleration) {
+    m_maxCentripetalAcceleration = maxCentripetalAcceleration;
   }
 
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *     constraints are applied.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The velocity at the current point in the trajectory before constraints are
+   *     applied in m/s.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     // ac = v²/r
     // k (curvature) = 1/r
 
@@ -45,22 +44,20 @@ public double getMaxVelocityMetersPerSecond(
     // ac/k = v²
     // v = √(ac/k)
 
-    return Math.sqrt(
-        m_maxCentripetalAccelerationMetersPerSecondSq / Math.abs(curvatureRadPerMeter));
+    return Math.sqrt(m_maxCentripetalAcceleration / Math.abs(curvature));
   }
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
    * curvature, and speed.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The speed at the current point in the trajectory in m/s.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
     // The acceleration of the robot has no impact on the centripetal acceleration
     // of the robot.
     return new MinMax();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
index 21644359544..ca7efe4993f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
@@ -14,58 +14,54 @@
  * drivetrain stay below a certain limit.
  */
 public class DifferentialDriveKinematicsConstraint implements TrajectoryConstraint {
-  private final double m_maxSpeedMetersPerSecond;
+  private final double m_maxSpeed;
   private final DifferentialDriveKinematics m_kinematics;
 
   /**
    * Constructs a differential drive dynamics constraint.
    *
    * @param kinematics A kinematics component describing the drive geometry.
-   * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
+   * @param maxSpeed The max speed that a side of the robot can travel at in m/s.
    */
   public DifferentialDriveKinematicsConstraint(
-      final DifferentialDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
-    m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
+      final DifferentialDriveKinematics kinematics, double maxSpeed) {
+    m_maxSpeed = maxSpeed;
     m_kinematics = kinematics;
   }
 
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *     constraints are applied.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The velocity at the current point in the trajectory before constraints are
+   *     applied in m/s.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds =
-        new ChassisSpeeds(
-            velocityMetersPerSecond, 0, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds = new ChassisSpeeds(velocity, 0, velocity * curvature);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
-    wheelSpeeds.desaturate(m_maxSpeedMetersPerSecond);
+    wheelSpeeds.desaturate(m_maxSpeed);
 
     // Return the new linear chassis speed.
-    return m_kinematics.toChassisSpeeds(wheelSpeeds).vxMetersPerSecond;
+    return m_kinematics.toChassisSpeeds(wheelSpeeds).vx;
   }
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
    * curvature, and speed.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The speed at the current point in the trajectory in m/s.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
index 0cc6bc54bc6..9927fc1f268 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
@@ -43,23 +43,17 @@ public DifferentialDriveVoltageConstraint(
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     return Double.POSITIVE_INFINITY;
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
     var wheelSpeeds =
-        m_kinematics.toWheelSpeeds(
-            new ChassisSpeeds(
-                velocityMetersPerSecond, 0, velocityMetersPerSecond * curvatureRadPerMeter));
+        m_kinematics.toWheelSpeeds(new ChassisSpeeds(velocity, 0, velocity * curvature));
 
-    double maxWheelSpeed =
-        Math.max(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond);
-    double minWheelSpeed =
-        Math.min(wheelSpeeds.leftMetersPerSecond, wheelSpeeds.rightMetersPerSecond);
+    double maxWheelSpeed = Math.max(wheelSpeeds.left, wheelSpeeds.right);
+    double minWheelSpeed = Math.min(wheelSpeeds.left, wheelSpeeds.right);
 
     // Calculate maximum/minimum possible accelerations from motor dynamics
     // and max/min wheel speeds
@@ -87,28 +81,18 @@ public MinMax getMinMaxAccelerationMetersPerSecondSq(
     double maxChassisAcceleration;
     double minChassisAcceleration;
 
-    if (velocityMetersPerSecond == 0) {
+    if (velocity == 0) {
       maxChassisAcceleration =
-          maxWheelAcceleration
-              / (1 + m_kinematics.trackWidthMeters * Math.abs(curvatureRadPerMeter) / 2);
+          maxWheelAcceleration / (1 + m_kinematics.trackwidth * Math.abs(curvature) / 2);
       minChassisAcceleration =
-          minWheelAcceleration
-              / (1 + m_kinematics.trackWidthMeters * Math.abs(curvatureRadPerMeter) / 2);
+          minWheelAcceleration / (1 + m_kinematics.trackwidth * Math.abs(curvature) / 2);
     } else {
       maxChassisAcceleration =
           maxWheelAcceleration
-              / (1
-                  + m_kinematics.trackWidthMeters
-                      * Math.abs(curvatureRadPerMeter)
-                      * Math.signum(velocityMetersPerSecond)
-                      / 2);
+              / (1 + m_kinematics.trackwidth * Math.abs(curvature) * Math.signum(velocity) / 2);
       minChassisAcceleration =
           minWheelAcceleration
-              / (1
-                  - m_kinematics.trackWidthMeters
-                      * Math.abs(curvatureRadPerMeter)
-                      * Math.signum(velocityMetersPerSecond)
-                      / 2);
+              / (1 - m_kinematics.trackwidth * Math.abs(curvature) * Math.signum(velocity) / 2);
     }
 
     // When turning about a point inside the wheelbase (i.e. radius less than half
@@ -116,10 +100,10 @@ public MinMax getMinMaxAccelerationMetersPerSecondSq(
     // the same.  The formula above changes sign for the inner wheel when this happens.
     // We can accurately account for this by simply negating the inner wheel.
 
-    if ((m_kinematics.trackWidthMeters / 2) > (1 / Math.abs(curvatureRadPerMeter))) {
-      if (velocityMetersPerSecond > 0) {
+    if ((m_kinematics.trackwidth / 2) > (1 / Math.abs(curvature))) {
+      if (velocity > 0) {
         minChassisAcceleration = -minChassisAcceleration;
-      } else if (velocityMetersPerSecond < 0) {
+      } else if (velocity < 0) {
         maxChassisAcceleration = -maxChassisAcceleration;
       }
     }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
index 7daac52c8fa..9501e983ae5 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
@@ -18,8 +18,8 @@ public class EllipticalRegionConstraint implements TrajectoryConstraint {
    * Constructs a new EllipticalRegionConstraint.
    *
    * @param center The center of the ellipse in which to enforce the constraint.
-   * @param xWidth The width of the ellipse in which to enforce the constraint.
-   * @param yWidth The height of the ellipse in which to enforce the constraint.
+   * @param xWidth The width of the ellipse in which to enforce the constraint in meters.
+   * @param yWidth The height of the ellipse in which to enforce the constraint in meters.
    * @param rotation The rotation to apply to all radii around the origin.
    * @param constraint The constraint to enforce when the robot is within the region.
    * @deprecated Use constructor taking Ellipse2d instead.
@@ -46,22 +46,18 @@ public EllipticalRegionConstraint(Ellipse2d ellipse, TrajectoryConstraint constr
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
-    if (m_ellipse.contains(poseMeters.getTranslation())) {
-      return m_constraint.getMaxVelocityMetersPerSecond(
-          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
+    if (m_ellipse.contains(pose.getTranslation())) {
+      return m_constraint.getMaxVelocity(pose, curvature, velocity);
     } else {
       return Double.POSITIVE_INFINITY;
     }
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
-    if (m_ellipse.contains(poseMeters.getTranslation())) {
-      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(
-          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
+    if (m_ellipse.contains(pose.getTranslation())) {
+      return m_constraint.getMinMaxAcceleration(pose, curvature, velocity);
     } else {
       return new MinMax();
     }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java
index d672295c6d9..613f0aa49ee 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MaxVelocityConstraint.java
@@ -17,21 +17,20 @@ public class MaxVelocityConstraint implements TrajectoryConstraint {
   /**
    * Constructs a new MaxVelocityConstraint.
    *
-   * @param maxVelocityMetersPerSecond The max velocity.
+   * @param maxVelocity The max velocity in m/s.
    */
-  public MaxVelocityConstraint(double maxVelocityMetersPerSecond) {
-    m_maxVelocity = maxVelocityMetersPerSecond;
+  public MaxVelocityConstraint(double maxVelocity) {
+    m_maxVelocity = maxVelocity;
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     return m_maxVelocity;
   }
 
   @Override
-  public TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public TrajectoryConstraint.MinMax getMinMaxAcceleration(
+      Pose2d pose, double curvature, double velocity) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
index dab3699650f..90a73b33ff4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
@@ -14,66 +14,63 @@
  * drivetrain stay below a certain limit.
  */
 public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
-  private final double m_maxSpeedMetersPerSecond;
+  private final double m_maxSpeed;
   private final MecanumDriveKinematics m_kinematics;
 
   /**
    * Constructs a mecanum drive kinematics constraint.
    *
    * @param kinematics Mecanum drive kinematics.
-   * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
+   * @param maxSpeed The max speed that a side of the robot can travel at in m/s.
    */
   public MecanumDriveKinematicsConstraint(
-      final MecanumDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
-    m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
+      final MecanumDriveKinematics kinematics, double maxSpeed) {
+    m_maxSpeed = maxSpeed;
     m_kinematics = kinematics;
   }
 
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *     constraints are applied.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The velocity at the current point in the trajectory before constraints are
+   *     applied in m/s.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     // Represents the velocity of the chassis in the x direction
-    var xdVelocity = velocityMetersPerSecond * poseMeters.getRotation().getCos();
+    var xdVelocity = velocity * pose.getRotation().getCos();
 
     // Represents the velocity of the chassis in the y direction
-    var ydVelocity = velocityMetersPerSecond * poseMeters.getRotation().getSin();
+    var ydVelocity = velocity * pose.getRotation().getSin();
 
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds =
-        new ChassisSpeeds(xdVelocity, ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds = new ChassisSpeeds(xdVelocity, ydVelocity, velocity * curvature);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
-    wheelSpeeds.desaturate(m_maxSpeedMetersPerSecond);
+    wheelSpeeds.desaturate(m_maxSpeed);
 
     // Convert normalized wheel speeds back to chassis speeds
     var normSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     // Return the new linear chassis speed.
-    return Math.hypot(normSpeeds.vxMetersPerSecond, normSpeeds.vyMetersPerSecond);
+    return Math.hypot(normSpeeds.vx, normSpeeds.vy);
   }
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
    * curvature, and speed.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The speed at the current point in the trajectory in m/s.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java
index 69664719845..f4ee23e32d0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/RectangularRegionConstraint.java
@@ -41,22 +41,18 @@ public RectangularRegionConstraint(Rectangle2d rectangle, TrajectoryConstraint c
   }
 
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
-    if (m_rectangle.contains(poseMeters.getTranslation())) {
-      return m_constraint.getMaxVelocityMetersPerSecond(
-          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
+    if (m_rectangle.contains(pose.getTranslation())) {
+      return m_constraint.getMaxVelocity(pose, curvature, velocity);
     } else {
       return Double.POSITIVE_INFINITY;
     }
   }
 
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
-    if (m_rectangle.contains(poseMeters.getTranslation())) {
-      return m_constraint.getMinMaxAccelerationMetersPerSecondSq(
-          poseMeters, curvatureRadPerMeter, velocityMetersPerSecond);
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
+    if (m_rectangle.contains(pose.getTranslation())) {
+      return m_constraint.getMinMaxAcceleration(pose, curvature, velocity);
     } else {
       return new MinMax();
     }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
index 5c2e1f58fe6..0f3867de9b9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
@@ -14,66 +14,62 @@
  * stay below a certain limit.
  */
 public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
-  private final double m_maxSpeedMetersPerSecond;
+  private final double m_maxSpeed;
   private final SwerveDriveKinematics m_kinematics;
 
   /**
    * Constructs a swerve drive kinematics constraint.
    *
    * @param kinematics Swerve drive kinematics.
-   * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
+   * @param maxSpeed The max speed that a side of the robot can travel at in m/s.
    */
-  public SwerveDriveKinematicsConstraint(
-      final SwerveDriveKinematics kinematics, double maxSpeedMetersPerSecond) {
-    m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
+  public SwerveDriveKinematicsConstraint(final SwerveDriveKinematics kinematics, double maxSpeed) {
+    m_maxSpeed = maxSpeed;
     m_kinematics = kinematics;
   }
 
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *     constraints are applied.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The velocity at the current point in the trajectory before constraints are
+   *     applied in m/s.
    * @return The absolute maximum velocity.
    */
   @Override
-  public double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
     // Represents the velocity of the chassis in the x direction
-    var xdVelocity = velocityMetersPerSecond * poseMeters.getRotation().getCos();
+    var xdVelocity = velocity * pose.getRotation().getCos();
 
     // Represents the velocity of the chassis in the y direction
-    var ydVelocity = velocityMetersPerSecond * poseMeters.getRotation().getSin();
+    var ydVelocity = velocity * pose.getRotation().getSin();
 
     // Create an object to represent the current chassis speeds.
-    var chassisSpeeds =
-        new ChassisSpeeds(xdVelocity, ydVelocity, velocityMetersPerSecond * curvatureRadPerMeter);
+    var chassisSpeeds = new ChassisSpeeds(xdVelocity, ydVelocity, velocity * curvature);
 
     // Get the wheel speeds and normalize them to within the max velocity.
     var wheelSpeeds = m_kinematics.toSwerveModuleStates(chassisSpeeds);
-    SwerveDriveKinematics.desaturateWheelSpeeds(wheelSpeeds, m_maxSpeedMetersPerSecond);
+    SwerveDriveKinematics.desaturateWheelSpeeds(wheelSpeeds, m_maxSpeed);
 
     // Convert normalized wheel speeds back to chassis speeds
     var normSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     // Return the new linear chassis speed.
-    return Math.hypot(normSpeeds.vxMetersPerSecond, normSpeeds.vyMetersPerSecond);
+    return Math.hypot(normSpeeds.vx, normSpeeds.vy);
   }
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
    * curvature, and speed.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory in rad/m.
+   * @param velocity The speed at the current point in the trajectory in m/s.
    * @return The min and max acceleration bounds.
    */
   @Override
-  public MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
+  public MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity) {
     return new MinMax();
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
index 48490d4eba5..3dc689cff39 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
@@ -14,45 +14,42 @@ public interface TrajectoryConstraint {
   /**
    * Returns the max velocity given the current pose and curvature.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
-   *     constraints are applied.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory rad/m.
+   * @param velocity The velocity at the current point in the trajectory before constraints are
+   *     applied in m/s.
    * @return The absolute maximum velocity.
    */
-  double getMaxVelocityMetersPerSecond(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond);
+  double getMaxVelocity(Pose2d pose, double curvature, double velocity);
 
   /**
    * Returns the minimum and maximum allowable acceleration for the trajectory given pose,
    * curvature, and speed.
    *
-   * @param poseMeters The pose at the current point in the trajectory.
-   * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
-   * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+   * @param pose The pose at the current point in the trajectory.
+   * @param curvature The curvature at the current point in the trajectory rad/m.
+   * @param velocity The speed at the current point in the trajectory in m/s.
    * @return The min and max acceleration bounds.
    */
-  MinMax getMinMaxAccelerationMetersPerSecondSq(
-      Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond);
+  MinMax getMinMaxAcceleration(Pose2d pose, double curvature, double velocity);
 
   /** Represents a minimum and maximum acceleration. */
   class MinMax {
     /** The minimum acceleration. */
-    public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
+    public double minAcceleration = -Double.MAX_VALUE;
 
     /** The maximum acceleration. */
-    public double maxAccelerationMetersPerSecondSq = Double.MAX_VALUE;
+    public double maxAcceleration = Double.MAX_VALUE;
 
     /**
      * Constructs a MinMax.
      *
-     * @param minAccelerationMetersPerSecondSq The minimum acceleration.
-     * @param maxAccelerationMetersPerSecondSq The maximum acceleration.
+     * @param minAcceleration The minimum acceleration in m/s².
+     * @param maxAcceleration The maximum acceleration in m/s².
      */
-    public MinMax(
-        double minAccelerationMetersPerSecondSq, double maxAccelerationMetersPerSecondSq) {
-      this.minAccelerationMetersPerSecondSq = minAccelerationMetersPerSecondSq;
-      this.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+    public MinMax(double minAcceleration, double maxAcceleration) {
+      this.minAcceleration = minAcceleration;
+      this.maxAcceleration = maxAcceleration;
     }
 
     /** Constructs a MinMax with default values. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
index 204c814db1b..d0c3198307f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
@@ -38,10 +38,10 @@ public Trajectory.State unpack(ProtobufTrajectoryState msg) {
 
   @Override
   public void pack(ProtobufTrajectoryState msg, Trajectory.State value) {
-    msg.setTime(value.timeSeconds);
-    msg.setVelocity(value.velocityMetersPerSecond);
-    msg.setAcceleration(value.accelerationMetersPerSecondSq);
-    Pose2d.proto.pack(msg.getMutablePose(), value.poseMeters);
-    msg.setCurvature(value.curvatureRadPerMeter);
+    msg.setTime(value.time);
+    msg.setVelocity(value.velocity);
+    msg.setAcceleration(value.acceleration);
+    Pose2d.proto.pack(msg.getMutablePose(), value.pose);
+    msg.setCurvature(value.curvature);
   }
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
index 5ca8372796f..4c33bd710df 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
@@ -14,14 +14,14 @@ wpi::Protobuf<frc::DifferentialDriveKinematics>::Unpack(InputStream& stream) {
   }
 
   return frc::DifferentialDriveKinematics{
-      units::meter_t{msg.track_width},
+      units::meter_t{msg.trackwidth},
   };
 }
 
 bool wpi::Protobuf<frc::DifferentialDriveKinematics>::Pack(
     OutputStream& stream, const frc::DifferentialDriveKinematics& value) {
   wpi_proto_ProtobufDifferentialDriveKinematics msg{
-      .track_width = value.trackWidth.value(),
+      .trackwidth = value.trackwidth.value(),
   };
   return stream.Encode(msg);
 }
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
index b7be0d2266b..8f6b064ba52 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
@@ -5,7 +5,7 @@
 #include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
 
 namespace {
-constexpr size_t kTrackWidthOff = 0;
+constexpr size_t kTrackwidthOff = 0;
 }  // namespace
 
 using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
@@ -13,11 +13,11 @@ using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
 frc::DifferentialDriveKinematics StructType::Unpack(
     std::span<const uint8_t> data) {
   return frc::DifferentialDriveKinematics{
-      units::meter_t{wpi::UnpackStruct<double, kTrackWidthOff>(data)},
+      units::meter_t{wpi::UnpackStruct<double, kTrackwidthOff>(data)},
   };
 }
 
 void StructType::Pack(std::span<uint8_t> data,
                       const frc::DifferentialDriveKinematics& value) {
-  wpi::PackStruct<kTrackWidthOff>(data, value.trackWidth.value());
+  wpi::PackStruct<kTrackwidthOff>(data, value.trackwidth.value());
 }
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index f605a504569..903d388352f 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -33,13 +33,13 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   /**
    * Constructs a differential drive kinematics object.
    *
-   * @param trackWidth The track width of the drivetrain. Theoretically, this is
+   * @param trackwidth The trackwidth of the drivetrain. Theoretically, this is
    * the distance between the left wheels and right wheels. However, the
    * empirical value may be larger than the physical measured value due to
    * scrubbing effects.
    */
-  constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
-      : trackWidth(trackWidth) {
+  constexpr explicit DifferentialDriveKinematics(units::meter_t trackwidth)
+      : trackwidth(trackwidth) {
     if (!std::is_constant_evaluated()) {
       wpi::math::MathSharedStore::ReportUsage(
           wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
@@ -56,7 +56,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   constexpr ChassisSpeeds ToChassisSpeeds(
       const DifferentialDriveWheelSpeeds& wheelSpeeds) const override {
     return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
-            (wheelSpeeds.right - wheelSpeeds.left) / trackWidth * 1_rad};
+            (wheelSpeeds.right - wheelSpeeds.left) / trackwidth * 1_rad};
   }
 
   /**
@@ -69,8 +69,8 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
    */
   constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds(
       const ChassisSpeeds& chassisSpeeds) const override {
-    return {chassisSpeeds.vx - trackWidth / 2 * chassisSpeeds.omega / 1_rad,
-            chassisSpeeds.vx + trackWidth / 2 * chassisSpeeds.omega / 1_rad};
+    return {chassisSpeeds.vx - trackwidth / 2 * chassisSpeeds.omega / 1_rad,
+            chassisSpeeds.vx + trackwidth / 2 * chassisSpeeds.omega / 1_rad};
   }
 
   /**
@@ -84,7 +84,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   constexpr Twist2d ToTwist2d(const units::meter_t leftDistance,
                               const units::meter_t rightDistance) const {
     return {(leftDistance + rightDistance) / 2, 0_m,
-            (rightDistance - leftDistance) / trackWidth * 1_rad};
+            (rightDistance - leftDistance) / trackwidth * 1_rad};
   }
 
   constexpr Twist2d ToTwist2d(
@@ -100,7 +100,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   }
 
   /// Differential drive trackwidth.
-  units::meter_t trackWidth;
+  units::meter_t trackwidth;
 };
 }  // namespace frc
 
diff --git a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
index fa14606f61e..13a31ba02bb 100644
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
@@ -15,7 +15,7 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
     return "DifferentialDriveKinematics";
   }
   static constexpr size_t GetSize() { return 8; }
-  static constexpr std::string_view GetSchema() { return "double track_width"; }
+  static constexpr std::string_view GetSchema() { return "double trackwidth"; }
 
   static frc::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index 0af472b934f..f2b6e41538d 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -417,7 +417,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param motor The motor (or gearbox) driving the drivetrain.
    * @param mass The mass of the robot in kilograms.
    * @param r The radius of the wheels in meters.
-   * @param rb The radius of the base (half of the track width), in meters.
+   * @param rb The radius of the base (half of the trackwidth), in meters.
    * @param J The moment of inertia of the robot.
    * @param gearing Gear ratio from motor to wheel.
    * @throws std::domain_error if mass <= 0, r <= 0, rb <= 0, J <= 0, or
diff --git a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
index 3c49e905a20..edafa6f7528 100644
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
@@ -90,18 +90,18 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
     if (speed == 0_mps) {
       maxChassisAcceleration =
           maxWheelAcceleration /
-          (1 + m_kinematics.trackWidth * units::math::abs(curvature) / (2_rad));
+          (1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
       minChassisAcceleration =
           minWheelAcceleration /
-          (1 + m_kinematics.trackWidth * units::math::abs(curvature) / (2_rad));
+          (1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
     } else {
       maxChassisAcceleration =
           maxWheelAcceleration /
-          (1 + m_kinematics.trackWidth * units::math::abs(curvature) *
+          (1 + m_kinematics.trackwidth * units::math::abs(curvature) *
                    wpi::sgn(speed) / (2_rad));
       minChassisAcceleration =
           minWheelAcceleration /
-          (1 - m_kinematics.trackWidth * units::math::abs(curvature) *
+          (1 - m_kinematics.trackwidth * units::math::abs(curvature) *
                    wpi::sgn(speed) / (2_rad));
     }
 
@@ -111,7 +111,7 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
     // wheel when this happens. We can accurately account for this by simply
     // negating the inner wheel.
 
-    if ((m_kinematics.trackWidth / 2) > 1_rad / units::math::abs(curvature)) {
+    if ((m_kinematics.trackwidth / 2) > 1_rad / units::math::abs(curvature)) {
       if (speed > 0_mps) {
         minChassisAcceleration = -minChassisAcceleration;
       } else if (speed < 0_mps) {
diff --git a/wpimath/src/main/proto/kinematics.proto b/wpimath/src/main/proto/kinematics.proto
index 4cb3b055a23..558cf905279 100644
--- a/wpimath/src/main/proto/kinematics.proto
+++ b/wpimath/src/main/proto/kinematics.proto
@@ -13,7 +13,7 @@ message ProtobufChassisSpeeds {
 }
 
 message ProtobufDifferentialDriveKinematics {
-  double track_width = 1;
+  double trackwidth = 1;
 }
 
 message ProtobufDifferentialDriveWheelSpeeds {
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveFeedforwardTest.java
index fdf53eab745..45498574f7f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveFeedforwardTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveFeedforwardTest.java
@@ -20,7 +20,7 @@ class DifferentialDriveFeedforwardTest {
   private static final double kVAngular = 1.0;
   private static final double kAAngular = 1.0;
   private static final double trackwidth = 1.0;
-  private static final double dtSeconds = 0.02;
+  private static final double dt = 0.02;
 
   @Test
   void testCalculateWithTrackwidth() {
@@ -39,12 +39,12 @@ void testCalculateWithTrackwidth() {
                     nextLeftVelocity,
                     currentRightVelocity,
                     nextRightVelocity,
-                    dtSeconds);
+                    dt);
             Matrix<N2, N1> nextX =
                 plant.calculateX(
                     VecBuilder.fill(currentLeftVelocity, currentRightVelocity),
                     VecBuilder.fill(u.left, u.right),
-                    dtSeconds);
+                    dt);
             assertEquals(nextX.get(0, 0), nextLeftVelocity, 1e-6);
             assertEquals(nextX.get(1, 0), nextRightVelocity, 1e-6);
           }
@@ -69,12 +69,12 @@ void testCalculateWithoutTrackwidth() {
                     nextLeftVelocity,
                     currentRightVelocity,
                     nextRightVelocity,
-                    dtSeconds);
+                    dt);
             Matrix<N2, N1> nextX =
                 plant.calculateX(
                     VecBuilder.fill(currentLeftVelocity, currentRightVelocity),
                     VecBuilder.fill(u.left, u.right),
-                    dtSeconds);
+                    dt);
             assertEquals(nextX.get(0, 0), nextLeftVelocity, 1e-6);
             assertEquals(nextX.get(1, 0), nextRightVelocity, 1e-6);
           }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
index 4617fb76aee..870a9bc327b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
@@ -42,22 +42,17 @@ void testReachesReference() {
     Trajectory trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
 
     final double kDt = 0.02;
-    final double kTotalTime = trajectory.getTotalTimeSeconds();
+    final double kTotalTime = trajectory.getTotalTime();
 
     for (int i = 0; i < (kTotalTime / kDt); i++) {
       Trajectory.State state = trajectory.sample(kDt * i);
       ChassisSpeeds output = controller.calculate(robotPose, state, Rotation2d.kZero);
 
-      robotPose =
-          robotPose.exp(
-              new Twist2d(
-                  output.vxMetersPerSecond * kDt,
-                  output.vyMetersPerSecond * kDt,
-                  output.omegaRadiansPerSecond * kDt));
+      robotPose = robotPose.exp(new Twist2d(output.vx * kDt, output.vy * kDt, output.omega * kDt));
     }
 
     final List<Trajectory.State> states = trajectory.getStates();
-    final Pose2d endPose = states.get(states.size() - 1).poseMeters;
+    final Pose2d endPose = states.get(states.size() - 1).pose;
 
     // Java lambdas require local variables referenced from a lambda expression
     // must be final or effectively final.
@@ -85,6 +80,6 @@ void testDoesNotRotateUnnecessarily() {
         controller.calculate(
             new Pose2d(0, 0, new Rotation2d(1.57)), Pose2d.kZero, 0, new Rotation2d(1.57));
 
-    assertEquals(0.0, speeds.omegaRadiansPerSecond);
+    assertEquals(0.0, speeds.omega);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/LTVDifferentialDriveControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LTVDifferentialDriveControllerTest.java
index 99bc544bd04..8740c674705 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/LTVDifferentialDriveControllerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LTVDifferentialDriveControllerTest.java
@@ -96,7 +96,7 @@ void testReachesReference() {
             0.0,
             0.0);
 
-    final var totalTime = trajectory.getTotalTimeSeconds();
+    final var totalTime = trajectory.getTotalTime();
     for (int i = 0; i < (totalTime / kDt); ++i) {
       var state = trajectory.sample(kDt * i);
       robotPose =
@@ -115,7 +115,7 @@ void testReachesReference() {
     }
 
     final var states = trajectory.getStates();
-    final var endPose = states.get(states.size() - 1).poseMeters;
+    final var endPose = states.get(states.size() - 1).pose;
 
     // Java lambdas require local variables referenced from a lambda expression
     // must be final or effectively final.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/LTVUnicycleControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LTVUnicycleControllerTest.java
index 23316854e2f..b75dcbd5145 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/LTVUnicycleControllerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LTVUnicycleControllerTest.java
@@ -36,18 +36,16 @@ void testReachesReference() {
     var config = new TrajectoryConfig(8.8, 0.1);
     final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
 
-    final var totalTime = trajectory.getTotalTimeSeconds();
+    final var totalTime = trajectory.getTotalTime();
     for (int i = 0; i < (totalTime / kDt); ++i) {
       var state = trajectory.sample(kDt * i);
 
       var output = controller.calculate(robotPose, state);
-      robotPose =
-          robotPose.exp(
-              new Twist2d(output.vxMetersPerSecond * kDt, 0, output.omegaRadiansPerSecond * kDt));
+      robotPose = robotPose.exp(new Twist2d(output.vx * kDt, 0, output.omega * kDt));
     }
 
     final var states = trajectory.getStates();
-    final var endPose = states.get(states.size() - 1).poseMeters;
+    final var endPose = states.get(states.size() - 1).pose;
 
     // Java lambdas require local variables referenced from a lambda expression
     // must be final or effectively final.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
index 48278ced6e3..fc59c7be49e 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
@@ -85,7 +85,7 @@ void testLQROnArm() {
    * @param Q State cost matrix.
    * @param R Input cost matrix.
    * @param Aref Desired state matrix.
-   * @param dtSeconds Discretization timestep in seconds.
+   * @param dt Discretization timestep in seconds.
    */
   <States extends Num, Inputs extends Num> Matrix<Inputs, States> getImplicitModelFollowingK(
       Matrix<States, States> A,
@@ -93,21 +93,21 @@ <States extends Num, Inputs extends Num> Matrix<Inputs, States> getImplicitModel
       Matrix<States, States> Q,
       Matrix<Inputs, Inputs> R,
       Matrix<States, States> Aref,
-      double dtSeconds) {
+      double dt) {
     // Discretize real dynamics
-    var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
+    var discABPair = Discretization.discretizeAB(A, B, dt);
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
 
     // Discretize desired dynamics
-    var discAref = Discretization.discretizeA(Aref, dtSeconds);
+    var discAref = Discretization.discretizeA(Aref, dt);
 
     Matrix<States, States> Qimf =
         (discA.minus(discAref)).transpose().times(Q).times(discA.minus(discAref));
     Matrix<Inputs, Inputs> Rimf = discB.transpose().times(Q).times(discB).plus(R);
     Matrix<States, Inputs> Nimf = (discA.minus(discAref)).transpose().times(Q).times(discB);
 
-    return new LinearQuadraticRegulator<>(A, B, Qimf, Rimf, Nimf, dtSeconds).getK();
+    return new LinearQuadraticRegulator<>(A, B, Qimf, Rimf, Nimf, dt).getK();
   }
 
   @Test
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3dTest.java
index 7912d3f9f54..9a89e32cecf 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator3dTest.java
@@ -58,12 +58,8 @@ void testAccuracy() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -113,12 +109,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -141,11 +133,11 @@ void testFollowTrajectory(
       final double visionUpdateRate,
       final double visionUpdateDelay,
       final boolean checkError) {
-    double leftDistanceMeters = 0;
-    double rightDistanceMeters = 0;
+    double leftDistance = 0;
+    double rightDistance = 0;
 
     estimator.resetPosition(
-        Rotation3d.kZero, leftDistanceMeters, rightDistanceMeters, new Pose3d(startingPose));
+        Rotation3d.kZero, leftDistance, rightDistance, new Pose3d(startingPose));
 
     var rand = new Random(3538);
 
@@ -155,7 +147,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -183,24 +175,24 @@ void testFollowTrajectory(
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
-      leftDistanceMeters += wheelSpeeds.leftMetersPerSecond * dt;
-      rightDistanceMeters += wheelSpeeds.rightMetersPerSecond * dt;
+      leftDistance += wheelSpeeds.left * dt;
+      rightDistance += wheelSpeeds.right * dt;
 
       var xHat =
           estimator.updateWithTime(
               t,
               new Rotation3d(
                   groundTruthState
-                      .poseMeters
+                      .pose
                       .getRotation()
                       .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                       .minus(trajectory.getInitialPose().getRotation())),
-              leftDistanceMeters,
-              rightDistanceMeters);
+              leftDistance,
+              rightDistance);
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -222,8 +214,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
index 09ebfeda98e..a22a0e36266 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
@@ -55,12 +55,8 @@ void testAccuracy() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -110,12 +106,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -138,11 +130,10 @@ void testFollowTrajectory(
       final double visionUpdateRate,
       final double visionUpdateDelay,
       final boolean checkError) {
-    double leftDistanceMeters = 0;
-    double rightDistanceMeters = 0;
+    double leftDistance = 0;
+    double rightDistance = 0;
 
-    estimator.resetPosition(
-        Rotation2d.kZero, leftDistanceMeters, rightDistanceMeters, startingPose);
+    estimator.resetPosition(Rotation2d.kZero, leftDistance, rightDistance, startingPose);
 
     var rand = new Random(3538);
 
@@ -152,7 +143,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -180,22 +171,21 @@ void testFollowTrajectory(
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
-      leftDistanceMeters += wheelSpeeds.leftMetersPerSecond * dt;
-      rightDistanceMeters += wheelSpeeds.rightMetersPerSecond * dt;
+      leftDistance += wheelSpeeds.left * dt;
+      rightDistance += wheelSpeeds.right * dt;
 
       var xHat =
           estimator.updateWithTime(
               t,
               groundTruthState
-                  .poseMeters
+                  .pose
                   .getRotation()
                   .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                   .minus(trajectory.getInitialPose().getRotation()),
-              leftDistanceMeters,
-              rightDistanceMeters);
+              leftDistance,
+              rightDistance);
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -215,8 +205,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
index a1b5b3a1cf0..29554b176da 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
@@ -30,14 +30,13 @@ private static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N
     final var motors = DCMotor.getCIM(2);
 
     final var gr = 7.08; // Gear ratio
-    final var rb = 0.8382 / 2.0; // Wheelbase radius (track width)
+    final var rb = 0.8382 / 2.0; // Wheelbase radius (trackwidth)
     final var r = 0.0746125; // Wheel radius
     final var m = 63.503; // Robot mass
     final var J = 5.6; // Robot moment of inertia
 
-    final var C1 =
-        -Math.pow(gr, 2) * motors.KtNMPerAmp / (motors.KvRadPerSecPerVolt * motors.rOhms * r * r);
-    final var C2 = gr * motors.KtNMPerAmp / (motors.rOhms * r);
+    final var C1 = -Math.pow(gr, 2) * motors.Kt / (motors.Kv * motors.R * r * r);
+    final var C2 = gr * motors.Kt / (motors.R * r);
     final var k1 = 1.0 / m + rb * rb / J;
     final var k2 = 1.0 / m - rb * rb / J;
 
@@ -68,7 +67,7 @@ private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix
 
   @Test
   void testInit() {
-    double dtSeconds = 0.00505;
+    double dt = 0.00505;
 
     assertDoesNotThrow(
         () -> {
@@ -81,10 +80,10 @@ void testInit() {
                   ExtendedKalmanFilterTest::getLocalMeasurementModel,
                   VecBuilder.fill(0.5, 0.5, 10.0, 1.0, 1.0),
                   VecBuilder.fill(0.0001, 0.01, 0.01),
-                  dtSeconds);
+                  dt);
 
           Matrix<N2, N1> u = VecBuilder.fill(12.0, 12.0);
-          observer.predict(u, dtSeconds);
+          observer.predict(u, dt);
 
           var localY = getLocalMeasurementModel(observer.getXhat(), u);
           observer.correct(u, localY);
@@ -98,8 +97,8 @@ void testInit() {
 
   @Test
   void testConvergence() {
-    double dtSeconds = 0.00505;
-    double rbMeters = 0.8382 / 2.0; // Robot radius
+    double dt = 0.00505;
+    double rb = 0.8382 / 2.0; // Robot radius
 
     ExtendedKalmanFilter<N5, N2, N3> observer =
         new ExtendedKalmanFilter<>(
@@ -110,7 +109,7 @@ void testConvergence() {
             ExtendedKalmanFilterTest::getLocalMeasurementModel,
             VecBuilder.fill(0.5, 0.5, 10.0, 1.0, 1.0),
             VecBuilder.fill(0.001, 0.01, 0.01),
-            dtSeconds);
+            dt);
 
     List<Pose2d> waypoints =
         List.of(
@@ -142,15 +141,15 @@ void testConvergence() {
 
     var groundTruthX = observer.getXhat();
 
-    double totalTime = trajectory.getTotalTimeSeconds();
-    for (int i = 0; i < (totalTime / dtSeconds); i++) {
-      var ref = trajectory.sample(dtSeconds * i);
-      double vl = ref.velocityMetersPerSecond * (1 - (ref.curvatureRadPerMeter * rbMeters));
-      double vr = ref.velocityMetersPerSecond * (1 + (ref.curvatureRadPerMeter * rbMeters));
+    double totalTime = trajectory.getTotalTime();
+    for (int i = 0; i < (totalTime / dt); i++) {
+      var ref = trajectory.sample(dt * i);
+      double vl = ref.velocity * (1 - (ref.curvature * rb));
+      double vr = ref.velocity * (1 + (ref.curvature * rb));
 
-      nextR.set(0, 0, ref.poseMeters.getTranslation().getX());
-      nextR.set(1, 0, ref.poseMeters.getTranslation().getY());
-      nextR.set(2, 0, ref.poseMeters.getRotation().getRadians());
+      nextR.set(0, 0, ref.pose.getTranslation().getX());
+      nextR.set(1, 0, ref.pose.getTranslation().getY());
+      nextR.set(2, 0, ref.pose.getRotation().getRadians());
       nextR.set(3, 0, vl);
       nextR.set(4, 0, vr);
 
@@ -158,14 +157,13 @@ void testConvergence() {
       var whiteNoiseStdDevs = VecBuilder.fill(0.0001, 0.5, 0.5);
       observer.correct(u, localY.plus(StateSpaceUtil.makeWhiteNoiseVector(whiteNoiseStdDevs)));
 
-      Matrix<N5, N1> rdot = nextR.minus(r).div(dtSeconds);
+      Matrix<N5, N1> rdot = nextR.minus(r).div(dt);
       u = new Matrix<>(B.solve(rdot.minus(getDynamics(r, new Matrix<>(Nat.N2(), Nat.N1())))));
 
-      observer.predict(u, dtSeconds);
+      observer.predict(u, dt);
 
       groundTruthX =
-          NumericalIntegration.rk4(
-              ExtendedKalmanFilterTest::getDynamics, groundTruthX, u, dtSeconds);
+          NumericalIntegration.rk4(ExtendedKalmanFilterTest::getDynamics, groundTruthX, u, dt);
 
       r = nextR;
     }
@@ -177,10 +175,10 @@ void testConvergence() {
     var R = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
     observer.correct(Nat.N5(), u, globalY, ExtendedKalmanFilterTest::getGlobalMeasurementModel, R);
 
-    var finalPosition = trajectory.sample(trajectory.getTotalTimeSeconds());
-    assertEquals(finalPosition.poseMeters.getTranslation().getX(), observer.getXhat(0), 1.0);
-    assertEquals(finalPosition.poseMeters.getTranslation().getY(), observer.getXhat(1), 1.0);
-    assertEquals(finalPosition.poseMeters.getRotation().getRadians(), observer.getXhat(2), 1.0);
+    var finalPosition = trajectory.sample(trajectory.getTotalTime());
+    assertEquals(finalPosition.pose.getTranslation().getX(), observer.getXhat(0), 1.0);
+    assertEquals(finalPosition.pose.getTranslation().getY(), observer.getXhat(1), 1.0);
+    assertEquals(finalPosition.pose.getRotation().getRadians(), observer.getXhat(2), 1.0);
     assertEquals(0.0, observer.getXhat(3), 1.0);
     assertEquals(0.0, observer.getXhat(4), 1.0);
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
index 42fbd92db0a..35f36bb6e9b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
@@ -159,19 +159,19 @@ void testSwerveKFMovingOverTrajectory() {
     var time = 0.0;
     var lastVelocity = VecBuilder.fill(0.0, 0.0, 0.0);
 
-    while (time <= trajectory.getTotalTimeSeconds()) {
+    while (time <= trajectory.getTotalTime()) {
       var sample = trajectory.sample(time);
       var measurement =
           VecBuilder.fill(
-              sample.poseMeters.getTranslation().getX() + random.nextGaussian() / 5d,
-              sample.poseMeters.getTranslation().getY() + random.nextGaussian() / 5d,
-              sample.poseMeters.getRotation().getRadians() + random.nextGaussian() / 3d);
+              sample.pose.getTranslation().getX() + random.nextGaussian() / 5d,
+              sample.pose.getTranslation().getY() + random.nextGaussian() / 5d,
+              sample.pose.getRotation().getRadians() + random.nextGaussian() / 3d);
 
       var velocity =
           VecBuilder.fill(
-              sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getCos(),
-              sample.velocityMetersPerSecond * sample.poseMeters.getRotation().getSin(),
-              sample.curvatureRadPerMeter * sample.velocityMetersPerSecond);
+              sample.velocity * sample.pose.getRotation().getCos(),
+              sample.velocity * sample.pose.getRotation().getSin(),
+              sample.curvature * sample.velocity);
       var u = (velocity.minus(lastVelocity)).div(0.020);
       lastVelocity = velocity;
 
@@ -182,11 +182,11 @@ void testSwerveKFMovingOverTrajectory() {
     }
 
     assertEquals(
-        trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters.getTranslation().getX(),
+        trajectory.sample(trajectory.getTotalTime()).pose.getTranslation().getX(),
         filter.getXhat(0),
         0.2);
     assertEquals(
-        trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters.getTranslation().getY(),
+        trajectory.sample(trajectory.getTotalTime()).pose.getTranslation().getY(),
         filter.getXhat(1),
         0.2);
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3dTest.java
index 2ec6a200e7c..f8894e1effd 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator3dTest.java
@@ -64,12 +64,8 @@ void testAccuracyFacingTrajectory() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -123,12 +119,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -163,7 +155,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -191,17 +183,17 @@ void testFollowTrajectory(
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
       var xHat =
           estimator.updateWithTime(
               t,
               new Rotation3d(
                   groundTruthState
-                      .poseMeters
+                      .pose
                       .getRotation()
                       .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                       .minus(trajectory.getInitialPose().getRotation())),
@@ -209,7 +201,7 @@ void testFollowTrajectory(
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -231,8 +223,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
index ca81e7d866b..ef164c4ae3a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
@@ -61,12 +61,8 @@ void testAccuracyFacingTrajectory() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -120,12 +116,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -160,7 +152,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -188,23 +180,22 @@ void testFollowTrajectory(
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
       var xHat =
           estimator.updateWithTime(
               t,
               groundTruthState
-                  .poseMeters
+                  .pose
                   .getRotation()
                   .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                   .minus(trajectory.getInitialPose().getRotation()),
               wheelPositions);
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -224,8 +215,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java
index e3cd11a2815..98c3c39fb29 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java
@@ -69,12 +69,8 @@ void testAccuracyFacingTrajectory() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -132,12 +128,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -177,7 +169,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -206,8 +198,7 @@ void testFollowTrajectory(
       var moduleStates = kinematics.toSwerveModuleStates(chassisSpeeds);
 
       for (int i = 0; i < moduleStates.length; i++) {
-        positions[i].distanceMeters +=
-            moduleStates[i].speedMetersPerSecond * (1 - rand.nextGaussian() * 0.05) * dt;
+        positions[i].distance += moduleStates[i].speed * (1 - rand.nextGaussian() * 0.05) * dt;
         positions[i].angle =
             moduleStates[i].angle.plus(new Rotation2d(rand.nextGaussian() * 0.005));
       }
@@ -217,7 +208,7 @@ void testFollowTrajectory(
               t,
               new Rotation3d(
                   groundTruthState
-                      .poseMeters
+                      .pose
                       .getRotation()
                       .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                       .minus(trajectory.getInitialPose().getRotation())),
@@ -225,7 +216,7 @@ void testFollowTrajectory(
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -247,8 +238,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
index 2b259a6a894..719c90f476a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
@@ -66,12 +66,8 @@ void testAccuracyFacingTrajectory() {
         kinematics,
         estimator,
         trajectory,
-        state ->
-            new ChassisSpeeds(
-                state.velocityMetersPerSecond,
-                0,
-                state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-        state -> state.poseMeters,
+        state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+        state -> state.pose,
         trajectory.getInitialPose(),
         new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
         0.02,
@@ -129,12 +125,8 @@ void testBadInitialPose() {
             kinematics,
             estimator,
             trajectory,
-            state ->
-                new ChassisSpeeds(
-                    state.velocityMetersPerSecond,
-                    0,
-                    state.velocityMetersPerSecond * state.curvatureRadPerMeter),
-            state -> state.poseMeters,
+            state -> new ChassisSpeeds(state.velocity, 0, state.velocity * state.curvature),
+            state -> state.pose,
             initial_pose,
             new Pose2d(0, 0, Rotation2d.fromDegrees(45)),
             0.02,
@@ -174,7 +166,7 @@ void testFollowTrajectory(
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       // We are due for a new vision measurement if it's been `visionUpdateRate` seconds since the
@@ -203,8 +195,7 @@ void testFollowTrajectory(
       var moduleStates = kinematics.toSwerveModuleStates(chassisSpeeds);
 
       for (int i = 0; i < moduleStates.length; i++) {
-        positions[i].distanceMeters +=
-            moduleStates[i].speedMetersPerSecond * (1 - rand.nextGaussian() * 0.05) * dt;
+        positions[i].distance += moduleStates[i].speed * (1 - rand.nextGaussian() * 0.05) * dt;
         positions[i].angle =
             moduleStates[i].angle.plus(new Rotation2d(rand.nextGaussian() * 0.005));
       }
@@ -213,14 +204,13 @@ void testFollowTrajectory(
           estimator.updateWithTime(
               t,
               groundTruthState
-                  .poseMeters
+                  .pose
                   .getRotation()
                   .plus(new Rotation2d(rand.nextGaussian() * 0.05))
                   .minus(trajectory.getInitialPose().getRotation()),
               positions);
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -240,8 +230,7 @@ void testFollowTrajectory(
         "Incorrect Final Theta");
 
     if (checkError) {
-      assertEquals(
-          0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.07, "Incorrect mean error");
+      assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.07, "Incorrect mean error");
       assertEquals(0.0, maxError, 0.2, "Incorrect max error");
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
index c5a6cd11a5b..d9b645b9c03 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
@@ -40,11 +40,8 @@ private static Matrix<N5, N1> getDynamics(Matrix<N5, N1> x, Matrix<N2, N1> u) {
     var m = 63.503; // Robot mass
     var J = 5.6; // Robot moment of inertia
 
-    var C1 =
-        -Math.pow(gHigh, 2)
-            * motors.KtNMPerAmp
-            / (motors.KvRadPerSecPerVolt * motors.rOhms * r * r);
-    var C2 = gHigh * motors.KtNMPerAmp / (motors.rOhms * r);
+    var C1 = -Math.pow(gHigh, 2) * motors.Kt / (motors.Kv * motors.R * r * r);
+    var C2 = gHigh * motors.Kt / (motors.R * r);
     var k1 = 1.0 / m + Math.pow(rb, 2) / J;
     var k2 = 1.0 / m - Math.pow(rb, 2) / J;
 
@@ -74,7 +71,7 @@ private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix
 
   @Test
   void testInit() {
-    var dtSeconds = 0.005;
+    var dt = 0.005;
     assertDoesNotThrow(
         () -> {
           UnscentedKalmanFilter<N5, N2, N3> observer =
@@ -90,10 +87,10 @@ void testInit() {
                   AngleStatistics.angleResidual(2),
                   AngleStatistics.angleResidual(0),
                   AngleStatistics.angleAdd(2),
-                  dtSeconds);
+                  dt);
 
           var u = VecBuilder.fill(12.0, 12.0);
-          observer.predict(u, dtSeconds);
+          observer.predict(u, dt);
 
           var localY = getLocalMeasurementModel(observer.getXhat(), u);
           observer.correct(u, localY);
@@ -117,8 +114,8 @@ void testInit() {
 
   @Test
   void testConvergence() {
-    double dtSeconds = 0.005;
-    double rbMeters = 0.8382 / 2.0; // Robot radius
+    double dt = 0.005;
+    double rb = 0.8382 / 2.0; // Robot radius
 
     UnscentedKalmanFilter<N5, N2, N3> observer =
         new UnscentedKalmanFilter<>(
@@ -133,7 +130,7 @@ void testConvergence() {
             AngleStatistics.angleResidual(2),
             AngleStatistics.angleResidual(0),
             AngleStatistics.angleAdd(2),
-            dtSeconds);
+            dt);
 
     List<Pose2d> waypoints =
         List.of(
@@ -163,17 +160,17 @@ void testConvergence() {
 
     var trueXhat = observer.getXhat();
 
-    double totalTime = trajectory.getTotalTimeSeconds();
-    for (int i = 0; i < (totalTime / dtSeconds); i++) {
-      var ref = trajectory.sample(dtSeconds * i);
-      double vl = ref.velocityMetersPerSecond * (1 - (ref.curvatureRadPerMeter * rbMeters));
-      double vr = ref.velocityMetersPerSecond * (1 + (ref.curvatureRadPerMeter * rbMeters));
+    double totalTime = trajectory.getTotalTime();
+    for (int i = 0; i < (totalTime / dt); i++) {
+      var ref = trajectory.sample(dt * i);
+      double vl = ref.velocity * (1 - (ref.curvature * rb));
+      double vr = ref.velocity * (1 + (ref.curvature * rb));
 
       var nextR =
           VecBuilder.fill(
-              ref.poseMeters.getTranslation().getX(),
-              ref.poseMeters.getTranslation().getY(),
-              ref.poseMeters.getRotation().getRadians(),
+              ref.pose.getTranslation().getX(),
+              ref.pose.getTranslation().getY(),
+              ref.pose.getRotation().getRadians(),
               vl,
               vr);
 
@@ -182,14 +179,13 @@ void testConvergence() {
 
       observer.correct(u, localY.plus(StateSpaceUtil.makeWhiteNoiseVector(noiseStdDev)));
 
-      var rdot = nextR.minus(r).div(dtSeconds);
+      var rdot = nextR.minus(r).div(dt);
       u = new Matrix<>(B.solve(rdot.minus(getDynamics(r, new Matrix<>(Nat.N2(), Nat.N1())))));
 
-      observer.predict(u, dtSeconds);
+      observer.predict(u, dt);
 
       r = nextR;
-      trueXhat =
-          NumericalIntegration.rk4(UnscentedKalmanFilterTest::getDynamics, trueXhat, u, dtSeconds);
+      trueXhat = NumericalIntegration.rk4(UnscentedKalmanFilterTest::getDynamics, trueXhat, u, dt);
     }
 
     var localY = getLocalMeasurementModel(trueXhat, u);
@@ -210,12 +206,11 @@ void testConvergence() {
         AngleStatistics.angleResidual(2),
         AngleStatistics.angleAdd(2));
 
-    final var finalPosition = trajectory.sample(trajectory.getTotalTimeSeconds());
+    final var finalPosition = trajectory.sample(trajectory.getTotalTime());
 
-    assertEquals(finalPosition.poseMeters.getTranslation().getX(), observer.getXhat(0), 0.055);
-    assertEquals(finalPosition.poseMeters.getTranslation().getY(), observer.getXhat(1), 0.15);
-    assertEquals(
-        finalPosition.poseMeters.getRotation().getRadians(), observer.getXhat(2), 0.000005);
+    assertEquals(finalPosition.pose.getTranslation().getX(), observer.getXhat(0), 0.055);
+    assertEquals(finalPosition.pose.getTranslation().getY(), observer.getXhat(1), 0.15);
+    assertEquals(finalPosition.pose.getRotation().getRadians(), observer.getXhat(2), 0.000005);
     assertEquals(0.0, observer.getXhat(3), 0.1);
     assertEquals(0.0, observer.getXhat(4), 0.1);
   }
@@ -252,7 +247,7 @@ void testLinearUKF() {
 
   @Test
   void testRoundTripP() {
-    var dtSeconds = 0.005;
+    var dt = 0.005;
 
     var observer =
         new UnscentedKalmanFilter<>(
@@ -262,7 +257,7 @@ void testRoundTripP() {
             (x, u) -> x,
             VecBuilder.fill(0.0, 0.0),
             VecBuilder.fill(0.0, 0.0),
-            dtSeconds);
+            dt);
 
     var P = MatBuilder.fill(Nat.N2(), Nat.N2(), 2.0, 1.0, 1.0, 2.0);
     observer.setP(P);
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
index 5ed2e7f22a1..6eb76ca8d68 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
@@ -25,11 +25,7 @@ void testDiscretize() {
     final var dt = 0.01;
 
     speeds.discretize(duration);
-    final var twist =
-        new Twist2d(
-            speeds.vxMetersPerSecond * dt,
-            speeds.vyMetersPerSecond * dt,
-            speeds.omegaRadiansPerSecond * dt);
+    final var twist = new Twist2d(speeds.vx * dt, speeds.vy * dt, speeds.omega * dt);
 
     var pose = Pose2d.kZero;
     for (double time = 0; time < duration; time += dt) {
@@ -38,13 +34,9 @@ void testDiscretize() {
 
     final var result = pose; // For lambda capture
     assertAll(
-        () -> assertEquals(target.vxMetersPerSecond * duration, result.getX(), kEpsilon),
-        () -> assertEquals(target.vyMetersPerSecond * duration, result.getY(), kEpsilon),
-        () ->
-            assertEquals(
-                target.omegaRadiansPerSecond * duration,
-                result.getRotation().getRadians(),
-                kEpsilon));
+        () -> assertEquals(target.vx * duration, result.getX(), kEpsilon),
+        () -> assertEquals(target.vy * duration, result.getY(), kEpsilon),
+        () -> assertEquals(target.omega * duration, result.getRotation().getRadians(), kEpsilon));
   }
 
   @Test
@@ -55,9 +47,9 @@ void testMeasureConstructor() {
     var speeds = new ChassisSpeeds(vx, vy, omega);
 
     assertAll(
-        () -> assertEquals(0.368808, speeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0, speeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.002094395102, speeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(0.368808, speeds.vx, kEpsilon),
+        () -> assertEquals(0, speeds.vy, kEpsilon),
+        () -> assertEquals(0.002094395102, speeds.omega, kEpsilon));
   }
 
   @Test
@@ -66,9 +58,9 @@ void testFromFieldRelativeSpeeds() {
     chassisSpeeds.toRobotRelativeSpeeds(Rotation2d.kCW_Pi_2);
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(1.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(0.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(1.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.5, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -77,9 +69,9 @@ void testFromRobotRelativeSpeeds() {
     chassisSpeeds.toFieldRelativeSpeeds(Rotation2d.fromDegrees(45.0));
 
     assertAll(
-        () -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.5, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -90,9 +82,9 @@ void testPlus() {
     final var chassisSpeeds = left.plus(right);
 
     assertAll(
-        () -> assertEquals(3.0, chassisSpeeds.vxMetersPerSecond),
-        () -> assertEquals(2.0, chassisSpeeds.vyMetersPerSecond),
-        () -> assertEquals(1.0, chassisSpeeds.omegaRadiansPerSecond));
+        () -> assertEquals(3.0, chassisSpeeds.vx),
+        () -> assertEquals(2.0, chassisSpeeds.vy),
+        () -> assertEquals(1.0, chassisSpeeds.omega));
   }
 
   @Test
@@ -103,9 +95,9 @@ void testMinus() {
     final var chassisSpeeds = left.minus(right);
 
     assertAll(
-        () -> assertEquals(-1.0, chassisSpeeds.vxMetersPerSecond),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond),
-        () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond));
+        () -> assertEquals(-1.0, chassisSpeeds.vx),
+        () -> assertEquals(0.0, chassisSpeeds.vy),
+        () -> assertEquals(0.5, chassisSpeeds.omega));
   }
 
   @Test
@@ -113,9 +105,9 @@ void testUnaryMinus() {
     final var chassisSpeeds = (new ChassisSpeeds(1.0, 0.5, 0.75)).unaryMinus();
 
     assertAll(
-        () -> assertEquals(-1.0, chassisSpeeds.vxMetersPerSecond),
-        () -> assertEquals(-0.5, chassisSpeeds.vyMetersPerSecond),
-        () -> assertEquals(-0.75, chassisSpeeds.omegaRadiansPerSecond));
+        () -> assertEquals(-1.0, chassisSpeeds.vx),
+        () -> assertEquals(-0.5, chassisSpeeds.vy),
+        () -> assertEquals(-0.75, chassisSpeeds.omega));
   }
 
   @Test
@@ -123,9 +115,9 @@ void testMultiplication() {
     final var chassisSpeeds = (new ChassisSpeeds(1.0, 0.5, 0.75)).times(2.0);
 
     assertAll(
-        () -> assertEquals(2.0, chassisSpeeds.vxMetersPerSecond),
-        () -> assertEquals(1.0, chassisSpeeds.vyMetersPerSecond),
-        () -> assertEquals(1.5, chassisSpeeds.omegaRadiansPerSecond));
+        () -> assertEquals(2.0, chassisSpeeds.vx),
+        () -> assertEquals(1.0, chassisSpeeds.vy),
+        () -> assertEquals(1.5, chassisSpeeds.omega));
   }
 
   @Test
@@ -133,8 +125,8 @@ void testDivision() {
     final var chassisSpeeds = (new ChassisSpeeds(1.0, 0.5, 0.75)).div(2.0);
 
     assertAll(
-        () -> assertEquals(0.5, chassisSpeeds.vxMetersPerSecond),
-        () -> assertEquals(0.25, chassisSpeeds.vyMetersPerSecond),
-        () -> assertEquals(0.375, chassisSpeeds.omegaRadiansPerSecond));
+        () -> assertEquals(0.5, chassisSpeeds.vx),
+        () -> assertEquals(0.25, chassisSpeeds.vy),
+        () -> assertEquals(0.375, chassisSpeeds.omega));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java
index adee41fabc7..d6a4473e3f7 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematicsTest.java
@@ -20,8 +20,8 @@ void testInverseKinematicsForZeros() {
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
 
     assertAll(
-        () -> assertEquals(0.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, wheelSpeeds.rightMetersPerSecond, kEpsilon));
+        () -> assertEquals(0.0, wheelSpeeds.left, kEpsilon),
+        () -> assertEquals(0.0, wheelSpeeds.right, kEpsilon));
   }
 
   @Test
@@ -30,9 +30,9 @@ void testForwardKinematicsForZeros() {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(0.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -41,8 +41,8 @@ void testInverseKinematicsForStraightLine() {
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
 
     assertAll(
-        () -> assertEquals(3.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(3.0, wheelSpeeds.rightMetersPerSecond, kEpsilon));
+        () -> assertEquals(3.0, wheelSpeeds.left, kEpsilon),
+        () -> assertEquals(3.0, wheelSpeeds.right, kEpsilon));
   }
 
   @Test
@@ -51,9 +51,9 @@ void testForwardKinematicsForStraightLine() {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(3.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(3.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -62,8 +62,8 @@ void testInverseKinematicsForRotateInPlace() {
     var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
 
     assertAll(
-        () -> assertEquals(-0.381 * Math.PI, wheelSpeeds.leftMetersPerSecond, kEpsilon),
-        () -> assertEquals(+0.381 * Math.PI, wheelSpeeds.rightMetersPerSecond, kEpsilon));
+        () -> assertEquals(-0.381 * Math.PI, wheelSpeeds.left, kEpsilon),
+        () -> assertEquals(+0.381 * Math.PI, wheelSpeeds.right, kEpsilon));
   }
 
   @Test
@@ -72,8 +72,8 @@ void testForwardKinematicsForRotateInPlace() {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(-Math.PI, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(0.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(-Math.PI, chassisSpeeds.omega, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java
index 166a615ca9d..3c30ad6e1cc 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java
@@ -25,7 +25,7 @@ void testInitialize() {
             0,
             0,
             new Pose3d(1, 2, 0, new Rotation3d(0, 0, Units.degreesToRadians(45))));
-    var pose = odometry.getPoseMeters();
+    var pose = odometry.getPose();
     assertAll(
         () -> assertEquals(pose.getX(), 1.0, kEpsilon),
         () -> assertEquals(pose.getY(), 2.0, kEpsilon),
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeedsTest.java
index 7f2618012df..d1716d9c67c 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeedsTest.java
@@ -18,8 +18,7 @@ void testPlus() {
     final var wheelSpeeds = left.plus(right);
 
     assertAll(
-        () -> assertEquals(3.0, wheelSpeeds.leftMetersPerSecond),
-        () -> assertEquals(2.0, wheelSpeeds.rightMetersPerSecond));
+        () -> assertEquals(3.0, wheelSpeeds.left), () -> assertEquals(2.0, wheelSpeeds.right));
   }
 
   @Test
@@ -30,8 +29,7 @@ void testMinus() {
     final var wheelSpeeds = left.minus(right);
 
     assertAll(
-        () -> assertEquals(-1.0, wheelSpeeds.leftMetersPerSecond),
-        () -> assertEquals(0.0, wheelSpeeds.rightMetersPerSecond));
+        () -> assertEquals(-1.0, wheelSpeeds.left), () -> assertEquals(0.0, wheelSpeeds.right));
   }
 
   @Test
@@ -39,8 +37,7 @@ void testUnaryMinus() {
     final var wheelSpeeds = new DifferentialDriveWheelSpeeds(1.0, 0.5).unaryMinus();
 
     assertAll(
-        () -> assertEquals(-1.0, wheelSpeeds.leftMetersPerSecond),
-        () -> assertEquals(-0.5, wheelSpeeds.rightMetersPerSecond));
+        () -> assertEquals(-1.0, wheelSpeeds.left), () -> assertEquals(-0.5, wheelSpeeds.right));
   }
 
   @Test
@@ -48,8 +45,7 @@ void testMultiplication() {
     final var wheelSpeeds = new DifferentialDriveWheelSpeeds(1.0, 0.5).times(2.0);
 
     assertAll(
-        () -> assertEquals(2.0, wheelSpeeds.leftMetersPerSecond),
-        () -> assertEquals(1.0, wheelSpeeds.rightMetersPerSecond));
+        () -> assertEquals(2.0, wheelSpeeds.left), () -> assertEquals(1.0, wheelSpeeds.right));
   }
 
   @Test
@@ -57,7 +53,6 @@ void testDivision() {
     final var wheelSpeeds = new DifferentialDriveWheelSpeeds(1.0, 0.5).div(2.0);
 
     assertAll(
-        () -> assertEquals(0.5, wheelSpeeds.leftMetersPerSecond),
-        () -> assertEquals(0.25, wheelSpeeds.rightMetersPerSecond));
+        () -> assertEquals(0.5, wheelSpeeds.left), () -> assertEquals(0.25, wheelSpeeds.right));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
index 28fbfd8e839..6467b328c88 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
@@ -27,10 +27,10 @@ void testStraightLineInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds);
 
     assertAll(
-        () -> assertEquals(5.0, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(5.0, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(5.0, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(5.0, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(5.0, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(5.0, moduleStates.frontRight, 0.1),
+        () -> assertEquals(5.0, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(5.0, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -39,9 +39,9 @@ void testStraightLineForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(3.536, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(3.536, moduleStates.vx, 0.1),
+        () -> assertEquals(0, moduleStates.vy, 0.1),
+        () -> assertEquals(0, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -61,10 +61,10 @@ void testStrafeInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds);
 
     assertAll(
-        () -> assertEquals(-4.0, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(4.0, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(4.0, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(-4.0, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(-4.0, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(4.0, moduleStates.frontRight, 0.1),
+        () -> assertEquals(4.0, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(-4.0, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -73,9 +73,9 @@ void testStrafeForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(2.8284, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(0, moduleStates.vx, 0.1),
+        () -> assertEquals(2.8284, moduleStates.vy, 0.1),
+        () -> assertEquals(0, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -95,10 +95,10 @@ void testRotationInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds);
 
     assertAll(
-        () -> assertEquals(-150.79645, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(150.79645, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(-150.79645, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(150.79645, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(-150.79645, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(150.79645, moduleStates.frontRight, 0.1),
+        () -> assertEquals(-150.79645, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(150.79645, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -107,9 +107,9 @@ void testRotationForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(2 * Math.PI, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(0, moduleStates.vx, 0.1),
+        () -> assertEquals(0, moduleStates.vy, 0.1),
+        () -> assertEquals(2 * Math.PI, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -129,10 +129,10 @@ void testMixedTranslationRotationInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds);
 
     assertAll(
-        () -> assertEquals(-25.0, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(29.0, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(-19.0, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(23.0, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(-25.0, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(29.0, moduleStates.frontRight, 0.1),
+        () -> assertEquals(-19.0, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(23.0, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -141,9 +141,9 @@ void testMixedTranslationRotationForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(1.413, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(2.122, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0.707, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(1.413, moduleStates.vx, 0.1),
+        () -> assertEquals(2.122, moduleStates.vy, 0.1),
+        () -> assertEquals(0.707, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -163,10 +163,10 @@ void testOffCenterRotationInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds, m_fl);
 
     assertAll(
-        () -> assertEquals(0, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(24.0, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(-24.0, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(48.0, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(0, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(24.0, moduleStates.frontRight, 0.1),
+        () -> assertEquals(-24.0, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(48.0, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -175,9 +175,9 @@ void testOffCenterRotationForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(8.48525, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(-8.48525, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0.707, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(8.48525, moduleStates.vx, 0.1),
+        () -> assertEquals(-8.48525, moduleStates.vy, 0.1),
+        () -> assertEquals(0.707, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -197,10 +197,10 @@ void testOffCenterTranslationRotationInverseKinematics() {
     var moduleStates = m_kinematics.toWheelSpeeds(speeds, m_fl);
 
     assertAll(
-        () -> assertEquals(3.0, moduleStates.frontLeftMetersPerSecond, 0.1),
-        () -> assertEquals(31.0, moduleStates.frontRightMetersPerSecond, 0.1),
-        () -> assertEquals(-17.0, moduleStates.rearLeftMetersPerSecond, 0.1),
-        () -> assertEquals(51.0, moduleStates.rearRightMetersPerSecond, 0.1));
+        () -> assertEquals(3.0, moduleStates.frontLeft, 0.1),
+        () -> assertEquals(31.0, moduleStates.frontRight, 0.1),
+        () -> assertEquals(-17.0, moduleStates.rearLeft, 0.1),
+        () -> assertEquals(51.0, moduleStates.rearRight, 0.1));
   }
 
   @Test
@@ -209,9 +209,9 @@ void testOffCenterRotationTranslationForwardKinematicsKinematics() {
     var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
 
     assertAll(
-        () -> assertEquals(12.02, moduleStates.vxMetersPerSecond, 0.1),
-        () -> assertEquals(-7.07, moduleStates.vyMetersPerSecond, 0.1),
-        () -> assertEquals(0.707, moduleStates.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(12.02, moduleStates.vx, 0.1),
+        () -> assertEquals(-7.07, moduleStates.vy, 0.1),
+        () -> assertEquals(0.707, moduleStates.omega, 0.1));
   }
 
   @Test
@@ -233,10 +233,10 @@ void testDesaturate() {
     double factor = 5.5 / 7.0;
 
     assertAll(
-        () -> assertEquals(5.0 * factor, wheelSpeeds.frontLeftMetersPerSecond, kEpsilon),
-        () -> assertEquals(6.0 * factor, wheelSpeeds.frontRightMetersPerSecond, kEpsilon),
-        () -> assertEquals(4.0 * factor, wheelSpeeds.rearLeftMetersPerSecond, kEpsilon),
-        () -> assertEquals(7.0 * factor, wheelSpeeds.rearRightMetersPerSecond, kEpsilon));
+        () -> assertEquals(5.0 * factor, wheelSpeeds.frontLeft, kEpsilon),
+        () -> assertEquals(6.0 * factor, wheelSpeeds.frontRight, kEpsilon),
+        () -> assertEquals(4.0 * factor, wheelSpeeds.rearLeft, kEpsilon),
+        () -> assertEquals(7.0 * factor, wheelSpeeds.rearRight, kEpsilon));
   }
 
   @Test
@@ -247,9 +247,9 @@ void testDesaturateNegativeSpeeds() {
     final double kFactor = 5.5 / 7.0;
 
     assertAll(
-        () -> assertEquals(-5.0 * kFactor, wheelSpeeds.frontLeftMetersPerSecond, kEpsilon),
-        () -> assertEquals(6.0 * kFactor, wheelSpeeds.frontRightMetersPerSecond, kEpsilon),
-        () -> assertEquals(4.0 * kFactor, wheelSpeeds.rearLeftMetersPerSecond, kEpsilon),
-        () -> assertEquals(-7.0 * kFactor, wheelSpeeds.rearRightMetersPerSecond, kEpsilon));
+        () -> assertEquals(-5.0 * kFactor, wheelSpeeds.frontLeft, kEpsilon),
+        () -> assertEquals(6.0 * kFactor, wheelSpeeds.frontRight, kEpsilon),
+        () -> assertEquals(4.0 * kFactor, wheelSpeeds.rearLeft, kEpsilon),
+        () -> assertEquals(-7.0 * kFactor, wheelSpeeds.rearRight, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java
index d417e2a120a..25802a1d37f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java
@@ -42,7 +42,7 @@ void testInitialize() {
             Rotation3d.kZero,
             zero,
             new Pose3d(1, 2, 0, new Rotation3d(0, 0, Units.degreesToRadians(45))));
-    var pose = odometry.getPoseMeters();
+    var pose = odometry.getPose();
     assertAll(
         () -> assertEquals(pose.getX(), 1.0, 1e-9),
         () -> assertEquals(pose.getY(), 2.0, 1e-9),
@@ -148,38 +148,36 @@ void testAccuracyFacingTrajectory() {
     double errorSum = 0;
     double odometryDistanceTravelled = 0;
     double trajectoryDistanceTravelled = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       trajectoryDistanceTravelled +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
+          groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
 
       var wheelSpeeds =
           kinematics.toWheelSpeeds(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond,
+                  groundTruthState.velocity,
                   0,
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.curvatureRadPerMeter));
+                  groundTruthState.velocity * groundTruthState.curvature));
 
-      wheelSpeeds.frontLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.frontRightMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearRightMetersPerSecond += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontRight += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearRight += rand.nextGaussian() * 0.1;
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
-      var lastPose = odometry.getPoseMeters();
+      var lastPose = odometry.getPose();
 
       var xHat =
           odometry.update(
               new Rotation3d(
                   groundTruthState
-                      .poseMeters
+                      .pose
                       .getRotation()
                       .plus(new Rotation2d(rand.nextGaussian() * 0.05))),
               wheelPositions);
@@ -188,7 +186,7 @@ void testAccuracyFacingTrajectory() {
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -199,8 +197,7 @@ void testAccuracyFacingTrajectory() {
       t += dt;
     }
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.35, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.35, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.35, "Incorrect max error");
     assertEquals(
         1.0,
@@ -241,33 +238,30 @@ void testAccuracyFacingXAxis() {
     double errorSum = 0;
     double odometryDistanceTravelled = 0;
     double trajectoryDistanceTravelled = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       trajectoryDistanceTravelled +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
+          groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
 
       var wheelSpeeds =
           kinematics.toWheelSpeeds(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.poseMeters.getRotation().getCos(),
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.poseMeters.getRotation().getSin(),
+                  groundTruthState.velocity * groundTruthState.pose.getRotation().getCos(),
+                  groundTruthState.velocity * groundTruthState.pose.getRotation().getSin(),
                   0));
 
-      wheelSpeeds.frontLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.frontRightMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearRightMetersPerSecond += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontRight += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearRight += rand.nextGaussian() * 0.1;
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
-      var lastPose = odometry.getPoseMeters();
+      var lastPose = odometry.getPose();
 
       var xHat = odometry.update(new Rotation3d(0, 0, rand.nextGaussian() * 0.05), wheelPositions);
 
@@ -275,7 +269,7 @@ void testAccuracyFacingXAxis() {
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -286,8 +280,7 @@ void testAccuracyFacingXAxis() {
       t += dt;
     }
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.15, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.15, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.3, "Incorrect max error");
     assertEquals(
         1.0,
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
index 86b2b405950..e1fbe8e6d32 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
@@ -124,45 +124,39 @@ void testAccuracyFacingTrajectory() {
     double errorSum = 0;
     double odometryDistanceTravelled = 0;
     double trajectoryDistanceTravelled = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       trajectoryDistanceTravelled +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
+          groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
 
       var wheelSpeeds =
           kinematics.toWheelSpeeds(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond,
+                  groundTruthState.velocity,
                   0,
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.curvatureRadPerMeter));
+                  groundTruthState.velocity * groundTruthState.curvature));
 
-      wheelSpeeds.frontLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.frontRightMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearRightMetersPerSecond += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontRight += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearRight += rand.nextGaussian() * 0.1;
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
-      var lastPose = odometry.getPoseMeters();
+      var lastPose = odometry.getPose();
 
       var xHat =
           odometry.update(
-              groundTruthState
-                  .poseMeters
-                  .getRotation()
-                  .plus(new Rotation2d(rand.nextGaussian() * 0.05)),
+              groundTruthState.pose.getRotation().plus(new Rotation2d(rand.nextGaussian() * 0.05)),
               wheelPositions);
 
       odometryDistanceTravelled += lastPose.getTranslation().getDistance(xHat.getTranslation());
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -171,8 +165,7 @@ void testAccuracyFacingTrajectory() {
       t += dt;
     }
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.35, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.35, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.35, "Incorrect max error");
     assertEquals(
         1.0,
@@ -213,40 +206,36 @@ void testAccuracyFacingXAxis() {
     double errorSum = 0;
     double odometryDistanceTravelled = 0;
     double trajectoryDistanceTravelled = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       trajectoryDistanceTravelled +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
+          groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
 
       var wheelSpeeds =
           kinematics.toWheelSpeeds(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.poseMeters.getRotation().getCos(),
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.poseMeters.getRotation().getSin(),
+                  groundTruthState.velocity * groundTruthState.pose.getRotation().getCos(),
+                  groundTruthState.velocity * groundTruthState.pose.getRotation().getSin(),
                   0));
 
-      wheelSpeeds.frontLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.frontRightMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearLeftMetersPerSecond += rand.nextGaussian() * 0.1;
-      wheelSpeeds.rearRightMetersPerSecond += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.frontRight += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearLeft += rand.nextGaussian() * 0.1;
+      wheelSpeeds.rearRight += rand.nextGaussian() * 0.1;
 
-      wheelPositions.frontLeftMeters += wheelSpeeds.frontLeftMetersPerSecond * dt;
-      wheelPositions.frontRightMeters += wheelSpeeds.frontRightMetersPerSecond * dt;
-      wheelPositions.rearLeftMeters += wheelSpeeds.rearLeftMetersPerSecond * dt;
-      wheelPositions.rearRightMeters += wheelSpeeds.rearRightMetersPerSecond * dt;
+      wheelPositions.frontLeft += wheelSpeeds.frontLeft * dt;
+      wheelPositions.frontRight += wheelSpeeds.frontRight * dt;
+      wheelPositions.rearLeft += wheelSpeeds.rearLeft * dt;
+      wheelPositions.rearRight += wheelSpeeds.rearRight * dt;
 
-      var lastPose = odometry.getPoseMeters();
+      var lastPose = odometry.getPose();
 
       var xHat = odometry.update(new Rotation2d(rand.nextGaussian() * 0.05), wheelPositions);
 
       odometryDistanceTravelled += lastPose.getTranslation().getDistance(xHat.getTranslation());
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -255,8 +244,7 @@ void testAccuracyFacingXAxis() {
       t += dt;
     }
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.15, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.15, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.3, "Incorrect max error");
     assertEquals(
         1.0,
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeedsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeedsTest.java
index 22efb44332f..6080bedb15a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeedsTest.java
@@ -18,10 +18,10 @@ void testPlus() {
     final var wheelSpeeds = left.plus(right);
 
     assertAll(
-        () -> assertEquals(3.0, wheelSpeeds.frontLeftMetersPerSecond),
-        () -> assertEquals(2.0, wheelSpeeds.frontRightMetersPerSecond),
-        () -> assertEquals(2.5, wheelSpeeds.rearLeftMetersPerSecond),
-        () -> assertEquals(2.5, wheelSpeeds.rearRightMetersPerSecond));
+        () -> assertEquals(3.0, wheelSpeeds.frontLeft),
+        () -> assertEquals(2.0, wheelSpeeds.frontRight),
+        () -> assertEquals(2.5, wheelSpeeds.rearLeft),
+        () -> assertEquals(2.5, wheelSpeeds.rearRight));
   }
 
   @Test
@@ -32,10 +32,10 @@ void testMinus() {
     final var wheelSpeeds = left.minus(right);
 
     assertAll(
-        () -> assertEquals(-1.0, wheelSpeeds.frontLeftMetersPerSecond),
-        () -> assertEquals(0.0, wheelSpeeds.frontRightMetersPerSecond),
-        () -> assertEquals(1.5, wheelSpeeds.rearLeftMetersPerSecond),
-        () -> assertEquals(0.5, wheelSpeeds.rearRightMetersPerSecond));
+        () -> assertEquals(-1.0, wheelSpeeds.frontLeft),
+        () -> assertEquals(0.0, wheelSpeeds.frontRight),
+        () -> assertEquals(1.5, wheelSpeeds.rearLeft),
+        () -> assertEquals(0.5, wheelSpeeds.rearRight));
   }
 
   @Test
@@ -43,10 +43,10 @@ void testUnaryMinus() {
     final var wheelSpeeds = new MecanumDriveWheelSpeeds(1.0, 0.5, 2.0, 1.5).unaryMinus();
 
     assertAll(
-        () -> assertEquals(-1.0, wheelSpeeds.frontLeftMetersPerSecond),
-        () -> assertEquals(-0.5, wheelSpeeds.frontRightMetersPerSecond),
-        () -> assertEquals(-2.0, wheelSpeeds.rearLeftMetersPerSecond),
-        () -> assertEquals(-1.5, wheelSpeeds.rearRightMetersPerSecond));
+        () -> assertEquals(-1.0, wheelSpeeds.frontLeft),
+        () -> assertEquals(-0.5, wheelSpeeds.frontRight),
+        () -> assertEquals(-2.0, wheelSpeeds.rearLeft),
+        () -> assertEquals(-1.5, wheelSpeeds.rearRight));
   }
 
   @Test
@@ -54,10 +54,10 @@ void testMultiplication() {
     final var wheelSpeeds = new MecanumDriveWheelSpeeds(1.0, 0.5, 2.0, 1.5).times(2.0);
 
     assertAll(
-        () -> assertEquals(2.0, wheelSpeeds.frontLeftMetersPerSecond),
-        () -> assertEquals(1.0, wheelSpeeds.frontRightMetersPerSecond),
-        () -> assertEquals(4.0, wheelSpeeds.rearLeftMetersPerSecond),
-        () -> assertEquals(3.0, wheelSpeeds.rearRightMetersPerSecond));
+        () -> assertEquals(2.0, wheelSpeeds.frontLeft),
+        () -> assertEquals(1.0, wheelSpeeds.frontRight),
+        () -> assertEquals(4.0, wheelSpeeds.rearLeft),
+        () -> assertEquals(3.0, wheelSpeeds.rearRight));
   }
 
   @Test
@@ -65,9 +65,9 @@ void testDivision() {
     final var wheelSpeeds = new MecanumDriveWheelSpeeds(1.0, 0.5, 2.0, 1.5).div(2.0);
 
     assertAll(
-        () -> assertEquals(0.5, wheelSpeeds.frontLeftMetersPerSecond),
-        () -> assertEquals(0.25, wheelSpeeds.frontRightMetersPerSecond),
-        () -> assertEquals(1.0, wheelSpeeds.rearLeftMetersPerSecond),
-        () -> assertEquals(0.75, wheelSpeeds.rearRightMetersPerSecond));
+        () -> assertEquals(0.5, wheelSpeeds.frontLeft),
+        () -> assertEquals(0.25, wheelSpeeds.frontRight),
+        () -> assertEquals(1.0, wheelSpeeds.rearLeft),
+        () -> assertEquals(0.75, wheelSpeeds.rearRight));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
index 293d94e554a..fc3921f52f4 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
@@ -29,10 +29,10 @@ void testStraightLineInverseKinematics() { // test inverse kinematics going in a
     var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
 
     assertAll(
-        () -> assertEquals(5.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[0].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[1].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[2].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[3].speed, kEpsilon),
         () -> assertEquals(0.0, moduleStates[0].angle.getRadians(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[1].angle.getRadians(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[2].angle.getRadians(), kEpsilon),
@@ -45,9 +45,9 @@ void testStraightLineForwardKinematics() { // test forward kinematics going in a
     var chassisSpeeds = m_kinematics.toChassisSpeeds(state, state, state, state);
 
     assertAll(
-        () -> assertEquals(5.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(5.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -68,10 +68,10 @@ void testStraightStrafeInverseKinematics() {
     var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
 
     assertAll(
-        () -> assertEquals(5.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[0].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[1].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[2].speed, kEpsilon),
+        () -> assertEquals(5.0, moduleStates[3].speed, kEpsilon),
         () -> assertEquals(90.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(90.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
@@ -84,9 +84,9 @@ void testStraightStrafeForwardKinematics() {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(state, state, state, state);
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(5.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
+        () -> assertEquals(0.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(5.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.omega, kEpsilon));
   }
 
   @Test
@@ -109,10 +109,10 @@ void testConserveWheelAngle() {
     // Robot is stationary, but module angles are preserved.
 
     assertAll(
-        () -> assertEquals(0.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[0].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[1].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[2].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[3].speed, kEpsilon),
         () -> assertEquals(135.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(45.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(-135.0, moduleStates[2].angle.getDegrees(), kEpsilon),
@@ -131,10 +131,10 @@ void testResetWheelAngle() {
     // Robot is stationary, but module angles are preserved.
 
     assertAll(
-        () -> assertEquals(0.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[0].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[1].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[2].speed, kEpsilon),
+        () -> assertEquals(0.0, moduleStates[3].speed, kEpsilon),
         () -> assertEquals(0.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(90.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(180.0, moduleStates[2].angle.getDegrees(), kEpsilon),
@@ -154,10 +154,10 @@ void testTurnInPlaceInverseKinematics() {
       */
 
     assertAll(
-        () -> assertEquals(106.63, moduleStates[0].speedMetersPerSecond, 0.1),
-        () -> assertEquals(106.63, moduleStates[1].speedMetersPerSecond, 0.1),
-        () -> assertEquals(106.63, moduleStates[2].speedMetersPerSecond, 0.1),
-        () -> assertEquals(106.63, moduleStates[3].speedMetersPerSecond, 0.1),
+        () -> assertEquals(106.63, moduleStates[0].speed, 0.1),
+        () -> assertEquals(106.63, moduleStates[1].speed, 0.1),
+        () -> assertEquals(106.63, moduleStates[2].speed, 0.1),
+        () -> assertEquals(106.63, moduleStates[3].speed, 0.1),
         () -> assertEquals(135.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(45.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(-135.0, moduleStates[2].angle.getDegrees(), kEpsilon),
@@ -174,9 +174,9 @@ void testTurnInPlaceForwardKinematics() {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(flState, frState, blState, brState);
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
-        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(0.0, chassisSpeeds.vx, kEpsilon),
+        () -> assertEquals(0.0, chassisSpeeds.vy, kEpsilon),
+        () -> assertEquals(2 * Math.PI, chassisSpeeds.omega, 0.1));
   }
 
   @Test
@@ -209,10 +209,10 @@ void testOffCenterCORRotationInverseKinematics() {
     */
 
     assertAll(
-        () -> assertEquals(0.0, moduleStates[0].speedMetersPerSecond, 0.1),
-        () -> assertEquals(150.796, moduleStates[1].speedMetersPerSecond, 0.1),
-        () -> assertEquals(150.796, moduleStates[2].speedMetersPerSecond, 0.1),
-        () -> assertEquals(213.258, moduleStates[3].speedMetersPerSecond, 0.1),
+        () -> assertEquals(0.0, moduleStates[0].speed, 0.1),
+        () -> assertEquals(150.796, moduleStates[1].speed, 0.1),
+        () -> assertEquals(150.796, moduleStates[2].speed, 0.1),
+        () -> assertEquals(213.258, moduleStates[3].speed, 0.1),
         () -> assertEquals(0.0, moduleStates[0].angle.getDegrees(), kEpsilon),
         () -> assertEquals(0.0, moduleStates[1].angle.getDegrees(), kEpsilon),
         () -> assertEquals(-90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
@@ -238,9 +238,9 @@ void testOffCenterCORRotationForwardKinematics() {
     */
 
     assertAll(
-        () -> assertEquals(75.398, chassisSpeeds.vxMetersPerSecond, 0.1),
-        () -> assertEquals(-75.398, chassisSpeeds.vyMetersPerSecond, 0.1),
-        () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(75.398, chassisSpeeds.vx, 0.1),
+        () -> assertEquals(-75.398, chassisSpeeds.vy, 0.1),
+        () -> assertEquals(2 * Math.PI, chassisSpeeds.omega, 0.1));
   }
 
   @Test
@@ -270,11 +270,7 @@ void testOffCenterCORRotationForwardKinematicsWithDeltas() {
   private void assertModuleState(
       SwerveModuleState expected, SwerveModuleState actual, SwerveModuleState tolerance) {
     assertAll(
-        () ->
-            assertEquals(
-                expected.speedMetersPerSecond,
-                actual.speedMetersPerSecond,
-                tolerance.speedMetersPerSecond),
+        () -> assertEquals(expected.speed, actual.speed, tolerance.speed),
         () ->
             assertEquals(
                 expected.angle.getDegrees(),
@@ -326,9 +322,9 @@ pseudoinverse of the inverseKinematics matrix (with the center of rotation at
     */
 
     assertAll(
-        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, 0.1),
-        () -> assertEquals(-33.0, chassisSpeeds.vyMetersPerSecond, 0.1),
-        () -> assertEquals(1.5, chassisSpeeds.omegaRadiansPerSecond, 0.1));
+        () -> assertEquals(0.0, chassisSpeeds.vx, 0.1),
+        () -> assertEquals(-33.0, chassisSpeeds.vy, 0.1),
+        () -> assertEquals(1.5, chassisSpeeds.omega, 0.1));
   }
 
   @Test
@@ -368,10 +364,10 @@ void testDesaturate() {
     double factor = 5.5 / 7.0;
 
     assertAll(
-        () -> assertEquals(5.0 * factor, arr[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(6.0 * factor, arr[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(4.0 * factor, arr[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(7.0 * factor, arr[3].speedMetersPerSecond, kEpsilon));
+        () -> assertEquals(5.0 * factor, arr[0].speed, kEpsilon),
+        () -> assertEquals(6.0 * factor, arr[1].speed, kEpsilon),
+        () -> assertEquals(4.0 * factor, arr[2].speed, kEpsilon),
+        () -> assertEquals(7.0 * factor, arr[3].speed, kEpsilon));
   }
 
   @Test
@@ -388,10 +384,10 @@ void testDesaturateSmooth() {
     double factor = 5.5 / 7.0;
 
     assertAll(
-        () -> assertEquals(5.0 * factor, arr[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(6.0 * factor, arr[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(4.0 * factor, arr[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(7.0 * factor, arr[3].speedMetersPerSecond, kEpsilon));
+        () -> assertEquals(5.0 * factor, arr[0].speed, kEpsilon),
+        () -> assertEquals(6.0 * factor, arr[1].speed, kEpsilon),
+        () -> assertEquals(4.0 * factor, arr[2].speed, kEpsilon),
+        () -> assertEquals(7.0 * factor, arr[3].speed, kEpsilon));
   }
 
   @Test
@@ -405,9 +401,9 @@ void testDesaturateNegativeSpeed() {
     SwerveDriveKinematics.desaturateWheelSpeeds(arr, 1);
 
     assertAll(
-        () -> assertEquals(0.5, arr[0].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(0.5, arr[1].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(-1.0, arr[2].speedMetersPerSecond, kEpsilon),
-        () -> assertEquals(-1.0, arr[3].speedMetersPerSecond, kEpsilon));
+        () -> assertEquals(0.5, arr[0].speed, kEpsilon),
+        () -> assertEquals(0.5, arr[1].speed, kEpsilon),
+        () -> assertEquals(-1.0, arr[2].speed, kEpsilon),
+        () -> assertEquals(-1.0, arr[3].speed, kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java
index dfc446fceea..1eb97ae5ba1 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java
@@ -43,7 +43,7 @@ void testInitialize() {
             Rotation3d.kZero,
             new SwerveModulePosition[] {zero, zero, zero, zero},
             new Pose3d(1, 2, 0, new Rotation3d(0, 0, Units.degreesToRadians(45))));
-    var pose = odometry.getPoseMeters();
+    var pose = odometry.getPose();
     assertAll(
         () -> assertEquals(pose.getX(), 1.0, 1e-9),
         () -> assertEquals(pose.getY(), 2.0, 1e-9),
@@ -158,25 +158,24 @@ void testAccuracyFacingTrajectory() {
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       var moduleStates =
           kinematics.toSwerveModuleStates(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond,
+                  groundTruthState.velocity,
                   0.0,
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.curvatureRadPerMeter));
+                  groundTruthState.velocity * groundTruthState.curvature));
       for (var moduleState : moduleStates) {
         moduleState.angle = moduleState.angle.plus(new Rotation2d(rand.nextGaussian() * 0.005));
-        moduleState.speedMetersPerSecond += rand.nextGaussian() * 0.1;
+        moduleState.speed += rand.nextGaussian() * 0.1;
       }
 
-      fl.distanceMeters += moduleStates[0].speedMetersPerSecond * dt;
-      fr.distanceMeters += moduleStates[1].speedMetersPerSecond * dt;
-      bl.distanceMeters += moduleStates[2].speedMetersPerSecond * dt;
-      br.distanceMeters += moduleStates[3].speedMetersPerSecond * dt;
+      fl.distance += moduleStates[0].speed * dt;
+      fr.distance += moduleStates[1].speed * dt;
+      bl.distance += moduleStates[2].speed * dt;
+      br.distance += moduleStates[3].speed * dt;
 
       fl.angle = moduleStates[0].angle;
       fr.angle = moduleStates[1].angle;
@@ -187,14 +186,14 @@ void testAccuracyFacingTrajectory() {
           odometry.update(
               new Rotation3d(
                   groundTruthState
-                      .poseMeters
+                      .pose
                       .getRotation()
                       .plus(new Rotation2d(rand.nextGaussian() * 0.05))),
               new SwerveModulePosition[] {fl, fr, bl, br});
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -205,17 +204,16 @@ void testAccuracyFacingTrajectory() {
       t += dt;
     }
 
-    assertEquals(0.0, odometry.getPoseMeters().getX(), 1e-1, "Incorrect Final X");
-    assertEquals(0.0, odometry.getPoseMeters().getY(), 1e-1, "Incorrect Final Y");
-    assertEquals(0.0, odometry.getPoseMeters().getZ(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getX(), 1e-1, "Incorrect Final X");
+    assertEquals(0.0, odometry.getPose().getY(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getZ(), 1e-1, "Incorrect Final Y");
     assertEquals(
         Math.PI / 4,
-        odometry.getPoseMeters().getRotation().toRotation2d().getRadians(),
+        odometry.getPose().getRotation().toRotation2d().getRadians(),
         10 * Math.PI / 180,
         "Incorrect Final Theta");
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.05, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.05, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.125, "Incorrect max error");
   }
 
@@ -253,26 +251,18 @@ void testAccuracyFacingXAxis() {
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
-      fl.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      fr.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      bl.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      br.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-
-      fl.angle = groundTruthState.poseMeters.getRotation();
-      fr.angle = groundTruthState.poseMeters.getRotation();
-      bl.angle = groundTruthState.poseMeters.getRotation();
-      br.angle = groundTruthState.poseMeters.getRotation();
+      fl.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      fr.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      bl.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      br.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+
+      fl.angle = groundTruthState.pose.getRotation();
+      fr.angle = groundTruthState.pose.getRotation();
+      bl.angle = groundTruthState.pose.getRotation();
+      br.angle = groundTruthState.pose.getRotation();
 
       var xHat =
           odometry.update(
@@ -281,7 +271,7 @@ void testAccuracyFacingXAxis() {
 
       double error =
           groundTruthState
-              .poseMeters
+              .pose
               .getTranslation()
               .getDistance(xHat.getTranslation().toTranslation2d());
       if (error > maxError) {
@@ -292,17 +282,16 @@ void testAccuracyFacingXAxis() {
       t += dt;
     }
 
-    assertEquals(0.0, odometry.getPoseMeters().getX(), 1e-1, "Incorrect Final X");
-    assertEquals(0.0, odometry.getPoseMeters().getY(), 1e-1, "Incorrect Final Y");
-    assertEquals(0.0, odometry.getPoseMeters().getZ(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getX(), 1e-1, "Incorrect Final X");
+    assertEquals(0.0, odometry.getPose().getY(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getZ(), 1e-1, "Incorrect Final Y");
     assertEquals(
         0.0,
-        odometry.getPoseMeters().getRotation().toRotation2d().getRadians(),
+        odometry.getPose().getRotation().toRotation2d().getRadians(),
         10 * Math.PI / 180,
         "Incorrect Final Theta");
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.06, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.06, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.125, "Incorrect max error");
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
index 411ba705f47..c41a8b3fb37 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
@@ -135,25 +135,24 @@ void testAccuracyFacingTrajectory() {
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
       var moduleStates =
           kinematics.toSwerveModuleStates(
               new ChassisSpeeds(
-                  groundTruthState.velocityMetersPerSecond,
+                  groundTruthState.velocity,
                   0.0,
-                  groundTruthState.velocityMetersPerSecond
-                      * groundTruthState.curvatureRadPerMeter));
+                  groundTruthState.velocity * groundTruthState.curvature));
       for (var moduleState : moduleStates) {
         moduleState.angle = moduleState.angle.plus(new Rotation2d(rand.nextGaussian() * 0.005));
-        moduleState.speedMetersPerSecond += rand.nextGaussian() * 0.1;
+        moduleState.speed += rand.nextGaussian() * 0.1;
       }
 
-      fl.distanceMeters += moduleStates[0].speedMetersPerSecond * dt;
-      fr.distanceMeters += moduleStates[1].speedMetersPerSecond * dt;
-      bl.distanceMeters += moduleStates[2].speedMetersPerSecond * dt;
-      br.distanceMeters += moduleStates[3].speedMetersPerSecond * dt;
+      fl.distance += moduleStates[0].speed * dt;
+      fr.distance += moduleStates[1].speed * dt;
+      bl.distance += moduleStates[2].speed * dt;
+      br.distance += moduleStates[3].speed * dt;
 
       fl.angle = moduleStates[0].angle;
       fr.angle = moduleStates[1].angle;
@@ -162,14 +161,10 @@ void testAccuracyFacingTrajectory() {
 
       var xHat =
           odometry.update(
-              groundTruthState
-                  .poseMeters
-                  .getRotation()
-                  .plus(new Rotation2d(rand.nextGaussian() * 0.05)),
+              groundTruthState.pose.getRotation().plus(new Rotation2d(rand.nextGaussian() * 0.05)),
               new SwerveModulePosition[] {fl, fr, bl, br});
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -178,16 +173,15 @@ void testAccuracyFacingTrajectory() {
       t += dt;
     }
 
-    assertEquals(0.0, odometry.getPoseMeters().getX(), 1e-1, "Incorrect Final X");
-    assertEquals(0.0, odometry.getPoseMeters().getY(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getX(), 1e-1, "Incorrect Final X");
+    assertEquals(0.0, odometry.getPose().getY(), 1e-1, "Incorrect Final Y");
     assertEquals(
         Math.PI / 4,
-        odometry.getPoseMeters().getRotation().getRadians(),
+        odometry.getPose().getRotation().getRadians(),
         10 * Math.PI / 180,
         "Incorrect Final Theta");
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.05, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.05, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.125, "Incorrect max error");
   }
 
@@ -225,34 +219,25 @@ void testAccuracyFacingXAxis() {
 
     double maxError = Double.NEGATIVE_INFINITY;
     double errorSum = 0;
-    while (t <= trajectory.getTotalTimeSeconds()) {
+    while (t <= trajectory.getTotalTime()) {
       var groundTruthState = trajectory.sample(t);
 
-      fl.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      fr.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      bl.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-      br.distanceMeters +=
-          groundTruthState.velocityMetersPerSecond * dt
-              + 0.5 * groundTruthState.accelerationMetersPerSecondSq * dt * dt;
-
-      fl.angle = groundTruthState.poseMeters.getRotation();
-      fr.angle = groundTruthState.poseMeters.getRotation();
-      bl.angle = groundTruthState.poseMeters.getRotation();
-      br.angle = groundTruthState.poseMeters.getRotation();
+      fl.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      fr.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      bl.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+      br.distance += groundTruthState.velocity * dt + 0.5 * groundTruthState.acceleration * dt * dt;
+
+      fl.angle = groundTruthState.pose.getRotation();
+      fr.angle = groundTruthState.pose.getRotation();
+      bl.angle = groundTruthState.pose.getRotation();
+      br.angle = groundTruthState.pose.getRotation();
 
       var xHat =
           odometry.update(
               new Rotation2d(rand.nextGaussian() * 0.05),
               new SwerveModulePosition[] {fl, fr, bl, br});
 
-      double error =
-          groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
+      double error = groundTruthState.pose.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
         maxError = error;
       }
@@ -261,16 +246,15 @@ void testAccuracyFacingXAxis() {
       t += dt;
     }
 
-    assertEquals(0.0, odometry.getPoseMeters().getX(), 1e-1, "Incorrect Final X");
-    assertEquals(0.0, odometry.getPoseMeters().getY(), 1e-1, "Incorrect Final Y");
+    assertEquals(0.0, odometry.getPose().getX(), 1e-1, "Incorrect Final X");
+    assertEquals(0.0, odometry.getPose().getY(), 1e-1, "Incorrect Final Y");
     assertEquals(
         0.0,
-        odometry.getPoseMeters().getRotation().getRadians(),
+        odometry.getPose().getRotation().getRadians(),
         10 * Math.PI / 180,
         "Incorrect Final Theta");
 
-    assertEquals(
-        0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.06, "Incorrect mean error");
+    assertEquals(0.0, errorSum / (trajectory.getTotalTime() / dt), 0.06, "Incorrect mean error");
     assertEquals(0.0, maxError, 0.125, "Incorrect max error");
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java
index e8c1d4be0e0..fdccdccb08b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveModuleStateTest.java
@@ -20,7 +20,7 @@ void testOptimize() {
     refA.optimize(angleA);
 
     assertAll(
-        () -> assertEquals(2.0, refA.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(2.0, refA.speed, kEpsilon),
         () -> assertEquals(0.0, refA.angle.getDegrees(), kEpsilon));
 
     var angleB = Rotation2d.fromDegrees(-50);
@@ -28,7 +28,7 @@ void testOptimize() {
     refB.optimize(angleB);
 
     assertAll(
-        () -> assertEquals(-4.7, refB.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-4.7, refB.speed, kEpsilon),
         () -> assertEquals(-139.0, refB.angle.getDegrees(), kEpsilon));
   }
 
@@ -39,7 +39,7 @@ void testNoOptimize() {
     refA.optimize(angleA);
 
     assertAll(
-        () -> assertEquals(2.0, refA.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(2.0, refA.speed, kEpsilon),
         () -> assertEquals(89.0, refA.angle.getDegrees(), kEpsilon));
 
     var angleB = Rotation2d.kZero;
@@ -47,7 +47,7 @@ void testNoOptimize() {
     refB.optimize(angleB);
 
     assertAll(
-        () -> assertEquals(-2.0, refB.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-2.0, refB.speed, kEpsilon),
         () -> assertEquals(-2.0, refB.angle.getDegrees(), kEpsilon));
   }
 
@@ -58,7 +58,7 @@ void testCosineScale() {
     refA.cosineScale(angleA);
 
     assertAll(
-        () -> assertEquals(Math.sqrt(2.0), refA.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(Math.sqrt(2.0), refA.speed, kEpsilon),
         () -> assertEquals(45.0, refA.angle.getDegrees(), kEpsilon));
 
     var angleB = Rotation2d.fromDegrees(45.0);
@@ -66,7 +66,7 @@ void testCosineScale() {
     refB.cosineScale(angleB);
 
     assertAll(
-        () -> assertEquals(2.0, refB.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(2.0, refB.speed, kEpsilon),
         () -> assertEquals(45.0, refB.angle.getDegrees(), kEpsilon));
 
     var angleC = Rotation2d.fromDegrees(-45.0);
@@ -74,7 +74,7 @@ void testCosineScale() {
     refC.cosineScale(angleC);
 
     assertAll(
-        () -> assertEquals(0.0, refC.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, refC.speed, kEpsilon),
         () -> assertEquals(45.0, refC.angle.getDegrees(), kEpsilon));
 
     var angleD = Rotation2d.fromDegrees(135.0);
@@ -82,7 +82,7 @@ void testCosineScale() {
     refD.cosineScale(angleD);
 
     assertAll(
-        () -> assertEquals(0.0, refD.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, refD.speed, kEpsilon),
         () -> assertEquals(45.0, refD.angle.getDegrees(), kEpsilon));
 
     var angleE = Rotation2d.fromDegrees(-135.0);
@@ -90,7 +90,7 @@ void testCosineScale() {
     refE.cosineScale(angleE);
 
     assertAll(
-        () -> assertEquals(-2.0, refE.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-2.0, refE.speed, kEpsilon),
         () -> assertEquals(45.0, refE.angle.getDegrees(), kEpsilon));
 
     var angleF = Rotation2d.fromDegrees(180.0);
@@ -98,7 +98,7 @@ void testCosineScale() {
     refF.cosineScale(angleF);
 
     assertAll(
-        () -> assertEquals(-Math.sqrt(2.0), refF.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-Math.sqrt(2.0), refF.speed, kEpsilon),
         () -> assertEquals(45.0, refF.angle.getDegrees(), kEpsilon));
 
     var angleG = Rotation2d.fromDegrees(0.0);
@@ -106,7 +106,7 @@ void testCosineScale() {
     refG.cosineScale(angleG);
 
     assertAll(
-        () -> assertEquals(-Math.sqrt(2.0), refG.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-Math.sqrt(2.0), refG.speed, kEpsilon),
         () -> assertEquals(45.0, refG.angle.getDegrees(), kEpsilon));
 
     var angleH = Rotation2d.fromDegrees(45.0);
@@ -114,7 +114,7 @@ void testCosineScale() {
     refH.cosineScale(angleH);
 
     assertAll(
-        () -> assertEquals(-2.0, refH.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-2.0, refH.speed, kEpsilon),
         () -> assertEquals(45.0, refH.angle.getDegrees(), kEpsilon));
 
     var angleI = Rotation2d.fromDegrees(-45.0);
@@ -122,7 +122,7 @@ void testCosineScale() {
     refI.cosineScale(angleI);
 
     assertAll(
-        () -> assertEquals(0.0, refI.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, refI.speed, kEpsilon),
         () -> assertEquals(45.0, refI.angle.getDegrees(), kEpsilon));
 
     var angleJ = Rotation2d.fromDegrees(135.0);
@@ -130,7 +130,7 @@ void testCosineScale() {
     refJ.cosineScale(angleJ);
 
     assertAll(
-        () -> assertEquals(0.0, refJ.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, refJ.speed, kEpsilon),
         () -> assertEquals(45.0, refJ.angle.getDegrees(), kEpsilon));
 
     var angleK = Rotation2d.fromDegrees(-135.0);
@@ -138,7 +138,7 @@ void testCosineScale() {
     refK.cosineScale(angleK);
 
     assertAll(
-        () -> assertEquals(2.0, refK.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(2.0, refK.speed, kEpsilon),
         () -> assertEquals(45.0, refK.angle.getDegrees(), kEpsilon));
 
     var angleL = Rotation2d.fromDegrees(180.0);
@@ -146,7 +146,7 @@ void testCosineScale() {
     refL.cosineScale(angleL);
 
     assertAll(
-        () -> assertEquals(Math.sqrt(2.0), refL.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(Math.sqrt(2.0), refL.speed, kEpsilon),
         () -> assertEquals(45.0, refL.angle.getDegrees(), kEpsilon));
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProtoTest.java
index 055e8e7d5a8..963e0813fe4 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/ChassisSpeedsProtoTest.java
@@ -19,8 +19,8 @@ void testRoundtrip() {
     ChassisSpeeds.proto.pack(proto, DATA);
 
     ChassisSpeeds data = ChassisSpeeds.proto.unpack(proto);
-    assertEquals(DATA.vxMetersPerSecond, data.vxMetersPerSecond);
-    assertEquals(DATA.vyMetersPerSecond, data.vyMetersPerSecond);
-    assertEquals(DATA.omegaRadiansPerSecond, data.omegaRadiansPerSecond);
+    assertEquals(DATA.vx, data.vx);
+    assertEquals(DATA.vy, data.vy);
+    assertEquals(DATA.omega, data.omega);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java
index 0d426ad2401..a0e3c7fa226 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java
@@ -19,6 +19,6 @@ void testRoundtrip() {
     DifferentialDriveKinematics.proto.pack(proto, DATA);
 
     DifferentialDriveKinematics data = DifferentialDriveKinematics.proto.unpack(proto);
-    assertEquals(DATA.trackWidthMeters, data.trackWidthMeters);
+    assertEquals(DATA.trackwidth, data.trackwidth);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java
index 1f0b237d3fc..af1c40017c8 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java
@@ -20,7 +20,7 @@ void testRoundtrip() {
     DifferentialDriveWheelSpeeds.proto.pack(proto, DATA);
 
     DifferentialDriveWheelSpeeds data = DifferentialDriveWheelSpeeds.proto.unpack(proto);
-    assertEquals(DATA.leftMetersPerSecond, data.leftMetersPerSecond);
-    assertEquals(DATA.rightMetersPerSecond, data.rightMetersPerSecond);
+    assertEquals(DATA.left, data.left);
+    assertEquals(DATA.right, data.right);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
index 0aaac653f42..31a400596ac 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
@@ -19,9 +19,9 @@ class MecanumDriveMotorVoltagesProtoTest
 
   @Override
   public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
-    assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
-    assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
-    assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
-    assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
+    assertEquals(testData.frontLeft, data.frontLeft);
+    assertEquals(testData.frontRight, data.frontRight);
+    assertEquals(testData.rearLeft, data.rearLeft);
+    assertEquals(testData.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java
index 3e4551d176e..4f67312b01e 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java
@@ -20,9 +20,9 @@ void testRoundtrip() {
     MecanumDriveWheelPositions.proto.pack(proto, DATA);
 
     MecanumDriveWheelPositions data = MecanumDriveWheelPositions.proto.unpack(proto);
-    assertEquals(DATA.frontLeftMeters, data.frontLeftMeters);
-    assertEquals(DATA.frontRightMeters, data.frontRightMeters);
-    assertEquals(DATA.rearLeftMeters, data.rearLeftMeters);
-    assertEquals(DATA.rearRightMeters, data.rearRightMeters);
+    assertEquals(DATA.frontLeft, data.frontLeft);
+    assertEquals(DATA.frontRight, data.frontRight);
+    assertEquals(DATA.rearLeft, data.rearLeft);
+    assertEquals(DATA.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java
index 3e1d589bcca..dcc4f8c2589 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java
@@ -20,9 +20,9 @@ void testRoundtrip() {
     MecanumDriveWheelSpeeds.proto.pack(proto, DATA);
 
     MecanumDriveWheelSpeeds data = MecanumDriveWheelSpeeds.proto.unpack(proto);
-    assertEquals(DATA.frontLeftMetersPerSecond, data.frontLeftMetersPerSecond);
-    assertEquals(DATA.frontRightMetersPerSecond, data.frontRightMetersPerSecond);
-    assertEquals(DATA.rearLeftMetersPerSecond, data.rearLeftMetersPerSecond);
-    assertEquals(DATA.rearRightMetersPerSecond, data.rearRightMetersPerSecond);
+    assertEquals(DATA.frontLeft, data.frontLeft);
+    assertEquals(DATA.frontRight, data.frontRight);
+    assertEquals(DATA.rearLeft, data.rearLeft);
+    assertEquals(DATA.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProtoTest.java
index 459d11958e9..108f85ad92e 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProtoTest.java
@@ -21,7 +21,7 @@ void testRoundtrip() {
     SwerveModulePosition.proto.pack(proto, DATA);
 
     SwerveModulePosition data = SwerveModulePosition.proto.unpack(proto);
-    assertEquals(DATA.distanceMeters, data.distanceMeters);
+    assertEquals(DATA.distance, data.distance);
     assertEquals(DATA.angle, data.angle);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProtoTest.java
index 269b7b18b27..3671a953604 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProtoTest.java
@@ -20,7 +20,7 @@ void testRoundtrip() {
     SwerveModuleState.proto.pack(proto, DATA);
 
     SwerveModuleState data = SwerveModuleState.proto.unpack(proto);
-    assertEquals(DATA.speedMetersPerSecond, data.speedMetersPerSecond);
+    assertEquals(DATA.speed, data.speed);
     assertEquals(DATA.angle, data.angle);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStructTest.java
index 16ccdb9dfc3..79916f7f95a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStructTest.java
@@ -22,8 +22,8 @@ void testRoundtrip() {
     buffer.rewind();
 
     ChassisSpeeds data = ChassisSpeeds.struct.unpack(buffer);
-    assertEquals(DATA.vxMetersPerSecond, data.vxMetersPerSecond);
-    assertEquals(DATA.vyMetersPerSecond, data.vyMetersPerSecond);
-    assertEquals(DATA.omegaRadiansPerSecond, data.omegaRadiansPerSecond);
+    assertEquals(DATA.vx, data.vx);
+    assertEquals(DATA.vy, data.vy);
+    assertEquals(DATA.omega, data.omega);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java
index ffcf7e7c1f0..3a75e2c76cf 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java
@@ -22,6 +22,6 @@ void testRoundtrip() {
     buffer.rewind();
 
     DifferentialDriveKinematics data = DifferentialDriveKinematics.struct.unpack(buffer);
-    assertEquals(DATA.trackWidthMeters, data.trackWidthMeters);
+    assertEquals(DATA.trackwidth, data.trackwidth);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java
index 84cc9967e1f..eeaa7a40a4b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java
@@ -23,7 +23,7 @@ void testRoundtrip() {
     buffer.rewind();
 
     DifferentialDriveWheelPositions data = DifferentialDriveWheelPositions.struct.unpack(buffer);
-    assertEquals(DATA.leftMeters, data.leftMeters);
-    assertEquals(DATA.rightMeters, data.rightMeters);
+    assertEquals(DATA.left, data.left);
+    assertEquals(DATA.right, data.right);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java
index 720f941c064..e23dc3a54bf 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java
@@ -23,7 +23,7 @@ void testRoundtrip() {
     buffer.rewind();
 
     DifferentialDriveWheelSpeeds data = DifferentialDriveWheelSpeeds.struct.unpack(buffer);
-    assertEquals(DATA.leftMetersPerSecond, data.leftMetersPerSecond);
-    assertEquals(DATA.rightMetersPerSecond, data.rightMetersPerSecond);
+    assertEquals(DATA.left, data.left);
+    assertEquals(DATA.right, data.right);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
index a53fbbadd4d..5a69f04036c 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
@@ -17,9 +17,9 @@ class MecanumDriveMotorVoltagesStructTest extends StructTestBase<MecanumDriveMot
 
   @Override
   public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
-    assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
-    assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
-    assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
-    assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
+    assertEquals(testData.frontLeft, data.frontLeft);
+    assertEquals(testData.frontRight, data.frontRight);
+    assertEquals(testData.rearLeft, data.rearLeft);
+    assertEquals(testData.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java
index 69f8e034011..fb8409b9e46 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java
@@ -23,9 +23,9 @@ void testRoundtrip() {
     buffer.rewind();
 
     MecanumDriveWheelPositions data = MecanumDriveWheelPositions.struct.unpack(buffer);
-    assertEquals(DATA.frontLeftMeters, data.frontLeftMeters);
-    assertEquals(DATA.frontRightMeters, data.frontRightMeters);
-    assertEquals(DATA.rearLeftMeters, data.rearLeftMeters);
-    assertEquals(DATA.rearRightMeters, data.rearRightMeters);
+    assertEquals(DATA.frontLeft, data.frontLeft);
+    assertEquals(DATA.frontRight, data.frontRight);
+    assertEquals(DATA.rearLeft, data.rearLeft);
+    assertEquals(DATA.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java
index b962acd80aa..e3b2199909f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java
@@ -23,9 +23,9 @@ void testRoundtrip() {
     buffer.rewind();
 
     MecanumDriveWheelSpeeds data = MecanumDriveWheelSpeeds.struct.unpack(buffer);
-    assertEquals(DATA.frontLeftMetersPerSecond, data.frontLeftMetersPerSecond);
-    assertEquals(DATA.frontRightMetersPerSecond, data.frontRightMetersPerSecond);
-    assertEquals(DATA.rearLeftMetersPerSecond, data.rearLeftMetersPerSecond);
-    assertEquals(DATA.rearRightMetersPerSecond, data.rearRightMetersPerSecond);
+    assertEquals(DATA.frontLeft, data.frontLeft);
+    assertEquals(DATA.frontRight, data.frontRight);
+    assertEquals(DATA.rearLeft, data.rearLeft);
+    assertEquals(DATA.rearRight, data.rearRight);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStructTest.java
index 819d98170cf..c45c1f0c3ef 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStructTest.java
@@ -24,7 +24,7 @@ void testRoundtrip() {
     buffer.rewind();
 
     SwerveModulePosition data = SwerveModulePosition.struct.unpack(buffer);
-    assertEquals(DATA.distanceMeters, data.distanceMeters);
+    assertEquals(DATA.distance, data.distance);
     assertEquals(DATA.angle, data.angle);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStructTest.java
index 625514c04b9..3473525cf4a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStructTest.java
@@ -23,7 +23,7 @@ void testRoundtrip() {
     buffer.rewind();
 
     SwerveModuleState data = SwerveModuleState.struct.unpack(buffer);
-    assertEquals(DATA.speedMetersPerSecond, data.speedMetersPerSecond);
+    assertEquals(DATA.speed, data.speed);
     assertEquals(DATA.angle, data.angle);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
index 74b06947c7f..f613abcc6c2 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
@@ -53,7 +53,7 @@ private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
       var p1 = poses.get(i + 1);
 
       // Make sure the twist is under the tolerance defined by the Spline class.
-      var twist = p0.poseMeters.log(p1.poseMeters);
+      var twist = p0.pose.log(p1.pose);
       assertAll(
           () -> assertTrue(Math.abs(twist.dx) < kMaxDx),
           () -> assertTrue(Math.abs(twist.dy) < kMaxDy),
@@ -62,20 +62,18 @@ private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
 
     // Check first point
     assertAll(
-        () -> assertEquals(a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
-        () -> assertEquals(a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
+        () -> assertEquals(a.getX(), poses.get(0).pose.getX(), 1E-9),
+        () -> assertEquals(a.getY(), poses.get(0).pose.getY(), 1E-9),
         () ->
             assertEquals(
-                a.getRotation().getRadians(),
-                poses.get(0).poseMeters.getRotation().getRadians(),
-                1E-9));
+                a.getRotation().getRadians(), poses.get(0).pose.getRotation().getRadians(), 1E-9));
 
     // Check interior waypoints
     boolean interiorsGood = true;
     for (var waypoint : waypoints) {
       boolean found = false;
       for (var state : poses) {
-        if (waypoint.getDistance(state.poseMeters.getTranslation()) == 0) {
+        if (waypoint.getDistance(state.pose.getTranslation()) == 0) {
           found = true;
         }
       }
@@ -86,12 +84,12 @@ private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
 
     // Check last point
     assertAll(
-        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
-        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
+        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).pose.getX(), 1E-9),
+        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).pose.getY(), 1E-9),
         () ->
             assertEquals(
                 b.getRotation().getRadians(),
-                poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(),
+                poses.get(poses.size() - 1).pose.getRotation().getRadians(),
                 1E-9));
   }
 
diff --git a/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java
index 9ae887e4f43..de8835f20ec 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java
@@ -39,7 +39,7 @@ private void run(Pose2d a, Pose2d b) {
       var p1 = poses.get(i + 1);
 
       // Make sure the twist is under the tolerance defined by the Spline class.
-      var twist = p0.poseMeters.log(p1.poseMeters);
+      var twist = p0.pose.log(p1.pose);
       assertAll(
           () -> assertTrue(Math.abs(twist.dx) < kMaxDx),
           () -> assertTrue(Math.abs(twist.dy) < kMaxDy),
@@ -48,22 +48,20 @@ private void run(Pose2d a, Pose2d b) {
 
     // Check first point
     assertAll(
-        () -> assertEquals(a.getX(), poses.get(0).poseMeters.getX(), 1E-9),
-        () -> assertEquals(a.getY(), poses.get(0).poseMeters.getY(), 1E-9),
+        () -> assertEquals(a.getX(), poses.get(0).pose.getX(), 1E-9),
+        () -> assertEquals(a.getY(), poses.get(0).pose.getY(), 1E-9),
         () ->
             assertEquals(
-                a.getRotation().getRadians(),
-                poses.get(0).poseMeters.getRotation().getRadians(),
-                1E-9));
+                a.getRotation().getRadians(), poses.get(0).pose.getRotation().getRadians(), 1E-9));
 
     // Check last point
     assertAll(
-        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).poseMeters.getX(), 1E-9),
-        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).poseMeters.getY(), 1E-9),
+        () -> assertEquals(b.getX(), poses.get(poses.size() - 1).pose.getX(), 1E-9),
+        () -> assertEquals(b.getY(), poses.get(poses.size() - 1).pose.getY(), 1E-9),
         () ->
             assertEquals(
                 b.getRotation().getRadians(),
-                poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(),
+                poses.get(poses.size() - 1).pose.getRotation().getRadians(),
                 1E-9));
   }
 
diff --git a/wpimath/src/test/java/edu/wpi/first/math/system/plant/proto/DCMotorProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/system/plant/proto/DCMotorProtoTest.java
index 3a6e64a0db8..885ed27eb23 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/system/plant/proto/DCMotorProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/system/plant/proto/DCMotorProtoTest.java
@@ -19,13 +19,13 @@ void testRoundtrip() {
     DCMotor.proto.pack(proto, DATA);
 
     DCMotor data = DCMotor.proto.unpack(proto);
-    assertEquals(DATA.nominalVoltageVolts, data.nominalVoltageVolts);
-    assertEquals(DATA.stallTorqueNewtonMeters, data.stallTorqueNewtonMeters);
-    assertEquals(DATA.stallCurrentAmps, data.stallCurrentAmps);
-    assertEquals(DATA.freeCurrentAmps, data.freeCurrentAmps);
-    assertEquals(DATA.freeSpeedRadPerSec, data.freeSpeedRadPerSec);
-    assertEquals(DATA.rOhms, data.rOhms);
-    assertEquals(DATA.KvRadPerSecPerVolt, data.KvRadPerSecPerVolt);
-    assertEquals(DATA.KtNMPerAmp, data.KtNMPerAmp);
+    assertEquals(DATA.nominalVoltage, data.nominalVoltage);
+    assertEquals(DATA.stallTorque, data.stallTorque);
+    assertEquals(DATA.stallCurrent, data.stallCurrent);
+    assertEquals(DATA.freeCurrent, data.freeCurrent);
+    assertEquals(DATA.freeSpeed, data.freeSpeed);
+    assertEquals(DATA.R, data.R);
+    assertEquals(DATA.Kv, data.Kv);
+    assertEquals(DATA.Kt, data.Kt);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/system/plant/struct/DCMotorStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/system/plant/struct/DCMotorStructTest.java
index 806254dc23c..74d47bd06cd 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/system/plant/struct/DCMotorStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/system/plant/struct/DCMotorStructTest.java
@@ -22,13 +22,13 @@ void testRoundtrip() {
     buffer.rewind();
 
     DCMotor data = DCMotor.struct.unpack(buffer);
-    assertEquals(DATA.nominalVoltageVolts, data.nominalVoltageVolts);
-    assertEquals(DATA.stallTorqueNewtonMeters, data.stallTorqueNewtonMeters);
-    assertEquals(DATA.stallCurrentAmps, data.stallCurrentAmps);
-    assertEquals(DATA.freeCurrentAmps, data.freeCurrentAmps);
-    assertEquals(DATA.freeSpeedRadPerSec, data.freeSpeedRadPerSec);
-    assertEquals(DATA.rOhms, data.rOhms);
-    assertEquals(DATA.KvRadPerSecPerVolt, data.KvRadPerSecPerVolt);
-    assertEquals(DATA.KtNMPerAmp, data.KtNMPerAmp);
+    assertEquals(DATA.nominalVoltage, data.nominalVoltage);
+    assertEquals(DATA.stallTorque, data.stallTorque);
+    assertEquals(DATA.stallCurrent, data.stallCurrent);
+    assertEquals(DATA.freeCurrent, data.freeCurrent);
+    assertEquals(DATA.freeSpeed, data.freeSpeed);
+    assertEquals(DATA.R, data.R);
+    assertEquals(DATA.Kv, data.Kv);
+    assertEquals(DATA.Kt, data.Kt);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java
index fa2314edd0a..2232d4ff553 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java
@@ -20,14 +20,13 @@ void testCentripetalAccelerationConstraint() {
     Trajectory trajectory =
         TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
-    var duration = trajectory.getTotalTimeSeconds();
+    var duration = trajectory.getTotalTime();
     var t = 0.0;
     var dt = 0.02;
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var centripetalAcceleration =
-          Math.pow(point.velocityMetersPerSecond, 2) * point.curvatureRadPerMeter;
+      var centripetalAcceleration = Math.pow(point.velocity, 2) * point.curvature;
 
       t += dt;
       assertTrue(centripetalAcceleration <= maxCentripetalAcceleration + 0.05);
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
index bcc3c16f42e..54bed80b9f5 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
@@ -24,24 +24,20 @@ void testDifferentialDriveKinematicsConstraint() {
     Trajectory trajectory =
         TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
-    var duration = trajectory.getTotalTimeSeconds();
+    var duration = trajectory.getTotalTime();
     var t = 0.0;
     var dt = 0.02;
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var chassisSpeeds =
-          new ChassisSpeeds(
-              point.velocityMetersPerSecond,
-              0,
-              point.velocityMetersPerSecond * point.curvatureRadPerMeter);
+      var chassisSpeeds = new ChassisSpeeds(point.velocity, 0, point.velocity * point.curvature);
 
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
       t += dt;
       assertAll(
-          () -> assertTrue(wheelSpeeds.leftMetersPerSecond <= maxVelocity + 0.05),
-          () -> assertTrue(wheelSpeeds.rightMetersPerSecond <= maxVelocity + 0.05));
+          () -> assertTrue(wheelSpeeds.left <= maxVelocity + 0.05),
+          () -> assertTrue(wheelSpeeds.right <= maxVelocity + 0.05));
     }
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
index 11a47bd71c5..3e1b443f86b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
@@ -30,48 +30,36 @@ void testDifferentialDriveVoltageConstraint() {
     Trajectory trajectory =
         TrajectoryGeneratorTest.getTrajectory(Collections.singletonList(constraint));
 
-    var duration = trajectory.getTotalTimeSeconds();
+    var duration = trajectory.getTotalTime();
     var t = 0.0;
     var dt = 0.02;
 
     while (t < duration) {
       var point = trajectory.sample(t);
-      var chassisSpeeds =
-          new ChassisSpeeds(
-              point.velocityMetersPerSecond,
-              0,
-              point.velocityMetersPerSecond * point.curvatureRadPerMeter);
+      var chassisSpeeds = new ChassisSpeeds(point.velocity, 0, point.velocity * point.curvature);
       var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
 
       t += dt;
-      var acceleration = point.accelerationMetersPerSecondSq;
+      var acceleration = point.acceleration;
 
       // Not really a strictly-correct test as we're using the chassis accel instead of the
       // wheel accel, but much easier than doing it "properly" and a reasonable check anyway
       assertAll(
           () ->
               assertTrue(
-                  feedforward.calculate(
-                          wheelSpeeds.leftMetersPerSecond,
-                          wheelSpeeds.leftMetersPerSecond + dt * acceleration)
+                  feedforward.calculate(wheelSpeeds.left, wheelSpeeds.left + dt * acceleration)
                       <= maxVoltage + 0.05),
           () ->
               assertTrue(
-                  feedforward.calculate(
-                          wheelSpeeds.leftMetersPerSecond,
-                          wheelSpeeds.leftMetersPerSecond + dt * acceleration)
+                  feedforward.calculate(wheelSpeeds.left, wheelSpeeds.left + dt * acceleration)
                       >= -maxVoltage - 0.05),
           () ->
               assertTrue(
-                  feedforward.calculate(
-                          wheelSpeeds.rightMetersPerSecond,
-                          wheelSpeeds.rightMetersPerSecond + dt * acceleration)
+                  feedforward.calculate(wheelSpeeds.right, wheelSpeeds.right + dt * acceleration)
                       <= maxVoltage + 0.05),
           () ->
               assertTrue(
-                  feedforward.calculate(
-                          wheelSpeeds.rightMetersPerSecond,
-                          wheelSpeeds.rightMetersPerSecond + dt * acceleration)
+                  feedforward.calculate(wheelSpeeds.right, wheelSpeeds.right + dt * acceleration)
                       >= -maxVoltage - 0.05));
     }
   }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
index 273b67a3f54..6ea18e540da 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
@@ -32,9 +32,9 @@ void testConstraint() {
 
     boolean exceededConstraintOutsideRegion = false;
     for (var point : trajectory.getStates()) {
-      if (ellipse.contains(point.poseMeters.getTranslation())) {
-        assertTrue(Math.abs(point.velocityMetersPerSecond) < maxVelocity + 0.05);
-      } else if (Math.abs(point.velocityMetersPerSecond) >= maxVelocity + 0.05) {
+      if (ellipse.contains(point.pose.getTranslation())) {
+        assertTrue(Math.abs(point.velocity) < maxVelocity + 0.05);
+      } else if (Math.abs(point.velocity) >= maxVelocity + 0.05) {
         exceededConstraintOutsideRegion = true;
       }
     }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
index b244beacf91..75f9300601f 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
@@ -31,9 +31,9 @@ void testConstraint() {
 
     boolean exceededConstraintOutsideRegion = false;
     for (var point : trajectory.getStates()) {
-      if (rectangle.contains(point.poseMeters.getTranslation())) {
-        assertTrue(Math.abs(point.velocityMetersPerSecond) < maxVelocity + 0.05);
-      } else if (Math.abs(point.velocityMetersPerSecond) >= maxVelocity + 0.05) {
+      if (rectangle.contains(point.pose.getTranslation())) {
+        assertTrue(Math.abs(point.velocity) < maxVelocity + 0.05);
+      } else if (Math.abs(point.velocity) >= maxVelocity + 0.05) {
         exceededConstraintOutsideRegion = true;
       }
     }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java
index 6635dfb86a3..b1e07c9b386 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryConcatenateTest.java
@@ -36,15 +36,15 @@ void testStates() {
       var state = t.getStates().get(i);
 
       // Make sure that the timestamps are strictly increasing.
-      assertTrue(state.timeSeconds > time);
-      time = state.timeSeconds;
+      assertTrue(state.time > time);
+      time = state.time;
 
       // Ensure that the states in t are the same as those in t1 and t2.
       if (i < t1.getStates().size()) {
         assertEquals(state, t1.getStates().get(i));
       } else {
         var st = t2.getStates().get(i - t1.getStates().size() + 1);
-        st.timeSeconds += t1.getTotalTimeSeconds();
+        st.time += t1.getTotalTime();
         assertEquals(state, st);
       }
     }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
index 9cc23a07ec7..0e9c6d86471 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
@@ -51,7 +51,7 @@ static Trajectory getTrajectory(List<? extends TrajectoryConstraint> constraints
   void testGenerationAndConstraints() {
     Trajectory trajectory = getTrajectory(new ArrayList<>());
 
-    double duration = trajectory.getTotalTimeSeconds();
+    double duration = trajectory.getTotalTime();
     double t = 0.0;
     double dt = 0.02;
 
@@ -59,10 +59,8 @@ void testGenerationAndConstraints() {
       var point = trajectory.sample(t);
       t += dt;
       assertAll(
-          () -> assertTrue(Math.abs(point.velocityMetersPerSecond) < feetToMeters(12.0) + 0.05),
-          () ->
-              assertTrue(
-                  Math.abs(point.accelerationMetersPerSecondSq) < feetToMeters(12.0) + 0.05));
+          () -> assertTrue(Math.abs(point.velocity) < feetToMeters(12.0) + 0.05),
+          () -> assertTrue(Math.abs(point.acceleration) < feetToMeters(12.0) + 0.05));
     }
   }
 
@@ -74,7 +72,7 @@ void testMalformedTrajectory() {
             new TrajectoryConfig(feetToMeters(12), feetToMeters(12)));
 
     assertEquals(traj.getStates().size(), 1);
-    assertEquals(traj.getTotalTimeSeconds(), 0);
+    assertEquals(traj.getTotalTime(), 0);
   }
 
   @Test
@@ -90,7 +88,7 @@ void testQuinticCurvatureOptimization() {
             new TrajectoryConfig(2, 2));
 
     for (int i = 1; i < t.getStates().size() - 1; ++i) {
-      assertNotEquals(0, t.getStates().get(i).curvatureRadPerMeter);
+      assertNotEquals(0, t.getStates().get(i).curvature);
     }
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java
index 7f1a9d6622f..08ca37198d2 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryTransformTest.java
@@ -27,7 +27,7 @@ void testTransformBy() {
 
     // Test initial pose.
     assertEquals(
-        new Pose2d(1, 2, Rotation2d.fromDegrees(30)), transformedTrajectory.sample(0).poseMeters);
+        new Pose2d(1, 2, Rotation2d.fromDegrees(30)), transformedTrajectory.sample(0).pose);
 
     testSameShapedTrajectory(trajectory.getStates(), transformedTrajectory.getStates());
   }
@@ -45,18 +45,18 @@ void testRelativeTo() {
     var transformedTrajectory = trajectory.relativeTo(new Pose2d(1, 2, Rotation2d.fromDegrees(30)));
 
     // Test initial pose.
-    assertEquals(Pose2d.kZero, transformedTrajectory.sample(0).poseMeters);
+    assertEquals(Pose2d.kZero, transformedTrajectory.sample(0).pose);
 
     testSameShapedTrajectory(trajectory.getStates(), transformedTrajectory.getStates());
   }
 
   void testSameShapedTrajectory(List<Trajectory.State> statesA, List<Trajectory.State> statesB) {
     for (int i = 0; i < statesA.size() - 1; i++) {
-      var a1 = statesA.get(i).poseMeters;
-      var a2 = statesA.get(i + 1).poseMeters;
+      var a1 = statesA.get(i).pose;
+      var a2 = statesA.get(i + 1).pose;
 
-      var b1 = statesB.get(i).poseMeters;
-      var b2 = statesB.get(i + 1).poseMeters;
+      var b1 = statesB.get(i).pose;
+      var b2 = statesB.get(i + 1).pose;
 
       assertEquals(a2.relativeTo(a1), b2.relativeTo(b1));
     }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProtoTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProtoTest.java
index 8a9fdae5ac9..b5e6402183b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProtoTest.java
@@ -24,10 +24,10 @@ void testRoundtrip() {
     Trajectory.State.proto.pack(proto, DATA);
 
     Trajectory.State data = Trajectory.State.proto.unpack(proto);
-    assertEquals(DATA.timeSeconds, data.timeSeconds);
-    assertEquals(DATA.velocityMetersPerSecond, data.velocityMetersPerSecond);
-    assertEquals(DATA.accelerationMetersPerSecondSq, data.accelerationMetersPerSecondSq);
-    assertEquals(DATA.poseMeters, data.poseMeters);
-    assertEquals(DATA.curvatureRadPerMeter, data.curvatureRadPerMeter);
+    assertEquals(DATA.time, data.time);
+    assertEquals(DATA.velocity, data.velocity);
+    assertEquals(DATA.acceleration, data.acceleration);
+    assertEquals(DATA.pose, data.pose);
+    assertEquals(DATA.curvature, data.curvature);
   }
 }
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
index 5c9b7507c7e..38323b16f11 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
@@ -24,6 +24,6 @@ TEST(DifferentialDriveKinematicsProtoTest, Roundtrip) {
   auto unpacked_data = message.Unpack(buf);
   ASSERT_TRUE(unpacked_data.has_value());
 
-  EXPECT_EQ(kExpectedData.trackWidth.value(),
-            unpacked_data->trackWidth.value());
+  EXPECT_EQ(kExpectedData.trackwidth.value(),
+            unpacked_data->trackwidth.value());
 }
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
index 80b4ad565cf..43959927831 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
@@ -22,5 +22,5 @@ TEST(DifferentialDriveKinematicsStructTest, Roundtrip) {
 
   DifferentialDriveKinematics unpacked_data = StructType::Unpack(buffer);
 
-  EXPECT_EQ(kExpectedData.trackWidth.value(), unpacked_data.trackWidth.value());
+  EXPECT_EQ(kExpectedData.trackwidth.value(), unpacked_data.trackwidth.value());
 }
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
index 70dbce59242..3ac74229e94 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.xrp;
 
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.AnalogInput;
 
 /** This class represents the ultrasonic rangefinder on an XRP robot. */
@@ -23,16 +22,7 @@ public XRPRangefinder() {}
    *
    * @return distance in meters
    */
-  public double getDistanceMeters() {
+  public double getDistance() {
     return (m_rangefinder.getVoltage() / 5.0) * 4.0;
   }
-
-  /**
-   * Get the measured distance in inches.
-   *
-   * @return distance in inches
-   */
-  public double getDistanceInches() {
-    return Units.metersToInches(getDistanceMeters());
-  }
 }