diff --git a/Firmware/Drivers/DRV8301/drv8301.cpp b/Firmware/Drivers/DRV8301/drv8301.cpp
index 05001a6b..61175d73 100644
--- a/Firmware/Drivers/DRV8301/drv8301.cpp
+++ b/Firmware/Drivers/DRV8301/drv8301.cpp
@@ -81,13 +81,13 @@ bool Drv8301::init() {
     osDelay(20); // t_spi_ready, max = 10ms
 
     // Write current configuration
-    bool did_write_regs = write_reg(kRegNameControl1, regs_.control_register_1)
+    bool wrote_regs = write_reg(kRegNameControl1, regs_.control_register_1)
                        && write_reg(kRegNameControl1, regs_.control_register_1)
                        && write_reg(kRegNameControl1, regs_.control_register_1)
                        && write_reg(kRegNameControl1, regs_.control_register_1)
                        && write_reg(kRegNameControl1, regs_.control_register_1) // the write operation tends to be ignored if only done once (not sure why)
                        && write_reg(kRegNameControl2, regs_.control_register_2);
-    if (!did_write_regs) {
+    if (!wrote_regs) {
         return false;
     }
 
@@ -95,9 +95,9 @@ bool Drv8301::init() {
     delay_us(100);
     state_ = kStateStartupChecks;
 
-    bool did_read_regs = read_reg(kRegNameControl1, &val) && (val == regs_.control_register_1)
+    bool is_read_regs = read_reg(kRegNameControl1, &val) && (val == regs_.control_register_1)
                       && read_reg(kRegNameControl2, &val) && (val == regs_.control_register_2);
-    if (!did_read_regs) {
+    if (!is_read_regs) {
         return false;
     }
 
diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index b84daa32..8971e415 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -212,7 +212,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config, bool remain_arme
 
     motor_.arm(&motor_.current_control_);
 
-    bool did_subscribe_to_idx = false;
+    bool subscribed_to_idx = false;
     bool success = false;
     float dir = lockin_config.vel >= 0.0f ? 1.0f : -1.0f;
 
@@ -231,9 +231,9 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config, bool remain_arme
 
         // Activate index pin as soon as target velocity was reached. This is
         // to avoid hitting the index from the wrong direction.
-        if (reached_target_vel && !encoder_.index_found_ && !did_subscribe_to_idx) {
+        if (reached_target_vel && !encoder_.index_found_ && !subscribed_to_idx) {
             encoder_.set_idx_subscribe(true);
-            did_subscribe_to_idx = true;
+            subscribed_to_idx = true;
         }
 
         osDelay(1);
diff --git a/Firmware/fibre/python/fibre/discovery.py b/Firmware/fibre/python/fibre/discovery.py
index d8781c7c..6b789c99 100644
--- a/Firmware/fibre/python/fibre/discovery.py
+++ b/Firmware/fibre/python/fibre/discovery.py
@@ -48,7 +48,7 @@ def noprint(text):
     pass
 
 def find_all(path, serial_number,
-         did_discover_object_callback,
+         discovered_object_callback,
          search_cancellation_token,
          channel_termination_token,
          logger):
@@ -58,9 +58,9 @@ def find_all(path, serial_number,
     This function is non-blocking.
     """
 
-    def did_discover_channel(channel):
+    def discovered_channel(channel):
         """
-        Inits an object from a given channel and then calls did_discover_object_callback
+        Inits an object from a given channel and then calls discovered_object_callback
         with the created object
         This queries the endpoint 0 on that channel to gain information
         about the interface, which is then used to init the corresponding object.
@@ -132,7 +132,7 @@ def find_all(path, serial_number,
                 logger.debug("Ignoring device with serial number {}".format(device_serial_number))
                 return
             
-            did_discover_object_callback(obj)
+            discovered_object_callback(obj)
 
 
         except Exception:
@@ -144,7 +144,7 @@ def find_all(path, serial_number,
         the_rest = ':'.join(search_spec.split(':')[1:])
         if prefix in channel_types:
             t = threading.Thread(target=channel_types[prefix],
-                             args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger))
+                             args=(the_rest, serial_number, discovered_channel, search_cancellation_token, channel_termination_token, logger))
             t.daemon = True
             t.start()
         else:
@@ -159,7 +159,7 @@ def find_any(path="usb", serial_number=None,
     """
     result = []
     done_signal = Event(search_cancellation_token)
-    def did_discover_object(obj):
+    def discovered_object(obj):
         result.append(obj)
         if find_multiple:
             if len(result) >= int(find_multiple):
@@ -167,7 +167,7 @@ def find_any(path="usb", serial_number=None,
         else:
             done_signal.set()
 
-    find_all(path, serial_number, did_discover_object, done_signal, channel_termination_token, logger)
+    find_all(path, serial_number, discovered_object, done_signal, channel_termination_token, logger)
     try:
         done_signal.wait(timeout=timeout)
     except TimeoutError:
diff --git a/Firmware/fibre/python/fibre/serial_transport.py b/Firmware/fibre/python/fibre/serial_transport.py
index e737dfca..f3fe5180 100644
--- a/Firmware/fibre/python/fibre/serial_transport.py
+++ b/Firmware/fibre/python/fibre/serial_transport.py
@@ -81,7 +81,7 @@ def discover_channels(path, serial_number, callback, cancellation_token, channel
             return False
         return bool(re.match(regex, port_name))
 
-    def did_disconnect(port_name, device):
+    def disconnected(port_name, device):
         device.close()
         # TODO: yes there is a race condition here in case you wonder.
         known_devices.pop(known_devices.index(port_name))
@@ -103,6 +103,6 @@ def discover_channels(path, serial_number, callback, cancellation_token, channel
                 known_devices.append(port_name)
             else:
                 known_devices.append(port_name)
-                channel._channel_broken.subscribe(lambda: did_disconnect(port_name, serial_device))
+                channel._channel_broken.subscribe(lambda: disconnected(port_name, serial_device))
                 callback(channel)
         time.sleep(1)
diff --git a/Firmware/fibre/python/fibre/shell.py b/Firmware/fibre/python/fibre/shell.py
index c5a7257a..96cad269 100644
--- a/Firmware/fibre/python/fibre/shell.py
+++ b/Firmware/fibre/python/fibre/shell.py
@@ -4,7 +4,7 @@ import platform
 import threading
 import fibre
 
-def did_discover_device(device,
+def discovered_device(device,
                         interactive_variables, discovered_devices,
                         branding_short, branding_long,
                         logger, app_shutdown_token):
@@ -29,9 +29,9 @@ def did_discover_device(device,
     logger.notify("{} to {} {} as {}".format(verb, branding_long, serial_number, interactive_name))
 
     # Subscribe to disappearance of the device
-    device.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
+    device.__channel__._channel_broken.subscribe(lambda: lost_device(interactive_name, logger, app_shutdown_token))
 
-def did_lose_device(interactive_name, logger, app_shutdown_token):
+def lost_device(interactive_name, logger, app_shutdown_token):
     """
     Handles the disappearance of a device by displaying
     a message.
@@ -58,7 +58,7 @@ def launch_shell(args,
     # Connect to device
     logger.debug("Waiting for {}...".format(branding_long))
     fibre.find_all(args.path, args.serial_number,
-                    lambda dev: did_discover_device(dev, interactive_variables, discovered_devices, branding_short, branding_long, logger, app_shutdown_token),
+                    lambda dev: discovered_device(dev, interactive_variables, discovered_devices, branding_short, branding_long, logger, app_shutdown_token),
                     app_shutdown_token,
                     app_shutdown_token,
                     logger=logger)
diff --git a/tools/odrive/shell.py b/tools/odrive/shell.py
index 8f3274ea..b6cd0414 100644
--- a/tools/odrive/shell.py
+++ b/tools/odrive/shell.py
@@ -41,7 +41,7 @@ interactive_variables = {}
 
 discovered_devices = []
 
-def did_discover_device(odrive, logger, app_shutdown_token):
+def discovered_device(odrive, logger, app_shutdown_token):
     """
     Handles the discovery of new devices by displaying a
     message and making the device available to the interactive
@@ -63,9 +63,9 @@ def did_discover_device(odrive, logger, app_shutdown_token):
     logger.notify("{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name))
 
     # Subscribe to disappearance of the device
-    odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
+    odrive.__channel__._channel_broken.subscribe(lambda: lost_device(interactive_name, logger, app_shutdown_token))
 
-def did_lose_device(interactive_name, logger, app_shutdown_token):
+def lost_device(interactive_name, logger, app_shutdown_token):
     """
     Handles the disappearance of a device by displaying
     a message.
diff --git a/tools/odrive/tests/test_runner.py b/tools/odrive/tests/test_runner.py
index 770cb1c7..f305858d 100644
--- a/tools/odrive/tests/test_runner.py
+++ b/tools/odrive/tests/test_runner.py
@@ -70,14 +70,14 @@ def test_assert_within(observed, lower_bound, upper_bound, accuracy=0.0):
 def disjoint_sets(list_of_sets: list):
     while len(list_of_sets):
         current_set, list_of_sets = list_of_sets[0], list_of_sets[1:]
-        did_update = True
-        while did_update:
-            did_update = False
+        updated = True
+        while updated:
+            updated = False
             for i, s in enumerate(list_of_sets):
                 if len(current_set.intersection(s)):
                     current_set = current_set.union(s)
                     list_of_sets = list_of_sets[:i] + list_of_sets[(i+1):]
-                    did_update = True
+                    updated = True
         yield current_set
 
 def is_list_like(arg):
diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index b9fc8e9b..68b76cc2 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -155,10 +155,10 @@ def start_liveplotter(get_var_callback):
         plt.ion()
 
         # Make sure the script terminates when the user closes the plotter
-        def did_close(evt):
+        def closed(evt):
             cancellation_token.set()
         fig = plt.figure()
-        fig.canvas.mpl_connect('close_event', did_close)
+        fig.canvas.mpl_connect('close_event', closed)
 
         while not cancellation_token.is_set():
             plt.clf()