diff --git a/.readthedocs.yml b/.readthedocs.yml
index ab074b53..82e829e8 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -10,9 +10,18 @@ sphinx:
    configuration: docs/source/conf.py
 
 # Optionally set the version of Python and requirements required to build your docs
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.9"
+
+sphinx:
+  builder: html
+  configuration: docs/source/conf.py
+  fail_on_warning: true
+
 python:
-   version: "3.8"
-   install:
-     - method: setuptools
-       path: .
-     - requirements: requirements.txt
+  install:
+  - requirements: requirements.txt
+  - method: pip
+    path: .
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 0f489978..8a2343fe 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -209,4 +209,4 @@
 # -- Options for intersphinx extension ---------------------------------------
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'https://docs.python.org/': None}
+intersphinx_mapping = {'python': ('https://docs.python.org/3', None)}
diff --git a/docs/source/tutorials/gettingstarted.rst b/docs/source/tutorials/gettingstarted.rst
index bf552b43..1f98a26d 100644
--- a/docs/source/tutorials/gettingstarted.rst
+++ b/docs/source/tutorials/gettingstarted.rst
@@ -346,8 +346,7 @@ previous sections:
   
        gen = crappy.blocks.Generator([
              {'type': 'constant', 'value': 1000, 'condition': 'delay=3'},
-             {'type': 'ramp', 'speed': 100, 'condition': 'delay=5',
-              'cmd': 0},
+             {'type': 'ramp', 'speed': 100, 'condition': 'delay=5'},
              {'type': 'constant', 'value': 1800, 'condition': 'delay=3'},
              {'type': 'constant', 'value': 500, 'condition': 'delay=3'},
              {'type': 'sine', 'amplitude': 2000, 'offset': 1000, 'freq': .3,
@@ -370,7 +369,7 @@ previous sections:
                                kd=0.05,
                                out_max=10,
                                out_min=-10,
-                               i_limit=0.5,
+                               i_limit=(-5, 5),
                                target_label='command_speed',
                                labels=['t(s)', 'voltage'],
                                input_label='actual_speed')
@@ -389,7 +388,7 @@ outputted by the PID block. Finally the grapher needs to know the current speed
 and the command speed, just like the PID. So let's add the appropriate links :
 
 .. code-block:: python
-   :emphasize-lines: 37-45
+   :emphasize-lines: 36-44
 
    import crappy
   
@@ -397,8 +396,7 @@ and the command speed, just like the PID. So let's add the appropriate links :
   
        gen = crappy.blocks.Generator([
              {'type': 'constant', 'value': 1000, 'condition': 'delay=3'},
-             {'type': 'ramp', 'speed': 100, 'condition': 'delay=5',
-              'cmd': 0},
+             {'type': 'ramp', 'speed': 100, 'condition': 'delay=5'},
              {'type': 'constant', 'value': 1800, 'condition': 'delay=3'},
              {'type': 'constant', 'value': 500, 'condition': 'delay=3'},
              {'type': 'sine', 'amplitude': 2000, 'offset': 1000, 'freq': .3,
@@ -422,7 +420,7 @@ and the command speed, just like the PID. So let's add the appropriate links :
                                kd=0.05,
                                out_max=10,
                                out_min=-10,
-                               i_limit=0.5,
+                               i_limit=(-5, 5),
                                target_label='command_speed',
                                labels=['t(s)', 'voltage'],
                                input_label='actual_speed')